org.bytedeco.bullet.BulletCollision

Class btCompoundShape

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletCollision.btCollisionShape

org.bytedeco.bullet.BulletCollision.btCompoundShape

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

btCompoundFromGimpactShape

@NoOffset
 @Properties(inherit=BulletCollision.class)
public class btCompoundShape
extends btCollisionShape

The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape. It has an (optional) dynamic aabb tree to accelerate early rejection tests. \todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25 Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)

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
btCompoundShape()
btCompoundShape(boolean enableDynamicAabbTree, int initialChildCapacity)
btCompoundShape(long size) Native array allocator.
btCompoundShape(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	addChildShape(btTransform localTransform, btCollisionShape shape)
void	calculateLocalInertia(double mass, btVector3 inertia)
void	calculatePrincipalAxisTransform(double[] masses, btTransform principal, btVector3 inertia)
void	calculatePrincipalAxisTransform(DoubleBuffer masses, btTransform principal, btVector3 inertia)
void	calculatePrincipalAxisTransform(DoublePointer masses, btTransform principal, btVector3 inertia) computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system.
int	calculateSerializeBufferSize()
void	createAabbTreeFromChildren()
void	getAabb(btTransform t, btVector3 aabbMin, btVector3 aabbMax) getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
btCompoundShapeChild	getChildList()
btCollisionShape	getChildShape(int index)
btTransform	getChildTransform(int index)
btDbvt	getDynamicAabbTree()
btVector3	getLocalScaling()
double	getMargin()
BytePointer	getName()
int	getNumChildShapes()
btCompoundShape	getPointer(long i)
int	getUpdateRevision()
btCompoundShape	position(long position)
void	recalculateLocalAabb() Re-calculate the local Aabb.
void	removeChildShape(btCollisionShape shape) Remove all children shapes that contain the specified shape
void	removeChildShapeByIndex(int childShapeindex)
BytePointer	serialize(Pointer dataBuffer, btSerializer serializer) fills the dataBuffer and returns the struct name (and 0 on failure)
void	setLocalScaling(btVector3 scaling)
void	setMargin(double margin)
void	updateChildTransform(int childIndex, btTransform newChildTransform)
void	updateChildTransform(int childIndex, btTransform newChildTransform, boolean shouldRecalculateLocalAabb) set a new transform for a child, and update internal data structures (local aabb and dynamic tree)

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, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, 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

btCompoundShape

public btCompoundShape(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btCompoundShape

public btCompoundShape(long size)

Native array allocator. Access with Pointer.position(long).

btCompoundShape

public btCompoundShape(@Cast(value="bool")
                       boolean enableDynamicAabbTree,
                       int initialChildCapacity)

btCompoundShape

public btCompoundShape()

Method Detail

position

public btCompoundShape position(long position)

Overrides:

position in class Pointer

getPointer

public btCompoundShape getPointer(long i)

Overrides:

getPointer in class Pointer

addChildShape

public void addChildShape(@Const @ByRef
                          btTransform localTransform,
                          btCollisionShape shape)

removeChildShape

public void removeChildShape(btCollisionShape shape)

Remove all children shapes that contain the specified shape

removeChildShapeByIndex

public void removeChildShapeByIndex(int childShapeindex)

getNumChildShapes

public int getNumChildShapes()

getChildShape

public btCollisionShape getChildShape(int index)

getChildTransform

@ByRef
public btTransform getChildTransform(int index)

updateChildTransform

public void updateChildTransform(int childIndex,
                                 @Const @ByRef
                                 btTransform newChildTransform,
                                 @Cast(value="bool")
                                 boolean shouldRecalculateLocalAabb)

set a new transform for a child, and update internal data structures (local aabb and dynamic tree)

updateChildTransform

public void updateChildTransform(int childIndex,
                                 @Const @ByRef
                                 btTransform newChildTransform)

getChildList

public btCompoundShapeChild getChildList()

getAabb

public void getAabb(@Const @ByRef
                    btTransform t,
                    @ByRef
                    btVector3 aabbMin,
                    @ByRef
                    btVector3 aabbMax)

getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version

Overrides:

getAabb in class btCollisionShape

recalculateLocalAabb

public void recalculateLocalAabb()

Re-calculate the local Aabb. Is called at the end of removeChildShapes. Use this yourself if you modify the children or their transforms.

setLocalScaling

public void setLocalScaling(@Const @ByRef
                            btVector3 scaling)

Overrides:

setLocalScaling in class btCollisionShape

getLocalScaling

@Const
 @ByRef
public btVector3 getLocalScaling()

Overrides:

getLocalScaling in class btCollisionShape

calculateLocalInertia

public void calculateLocalInertia(@Cast(value="btScalar")
                                  double mass,
                                  @ByRef
                                  btVector3 inertia)

Overrides:

calculateLocalInertia in class btCollisionShape

setMargin

public void setMargin(@Cast(value="btScalar")
                      double margin)

Overrides:

setMargin in class btCollisionShape

getMargin

@Cast(value="btScalar")
public double getMargin()

Overrides:

getMargin in class btCollisionShape

getName

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

Overrides:

getName in class btCollisionShape

getDynamicAabbTree

public btDbvt getDynamicAabbTree()

createAabbTreeFromChildren

public void createAabbTreeFromChildren()

calculatePrincipalAxisTransform

public void calculatePrincipalAxisTransform(@Cast(value="const btScalar*")
                                            DoublePointer masses,
                                            @ByRef
                                            btTransform principal,
                                            @ByRef
                                            btVector3 inertia)

computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform "principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform of the collision object by the principal transform.

calculatePrincipalAxisTransform

public void calculatePrincipalAxisTransform(@Cast(value="const btScalar*")
                                            DoubleBuffer masses,
                                            @ByRef
                                            btTransform principal,
                                            @ByRef
                                            btVector3 inertia)

calculatePrincipalAxisTransform

public void calculatePrincipalAxisTransform(@Cast(value="const btScalar*")
                                            double[] masses,
                                            @ByRef
                                            btTransform principal,
                                            @ByRef
                                            btVector3 inertia)

getUpdateRevision

public int getUpdateRevision()

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