libGDX 1.14.2 · com.badlogic.gdx.physics.bullet.dynamics.btMultiBody

Modifier and Type	Field and Description
private long	swigCPtr

Access	Constructor and Description
protected	btMultiBody(final String className, long cPtr, boolean cMemoryOwn)
public	btMultiBody(long cPtr, boolean cMemoryOwn) Construct a new btMultiBody, normally you should not need this constructor it's intended for low-level usage.
public	btMultiBody(int n_links, float mass, Vector3 inertia, boolean fixedBase, boolean canSleep, boolean deprecatedMultiDof)
public	btMultiBody(int n_links, float mass, Vector3 inertia, boolean fixedBase, boolean canSleep)

Method Summary

Modifier and Type	Method and Description
public void	addBaseConstraintForce(Vector3 f)
public void	addBaseConstraintTorque(Vector3 t)
public void	addBaseForce(Vector3 f)
public void	addBaseTorque(Vector3 t)
public void	addJointTorque(int i, float Q)
public void	addJointTorqueMultiDof(int i, int dof, float Q)
public void	addJointTorqueMultiDof(int i, FloatBuffer Q)
public void	addLinkConstraintForce(int i, Vector3 f)
public void	addLinkConstraintTorque(int i, Vector3 t)
public void	addLinkForce(int i, Vector3 f)
public void	addLinkTorque(int i, Vector3 t)
public void	applyDeltaVeeMultiDof(FloatBuffer delta_vee, float multiplier)
public void	applyDeltaVeeMultiDof2(FloatBuffer delta_vee, float multiplier)
public void	calcAccelerationDeltasMultiDof(FloatBuffer force, FloatBuffer output, btScalarArray scratch_r, btVector3Array scratch_v)
public int	calculateSerializeBufferSize()
public void	checkMotionAndSleepIfRequired(float timestep)
public void	clearConstraintForces()
public void	clearForcesAndTorques()
public void	clearVelocities()
public void	compTreeLinkVelocities(btVector3 omega, btVector3 vel)
public void	computeAccelerationsArticulatedBodyAlgorithmMultiDof(float dt, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m, boolean isConstraintPass)
public void	computeAccelerationsArticulatedBodyAlgorithmMultiDof(float dt, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)
protected synchronized void	delete() Overrides com.badlogic.gdx.physics.bullet.BulletBase.delete. Deletes the bullet object this class encapsulates.
public void	fillConstraintJacobianMultiDof(int link, Vector3 contact_point, Vector3 normal_ang, Vector3 normal_lin, FloatBuffer jac, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)
public void	fillContactJacobianMultiDof(int link, Vector3 contact_point, Vector3 normal, FloatBuffer jac, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)
protected void	finalize() Overrides com.badlogic.gdx.physics.bullet.BulletBase.finalize. Called by the garbage collector on an object when garbage collection determines that there are no more references to the object.
public void	finalizeMultiDof()
public void	forwardKinematics(SWIGTYPE_p_btAlignedObjectArrayT_btQuaternion_t scratch_q, btVector3Array scratch_m)
public float	getAngularDamping()
public Vector3	getAngularMomentum()
public btMultiBodyLinkCollider	getBaseCollider()
public btMultiBodyLinkCollider	getBaseColliderConst()
public Vector3	getBaseForce()
public Vector3	getBaseInertia()
public float	getBaseMass()
public String	getBaseName()
public Vector3	getBaseOmega()
public Vector3	getBasePos()
public Vector3	getBaseTorque()
public Vector3	getBaseVel()
public Matrix4	getBaseWorldTransform()
public boolean	getCanSleep()
public int	getCompanionId()
public static long	getCPtr(btMultiBody obj)
public float	getJointPos(int i)
public FloatBuffer	getJointPosMultiDof(int i)
public FloatBuffer	getJointPosMultiDofConst(int i)
public float	getJointTorque(int i)
public FloatBuffer	getJointTorqueMultiDof(int i)
public float	getJointVel(int i)
public FloatBuffer	getJointVelMultiDof(int i)
public FloatBuffer	getJointVelMultiDofConst(int i)
public float	getKineticEnergy()
public float	getLinearDamping()
public btMultibodyLink	getLink(int index)
public btMultiBodyLinkCollider	getLinkCollider(int index)
public btMultibodyLink	getLinkConst(int index)
public Vector3	getLinkForce(int i)
public Vector3	getLinkInertia(int i)
public float	getLinkMass(int i)
public Vector3	getLinkTorque(int i)
public float	getMaxAppliedImpulse()
public float	getMaxCoordinateVelocity()
public int	getNumDofs()
public int	getNumLinks()
public int	getNumPosVars()
public int	getParent(int link_num)
public Quaternion	getParentToLocalRot(int i)
public Vector3	getRVector(int i)
public boolean	getUseGyroTerm()
public int	getUserIndex()
public int	getUserIndex2()
public long	getUserPointer()
public FloatBuffer	getVelocityVector()
public Quaternion	getWorldToBaseRot()
public void	goToSleep()
public boolean	hasFixedBase()
public boolean	hasSelfCollision()
public boolean	internalNeedsJointFeedback()
public boolean	isAwake()
public boolean	isPosUpdated()
public boolean	isUsingGlobalVelocities()
public boolean	isUsingRK4Integration()
public Vector3	localDirToWorld(int i, Vector3 vec)
public Matrix3	localFrameToWorld(int i, Matrix3 mat)
public Vector3	localPosToWorld(int i, Vector3 vec)
public void	operatorDelete(long ptr)
public void	operatorDelete(long arg0, long arg1)
public void	operatorDeleteArray(long ptr)
public void	operatorDeleteArray(long arg0, long arg1)
public long	operatorNew(long sizeInBytes)
public long	operatorNew(long arg0, long ptr)
public long	operatorNewArray(long sizeInBytes)
public long	operatorNewArray(long arg0, long ptr)
public void	processDeltaVeeMultiDof2()
protected void	reset(long cPtr, boolean cMemoryOwn) Overrides com.badlogic.gdx.physics.bullet.BulletBase.reset.
public String	serialize(long dataBuffer, btSerializer serializer)
public void	setAngularDamping(float damp)
public void	setBaseCollider(btMultiBodyLinkCollider collider)
public void	setBaseInertia(Vector3 inertia)
public void	setBaseMass(float mass)
public void	setBaseName(String name)
public void	setBaseOmega(Vector3 omega)
public void	setBasePos(Vector3 pos)
public void	setBaseVel(Vector3 vel)
public void	setBaseWorldTransform(Matrix4 tr)
public void	setCanSleep(boolean canSleep)
public void	setCompanionId(int id)
public void	setHasSelfCollision(boolean hasSelfCollision)
public void	setJointPos(int i, float q)
public void	setJointPosMultiDof(int i, FloatBuffer q)
public void	setJointVel(int i, float qdot)
public void	setJointVelMultiDof(int i, FloatBuffer qdot)
public void	setLinearDamping(float damp)
public void	setMaxAppliedImpulse(float maxImp)
public void	setMaxCoordinateVelocity(float maxVel)
public void	setNumLinks(int numLinks)
public void	setPosUpdated(boolean updated)
public void	setupFixed(int linkIndex, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset, boolean deprecatedDisableParentCollision)
public void	setupFixed(int linkIndex, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset)
public void	setupPlanar(int i, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 rotationAxis, Vector3 parentComToThisComOffset, boolean disableParentCollision)
public void	setupPlanar(int i, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 rotationAxis, Vector3 parentComToThisComOffset)
public void	setupPrismatic(int i, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 jointAxis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset, boolean disableParentCollision)
public void	setupRevolute(int linkIndex, float mass, Vector3 inertia, int parentIndex, Quaternion rotParentToThis, Vector3 jointAxis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset, boolean disableParentCollision)
public void	setupRevolute(int linkIndex, float mass, Vector3 inertia, int parentIndex, Quaternion rotParentToThis, Vector3 jointAxis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset)
public void	setupSpherical(int linkIndex, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset, boolean disableParentCollision)
public void	setupSpherical(int linkIndex, float mass, Vector3 inertia, int parent, Quaternion rotParentToThis, Vector3 parentComToThisPivotOffset, Vector3 thisPivotToThisComOffset)
public void	setUseGyroTerm(boolean useGyro)
public void	setUserIndex(int index)
public void	setUserIndex2(int index)
public void	setUserPointer(long userPointer)
public void	setWorldToBaseRot(Quaternion rot)
public void	stepPositionsMultiDof(float dt, FloatBuffer pq, FloatBuffer pqd)
public void	stepPositionsMultiDof(float dt, FloatBuffer pq)
public void	stepPositionsMultiDof(float dt)
public void	stepVelocitiesMultiDof(float dt, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m, boolean isConstraintPass)
public void	stepVelocitiesMultiDof(float dt, btScalarArray scratch_r, btVector3Array scratch_v, SWIGTYPE_p_btAlignedObjectArrayT_btMatrix3x3_t scratch_m)
public void	updateCollisionObjectWorldTransforms(SWIGTYPE_p_btAlignedObjectArrayT_btQuaternion_t scratch_q, btVector3Array scratch_m)
public void	useGlobalVelocities(boolean use)
public void	useRK4Integration(boolean use)
public void	wakeUp()
public Vector3	worldDirToLocal(int i, Vector3 vec)
public Vector3	worldPosToLocal(int i, Vector3 vec)

Inherited from com.badlogic.gdx.physics.bullet.BulletBase:: construct destroy dispose equals getCPointer hashCode hasOwnership isDisposed isObtained obtain release releaseOwnership takeOwnership toString

public Class btMultiBody

Field Summary

Constructor Summary

Method Summary