org.bytedeco.bullet.BulletCollision

Class btBvhTriangleMeshShape

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletCollision.btCollisionShape

org.bytedeco.bullet.BulletCollision.btConcaveShape

org.bytedeco.bullet.BulletCollision.btTriangleMeshShape

org.bytedeco.bullet.BulletCollision.btBvhTriangleMeshShape

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

btMultimaterialTriangleMeshShape

@NoOffset
 @Properties(inherit=BulletCollision.class)
public class btBvhTriangleMeshShape
extends btTriangleMeshShape

The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects. If you required moving concave triangle meshes, it is recommended to perform convex decomposition using HACD, see Bullet/Demos/ConvexDecompositionDemo. Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes. btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage. It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method. Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk. See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
btBvhTriangleMeshShape(btStridingMeshInterface meshInterface, boolean useQuantizedAabbCompression)
btBvhTriangleMeshShape(btStridingMeshInterface meshInterface, boolean useQuantizedAabbCompression, boolean buildBvh)
btBvhTriangleMeshShape(btStridingMeshInterface meshInterface, boolean useQuantizedAabbCompression, btVector3 bvhAabbMin, btVector3 bvhAabbMax)
btBvhTriangleMeshShape(btStridingMeshInterface meshInterface, boolean useQuantizedAabbCompression, btVector3 bvhAabbMin, btVector3 bvhAabbMax, boolean buildBvh) optionally pass in a larger bvh aabb, used for quantization.
btBvhTriangleMeshShape(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	buildOptimizedBvh()
int	calculateSerializeBufferSize()
BytePointer	getName()
btOptimizedBvh	getOptimizedBvh()
boolean	getOwnsBvh()
btTriangleInfoMap	getTriangleInfoMap()
void	partialRefitTree(btVector3 aabbMin, btVector3 aabbMax) for a fast incremental refit of parts of the tree.
void	performConvexcast(btTriangleCallback callback, btVector3 boxSource, btVector3 boxTarget, btVector3 boxMin, btVector3 boxMax)
void	performRaycast(btTriangleCallback callback, btVector3 raySource, btVector3 rayTarget)
void	processAllTriangles(btTriangleCallback callback, btVector3 aabbMin, btVector3 aabbMax)
void	refitTree(btVector3 aabbMin, btVector3 aabbMax)
BytePointer	serialize(Pointer dataBuffer, btSerializer serializer) fills the dataBuffer and returns the struct name (and 0 on failure)
void	serializeSingleBvh(btSerializer serializer)
void	serializeSingleTriangleInfoMap(btSerializer serializer)
void	setLocalScaling(btVector3 scaling)
void	setOptimizedBvh(btOptimizedBvh bvh)
void	setOptimizedBvh(btOptimizedBvh bvh, btVector3 localScaling)
void	setTriangleInfoMap(btTriangleInfoMap triangleInfoMap)
boolean	usesQuantizedAabbCompression()

Methods inherited from class org.bytedeco.bullet.BulletCollision.btTriangleMeshShape

calculateLocalInertia, getAabb, getLocalAabbMax, getLocalAabbMin, getLocalScaling, getMeshInterface, localGetSupportingVertex, localGetSupportingVertexWithoutMargin, recalcLocalAabb

Methods inherited from class org.bytedeco.bullet.BulletCollision.btConcaveShape

getMargin, setMargin

Methods inherited from class org.bytedeco.bullet.BulletCollision.btCollisionShape

calculateTemporalAabb, getAngularMotionDisc, getAnisotropicRollingFrictionDirection, getBoundingSphere, getBoundingSphere, getBoundingSphere, getContactBreakingThreshold, getShapeType, getUserIndex, getUserIndex2, getUserPointer, isCompound, isConcave, isConvex, isConvex2d, isInfinite, isNonMoving, isPolyhedral, isSoftBody, serializeSingleShape, setUserIndex, setUserIndex2, setUserPointer

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btBvhTriangleMeshShape

public btBvhTriangleMeshShape(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btBvhTriangleMeshShape

public btBvhTriangleMeshShape(btStridingMeshInterface meshInterface,
                              @Cast(value="bool")
                              boolean useQuantizedAabbCompression,
                              @Cast(value="bool")
                              boolean buildBvh)

btBvhTriangleMeshShape

public btBvhTriangleMeshShape(btStridingMeshInterface meshInterface,
                              @Cast(value="bool")
                              boolean useQuantizedAabbCompression)

btBvhTriangleMeshShape

public btBvhTriangleMeshShape(btStridingMeshInterface meshInterface,
                              @Cast(value="bool")
                              boolean useQuantizedAabbCompression,
                              @Const @ByRef
                              btVector3 bvhAabbMin,
                              @Const @ByRef
                              btVector3 bvhAabbMax,
                              @Cast(value="bool")
                              boolean buildBvh)

optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb

btBvhTriangleMeshShape

public btBvhTriangleMeshShape(btStridingMeshInterface meshInterface,
                              @Cast(value="bool")
                              boolean useQuantizedAabbCompression,
                              @Const @ByRef
                              btVector3 bvhAabbMin,
                              @Const @ByRef
                              btVector3 bvhAabbMax)

Method Detail

getOwnsBvh

@Cast(value="bool")
public boolean getOwnsBvh()

performRaycast

public void performRaycast(btTriangleCallback callback,
                           @Const @ByRef
                           btVector3 raySource,
                           @Const @ByRef
                           btVector3 rayTarget)

performConvexcast

public void performConvexcast(btTriangleCallback callback,
                              @Const @ByRef
                              btVector3 boxSource,
                              @Const @ByRef
                              btVector3 boxTarget,
                              @Const @ByRef
                              btVector3 boxMin,
                              @Const @ByRef
                              btVector3 boxMax)

processAllTriangles

public void processAllTriangles(btTriangleCallback callback,
                                @Const @ByRef
                                btVector3 aabbMin,
                                @Const @ByRef
                                btVector3 aabbMax)

Overrides:

processAllTriangles in class btTriangleMeshShape

refitTree

public void refitTree(@Const @ByRef
                      btVector3 aabbMin,
                      @Const @ByRef
                      btVector3 aabbMax)

partialRefitTree

public void partialRefitTree(@Const @ByRef
                             btVector3 aabbMin,
                             @Const @ByRef
                             btVector3 aabbMax)

for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks

getName

@Cast(value="const char*")
public BytePointer getName()

Overrides:

getName in class btTriangleMeshShape

setLocalScaling

public void setLocalScaling(@Const @ByRef
                            btVector3 scaling)

Overrides:

setLocalScaling in class btTriangleMeshShape

getOptimizedBvh

public btOptimizedBvh getOptimizedBvh()

setOptimizedBvh

public void setOptimizedBvh(btOptimizedBvh bvh,
                            @Const @ByRef(nullValue="btVector3(1, 1, 1)")
                            btVector3 localScaling)

setOptimizedBvh

public void setOptimizedBvh(btOptimizedBvh bvh)

buildOptimizedBvh

public void buildOptimizedBvh()

usesQuantizedAabbCompression

@Cast(value="bool")
public boolean usesQuantizedAabbCompression()

setTriangleInfoMap

public void setTriangleInfoMap(btTriangleInfoMap triangleInfoMap)

getTriangleInfoMap

public btTriangleInfoMap getTriangleInfoMap()

calculateSerializeBufferSize

public int calculateSerializeBufferSize()

Overrides:

calculateSerializeBufferSize in class btCollisionShape

serialize

@Cast(value="const char*")
public BytePointer serialize(Pointer dataBuffer,
                                                        btSerializer serializer)

fills the dataBuffer and returns the struct name (and 0 on failure)

Overrides:

serialize in class btCollisionShape

serializeSingleBvh

public void serializeSingleBvh(btSerializer serializer)

serializeSingleTriangleInfoMap

public void serializeSingleTriangleInfoMap(btSerializer serializer)