com.badlogic.gdx.physics.bullet.inversedynamics

Class InverseDynamics

java.lang.Object

com.badlogic.gdx.physics.bullet.inversedynamics.InverseDynamics

public class InverseDynamics
extends Object

Field Summary

Fields

Modifier and Type	Field and Description
static Pool<Matrix3>	poolMatrix3 Pool of Matrix3, used by native (callback) method for the arguments
static Pool<Matrix4>	poolMatrix4 Pool of Matrix4, used by native (callback) method for the arguments
static Pool<Quaternion>	poolQuaternion Pool of Quaternion, used by native (callback) method for the arguments
static Pool<Vector3>	poolVector3 Pool of Vector3, used by native (callback) method for the arguments
static Matrix3	staticMatrix3 Temporary Matrix3 instance, used by native methods that return a Matrix3 instance
static Matrix4	staticMatrix4 Temporary Matrix4 instance, used by native methods that return a Matrix4 instance
static Quaternion	staticQuaternion Temporary Quaternion instance, used by native methods that return a Quaternion instance
static Vector3	staticVector3 Temporary Vector3 instance, used by native methods that return a Vector3 instance

Constructor Summary

Constructors

Constructor and Description
InverseDynamics()

Method Summary

Modifier and Type	Method and Description
static void	bodyTParentFromAxisAngle(SWIGTYPE_p_vec3 axis, float angle, SWIGTYPE_p_mat33 T)
static float	determinant(SWIGTYPE_p_mat33 m)
static void	getVecMatFromDH(float theta, float d, float a, float alpha, SWIGTYPE_p_vec3 r, SWIGTYPE_p_mat33 T)
static boolean	isPositiveDefinite(SWIGTYPE_p_mat33 m)
static boolean	isPositiveSemiDefinite(SWIGTYPE_p_mat33 m)
static boolean	isPositiveSemiDefiniteFuzzy(SWIGTYPE_p_mat33 m)
static boolean	isUnitVector(SWIGTYPE_p_vec3 vector)
static boolean	isValidInertiaMatrix(SWIGTYPE_p_mat33 I, int index, boolean has_fixed_joint)
static boolean	isValidTransformMatrix(SWIGTYPE_p_mat33 m)
static float	maxAbs(SWIGTYPE_p_vec3 v)
static float	maxAbs(SWIGTYPE_p_vecx v)
static SWIGTYPE_p_vec3	rpyFromMatrix(SWIGTYPE_p_mat33 rot)
static void	setZero(SWIGTYPE_p_mat33 m)
static void	setZero(SWIGTYPE_p_vec3 v)
static void	setZero(SWIGTYPE_p_vecx v)
static void	skew(SWIGTYPE_p_vec3 v, SWIGTYPE_p_mat33 result)
static SWIGTYPE_p_mat33	tildeOperator(SWIGTYPE_p_vec3 v)
static SWIGTYPE_p_mat33	transformX(float alpha)
static SWIGTYPE_p_mat33	transformY(float beta)
static SWIGTYPE_p_mat33	transformZ(float gamma)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

staticVector3

public static final Vector3 staticVector3

Temporary Vector3 instance, used by native methods that return a Vector3 instance

poolVector3

public static final Pool<Vector3> poolVector3

Pool of Vector3, used by native (callback) method for the arguments

staticQuaternion

public static final Quaternion staticQuaternion

Temporary Quaternion instance, used by native methods that return a Quaternion instance

poolQuaternion

public static final Pool<Quaternion> poolQuaternion

Pool of Quaternion, used by native (callback) method for the arguments

staticMatrix3

public static final Matrix3 staticMatrix3

Temporary Matrix3 instance, used by native methods that return a Matrix3 instance

poolMatrix3

public static final Pool<Matrix3> poolMatrix3

Pool of Matrix3, used by native (callback) method for the arguments

staticMatrix4

public static final Matrix4 staticMatrix4

Temporary Matrix4 instance, used by native methods that return a Matrix4 instance

poolMatrix4

public static final Pool<Matrix4> poolMatrix4

Pool of Matrix4, used by native (callback) method for the arguments

Constructor Detail

InverseDynamics

public InverseDynamics()

Method Detail

setZero

public static void setZero(SWIGTYPE_p_vec3 v)

setZero

public static void setZero(SWIGTYPE_p_vecx v)

setZero

public static void setZero(SWIGTYPE_p_mat33 m)

skew

public static void skew(SWIGTYPE_p_vec3 v,
                        SWIGTYPE_p_mat33 result)

maxAbs

public static float maxAbs(SWIGTYPE_p_vecx v)

maxAbs

public static float maxAbs(SWIGTYPE_p_vec3 v)

getVecMatFromDH

public static void getVecMatFromDH(float theta,
                                   float d,
                                   float a,
                                   float alpha,
                                   SWIGTYPE_p_vec3 r,
                                   SWIGTYPE_p_mat33 T)

isPositiveDefinite

public static boolean isPositiveDefinite(SWIGTYPE_p_mat33 m)

isPositiveSemiDefinite

public static boolean isPositiveSemiDefinite(SWIGTYPE_p_mat33 m)

isPositiveSemiDefiniteFuzzy

public static boolean isPositiveSemiDefiniteFuzzy(SWIGTYPE_p_mat33 m)

determinant

public static float determinant(SWIGTYPE_p_mat33 m)

isValidInertiaMatrix

public static boolean isValidInertiaMatrix(SWIGTYPE_p_mat33 I,
                                           int index,
                                           boolean has_fixed_joint)

isValidTransformMatrix

public static boolean isValidTransformMatrix(SWIGTYPE_p_mat33 m)

bodyTParentFromAxisAngle

public static void bodyTParentFromAxisAngle(SWIGTYPE_p_vec3 axis,
                                            float angle,
                                            SWIGTYPE_p_mat33 T)

isUnitVector

public static boolean isUnitVector(SWIGTYPE_p_vec3 vector)

tildeOperator

public static SWIGTYPE_p_mat33 tildeOperator(SWIGTYPE_p_vec3 v)

transformX

public static SWIGTYPE_p_mat33 transformX(float alpha)

transformY

public static SWIGTYPE_p_mat33 transformY(float beta)

transformZ

public static SWIGTYPE_p_mat33 transformZ(float gamma)

rpyFromMatrix

public static SWIGTYPE_p_vec3 rpyFromMatrix(SWIGTYPE_p_mat33 rot)