org.bytedeco.bullet.BulletDynamics

Class btMultiBodyDynamicsWorld

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletCollision.btCollisionWorld

org.bytedeco.bullet.BulletDynamics.btDynamicsWorld

org.bytedeco.bullet.BulletDynamics.btDiscreteDynamicsWorld

org.bytedeco.bullet.BulletDynamics.btMultiBodyDynamicsWorld

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btMultiBodyDynamicsWorld
extends btDiscreteDynamicsWorld

The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is still preliminary/experimental.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.bullet.BulletCollision.btCollisionWorld

btCollisionWorld.AllHitsRayResultCallback, btCollisionWorld.ClosestConvexResultCallback, btCollisionWorld.ClosestRayResultCallback, btCollisionWorld.ContactResultCallback, btCollisionWorld.ConvexResultCallback, btCollisionWorld.LocalConvexResult, btCollisionWorld.LocalRayResult, btCollisionWorld.LocalShapeInfo, btCollisionWorld.RayResultCallback

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
btMultiBodyDynamicsWorld(btDispatcher dispatcher, btBroadphaseInterface pairCache, btMultiBodyConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)
btMultiBodyDynamicsWorld(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	addMultiBody(btMultiBody body)
void	addMultiBody(btMultiBody body, int group, int mask)
void	addMultiBodyConstraint(btMultiBodyConstraint constraint)
void	applyGravity() apply gravity, call this once per timestep
void	buildIslands()
void	clearForces() the forces on each rigidbody is accumulating together with gravity.
void	clearMultiBodyConstraintForces()
void	clearMultiBodyForces()
void	debugDrawMultiBodyConstraint(btMultiBodyConstraint constraint)
void	debugDrawWorld()
void	forwardKinematics()
void	getAnalyticsData(btSolverAnalyticsDataArray m_islandAnalyticsData)
btMultiBody	getMultiBody(int mbIndex)
btMultiBodyConstraint	getMultiBodyConstraint(int constraintIndex)
int	getNumMultibodies()
int	getNumMultiBodyConstraints()
void	integrateMultiBodyTransforms(double timeStep)
void	integrateTransforms(double timeStep)
void	predictMultiBodyTransforms(double timeStep)
void	predictUnconstraintMotion(double timeStep)
void	removeMultiBody(btMultiBody body)
void	removeMultiBodyConstraint(btMultiBodyConstraint constraint)
void	saveKinematicState(double timeStep)
void	serialize(btSerializer serializer) Preliminary serialization test for Bullet 2.76.
void	setConstraintSolver(btConstraintSolver solver)
void	setMultiBodyConstraintSolver(btMultiBodyConstraintSolver solver)
void	solveConstraints(btContactSolverInfo solverInfo)
void	solveExternalForces(btContactSolverInfo solverInfo)
void	solveInternalConstraints(btContactSolverInfo solverInfo)

Methods inherited from class org.bytedeco.bullet.BulletDynamics.btDiscreteDynamicsWorld

addAction, addCharacter, addCollisionObject, addCollisionObject, addConstraint, addConstraint, addRigidBody, addRigidBody, addVehicle, debugDrawConstraint, getApplySpeculativeContactRestitution, getCollisionWorld, getConstraint, getConstraintSolver, getGravity, getLatencyMotionStateInterpolation, getNonStaticRigidBodies, getNumConstraints, getSimulationIslandManager, getSynchronizeAllMotionStates, getWorldType, removeAction, removeCharacter, removeCollisionObject, removeConstraint, removeRigidBody, removeVehicle, setApplySpeculativeContactRestitution, setGravity, setLatencyMotionStateInterpolation, setNumTasks, setSynchronizeAllMotionStates, stepSimulation, stepSimulation, synchronizeMotionStates, synchronizeSingleMotionState, updateVehicles

Methods inherited from class org.bytedeco.bullet.BulletDynamics.btDynamicsWorld

getSolverInfo, getWorldUserInfo, setInternalTickCallback, setInternalTickCallback, setWorldUserInfo

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

computeOverlappingPairs, contactPairTest, contactTest, convexSweepTest, convexSweepTest, debugDrawObject, getBroadphase, getCollisionObjectArray, getDebugDrawer, getDispatcher, getDispatchInfo, getForceUpdateAllAabbs, getNumCollisionObjects, getPairCache, objectQuerySingle, objectQuerySingleInternal, performDiscreteCollisionDetection, rayTest, rayTestSingle, rayTestSingleInternal, refreshBroadphaseProxy, setBroadphase, setDebugDrawer, setForceUpdateAllAabbs, updateAabbs, updateSingleAabb

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

btMultiBodyDynamicsWorld

public btMultiBodyDynamicsWorld(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btMultiBodyDynamicsWorld

public btMultiBodyDynamicsWorld(btDispatcher dispatcher,
                                btBroadphaseInterface pairCache,
                                btMultiBodyConstraintSolver constraintSolver,
                                btCollisionConfiguration collisionConfiguration)

Method Detail

solveConstraints

public void solveConstraints(@ByRef
                             btContactSolverInfo solverInfo)

Overrides:

solveConstraints in class btDiscreteDynamicsWorld

addMultiBody

public void addMultiBody(btMultiBody body,
                         int group,
                         int mask)

addMultiBody

public void addMultiBody(btMultiBody body)

removeMultiBody

public void removeMultiBody(btMultiBody body)

getNumMultibodies

public int getNumMultibodies()

getMultiBody

public btMultiBody getMultiBody(int mbIndex)

addMultiBodyConstraint

public void addMultiBodyConstraint(btMultiBodyConstraint constraint)

getNumMultiBodyConstraints

public int getNumMultiBodyConstraints()

getMultiBodyConstraint

public btMultiBodyConstraint getMultiBodyConstraint(int constraintIndex)

removeMultiBodyConstraint

public void removeMultiBodyConstraint(btMultiBodyConstraint constraint)

integrateTransforms

public void integrateTransforms(@Cast(value="btScalar")
                                double timeStep)

integrateMultiBodyTransforms

public void integrateMultiBodyTransforms(@Cast(value="btScalar")
                                         double timeStep)

predictMultiBodyTransforms

public void predictMultiBodyTransforms(@Cast(value="btScalar")
                                       double timeStep)

predictUnconstraintMotion

public void predictUnconstraintMotion(@Cast(value="btScalar")
                                      double timeStep)

debugDrawWorld

public void debugDrawWorld()

Overrides:

debugDrawWorld in class btDiscreteDynamicsWorld

debugDrawMultiBodyConstraint

public void debugDrawMultiBodyConstraint(btMultiBodyConstraint constraint)

forwardKinematics

public void forwardKinematics()

clearForces

public void clearForces()

Description copied from class: btDiscreteDynamicsWorld

the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.

Overrides:

clearForces in class btDiscreteDynamicsWorld

clearMultiBodyConstraintForces

public void clearMultiBodyConstraintForces()

clearMultiBodyForces

public void clearMultiBodyForces()

applyGravity

public void applyGravity()

Description copied from class: btDiscreteDynamicsWorld

apply gravity, call this once per timestep

Overrides:

applyGravity in class btDiscreteDynamicsWorld

serialize

public void serialize(btSerializer serializer)

Description copied from class: btDiscreteDynamicsWorld

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

Overrides:

serialize in class btDiscreteDynamicsWorld

setMultiBodyConstraintSolver

public void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver solver)

setConstraintSolver

public void setConstraintSolver(btConstraintSolver solver)

Overrides:

setConstraintSolver in class btDiscreteDynamicsWorld

getAnalyticsData

public void getAnalyticsData(@ByRef
                             btSolverAnalyticsDataArray m_islandAnalyticsData)

solveExternalForces

public void solveExternalForces(@ByRef
                                btContactSolverInfo solverInfo)

solveInternalConstraints

public void solveInternalConstraints(@ByRef
                                     btContactSolverInfo solverInfo)

buildIslands

public void buildIslands()

saveKinematicState

public void saveKinematicState(@Cast(value="btScalar")
                               double timeStep)