org.bytedeco.bullet.BulletCollision

Class btCollisionWorld

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletCollision.btCollisionWorld

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

btDynamicsWorld

@NoOffset
 @Properties(inherit=BulletCollision.class)
public class btCollisionWorld
extends Pointer

CollisionWorld is interface and container for the collision detection

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	btCollisionWorld.AllHitsRayResultCallback
static class	btCollisionWorld.ClosestConvexResultCallback
static class	btCollisionWorld.ClosestRayResultCallback
static class	btCollisionWorld.ContactResultCallback ContactResultCallback is used to report contact points
static class	btCollisionWorld.ConvexResultCallback RayResultCallback is used to report new raycast results
static class	btCollisionWorld.LocalConvexResult
static class	btCollisionWorld.LocalRayResult
static class	btCollisionWorld.LocalShapeInfo LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
static class	btCollisionWorld.RayResultCallback RayResultCallback is used to report new raycast results

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
btCollisionWorld(btDispatcher dispatcher, btBroadphaseInterface broadphasePairCache, btCollisionConfiguration collisionConfiguration)
btCollisionWorld(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	addCollisionObject(btCollisionObject collisionObject)
void	addCollisionObject(btCollisionObject collisionObject, int collisionFilterGroup, int collisionFilterMask)
void	computeOverlappingPairs() the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation
void	contactPairTest(btCollisionObject colObjA, btCollisionObject colObjB, btCollisionWorld.ContactResultCallback resultCallback) contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
void	contactTest(btCollisionObject colObj, btCollisionWorld.ContactResultCallback resultCallback) contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
void	convexSweepTest(btConvexShape castShape, btTransform from, btTransform to, btCollisionWorld.ConvexResultCallback resultCallback)
void	convexSweepTest(btConvexShape castShape, btTransform from, btTransform to, btCollisionWorld.ConvexResultCallback resultCallback, double allowedCcdPenetration) convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void	debugDrawObject(btTransform worldTransform, btCollisionShape shape, btVector3 color)
void	debugDrawWorld()
btBroadphaseInterface	getBroadphase()
btCollisionObjectArray	getCollisionObjectArray()
btIDebugDraw	getDebugDrawer()
btDispatcher	getDispatcher()
btDispatcherInfo	getDispatchInfo()
boolean	getForceUpdateAllAabbs()
int	getNumCollisionObjects()
btOverlappingPairCache	getPairCache()
static void	objectQuerySingle(btConvexShape castShape, btTransform rayFromTrans, btTransform rayToTrans, btCollisionObject collisionObject, btCollisionShape collisionShape, btTransform colObjWorldTransform, btCollisionWorld.ConvexResultCallback resultCallback, double allowedPenetration) objectQuerySingle performs a collision detection query and calls the resultCallback.
static void	objectQuerySingleInternal(btConvexShape castShape, btTransform convexFromTrans, btTransform convexToTrans, btCollisionObjectWrapper colObjWrap, btCollisionWorld.ConvexResultCallback resultCallback, double allowedPenetration)
void	performDiscreteCollisionDetection()
void	rayTest(btVector3 rayFromWorld, btVector3 rayToWorld, btCollisionWorld.RayResultCallback resultCallback) rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
static void	rayTestSingle(btTransform rayFromTrans, btTransform rayToTrans, btCollisionObject collisionObject, btCollisionShape collisionShape, btTransform colObjWorldTransform, btCollisionWorld.RayResultCallback resultCallback) rayTestSingle performs a raycast call and calls the resultCallback.
static void	rayTestSingleInternal(btTransform rayFromTrans, btTransform rayToTrans, btCollisionObjectWrapper collisionObjectWrap, btCollisionWorld.RayResultCallback resultCallback)
void	refreshBroadphaseProxy(btCollisionObject collisionObject)
void	removeCollisionObject(btCollisionObject collisionObject)
void	serialize(btSerializer serializer) Preliminary serialization test for Bullet 2.76.
void	setBroadphase(btBroadphaseInterface pairCache)
void	setDebugDrawer(btIDebugDraw debugDrawer)
void	setForceUpdateAllAabbs(boolean forceUpdateAllAabbs)
void	updateAabbs()
void	updateSingleAabb(btCollisionObject colObj)

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

btCollisionWorld

public btCollisionWorld(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btCollisionWorld

public btCollisionWorld(btDispatcher dispatcher,
                        btBroadphaseInterface broadphasePairCache,
                        btCollisionConfiguration collisionConfiguration)

Method Detail

setBroadphase

public void setBroadphase(btBroadphaseInterface pairCache)

getBroadphase

public btBroadphaseInterface getBroadphase()

getPairCache

public btOverlappingPairCache getPairCache()

getDispatcher

public btDispatcher getDispatcher()

updateSingleAabb

public void updateSingleAabb(btCollisionObject colObj)

updateAabbs

public void updateAabbs()

computeOverlappingPairs

public void computeOverlappingPairs()

the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation

setDebugDrawer

public void setDebugDrawer(btIDebugDraw debugDrawer)

getDebugDrawer

public btIDebugDraw getDebugDrawer()

debugDrawWorld

public void debugDrawWorld()

debugDrawObject

public void debugDrawObject(@Const @ByRef
                            btTransform worldTransform,
                            @Const
                            btCollisionShape shape,
                            @Const @ByRef
                            btVector3 color)

getNumCollisionObjects

public int getNumCollisionObjects()

rayTest

public void rayTest(@Const @ByRef
                    btVector3 rayFromWorld,
                    @Const @ByRef
                    btVector3 rayToWorld,
                    @ByRef
                    btCollisionWorld.RayResultCallback resultCallback)

rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.

convexSweepTest

public void convexSweepTest(@Const
                            btConvexShape castShape,
                            @Const @ByRef
                            btTransform from,
                            @Const @ByRef
                            btTransform to,
                            @ByRef
                            btCollisionWorld.ConvexResultCallback resultCallback,
                            @Cast(value="btScalar")
                            double allowedCcdPenetration)

convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.

convexSweepTest

public void convexSweepTest(@Const
                            btConvexShape castShape,
                            @Const @ByRef
                            btTransform from,
                            @Const @ByRef
                            btTransform to,
                            @ByRef
                            btCollisionWorld.ConvexResultCallback resultCallback)

contactTest

public void contactTest(btCollisionObject colObj,
                        @ByRef
                        btCollisionWorld.ContactResultCallback resultCallback)

contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. it reports one or more contact points for every overlapping object (including the one with deepest penetration)

contactPairTest

public void contactPairTest(btCollisionObject colObjA,
                            btCollisionObject colObjB,
                            @ByRef
                            btCollisionWorld.ContactResultCallback resultCallback)

contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. it reports one or more contact points (including the one with deepest penetration)

rayTestSingle

public static void rayTestSingle(@Const @ByRef
                                 btTransform rayFromTrans,
                                 @Const @ByRef
                                 btTransform rayToTrans,
                                 btCollisionObject collisionObject,
                                 @Const
                                 btCollisionShape collisionShape,
                                 @Const @ByRef
                                 btTransform colObjWorldTransform,
                                 @ByRef
                                 btCollisionWorld.RayResultCallback resultCallback)

rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. This allows more customization.

rayTestSingleInternal

public static void rayTestSingleInternal(@Const @ByRef
                                         btTransform rayFromTrans,
                                         @Const @ByRef
                                         btTransform rayToTrans,
                                         @Const
                                         btCollisionObjectWrapper collisionObjectWrap,
                                         @ByRef
                                         btCollisionWorld.RayResultCallback resultCallback)

objectQuerySingle

public static void objectQuerySingle(@Const
                                     btConvexShape castShape,
                                     @Const @ByRef
                                     btTransform rayFromTrans,
                                     @Const @ByRef
                                     btTransform rayToTrans,
                                     btCollisionObject collisionObject,
                                     @Const
                                     btCollisionShape collisionShape,
                                     @Const @ByRef
                                     btTransform colObjWorldTransform,
                                     @ByRef
                                     btCollisionWorld.ConvexResultCallback resultCallback,
                                     @Cast(value="btScalar")
                                     double allowedPenetration)

objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.

objectQuerySingleInternal

public static void objectQuerySingleInternal(@Const
                                             btConvexShape castShape,
                                             @Const @ByRef
                                             btTransform convexFromTrans,
                                             @Const @ByRef
                                             btTransform convexToTrans,
                                             @Const
                                             btCollisionObjectWrapper colObjWrap,
                                             @ByRef
                                             btCollisionWorld.ConvexResultCallback resultCallback,
                                             @Cast(value="btScalar")
                                             double allowedPenetration)

addCollisionObject

public void addCollisionObject(btCollisionObject collisionObject,
                               int collisionFilterGroup,
                               int collisionFilterMask)

addCollisionObject

public void addCollisionObject(btCollisionObject collisionObject)

refreshBroadphaseProxy

public void refreshBroadphaseProxy(btCollisionObject collisionObject)

getCollisionObjectArray

@ByRef
public btCollisionObjectArray getCollisionObjectArray()

removeCollisionObject

public void removeCollisionObject(btCollisionObject collisionObject)

performDiscreteCollisionDetection

public void performDiscreteCollisionDetection()

getDispatchInfo

@ByRef
public btDispatcherInfo getDispatchInfo()

getForceUpdateAllAabbs

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

setForceUpdateAllAabbs

public void setForceUpdateAllAabbs(@Cast(value="bool")
                                   boolean forceUpdateAllAabbs)

serialize

public void serialize(btSerializer serializer)

Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)