libGDX 1.14.2 · com.badlogic.gdx.physics.bullet.inversedynamics.MultiBodyTree

Modifier and Type	Field and Description
private long	swigCPtr

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

Method Summary

Modifier and Type	Method and Description
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)
public int	addUserForce(int body_index, SWIGTYPE_p_vec3 body_force)
public int	addUserMoment(int body_index, SWIGTYPE_p_vec3 body_moment)
public int	calculateInverseDynamics(SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u, SWIGTYPE_p_vecx dot_u, SWIGTYPE_p_vecx joint_forces)
public int	calculateKinematics(SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u, SWIGTYPE_p_vecx dot_u)
public int	calculateMassMatrix(SWIGTYPE_p_vecx q, boolean update_kinematics, boolean initialize_matrix, boolean set_lower_triangular_matrix, SWIGTYPE_p_matxx mass_matrix)
public int	calculateMassMatrix(SWIGTYPE_p_vecx q, SWIGTYPE_p_matxx mass_matrix)
public int	calculatePositionAndVelocityKinematics(SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u)
public int	calculatePositionKinematics(SWIGTYPE_p_vecx q)
public void	clearAllUserForcesAndMoments()
protected synchronized void	delete() Overrides com.badlogic.gdx.physics.bullet.BulletBase.delete. Deletes the bullet object this class encapsulates.
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 int	finalizeInternal()
public boolean	getAcceptInvalidMassProperties()
public int	getBodyAngularAcceleration(int body_index, SWIGTYPE_p_vec3 world_dot_omega)
public int	getBodyAngularVelocity(int body_index, SWIGTYPE_p_vec3 world_omega)
public int	getBodyAxisOfMotion(int body_index, SWIGTYPE_p_vec3 axis)
public int	getBodyCoM(int body_index, SWIGTYPE_p_vec3 world_com)
public int	getBodyFirstMassMoment(int body_index, SWIGTYPE_p_vec3 first_mass_moment)
public int	getBodyLinearAcceleration(int body_index, SWIGTYPE_p_vec3 world_acceleration)
public int	getBodyLinearVelocity(int body_index, SWIGTYPE_p_vec3 world_velocity)
public int	getBodyLinearVelocityCoM(int body_index, SWIGTYPE_p_vec3 world_velocity)
public int	getBodyMass(int body_index, FloatBuffer mass)
public int	getBodyOrigin(int body_index, SWIGTYPE_p_vec3 world_origin)
public int	getBodySecondMassMoment(int body_index, SWIGTYPE_p_mat33 second_mass_moment)
public int	getBodyTParentRef(int body_index, SWIGTYPE_p_mat33 T)
public int	getBodyTransform(int body_index, SWIGTYPE_p_mat33 world_T_body)
public static long	getCPtr(MultiBodyTree obj)
public int	getDoFOffset(int body_index, IntBuffer q_offset)
public int	getJointType(int body_index, SWIGTYPE_p_btInverseDynamicsBullet3__JointType joint_type)
public int	getJointTypeStr(int body_index, SWIGTYPE_p_p_char joint_type)
public int	getParentIndex(int body_index, IntBuffer parent_index)
public int	getParentRParentBodyRef(int body_index, SWIGTYPE_p_vec3 r)
public int	getUserInt(int body_index, IntBuffer user_int)
public int	getUserPtr(int body_index, SWIGTYPE_p_p_void user_ptr)
public int	numBodies()
public int	numDoFs()
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	printTree()
public void	printTreeData()
protected void	reset(long cPtr, boolean cMemoryOwn) Overrides com.badlogic.gdx.physics.bullet.BulletBase.reset.
public void	setAcceptInvalidMassParameters(boolean flag)
public int	setBodyFirstMassMoment(int body_index, SWIGTYPE_p_vec3 first_mass_moment)
public int	setBodyMass(int body_index, float mass)
public int	setBodySecondMassMoment(int body_index, SWIGTYPE_p_mat33 second_mass_moment)
public int	setGravityInWorldFrame(SWIGTYPE_p_vec3 gravity)
public int	setUserInt(int body_index, int user_int)
public int	setUserPtr(int body_index, long user_ptr)

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

swigCPtr	back to summary
private long swigCPtr

MultiBodyTree	back to summary
protected MultiBodyTree(final String className, long cPtr, boolean cMemoryOwn)

MultiBodyTree	back to summary
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	back to summary
public MultiBodyTree()

Method Detail

addBody	back to summary
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)

addUserForce	back to summary
public int addUserForce(int body_index, SWIGTYPE_p_vec3 body_force)

addUserMoment	back to summary
public int addUserMoment(int body_index, SWIGTYPE_p_vec3 body_moment)

calculateInverseDynamics	back to summary
public int calculateInverseDynamics(SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u, SWIGTYPE_p_vecx dot_u, SWIGTYPE_p_vecx joint_forces)

calculateKinematics	back to summary
public int calculateKinematics(SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u, SWIGTYPE_p_vecx dot_u)

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

calculateMassMatrix	back to summary
public int calculateMassMatrix(SWIGTYPE_p_vecx q, SWIGTYPE_p_matxx mass_matrix)

calculatePositionAndVelocityKinematics	back to summary
public int calculatePositionAndVelocityKinematics(SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u)

calculatePositionKinematics	back to summary
public int calculatePositionKinematics(SWIGTYPE_p_vecx q)

clearAllUserForcesAndMoments	back to summary
public void clearAllUserForcesAndMoments()

delete back to summary

delete	back to summary
protected synchronized void delete() Overrides com.badlogic.gdx.physics.bullet.BulletBase.delete. Doc from com.badlogic.gdx.physics.bullet.BulletBase.delete. Deletes the bullet object this class encapsulates. Do not call directly, instead use the `dispose()` method. Annotations @Override

protected synchronized void delete()

Overrides com.badlogic.gdx.physics.bullet.BulletBase.delete.

Doc from com.badlogic.gdx.physics.bullet.BulletBase.delete.

Deletes the bullet object this class encapsulates. Do not call directly, instead use the dispose() method.

Annotations

@Override

finalize back to summary

finalize	back to summary
protected void finalize() throws Throwable Overrides com.badlogic.gdx.physics.bullet.BulletBase.finalize. Doc from java.lang.Object.finalize. Called by the garbage collector on an object when garbage collection determines that there are no more references to the object. A subclass overrides the `finalize` method to dispose of system resources or to perform other cleanup. When running in a Java virtual machine in which finalization has been disabled or removed, the garbage collector will never call `finalize()`. In a Java virtual machine in which finalization is enabled, the garbage collector might call `finalize` only after an indefinite delay. The general contract of `finalize` is that it is invoked if and when the Java virtual machine has determined that there is no longer any means by which this object can be accessed by any thread that has not yet died, except as a result of an action taken by the finalization of some other object or class which is ready to be finalized. The `finalize` method may take any action, including making this object available again to other threads; the usual purpose of `finalize`, however, is to perform cleanup actions before the object is irrevocably discarded. For example, the finalize method for an object that represents an input/output connection might perform explicit I/O transactions to break the connection before the object is permanently discarded. The `finalize` method of class `Object` performs no special action; it simply returns normally. Subclasses of `Object` may override this definition. The Java programming language does not guarantee which thread will invoke the `finalize` method for any given object. It is guaranteed, however, that the thread that invokes finalize will not be holding any user-visible synchronization locks when finalize is invoked. If an uncaught exception is thrown by the finalize method, the exception is ignored and finalization of that object terminates. After the `finalize` method has been invoked for an object, no further action is taken until the Java virtual machine has again determined that there is no longer any means by which this object can be accessed by any thread that has not yet died, including possible actions by other objects or classes which are ready to be finalized, at which point the object may be discarded. The `finalize` method is never invoked more than once by a Java virtual machine for any given object. Any exception thrown by the `finalize` method causes the finalization of this object to be halted, but is otherwise ignored. Annotations @Override Exceptions Throwable: the `Exception` raised by this method

protected void finalize() throws Throwable

Overrides com.badlogic.gdx.physics.bullet.BulletBase.finalize.

Doc from java.lang.Object.finalize.

Called by the garbage collector on an object when garbage collection determines that there are no more references to the object. A subclass overrides the finalize method to dispose of system resources or to perform other cleanup.

When running in a Java virtual machine in which finalization has been disabled or removed, the garbage collector will never call finalize(). In a Java virtual machine in which finalization is enabled, the garbage collector might call finalize only after an indefinite delay.

The general contract of finalize is that it is invoked if and when the Java virtual machine has determined that there is no longer any means by which this object can be accessed by any thread that has not yet died, except as a result of an action taken by the finalization of some other object or class which is ready to be finalized. The finalize method may take any action, including making this object available again to other threads; the usual purpose of finalize, however, is to perform cleanup actions before the object is irrevocably discarded. For example, the finalize method for an object that represents an input/output connection might perform explicit I/O transactions to break the connection before the object is permanently discarded.

The finalize method of class Object performs no special action; it simply returns normally. Subclasses of Object may override this definition.

The Java programming language does not guarantee which thread will invoke the finalize method for any given object. It is guaranteed, however, that the thread that invokes finalize will not be holding any user-visible synchronization locks when finalize is invoked. If an uncaught exception is thrown by the finalize method, the exception is ignored and finalization of that object terminates.

After the finalize method has been invoked for an object, no further action is taken until the Java virtual machine has again determined that there is no longer any means by which this object can be accessed by any thread that has not yet died, including possible actions by other objects or classes which are ready to be finalized, at which point the object may be discarded.

The finalize method is never invoked more than once by a Java virtual machine for any given object.

Any exception thrown by the finalize method causes the finalization of this object to be halted, but is otherwise ignored.

Annotations

@Override

Exceptions

Throwable:: the Exception raised by this method

finalizeInternal	back to summary
public int finalizeInternal()

getAcceptInvalidMassProperties	back to summary
public boolean getAcceptInvalidMassProperties()

getBodyAngularAcceleration	back to summary
public int getBodyAngularAcceleration(int body_index, SWIGTYPE_p_vec3 world_dot_omega)

getBodyAngularVelocity	back to summary
public int getBodyAngularVelocity(int body_index, SWIGTYPE_p_vec3 world_omega)

getBodyAxisOfMotion	back to summary
public int getBodyAxisOfMotion(int body_index, SWIGTYPE_p_vec3 axis)

getBodyCoM	back to summary
public int getBodyCoM(int body_index, SWIGTYPE_p_vec3 world_com)

getBodyFirstMassMoment	back to summary
public int getBodyFirstMassMoment(int body_index, SWIGTYPE_p_vec3 first_mass_moment)

getBodyLinearAcceleration	back to summary
public int getBodyLinearAcceleration(int body_index, SWIGTYPE_p_vec3 world_acceleration)

getBodyLinearVelocity	back to summary
public int getBodyLinearVelocity(int body_index, SWIGTYPE_p_vec3 world_velocity)

getBodyLinearVelocityCoM	back to summary
public int getBodyLinearVelocityCoM(int body_index, SWIGTYPE_p_vec3 world_velocity)

getBodyMass	back to summary
public int getBodyMass(int body_index, FloatBuffer mass)

getBodyOrigin	back to summary
public int getBodyOrigin(int body_index, SWIGTYPE_p_vec3 world_origin)

getBodySecondMassMoment	back to summary
public int getBodySecondMassMoment(int body_index, SWIGTYPE_p_mat33 second_mass_moment)

getBodyTParentRef	back to summary
public int getBodyTParentRef(int body_index, SWIGTYPE_p_mat33 T)

getBodyTransform	back to summary
public int getBodyTransform(int body_index, SWIGTYPE_p_mat33 world_T_body)

getCPtr	back to summary
public static long getCPtr(MultiBodyTree obj)

getDoFOffset	back to summary
public int getDoFOffset(int body_index, IntBuffer q_offset)

getJointType	back to summary
public int getJointType(int body_index, SWIGTYPE_p_btInverseDynamicsBullet3__JointType joint_type)

getJointTypeStr	back to summary
public int getJointTypeStr(int body_index, SWIGTYPE_p_p_char joint_type)

getParentIndex	back to summary
public int getParentIndex(int body_index, IntBuffer parent_index)

getParentRParentBodyRef	back to summary
public int getParentRParentBodyRef(int body_index, SWIGTYPE_p_vec3 r)

getUserInt	back to summary
public int getUserInt(int body_index, IntBuffer user_int)

getUserPtr	back to summary
public int getUserPtr(int body_index, SWIGTYPE_p_p_void user_ptr)

numBodies	back to summary
public int numBodies()

numDoFs	back to summary
public int numDoFs()

operatorDelete	back to summary
public void operatorDelete(long ptr)

operatorDelete	back to summary
public void operatorDelete(long arg0, long arg1)

operatorDeleteArray	back to summary
public void operatorDeleteArray(long ptr)

operatorDeleteArray	back to summary
public void operatorDeleteArray(long arg0, long arg1)

operatorNew	back to summary
public long operatorNew(long sizeInBytes)

operatorNew	back to summary
public long operatorNew(long arg0, long ptr)

operatorNewArray	back to summary
public long operatorNewArray(long sizeInBytes)

operatorNewArray	back to summary
public long operatorNewArray(long arg0, long ptr)

printTree	back to summary
public void printTree()

printTreeData	back to summary
public void printTreeData()

reset

back to summary

protected void reset(long cPtr, boolean cMemoryOwn)

Overrides com.badlogic.gdx.physics.bullet.BulletBase.reset.

Annotations

@Override

setAcceptInvalidMassParameters	back to summary
public void setAcceptInvalidMassParameters(boolean flag)

setBodyFirstMassMoment	back to summary
public int setBodyFirstMassMoment(int body_index, SWIGTYPE_p_vec3 first_mass_moment)

setBodyMass	back to summary
public int setBodyMass(int body_index, float mass)

setBodySecondMassMoment	back to summary
public int setBodySecondMassMoment(int body_index, SWIGTYPE_p_mat33 second_mass_moment)

setGravityInWorldFrame	back to summary
public int setGravityInWorldFrame(SWIGTYPE_p_vec3 gravity)

setUserInt	back to summary
public int setUserInt(int body_index, int user_int)

setUserPtr	back to summary
public int setUserPtr(int body_index, long user_ptr)

public Class MultiBodyTree

Field Summary

Constructor Summary

Method Summary

Field Detail

Constructor Detail

Method Detail