org.bytedeco.bullet.BulletCollision

Class btPersistentManifold

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.LinearMath.btTypedObject

org.bytedeco.bullet.BulletCollision.btPersistentManifold

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=BulletCollision.class)
public class btPersistentManifold
extends btTypedObject

btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. Those contact points are created by the collision narrow phase. The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time. updates/refreshes old contact points, and throw them away if necessary (distance becomes too large) reduces the cache to 4 points, when more then 4 points are added, using following rules: the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points note that some pairs of objects might have more then one contact manifold.

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
btPersistentManifold()
btPersistentManifold(btCollisionObject body0, btCollisionObject body1, int arg2, double contactBreakingThreshold, double contactProcessingThreshold)
btPersistentManifold(long size) Native array allocator.
btPersistentManifold(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
int	addManifoldPoint(btManifoldPoint newPoint)
int	addManifoldPoint(btManifoldPoint newPoint, boolean isPredictive)
int	calculateSerializeBufferSize()
void	clearManifold()
void	clearUserCache(btManifoldPoint pt)
void	deSerialize(btPersistentManifoldDoubleData manifoldDataPtr)
void	deSerialize(btPersistentManifoldFloatData manifoldDataPtr)
btCollisionObject	getBody0()
btCollisionObject	getBody1()
int	getCacheEntry(btManifoldPoint newPoint)
double	getContactBreakingThreshold() \todo: get this margin from the current physics / collision environment
btManifoldPoint	getContactPoint(int index)
double	getContactProcessingThreshold()
int	getNumContacts()
btPersistentManifold	getPointer(long i)
int	m_companionIdA()
btPersistentManifold	m_companionIdA(int setter)
int	m_companionIdB()
btPersistentManifold	m_companionIdB(int setter)
int	m_index1a()
btPersistentManifold	m_index1a(int setter)
btPersistentManifold	position(long position)
void	refreshContactPoints(btTransform trA, btTransform trB) calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
void	removeContactPoint(int index)
void	replaceContactPoint(btManifoldPoint newPoint, int insertIndex)
BytePointer	serialize(btPersistentManifold manifold, Pointer dataBuffer, btSerializer serializer)
void	setBodies(btCollisionObject body0, btCollisionObject body1)
void	setContactBreakingThreshold(double contactBreakingThreshold)
void	setContactProcessingThreshold(double contactProcessingThreshold)
void	setNumContacts(int cachedPoints) the setNumContacts API is usually not used, except when you gather/fill all contacts manually
boolean	validContactDistance(btManifoldPoint pt)

Methods inherited from class org.bytedeco.bullet.LinearMath.btTypedObject

getObjectType, m_objectType, m_objectType

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

btPersistentManifold

public btPersistentManifold(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btPersistentManifold

public btPersistentManifold(long size)

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

btPersistentManifold

public btPersistentManifold()

btPersistentManifold

public btPersistentManifold(@Const
                            btCollisionObject body0,
                            @Const
                            btCollisionObject body1,
                            int arg2,
                            @Cast(value="btScalar")
                            double contactBreakingThreshold,
                            @Cast(value="btScalar")
                            double contactProcessingThreshold)

Method Detail

position

public btPersistentManifold position(long position)

Overrides:

position in class Pointer

getPointer

public btPersistentManifold getPointer(long i)

Overrides:

getPointer in class Pointer

m_companionIdA

public int m_companionIdA()

m_companionIdA

public btPersistentManifold m_companionIdA(int setter)

m_companionIdB

public int m_companionIdB()

m_companionIdB

public btPersistentManifold m_companionIdB(int setter)

m_index1a

public int m_index1a()

m_index1a

public btPersistentManifold m_index1a(int setter)

getBody0

@Const
public btCollisionObject getBody0()

getBody1

@Const
public btCollisionObject getBody1()

setBodies

public void setBodies(@Const
                      btCollisionObject body0,
                      @Const
                      btCollisionObject body1)

clearUserCache

public void clearUserCache(@ByRef
                           btManifoldPoint pt)

getNumContacts

public int getNumContacts()

setNumContacts

public void setNumContacts(int cachedPoints)

the setNumContacts API is usually not used, except when you gather/fill all contacts manually

getContactPoint

@ByRef
public btManifoldPoint getContactPoint(int index)

getContactBreakingThreshold

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

\todo: get this margin from the current physics / collision environment

getContactProcessingThreshold

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

setContactBreakingThreshold

public void setContactBreakingThreshold(@Cast(value="btScalar")
                                        double contactBreakingThreshold)

setContactProcessingThreshold

public void setContactProcessingThreshold(@Cast(value="btScalar")
                                          double contactProcessingThreshold)

getCacheEntry

public int getCacheEntry(@Const @ByRef
                         btManifoldPoint newPoint)

addManifoldPoint

public int addManifoldPoint(@Const @ByRef
                            btManifoldPoint newPoint,
                            @Cast(value="bool")
                            boolean isPredictive)

addManifoldPoint

public int addManifoldPoint(@Const @ByRef
                            btManifoldPoint newPoint)

removeContactPoint

public void removeContactPoint(int index)

replaceContactPoint

public void replaceContactPoint(@Const @ByRef
                                btManifoldPoint newPoint,
                                int insertIndex)

validContactDistance

@Cast(value="bool")
public boolean validContactDistance(@Const @ByRef
                                                        btManifoldPoint pt)

refreshContactPoints

public void refreshContactPoints(@Const @ByRef
                                 btTransform trA,
                                 @Const @ByRef
                                 btTransform trB)

calculated new worldspace coordinates and depth, and reject points that exceed the collision margin

clearManifold

public void clearManifold()

calculateSerializeBufferSize

public int calculateSerializeBufferSize()

serialize

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

deSerialize

public void deSerialize(@Const
                        btPersistentManifoldDoubleData manifoldDataPtr)

deSerialize

public void deSerialize(@Const
                        btPersistentManifoldFloatData manifoldDataPtr)