com.badlogic.gdx.physics.bullet.inversedynamics

Class MultiBodyTree

java.lang.Object

com.badlogic.gdx.physics.bullet.BulletBase

com.badlogic.gdx.physics.bullet.inversedynamics.MultiBodyTree

All Implemented Interfaces:

Disposable

public class MultiBodyTree
extends BulletBase

Field Summary

Fields inherited from class com.badlogic.gdx.physics.bullet.BulletBase

className

Constructor Summary

Constructors

Constructor and Description
MultiBodyTree()
MultiBodyTree(long cPtr, boolean cMemoryOwn) Construct a new MultiBodyTree, normally you should not need this constructor it's intended for low-level usage.

Method Summary

Modifier and Type	Method and Description
int	addBody(int body_index, int parent_index, int joint_type, SWIGTYPE_p_vec3 parent_r_parent_body_ref, SWIGTYPE_p_mat33 body_T_parent_ref, SWIGTYPE_p_vec3 body_axis_of_motion, float mass, SWIGTYPE_p_vec3 body_r_body_com, SWIGTYPE_p_mat33 body_I_body, int user_int, long user_ptr)
int	addUserForce(int body_index, SWIGTYPE_p_vec3 body_force)
int	addUserMoment(int body_index, SWIGTYPE_p_vec3 body_moment)
int	calculateInverseDynamics(SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u, SWIGTYPE_p_vecx dot_u, SWIGTYPE_p_vecx joint_forces)
int	calculateKinematics(SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u, SWIGTYPE_p_vecx dot_u)
int	calculateMassMatrix(SWIGTYPE_p_vecx q, boolean update_kinematics, boolean initialize_matrix, boolean set_lower_triangular_matrix, SWIGTYPE_p_matxx mass_matrix)
int	calculateMassMatrix(SWIGTYPE_p_vecx q, SWIGTYPE_p_matxx mass_matrix)
int	calculatePositionAndVelocityKinematics(SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u)
int	calculatePositionKinematics(SWIGTYPE_p_vecx q)
void	clearAllUserForcesAndMoments()
int	finalizeInternal()
boolean	getAcceptInvalidMassProperties()
int	getBodyAngularAcceleration(int body_index, SWIGTYPE_p_vec3 world_dot_omega)
int	getBodyAngularVelocity(int body_index, SWIGTYPE_p_vec3 world_omega)
int	getBodyAxisOfMotion(int body_index, SWIGTYPE_p_vec3 axis)
int	getBodyCoM(int body_index, SWIGTYPE_p_vec3 world_com)
int	getBodyFirstMassMoment(int body_index, SWIGTYPE_p_vec3 first_mass_moment)
int	getBodyLinearAcceleration(int body_index, SWIGTYPE_p_vec3 world_acceleration)
int	getBodyLinearVelocity(int body_index, SWIGTYPE_p_vec3 world_velocity)
int	getBodyLinearVelocityCoM(int body_index, SWIGTYPE_p_vec3 world_velocity)
int	getBodyMass(int body_index, FloatBuffer mass)
int	getBodyOrigin(int body_index, SWIGTYPE_p_vec3 world_origin)
int	getBodySecondMassMoment(int body_index, SWIGTYPE_p_mat33 second_mass_moment)
int	getBodyTParentRef(int body_index, SWIGTYPE_p_mat33 T)
int	getBodyTransform(int body_index, SWIGTYPE_p_mat33 world_T_body)
static long	getCPtr(MultiBodyTree obj)
int	getDoFOffset(int body_index, IntBuffer q_offset)
int	getJointType(int body_index, SWIGTYPE_p_btInverseDynamicsBullet3__JointType joint_type)
int	getJointTypeStr(int body_index, SWIGTYPE_p_p_char joint_type)
int	getParentIndex(int body_index, IntBuffer parent_index)
int	getParentRParentBodyRef(int body_index, SWIGTYPE_p_vec3 r)
int	getUserInt(int body_index, IntBuffer user_int)
int	getUserPtr(int body_index, SWIGTYPE_p_p_void user_ptr)
int	numBodies()
int	numDoFs()
void	operatorDelete(long ptr)
void	operatorDelete(long arg0, long arg1)
void	operatorDeleteArray(long ptr)
void	operatorDeleteArray(long arg0, long arg1)
long	operatorNew(long sizeInBytes)
long	operatorNew(long arg0, long ptr)
long	operatorNewArray(long sizeInBytes)
long	operatorNewArray(long arg0, long ptr)
void	printTree()
void	printTreeData()
void	setAcceptInvalidMassParameters(boolean flag)
int	setBodyFirstMassMoment(int body_index, SWIGTYPE_p_vec3 first_mass_moment)
int	setBodyMass(int body_index, float mass)
int	setBodySecondMassMoment(int body_index, SWIGTYPE_p_mat33 second_mass_moment)
int	setGravityInWorldFrame(SWIGTYPE_p_vec3 gravity)
int	setUserInt(int body_index, int user_int)
int	setUserPtr(int body_index, long user_ptr)

Methods inherited from class com.badlogic.gdx.physics.bullet.BulletBase

dispose, equals, getCPointer, hashCode, hasOwnership, isDisposed, isObtained, obtain, release, releaseOwnership, takeOwnership, toString

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

MultiBodyTree

public MultiBodyTree(long cPtr,
                     boolean cMemoryOwn)

Construct a new MultiBodyTree, normally you should not need this constructor it's intended for low-level usage.

MultiBodyTree

public MultiBodyTree()

Method Detail

getCPtr

public static long getCPtr(MultiBodyTree obj)

operatorNew

public long operatorNew(long sizeInBytes)

operatorDelete

public void operatorDelete(long ptr)

operatorNew

public long operatorNew(long arg0,
                        long ptr)

operatorDelete

public void operatorDelete(long arg0,
                           long arg1)

operatorNewArray

public long operatorNewArray(long sizeInBytes)

operatorDeleteArray

public void operatorDeleteArray(long ptr)

operatorNewArray

public long operatorNewArray(long arg0,
                             long ptr)

operatorDeleteArray

public void operatorDeleteArray(long arg0,
                                long arg1)

addBody

public int addBody(int body_index,
                   int parent_index,
                   int joint_type,
                   SWIGTYPE_p_vec3 parent_r_parent_body_ref,
                   SWIGTYPE_p_mat33 body_T_parent_ref,
                   SWIGTYPE_p_vec3 body_axis_of_motion,
                   float mass,
                   SWIGTYPE_p_vec3 body_r_body_com,
                   SWIGTYPE_p_mat33 body_I_body,
                   int user_int,
                   long user_ptr)

setAcceptInvalidMassParameters

public void setAcceptInvalidMassParameters(boolean flag)

getAcceptInvalidMassProperties

public boolean getAcceptInvalidMassProperties()

finalizeInternal

public int finalizeInternal()

printTree

public void printTree()

printTreeData

public void printTreeData()

calculateInverseDynamics

public int calculateInverseDynamics(SWIGTYPE_p_vecx q,
                                    SWIGTYPE_p_vecx u,
                                    SWIGTYPE_p_vecx dot_u,
                                    SWIGTYPE_p_vecx joint_forces)

calculateMassMatrix

public int calculateMassMatrix(SWIGTYPE_p_vecx q,
                               boolean update_kinematics,
                               boolean initialize_matrix,
                               boolean set_lower_triangular_matrix,
                               SWIGTYPE_p_matxx mass_matrix)

calculateMassMatrix

public int calculateMassMatrix(SWIGTYPE_p_vecx q,
                               SWIGTYPE_p_matxx mass_matrix)

calculateKinematics

public int calculateKinematics(SWIGTYPE_p_vecx q,
                               SWIGTYPE_p_vecx u,
                               SWIGTYPE_p_vecx dot_u)

calculatePositionKinematics

public int calculatePositionKinematics(SWIGTYPE_p_vecx q)

calculatePositionAndVelocityKinematics

public int calculatePositionAndVelocityKinematics(SWIGTYPE_p_vecx q,
                                                  SWIGTYPE_p_vecx u)

setGravityInWorldFrame

public int setGravityInWorldFrame(SWIGTYPE_p_vec3 gravity)

numBodies

public int numBodies()

numDoFs

public int numDoFs()

getBodyOrigin

public int getBodyOrigin(int body_index,
                         SWIGTYPE_p_vec3 world_origin)

getBodyCoM

public int getBodyCoM(int body_index,
                      SWIGTYPE_p_vec3 world_com)

getBodyTransform

public int getBodyTransform(int body_index,
                            SWIGTYPE_p_mat33 world_T_body)

getBodyAngularVelocity

public int getBodyAngularVelocity(int body_index,
                                  SWIGTYPE_p_vec3 world_omega)

getBodyLinearVelocity

public int getBodyLinearVelocity(int body_index,
                                 SWIGTYPE_p_vec3 world_velocity)

getBodyLinearVelocityCoM

public int getBodyLinearVelocityCoM(int body_index,
                                    SWIGTYPE_p_vec3 world_velocity)

getBodyAngularAcceleration

public int getBodyAngularAcceleration(int body_index,
                                      SWIGTYPE_p_vec3 world_dot_omega)

getBodyLinearAcceleration

public int getBodyLinearAcceleration(int body_index,
                                     SWIGTYPE_p_vec3 world_acceleration)

getParentIndex

public int getParentIndex(int body_index,
                          IntBuffer parent_index)

getJointType

public int getJointType(int body_index,
                        SWIGTYPE_p_btInverseDynamicsBullet3__JointType joint_type)

getJointTypeStr

public int getJointTypeStr(int body_index,
                           SWIGTYPE_p_p_char joint_type)

getParentRParentBodyRef

public int getParentRParentBodyRef(int body_index,
                                   SWIGTYPE_p_vec3 r)

getBodyTParentRef

public int getBodyTParentRef(int body_index,
                             SWIGTYPE_p_mat33 T)

getBodyAxisOfMotion

public int getBodyAxisOfMotion(int body_index,
                               SWIGTYPE_p_vec3 axis)

getDoFOffset

public int getDoFOffset(int body_index,
                        IntBuffer q_offset)

getUserInt

public int getUserInt(int body_index,
                      IntBuffer user_int)

getUserPtr

public int getUserPtr(int body_index,
                      SWIGTYPE_p_p_void user_ptr)

setUserInt

public int setUserInt(int body_index,
                      int user_int)

setUserPtr

public int setUserPtr(int body_index,
                      long user_ptr)

setBodyMass

public int setBodyMass(int body_index,
                       float mass)

setBodyFirstMassMoment

public int setBodyFirstMassMoment(int body_index,
                                  SWIGTYPE_p_vec3 first_mass_moment)

setBodySecondMassMoment

public int setBodySecondMassMoment(int body_index,
                                   SWIGTYPE_p_mat33 second_mass_moment)

getBodyMass

public int getBodyMass(int body_index,
                       FloatBuffer mass)

getBodyFirstMassMoment

public int getBodyFirstMassMoment(int body_index,
                                  SWIGTYPE_p_vec3 first_mass_moment)

getBodySecondMassMoment

public int getBodySecondMassMoment(int body_index,
                                   SWIGTYPE_p_mat33 second_mass_moment)

clearAllUserForcesAndMoments

public void clearAllUserForcesAndMoments()

addUserForce

public int addUserForce(int body_index,
                        SWIGTYPE_p_vec3 body_force)

addUserMoment

public int addUserMoment(int body_index,
                         SWIGTYPE_p_vec3 body_moment)