Bullet3Collision (JavaCPP Presets for Bullet Physics SDK 3.25-1.5.10 API)

java.lang.Object
- org.bytedeco.bullet.presets.Bullet3Collision
- - org.bytedeco.bullet.global.Bullet3Collision

All Implemented Interfaces:: InfoMapper

public class Bullet3Collision
extends Bullet3Collision

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`B3_DBVT_BP_ACCURATESLEEPING`
`static int`	`B3_DBVT_BP_ENABLE_BENCHMARK`
`static double`	`B3_DBVT_BP_MARGIN`
`static int`	`B3_DBVT_BP_PREVENTFALSEUPDATE` b3DynamicBvhBroadphase implementation by Nathanael Presson
`static int`	`B3_DBVT_ENABLE_BENCHMARK`
`static int`	`B3_DBVT_IMPL_GENERIC` b3DynamicBvh implementation by Nathanael Presson
`static int`	`B3_DBVT_IMPL_SSE`
`static int`	`B3_DBVT_INT0_IMPL`
`static int`	`B3_DBVT_MERGE_IMPL`
`static int`	`B3_DBVT_SELECT_IMPL`
`static int`	`B3_DBVT_USE_INTRINSIC_SSE`
`static int`	`B3_DBVT_USE_MEMMOVE`
`static int`	`B3_MAX_NUM_PARTS_IN_BITS`
`static int`	`B3_MAX_VERTS`
`static int`	`B3_MPR_MAX_ITERATIONS`
`static double`	`B3_MPR_TOLERANCE` --------------------------------- Copyright (c)2012 Daniel Fiser This file was ported from mpr.c file, part of libccd.
`static int`	`B3_NEW_PAIR_MARKER`
`static int`	`B3_REMOVED_PAIR_MARKER`
`static int`	`B3_USE_PLACEMENT_NEW` If the platform doesn't support placement new, you can disable B3_USE_PLACEMENT_NEW then the b3AlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors You can enable B3_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator= see discussion here: https://bulletphysics.orgphpBB2/viewtopic.php?t=1231 and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240
`static int`	`MAX_NUM_SHAPE_TYPES` enum b3ShapeTypes
`static int`	`SHAPE_COMPOUND_OF_CONVEX_HULLS` enum b3ShapeTypes
`static int`	`SHAPE_CONCAVE_TRIMESH` enum b3ShapeTypes
`static int`	`SHAPE_CONVEX_HULL` enum b3ShapeTypes
`static int`	`SHAPE_HEIGHT_FIELD` enum b3ShapeTypes
`static int`	`SHAPE_PLANE` enum b3ShapeTypes
`static int`	`SHAPE_SPHERE` enum b3ShapeTypes

Constructor Summary

Constructors
Constructor and Description

Bullet3Collision()

Constructors
Constructor and Description
`Bullet3Collision()`

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method and Description
`static float`	`_b3MprVec3PointSegmentDist2(b3Vector3 P, b3Vector3 x0, b3Vector3 b, b3Vector3 witness)`
`static int`	`B3_NULL_PAIR()`
`static int`	`b3ClipFace(b3Vector3 pVtxIn, int numVertsIn, b3Vector3 planeNormalWS, float planeEqWS, b3Vector3 ppVtxOut)`
`static int`	`b3ClipFaceAgainstHull(b3Vector3 separatingNormal, b3ConvexPolyhedronData hullA, b3Vector3 posA, b3Quaternion ornA, b3Vector3 worldVertsB1, int numWorldVertsB1, b3Vector3 worldVertsB2, int capacityWorldVertsB2, float minDist, float maxDist, b3Vector3Array verticesA, b3GpuFaceArray facesA, b3IntArray indicesA, b3Vector3 contactsOut, int contactCapacity)`
`static int`	`b3ClipHullAgainstHull(b3Vector3 separatingNormal, b3ConvexPolyhedronData hullA, b3ConvexPolyhedronData hullB, b3Vector3 posA, b3Quaternion ornA, b3Vector3 posB, b3Quaternion ornB, b3Vector3 worldVertsB1, b3Vector3 worldVertsB2, int capacityWorldVerts, float minDist, float maxDist, b3Vector3Array verticesA, b3GpuFaceArray facesA, b3IntArray indicesA, b3Vector3Array verticesB, b3GpuFaceArray facesB, b3IntArray indicesB, b3Vector3 contactsOut, int contactCapacity)`
`static int`	b3ClipHullHullSingle(int bodyIndexA, int bodyIndexB, b3Vector3 posA, b3Quaternion ornA, b3Vector3 posB, b3Quaternion ornB, int collidableIndexA, int collidableIndexB, b3RigidBodyDataArray bodyBuf, b3Contact4DataArray globalContactOut, int[] nContacts, b3ConvexPolyhedronDataArray hostConvexDataA, b3ConvexPolyhedronDataArray hostConvexDataB, b3Vector3Array verticesA, b3Vector3Array uniqueEdgesA, b3GpuFaceArray facesA, b3IntArray indicesA, b3Vector3Array verticesB, b3Vector3Array uniqueEdgesB, b3GpuFaceArray facesB, b3IntArray indicesB, b3CollidableArray hostCollidablesA, b3CollidableArray hostCollidablesB, b3Vector3 sepNormalWorldSpace, int maxContactCapacity)
`static int`	b3ClipHullHullSingle(int bodyIndexA, int bodyIndexB, b3Vector3 posA, b3Quaternion ornA, b3Vector3 posB, b3Quaternion ornB, int collidableIndexA, int collidableIndexB, b3RigidBodyDataArray bodyBuf, b3Contact4DataArray globalContactOut, IntBuffer nContacts, b3ConvexPolyhedronDataArray hostConvexDataA, b3ConvexPolyhedronDataArray hostConvexDataB, b3Vector3Array verticesA, b3Vector3Array uniqueEdgesA, b3GpuFaceArray facesA, b3IntArray indicesA, b3Vector3Array verticesB, b3Vector3Array uniqueEdgesB, b3GpuFaceArray facesB, b3IntArray indicesB, b3CollidableArray hostCollidablesA, b3CollidableArray hostCollidablesB, b3Vector3 sepNormalWorldSpace, int maxContactCapacity)
`static int`	b3ClipHullHullSingle(int bodyIndexA, int bodyIndexB, b3Vector3 posA, b3Quaternion ornA, b3Vector3 posB, b3Quaternion ornB, int collidableIndexA, int collidableIndexB, b3RigidBodyDataArray bodyBuf, b3Contact4DataArray globalContactOut, IntPointer nContacts, b3ConvexPolyhedronDataArray hostConvexDataA, b3ConvexPolyhedronDataArray hostConvexDataB, b3Vector3Array verticesA, b3Vector3Array uniqueEdgesA, b3GpuFaceArray facesA, b3IntArray indicesA, b3Vector3Array verticesB, b3Vector3Array uniqueEdgesB, b3GpuFaceArray facesB, b3IntArray indicesB, b3CollidableArray hostCollidablesA, b3CollidableArray hostCollidablesB, b3Vector3 sepNormalWorldSpace, int maxContactCapacity)
`static int`	`b3Contact4Data_getNumPoints(b3Contact4Data contact)`
`static void`	`b3Contact4Data_setNumPoints(b3Contact4Data contact, int numPoints)`
`static int`	`b3ContactConvexConvexSAT(int pairIndex, int bodyIndexA, int bodyIndexB, int collidableIndexA, int collidableIndexB, b3RigidBodyDataArray rigidBodies, b3CollidableArray collidables, b3ConvexPolyhedronDataArray convexShapes, b3Vector3Array convexVertices, b3Vector3Array uniqueEdges, b3IntArray convexIndices, b3GpuFaceArray faces, b3Contact4DataArray globalContactsOut, int[] nGlobalContactsOut, int maxContactCapacity)`
`static int`	`b3ContactConvexConvexSAT(int pairIndex, int bodyIndexA, int bodyIndexB, int collidableIndexA, int collidableIndexB, b3RigidBodyDataArray rigidBodies, b3CollidableArray collidables, b3ConvexPolyhedronDataArray convexShapes, b3Vector3Array convexVertices, b3Vector3Array uniqueEdges, b3IntArray convexIndices, b3GpuFaceArray faces, b3Contact4DataArray globalContactsOut, IntBuffer nGlobalContactsOut, int maxContactCapacity)`
`static int`	`b3ContactConvexConvexSAT(int pairIndex, int bodyIndexA, int bodyIndexB, int collidableIndexA, int collidableIndexB, b3RigidBodyDataArray rigidBodies, b3CollidableArray collidables, b3ConvexPolyhedronDataArray convexShapes, b3Vector3Array convexVertices, b3Vector3Array uniqueEdges, b3IntArray convexIndices, b3GpuFaceArray faces, b3Contact4DataArray globalContactsOut, IntPointer nGlobalContactsOut, int maxContactCapacity)`
`static int`	`b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, int[] hasSepAxis, b3MprSimplex_t portal)`
`static int`	`b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, IntBuffer hasSepAxis, b3MprSimplex_t portal)`
`static int`	`b3DiscoverPortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, IntPointer hasSepAxis, b3MprSimplex_t portal)`
`static void`	`b3ExpandPortal(b3MprSimplex_t portal, b3MprSupport_t v4)`
`static void`	`b3FindOrigin(int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3MprSupport_t center)`
`static void`	`b3FindPenetr(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, b3MprSimplex_t portal, float[] depth, b3Vector3 pdir, b3Vector3 pos)`
`static void`	`b3FindPenetr(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, b3MprSimplex_t portal, FloatBuffer depth, b3Vector3 pdir, b3Vector3 pos)`
`static void`	`b3FindPenetr(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, b3MprSimplex_t portal, FloatPointer depth, b3Vector3 pdir, b3Vector3 pos)`
`static void`	`b3FindPenetrSegment(b3MprSimplex_t portal, float[] depth, b3Vector3 dir, b3Vector3 pos)`
`static void`	`b3FindPenetrSegment(b3MprSimplex_t portal, FloatBuffer depth, b3Vector3 dir, b3Vector3 pos)`
`static void`	`b3FindPenetrSegment(b3MprSimplex_t portal, FloatPointer depth, b3Vector3 dir, b3Vector3 pos)`
`static void`	`b3FindPenetrTouch(b3MprSimplex_t portal, float[] depth, b3Vector3 dir, b3Vector3 pos)`
`static void`	`b3FindPenetrTouch(b3MprSimplex_t portal, FloatBuffer depth, b3Vector3 dir, b3Vector3 pos)`
`static void`	`b3FindPenetrTouch(b3MprSimplex_t portal, FloatPointer depth, b3Vector3 dir, b3Vector3 pos)`
`static void`	`b3FindPos(b3MprSimplex_t portal, b3Vector3 pos)`
`static boolean`	`b3FindSeparatingAxis(b3ConvexPolyhedronData hullA, b3ConvexPolyhedronData hullB, b3Vector3 posA1, b3Quaternion ornA, b3Vector3 posB1, b3Quaternion ornB, b3Vector3Array verticesA, b3Vector3Array uniqueEdgesA, b3GpuFaceArray facesA, b3IntArray indicesA, b3Vector3Array verticesB, b3Vector3Array uniqueEdgesB, b3GpuFaceArray facesB, b3IntArray indicesB, b3Vector3 sep)`
`static int`	`b3g_addedPairs()`
`static void`	`b3g_addedPairs(int setter)`
`static int`	`b3g_findPairs()`
`static void`	`b3g_findPairs(int setter)`
`static int`	`b3g_removePairs()`
`static void`	`b3g_removePairs(int setter)`
`static int`	`b3GetEscapeIndex(b3QuantizedBvhNodeData rootNode)`
`static float`	`b3GetInvMass(b3RigidBodyData body)`
`static int`	`b3GetTriangleIndex(b3QuantizedBvhNodeData rootNode)`
`static boolean`	`b3Intersect(b3DbvtAabbMm a, b3DbvtAabbMm b)`
`static boolean`	`b3Intersect(b3DbvtAabbMm a, b3Vector3 b)`
`static int`	`b3IsLeaf(b3QuantizedBvhNodeData rootNode)`
`static b3Vector3`	`b3Lerp3(b3Vector3 a, b3Vector3 b, float t)`
`static b3Vector3`	`b3LocalGetSupportVertex(b3Vector3 supportVec, b3ConvexPolyhedronData hull, b3Vector3 verticesA)`
`static b3Int4`	`b3MakeBroadphasePair(int xx, int yy)`
`static void`	`b3Merge(b3DbvtAabbMm a, b3DbvtAabbMm b, b3DbvtAabbMm r)`
`static void`	`b3MprConvexSupport(int pairIndex, int bodyIndex, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, b3Vector3 _dir, b3Vector3 outp, int logme)`
`static int`	`b3MprEq(float _a, float _b)`
`static int`	`b3MprIsZero(float val)`
`static int`	`b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, int[] hasSepAxis, float[] depthOut, b3Vector3 dirOut, b3Vector3 posOut)`
`static int`	`b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, IntBuffer hasSepAxis, FloatBuffer depthOut, b3Vector3 dirOut, b3Vector3 posOut)`
`static int`	`b3MprPenetration(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, IntPointer hasSepAxis, FloatPointer depthOut, b3Vector3 dirOut, b3Vector3 posOut)`
`static b3MprSupport_t`	`b3MprSimplexPoint(b3MprSimplex_t s, int idx)`
`static b3MprSupport_t`	`b3MprSimplexPointW(b3MprSimplex_t s, int idx)`
`static void`	`b3MprSimplexSet(b3MprSimplex_t s, long pos, b3MprSupport_t a)`
`static void`	`b3MprSimplexSetSize(b3MprSimplex_t s, int size)`
`static int`	`b3MprSimplexSize(b3MprSimplex_t s)`
`static void`	`b3MprSimplexSwap(b3MprSimplex_t s, long pos1, long pos2)`
`static void`	`b3MprSupport(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, b3Vector3 _dir, b3MprSupport_t supp)`
`static void`	`b3MprSupportCopy(b3MprSupport_t d, b3MprSupport_t s)`
`static void`	`b3MprVec3Add(b3Vector3 v, b3Vector3 w)`
`static void`	`b3MprVec3Copy(b3Vector3 v, b3Vector3 w)`
`static void`	`b3MprVec3Cross(b3Vector3 d, b3Vector3 a, b3Vector3 b)`
`static float`	`b3MprVec3Dist2(b3Vector3 a, b3Vector3 b)`
`static float`	`b3MprVec3Dot(b3Vector3 a, b3Vector3 b)`
`static int`	`b3MprVec3Eq(b3Vector3 a, b3Vector3 b)`
`static float`	`b3MprVec3Len2(b3Vector3 v)`
`static void`	`b3MprVec3Normalize(b3Vector3 d)`
`static float`	`b3MprVec3PointTriDist2(b3Vector3 P, b3Vector3 x0, b3Vector3 B, b3Vector3 C, b3Vector3 witness)`
`static void`	`b3MprVec3Scale(b3Vector3 d, float k)`
`static void`	`b3MprVec3Set(b3Vector3 v, float x, float y, float z)`
`static void`	`b3MprVec3Sub2(b3Vector3 d, b3Vector3 v, b3Vector3 w)`
`static boolean`	`b3NotEqual(b3DbvtAabbMm a, b3DbvtAabbMm b)`
`static void`	`b3PortalDir(b3MprSimplex_t portal, b3Vector3 dir)`
`static void`	`b3ProjectAxis(b3ConvexPolyhedronData hull, b3Vector3 pos, b3Quaternion orn, b3Vector3 dir, b3Vector3Array vertices, float[] min, float[] max)`
`static void`	`b3ProjectAxis(b3ConvexPolyhedronData hull, b3Vector3 pos, b3Quaternion orn, b3Vector3 dir, b3Vector3Array vertices, FloatBuffer min, FloatBuffer max)`
`static void`	`b3ProjectAxis(b3ConvexPolyhedronData hull, b3Vector3 pos, b3Quaternion orn, b3Vector3 dir, b3Vector3Array vertices, FloatPointer min, FloatPointer max)`
`static float`	`b3Proximity(b3DbvtAabbMm a, b3DbvtAabbMm b)`
`static void`	`b3QuantizeWithClamp(short[] out, b3Vector3 point2, int isMax, b3Vector3 bvhAabbMin, b3Vector3 bvhAabbMax, b3Vector3 bvhQuantization)`
`static void`	`b3QuantizeWithClamp(ShortBuffer out, b3Vector3 point2, int isMax, b3Vector3 bvhAabbMin, b3Vector3 bvhAabbMax, b3Vector3 bvhQuantization)`
`static void`	`b3QuantizeWithClamp(ShortPointer out, b3Vector3 point2, int isMax, b3Vector3 bvhAabbMin, b3Vector3 bvhAabbMax, b3Vector3 bvhQuantization)`
`static int`	`b3ReduceContacts(b3Vector3 p, int nPoints, b3Vector3 nearNormal, b3Int4 contactIdx)`
`static int`	`b3RefinePortal(int pairIndex, int bodyIndexA, int bodyIndexB, b3RigidBodyData cpuBodyBuf, b3ConvexPolyhedronData cpuConvexData, b3Collidable cpuCollidables, b3Vector3 cpuVertices, b3Vector3 sepAxis, b3MprSimplex_t portal)`
`static int`	`b3Select(b3DbvtAabbMm o, b3DbvtAabbMm a, b3DbvtAabbMm b)`
`static boolean`	`b3TestAabbAgainstAabb(b3Vector3 aabbMin1, b3Vector3 aabbMax1, b3Vector3 aabbMin2, b3Vector3 aabbMax2)` conservative test for overlap between two aabbs
`static int`	`b3TestQuantizedAabbAgainstQuantizedAabbSlow(short[] aabbMin1, short[] aabbMax1, short[] aabbMin2, short[] aabbMax2)`
`static int`	`b3TestQuantizedAabbAgainstQuantizedAabbSlow(ShortBuffer aabbMin1, ShortBuffer aabbMax1, ShortBuffer aabbMin2, ShortBuffer aabbMax2)`
`static int`	`b3TestQuantizedAabbAgainstQuantizedAabbSlow(ShortPointer aabbMin1, ShortPointer aabbMax1, ShortPointer aabbMin2, ShortPointer aabbMax2)`
`static boolean`	`b3TestSepAxis(b3ConvexPolyhedronData hullA, b3ConvexPolyhedronData hullB, b3Vector3 posA, b3Quaternion ornA, b3Vector3 posB, b3Quaternion ornB, b3Vector3 sep_axis, b3Vector3Array verticesA, b3Vector3Array verticesB, float[] depth)`
`static boolean`	`b3TestSepAxis(b3ConvexPolyhedronData hullA, b3ConvexPolyhedronData hullB, b3Vector3 posA, b3Quaternion ornA, b3Vector3 posB, b3Quaternion ornB, b3Vector3 sep_axis, b3Vector3Array verticesA, b3Vector3Array verticesB, FloatBuffer depth)`
`static boolean`	`b3TestSepAxis(b3ConvexPolyhedronData hullA, b3ConvexPolyhedronData hullB, b3Vector3 posA, b3Quaternion ornA, b3Vector3 posB, b3Quaternion ornB, b3Vector3 sep_axis, b3Vector3Array verticesA, b3Vector3Array verticesB, FloatPointer depth)`
`static void`	`b3TransformAabb2(b3Vector3 localAabbMin, b3Vector3 localAabbMax, float margin, b3Vector3 pos, b3Quaternion orn, b3Vector3 aabbMinOut, b3Vector3 aabbMaxOut)`
`static boolean`	`equals(b3Int4 a, b3Int4 b)`
`static int`	`portalCanEncapsuleOrigin(b3MprSimplex_t portal, b3MprSupport_t v4, b3Vector3 dir)`
`static int`	`portalEncapsulesOrigin(b3MprSimplex_t portal, b3Vector3 dir)`
`static int`	`portalReachTolerance(b3MprSimplex_t portal, b3MprSupport_t v4, b3Vector3 dir)`

Methods inherited from class org.bytedeco.bullet.presets.Bullet3Collision
map

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail
- B3_USE_PLACEMENT_NEW
```
public static final int B3_USE_PLACEMENT_NEW
```
  If the platform doesn't support placement new, you can disable B3_USE_PLACEMENT_NEW then the b3AlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors You can enable B3_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator= see discussion here: https://bulletphysics.orgphpBB2/viewtopic.php?t=1231 and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240
  
  See Also:
  
  Constant Field Values
- B3_DBVT_IMPL_GENERIC
```
public static final int B3_DBVT_IMPL_GENERIC
```
  b3DynamicBvh implementation by Nathanael Presson
  
  See Also:
  
  Constant Field Values
- B3_DBVT_IMPL_SSE
```
public static final int B3_DBVT_IMPL_SSE
```
  See Also:
  
  Constant Field Values
- B3_DBVT_USE_INTRINSIC_SSE
```
public static final int B3_DBVT_USE_INTRINSIC_SSE
```
  See Also:
  
  Constant Field Values
- B3_DBVT_USE_MEMMOVE
```
public static final int B3_DBVT_USE_MEMMOVE
```
  See Also:
  
  Constant Field Values
- B3_DBVT_ENABLE_BENCHMARK
```
public static final int B3_DBVT_ENABLE_BENCHMARK
```
  See Also:
  
  Constant Field Values
- B3_DBVT_SELECT_IMPL
```
public static final int B3_DBVT_SELECT_IMPL
```
  See Also:
  
  Constant Field Values
- B3_DBVT_MERGE_IMPL
```
public static final int B3_DBVT_MERGE_IMPL
```
  See Also:
  
  Constant Field Values
- B3_DBVT_INT0_IMPL
```
public static final int B3_DBVT_INT0_IMPL
```
  See Also:
  
  Constant Field Values
- B3_NEW_PAIR_MARKER
```
public static final int B3_NEW_PAIR_MARKER
```
  See Also:
  
  Constant Field Values
- B3_REMOVED_PAIR_MARKER
```
public static final int B3_REMOVED_PAIR_MARKER
```
  See Also:
  
  Constant Field Values
- B3_DBVT_BP_PREVENTFALSEUPDATE
```
public static final int B3_DBVT_BP_PREVENTFALSEUPDATE
```
  b3DynamicBvhBroadphase implementation by Nathanael Presson
  
  See Also:
  
  Constant Field Values
- B3_DBVT_BP_ACCURATESLEEPING
```
public static final int B3_DBVT_BP_ACCURATESLEEPING
```
  See Also:
  
  Constant Field Values
- B3_DBVT_BP_ENABLE_BENCHMARK
```
public static final int B3_DBVT_BP_ENABLE_BENCHMARK
```
  See Also:
  
  Constant Field Values
- B3_DBVT_BP_MARGIN
```
public static final double B3_DBVT_BP_MARGIN
```
  See Also:
  
  Constant Field Values
- SHAPE_HEIGHT_FIELD
```
public static final int SHAPE_HEIGHT_FIELD
```
  enum b3ShapeTypes
  
  See Also:
  
  Constant Field Values
- SHAPE_CONVEX_HULL
```
public static final int SHAPE_CONVEX_HULL
```
  enum b3ShapeTypes
  
  See Also:
  
  Constant Field Values
- SHAPE_PLANE
```
public static final int SHAPE_PLANE
```
  enum b3ShapeTypes
  
  See Also:
  
  Constant Field Values
- SHAPE_CONCAVE_TRIMESH
```
public static final int SHAPE_CONCAVE_TRIMESH
```
  enum b3ShapeTypes
  
  See Also:
  
  Constant Field Values
- SHAPE_COMPOUND_OF_CONVEX_HULLS
```
public static final int SHAPE_COMPOUND_OF_CONVEX_HULLS
```
  enum b3ShapeTypes
  
  See Also:
  
  Constant Field Values
- SHAPE_SPHERE
```
public static final int SHAPE_SPHERE
```
  enum b3ShapeTypes
  
  See Also:
  
  Constant Field Values
- MAX_NUM_SHAPE_TYPES
```
public static final int MAX_NUM_SHAPE_TYPES
```
  enum b3ShapeTypes
  
  See Also:
  
  Constant Field Values
- B3_MAX_VERTS
```
public static final int B3_MAX_VERTS
```
  See Also:
  
  Constant Field Values
- B3_MPR_TOLERANCE
```
public static final double B3_MPR_TOLERANCE
```
  --------------------------------- Copyright (c)2012 Daniel Fiser This file was ported from mpr.c file, part of libccd. The Minkoski Portal Refinement implementation was ported to OpenCL by Erwin Coumans for the Bullet 3 Physics library. at http://github.com/erwincoumans/bullet3 Distributed under the OSI-approved BSD License (the "License"); see . This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the License for more information.
  
  See Also:
  
  Constant Field Values
- B3_MPR_MAX_ITERATIONS
```
public static final int B3_MPR_MAX_ITERATIONS
```
  See Also:
  
  Constant Field Values
- B3_MAX_NUM_PARTS_IN_BITS
```
public static final int B3_MAX_NUM_PARTS_IN_BITS
```
  See Also:
  
  Constant Field Values

Constructor Detail
- Bullet3Collision
```
public Bullet3Collision()
```

Method Detail

b3Intersect

@Cast(value="bool")
public static boolean b3Intersect(@Const @ByRef
                                                      b3DbvtAabbMm a,
                                                      @Const @ByRef
                                                      b3DbvtAabbMm b)

b3Intersect

@Cast(value="bool")
public static boolean b3Intersect(@Const @ByRef
                                                      b3DbvtAabbMm a,
                                                      @Const @ByRef
                                                      b3Vector3 b)

b3Proximity

@Cast(value="b3Scalar")
public static float b3Proximity(@Const @ByRef
                                                        b3DbvtAabbMm a,
                                                        @Const @ByRef
                                                        b3DbvtAabbMm b)

b3Select

public static int b3Select(@Const @ByRef
                           b3DbvtAabbMm o,
                           @Const @ByRef
                           b3DbvtAabbMm a,
                           @Const @ByRef
                           b3DbvtAabbMm b)

b3Merge

public static void b3Merge(@Const @ByRef
                           b3DbvtAabbMm a,
                           @Const @ByRef
                           b3DbvtAabbMm b,
                           @ByRef
                           b3DbvtAabbMm r)

b3NotEqual

@Cast(value="bool")
public static boolean b3NotEqual(@Const @ByRef
                                                     b3DbvtAabbMm a,
                                                     @Const @ByRef
                                                     b3DbvtAabbMm b)

b3MakeBroadphasePair

@ByVal
public static b3Int4 b3MakeBroadphasePair(int xx,
                                                 int yy)

equals

@Cast(value="bool")
 @Name(value="operator ==")
public static boolean equals(@Const @ByRef
                                                                             b3Int4 a,
                                                                             @Const @ByRef
                                                                             b3Int4 b)

b3g_removePairs
```
public static int b3g_removePairs()
```

b3g_removePairs

public static void b3g_removePairs(int setter)

b3g_addedPairs
```
public static int b3g_addedPairs()
```

b3g_addedPairs

public static void b3g_addedPairs(int setter)

b3g_findPairs
```
public static int b3g_findPairs()
```

b3g_findPairs

public static void b3g_findPairs(int setter)

B3_NULL_PAIR

@MemberGetter
public static int B3_NULL_PAIR()

b3TransformAabb2

public static void b3TransformAabb2(@Const @ByRef
                                    b3Vector3 localAabbMin,
                                    @Const @ByRef
                                    b3Vector3 localAabbMax,
                                    float margin,
                                    @Const @ByRef
                                    b3Vector3 pos,
                                    @Const @ByRef
                                    b3Quaternion orn,
                                    b3Vector3 aabbMinOut,
                                    b3Vector3 aabbMaxOut)

b3TestAabbAgainstAabb

@Cast(value="bool")
public static boolean b3TestAabbAgainstAabb(@Const @ByRef
                                                                b3Vector3 aabbMin1,
                                                                @Const @ByRef
                                                                b3Vector3 aabbMax1,
                                                                @Const @ByRef
                                                                b3Vector3 aabbMin2,
                                                                @Const @ByRef
                                                                b3Vector3 aabbMax2)

conservative test for overlap between two aabbs

b3GetInvMass

public static float b3GetInvMass(@Const @ByRef
                                 b3RigidBodyData body)

b3Contact4Data_getNumPoints

public static int b3Contact4Data_getNumPoints(@Const
                                              b3Contact4Data contact)

b3Contact4Data_setNumPoints

public static void b3Contact4Data_setNumPoints(b3Contact4Data contact,
                                               int numPoints)

b3Lerp3

@ByVal
public static b3Vector3 b3Lerp3(@Const @ByRef
                                       b3Vector3 a,
                                       @Const @ByRef
                                       b3Vector3 b,
                                       float t)

b3ClipFace

public static int b3ClipFace(@Const
                             b3Vector3 pVtxIn,
                             int numVertsIn,
                             @ByRef
                             b3Vector3 planeNormalWS,
                             float planeEqWS,
                             b3Vector3 ppVtxOut)

b3ClipFaceAgainstHull

public static int b3ClipFaceAgainstHull(@Const @ByRef
                                        b3Vector3 separatingNormal,
                                        @Const
                                        b3ConvexPolyhedronData hullA,
                                        @Const @ByRef
                                        b3Vector3 posA,
                                        @Const @ByRef
                                        b3Quaternion ornA,
                                        b3Vector3 worldVertsB1,
                                        int numWorldVertsB1,
                                        b3Vector3 worldVertsB2,
                                        int capacityWorldVertsB2,
                                        float minDist,
                                        float maxDist,
                                        @Const @ByRef
                                        b3Vector3Array verticesA,
                                        @Const @ByRef
                                        b3GpuFaceArray facesA,
                                        @Const @ByRef
                                        b3IntArray indicesA,
                                        b3Vector3 contactsOut,
                                        int contactCapacity)

b3ClipHullAgainstHull

public static int b3ClipHullAgainstHull(@Const @ByRef
                                        b3Vector3 separatingNormal,
                                        @Const @ByRef
                                        b3ConvexPolyhedronData hullA,
                                        @Const @ByRef
                                        b3ConvexPolyhedronData hullB,
                                        @Const @ByRef
                                        b3Vector3 posA,
                                        @Const @ByRef
                                        b3Quaternion ornA,
                                        @Const @ByRef
                                        b3Vector3 posB,
                                        @Const @ByRef
                                        b3Quaternion ornB,
                                        b3Vector3 worldVertsB1,
                                        b3Vector3 worldVertsB2,
                                        int capacityWorldVerts,
                                        float minDist,
                                        float maxDist,
                                        @Const @ByRef
                                        b3Vector3Array verticesA,
                                        @Const @ByRef
                                        b3GpuFaceArray facesA,
                                        @Const @ByRef
                                        b3IntArray indicesA,
                                        @Const @ByRef
                                        b3Vector3Array verticesB,
                                        @Const @ByRef
                                        b3GpuFaceArray facesB,
                                        @Const @ByRef
                                        b3IntArray indicesB,
                                        b3Vector3 contactsOut,
                                        int contactCapacity)

b3ClipHullHullSingle

public static int b3ClipHullHullSingle(int bodyIndexA,
                                       int bodyIndexB,
                                       @Const @ByRef
                                       b3Vector3 posA,
                                       @Const @ByRef
                                       b3Quaternion ornA,
                                       @Const @ByRef
                                       b3Vector3 posB,
                                       @Const @ByRef
                                       b3Quaternion ornB,
                                       int collidableIndexA,
                                       int collidableIndexB,
                                       @Const
                                       b3RigidBodyDataArray bodyBuf,
                                       b3Contact4DataArray globalContactOut,
                                       @ByRef
                                       IntPointer nContacts,
                                       @Const @ByRef
                                       b3ConvexPolyhedronDataArray hostConvexDataA,
                                       @Const @ByRef
                                       b3ConvexPolyhedronDataArray hostConvexDataB,
                                       @Const @ByRef
                                       b3Vector3Array verticesA,
                                       @Const @ByRef
                                       b3Vector3Array uniqueEdgesA,
                                       @Const @ByRef
                                       b3GpuFaceArray facesA,
                                       @Const @ByRef
                                       b3IntArray indicesA,
                                       @Const @ByRef
                                       b3Vector3Array verticesB,
                                       @Const @ByRef
                                       b3Vector3Array uniqueEdgesB,
                                       @Const @ByRef
                                       b3GpuFaceArray facesB,
                                       @Const @ByRef
                                       b3IntArray indicesB,
                                       @Const @ByRef
                                       b3CollidableArray hostCollidablesA,
                                       @Const @ByRef
                                       b3CollidableArray hostCollidablesB,
                                       @Const @ByRef
                                       b3Vector3 sepNormalWorldSpace,
                                       int maxContactCapacity)

b3ClipHullHullSingle

public static int b3ClipHullHullSingle(int bodyIndexA,
                                       int bodyIndexB,
                                       @Const @ByRef
                                       b3Vector3 posA,
                                       @Const @ByRef
                                       b3Quaternion ornA,
                                       @Const @ByRef
                                       b3Vector3 posB,
                                       @Const @ByRef
                                       b3Quaternion ornB,
                                       int collidableIndexA,
                                       int collidableIndexB,
                                       @Const
                                       b3RigidBodyDataArray bodyBuf,
                                       b3Contact4DataArray globalContactOut,
                                       @ByRef
                                       IntBuffer nContacts,
                                       @Const @ByRef
                                       b3ConvexPolyhedronDataArray hostConvexDataA,
                                       @Const @ByRef
                                       b3ConvexPolyhedronDataArray hostConvexDataB,
                                       @Const @ByRef
                                       b3Vector3Array verticesA,
                                       @Const @ByRef
                                       b3Vector3Array uniqueEdgesA,
                                       @Const @ByRef
                                       b3GpuFaceArray facesA,
                                       @Const @ByRef
                                       b3IntArray indicesA,
                                       @Const @ByRef
                                       b3Vector3Array verticesB,
                                       @Const @ByRef
                                       b3Vector3Array uniqueEdgesB,
                                       @Const @ByRef
                                       b3GpuFaceArray facesB,
                                       @Const @ByRef
                                       b3IntArray indicesB,
                                       @Const @ByRef
                                       b3CollidableArray hostCollidablesA,
                                       @Const @ByRef
                                       b3CollidableArray hostCollidablesB,
                                       @Const @ByRef
                                       b3Vector3 sepNormalWorldSpace,
                                       int maxContactCapacity)

b3ClipHullHullSingle

public static int b3ClipHullHullSingle(int bodyIndexA,
                                       int bodyIndexB,
                                       @Const @ByRef
                                       b3Vector3 posA,
                                       @Const @ByRef
                                       b3Quaternion ornA,
                                       @Const @ByRef
                                       b3Vector3 posB,
                                       @Const @ByRef
                                       b3Quaternion ornB,
                                       int collidableIndexA,
                                       int collidableIndexB,
                                       @Const
                                       b3RigidBodyDataArray bodyBuf,
                                       b3Contact4DataArray globalContactOut,
                                       @ByRef
                                       int[] nContacts,
                                       @Const @ByRef
                                       b3ConvexPolyhedronDataArray hostConvexDataA,
                                       @Const @ByRef
                                       b3ConvexPolyhedronDataArray hostConvexDataB,
                                       @Const @ByRef
                                       b3Vector3Array verticesA,
                                       @Const @ByRef
                                       b3Vector3Array uniqueEdgesA,
                                       @Const @ByRef
                                       b3GpuFaceArray facesA,
                                       @Const @ByRef
                                       b3IntArray indicesA,
                                       @Const @ByRef
                                       b3Vector3Array verticesB,
                                       @Const @ByRef
                                       b3Vector3Array uniqueEdgesB,
                                       @Const @ByRef
                                       b3GpuFaceArray facesB,
                                       @Const @ByRef
                                       b3IntArray indicesB,
                                       @Const @ByRef
                                       b3CollidableArray hostCollidablesA,
                                       @Const @ByRef
                                       b3CollidableArray hostCollidablesB,
                                       @Const @ByRef
                                       b3Vector3 sepNormalWorldSpace,
                                       int maxContactCapacity)

b3ContactConvexConvexSAT

public static int b3ContactConvexConvexSAT(int pairIndex,
                                           int bodyIndexA,
                                           int bodyIndexB,
                                           int collidableIndexA,
                                           int collidableIndexB,
                                           @Const @ByRef
                                           b3RigidBodyDataArray rigidBodies,
                                           @Const @ByRef
                                           b3CollidableArray collidables,
                                           @Const @ByRef
                                           b3ConvexPolyhedronDataArray convexShapes,
                                           @Const @ByRef
                                           b3Vector3Array convexVertices,
                                           @Const @ByRef
                                           b3Vector3Array uniqueEdges,
                                           @Const @ByRef
                                           b3IntArray convexIndices,
                                           @Const @ByRef
                                           b3GpuFaceArray faces,
                                           @ByRef
                                           b3Contact4DataArray globalContactsOut,
                                           @ByRef
                                           IntPointer nGlobalContactsOut,
                                           int maxContactCapacity)

b3ContactConvexConvexSAT

public static int b3ContactConvexConvexSAT(int pairIndex,
                                           int bodyIndexA,
                                           int bodyIndexB,
                                           int collidableIndexA,
                                           int collidableIndexB,
                                           @Const @ByRef
                                           b3RigidBodyDataArray rigidBodies,
                                           @Const @ByRef
                                           b3CollidableArray collidables,
                                           @Const @ByRef
                                           b3ConvexPolyhedronDataArray convexShapes,
                                           @Const @ByRef
                                           b3Vector3Array convexVertices,
                                           @Const @ByRef
                                           b3Vector3Array uniqueEdges,
                                           @Const @ByRef
                                           b3IntArray convexIndices,
                                           @Const @ByRef
                                           b3GpuFaceArray faces,
                                           @ByRef
                                           b3Contact4DataArray globalContactsOut,
                                           @ByRef
                                           IntBuffer nGlobalContactsOut,
                                           int maxContactCapacity)

b3ContactConvexConvexSAT

public static int b3ContactConvexConvexSAT(int pairIndex,
                                           int bodyIndexA,
                                           int bodyIndexB,
                                           int collidableIndexA,
                                           int collidableIndexB,
                                           @Const @ByRef
                                           b3RigidBodyDataArray rigidBodies,
                                           @Const @ByRef
                                           b3CollidableArray collidables,
                                           @Const @ByRef
                                           b3ConvexPolyhedronDataArray convexShapes,
                                           @Const @ByRef
                                           b3Vector3Array convexVertices,
                                           @Const @ByRef
                                           b3Vector3Array uniqueEdges,
                                           @Const @ByRef
                                           b3IntArray convexIndices,
                                           @Const @ByRef
                                           b3GpuFaceArray faces,
                                           @ByRef
                                           b3Contact4DataArray globalContactsOut,
                                           @ByRef
                                           int[] nGlobalContactsOut,
                                           int maxContactCapacity)

b3ProjectAxis

public static void b3ProjectAxis(@Const @ByRef
                                 b3ConvexPolyhedronData hull,
                                 @Const @ByRef
                                 b3Vector3 pos,
                                 @Const @ByRef
                                 b3Quaternion orn,
                                 @Const @ByRef
                                 b3Vector3 dir,
                                 @Const @ByRef
                                 b3Vector3Array vertices,
                                 @Cast(value="b3Scalar*") @ByRef
                                 FloatPointer min,
                                 @Cast(value="b3Scalar*") @ByRef
                                 FloatPointer max)

b3ProjectAxis

public static void b3ProjectAxis(@Const @ByRef
                                 b3ConvexPolyhedronData hull,
                                 @Const @ByRef
                                 b3Vector3 pos,
                                 @Const @ByRef
                                 b3Quaternion orn,
                                 @Const @ByRef
                                 b3Vector3 dir,
                                 @Const @ByRef
                                 b3Vector3Array vertices,
                                 @Cast(value="b3Scalar*") @ByRef
                                 FloatBuffer min,
                                 @Cast(value="b3Scalar*") @ByRef
                                 FloatBuffer max)

b3ProjectAxis

public static void b3ProjectAxis(@Const @ByRef
                                 b3ConvexPolyhedronData hull,
                                 @Const @ByRef
                                 b3Vector3 pos,
                                 @Const @ByRef
                                 b3Quaternion orn,
                                 @Const @ByRef
                                 b3Vector3 dir,
                                 @Const @ByRef
                                 b3Vector3Array vertices,
                                 @Cast(value="b3Scalar*") @ByRef
                                 float[] min,
                                 @Cast(value="b3Scalar*") @ByRef
                                 float[] max)

b3TestSepAxis

@Cast(value="bool")
public static boolean b3TestSepAxis(@Const @ByRef
                                                        b3ConvexPolyhedronData hullA,
                                                        @Const @ByRef
                                                        b3ConvexPolyhedronData hullB,
                                                        @Const @ByRef
                                                        b3Vector3 posA,
                                                        @Const @ByRef
                                                        b3Quaternion ornA,
                                                        @Const @ByRef
                                                        b3Vector3 posB,
                                                        @Const @ByRef
                                                        b3Quaternion ornB,
                                                        @Const @ByRef
                                                        b3Vector3 sep_axis,
                                                        @Const @ByRef
                                                        b3Vector3Array verticesA,
                                                        @Const @ByRef
                                                        b3Vector3Array verticesB,
                                                        @Cast(value="b3Scalar*") @ByRef
                                                        FloatPointer depth)

b3TestSepAxis

@Cast(value="bool")
public static boolean b3TestSepAxis(@Const @ByRef
                                                        b3ConvexPolyhedronData hullA,
                                                        @Const @ByRef
                                                        b3ConvexPolyhedronData hullB,
                                                        @Const @ByRef
                                                        b3Vector3 posA,
                                                        @Const @ByRef
                                                        b3Quaternion ornA,
                                                        @Const @ByRef
                                                        b3Vector3 posB,
                                                        @Const @ByRef
                                                        b3Quaternion ornB,
                                                        @Const @ByRef
                                                        b3Vector3 sep_axis,
                                                        @Const @ByRef
                                                        b3Vector3Array verticesA,
                                                        @Const @ByRef
                                                        b3Vector3Array verticesB,
                                                        @Cast(value="b3Scalar*") @ByRef
                                                        FloatBuffer depth)

b3TestSepAxis

@Cast(value="bool")
public static boolean b3TestSepAxis(@Const @ByRef
                                                        b3ConvexPolyhedronData hullA,
                                                        @Const @ByRef
                                                        b3ConvexPolyhedronData hullB,
                                                        @Const @ByRef
                                                        b3Vector3 posA,
                                                        @Const @ByRef
                                                        b3Quaternion ornA,
                                                        @Const @ByRef
                                                        b3Vector3 posB,
                                                        @Const @ByRef
                                                        b3Quaternion ornB,
                                                        @Const @ByRef
                                                        b3Vector3 sep_axis,
                                                        @Const @ByRef
                                                        b3Vector3Array verticesA,
                                                        @Const @ByRef
                                                        b3Vector3Array verticesB,
                                                        @Cast(value="b3Scalar*") @ByRef
                                                        float[] depth)

b3FindSeparatingAxis

@Cast(value="bool")
public static boolean b3FindSeparatingAxis(@Const @ByRef
                                                               b3ConvexPolyhedronData hullA,
                                                               @Const @ByRef
                                                               b3ConvexPolyhedronData hullB,
                                                               @Const @ByRef
                                                               b3Vector3 posA1,
                                                               @Const @ByRef
                                                               b3Quaternion ornA,
                                                               @Const @ByRef
                                                               b3Vector3 posB1,
                                                               @Const @ByRef
                                                               b3Quaternion ornB,
                                                               @Const @ByRef
                                                               b3Vector3Array verticesA,
                                                               @Const @ByRef
                                                               b3Vector3Array uniqueEdgesA,
                                                               @Const @ByRef
                                                               b3GpuFaceArray facesA,
                                                               @Const @ByRef
                                                               b3IntArray indicesA,
                                                               @Const @ByRef
                                                               b3Vector3Array verticesB,
                                                               @Const @ByRef
                                                               b3Vector3Array uniqueEdgesB,
                                                               @Const @ByRef
                                                               b3GpuFaceArray facesB,
                                                               @Const @ByRef
                                                               b3IntArray indicesB,
                                                               @ByRef
                                                               b3Vector3 sep)

b3MprSimplexPointW

public static b3MprSupport_t b3MprSimplexPointW(b3MprSimplex_t s,
                                                int idx)

b3MprSimplexSetSize

public static void b3MprSimplexSetSize(b3MprSimplex_t s,
                                       int size)

b3MprSimplexSize

public static int b3MprSimplexSize(@Const
                                   b3MprSimplex_t s)

b3MprSimplexPoint

@Const
public static b3MprSupport_t b3MprSimplexPoint(@Const
                                                      b3MprSimplex_t s,
                                                      int idx)

b3MprSupportCopy

public static void b3MprSupportCopy(b3MprSupport_t d,
                                    @Const
                                    b3MprSupport_t s)

b3MprSimplexSet

public static void b3MprSimplexSet(b3MprSimplex_t s,
                                   @Cast(value="size_t")
                                   long pos,
                                   @Const
                                   b3MprSupport_t a)

b3MprSimplexSwap

public static void b3MprSimplexSwap(b3MprSimplex_t s,
                                    @Cast(value="size_t")
                                    long pos1,
                                    @Cast(value="size_t")
                                    long pos2)

b3MprIsZero

public static int b3MprIsZero(float val)

b3MprEq

public static int b3MprEq(float _a,
                          float _b)

b3MprVec3Eq

public static int b3MprVec3Eq(@Const
                              b3Vector3 a,
                              @Const
                              b3Vector3 b)

b3LocalGetSupportVertex

@ByVal
public static b3Vector3 b3LocalGetSupportVertex(@Const @ByRef
                                                       b3Vector3 supportVec,
                                                       @Const
                                                       b3ConvexPolyhedronData hull,
                                                       @Const
                                                       b3Vector3 verticesA)

b3MprConvexSupport

public static void b3MprConvexSupport(int pairIndex,
                                      int bodyIndex,
                                      @Const
                                      b3RigidBodyData cpuBodyBuf,
                                      @Const
                                      b3ConvexPolyhedronData cpuConvexData,
                                      @Const
                                      b3Collidable cpuCollidables,
                                      @Const
                                      b3Vector3 cpuVertices,
                                      b3Vector3 sepAxis,
                                      @Const
                                      b3Vector3 _dir,
                                      b3Vector3 outp,
                                      int logme)

b3MprSupport

public static void b3MprSupport(int pairIndex,
                                int bodyIndexA,
                                int bodyIndexB,
                                @Const
                                b3RigidBodyData cpuBodyBuf,
                                @Const
                                b3ConvexPolyhedronData cpuConvexData,
                                @Const
                                b3Collidable cpuCollidables,
                                @Const
                                b3Vector3 cpuVertices,
                                b3Vector3 sepAxis,
                                @Const
                                b3Vector3 _dir,
                                b3MprSupport_t supp)

b3FindOrigin

public static void b3FindOrigin(int bodyIndexA,
                                int bodyIndexB,
                                @Const
                                b3RigidBodyData cpuBodyBuf,
                                b3MprSupport_t center)

b3MprVec3Set

public static void b3MprVec3Set(b3Vector3 v,
                                float x,
                                float y,
                                float z)

b3MprVec3Add

public static void b3MprVec3Add(b3Vector3 v,
                                @Const
                                b3Vector3 w)

b3MprVec3Copy

public static void b3MprVec3Copy(b3Vector3 v,
                                 @Const
                                 b3Vector3 w)

b3MprVec3Scale

public static void b3MprVec3Scale(b3Vector3 d,
                                  float k)

b3MprVec3Dot

public static float b3MprVec3Dot(@Const
                                 b3Vector3 a,
                                 @Const
                                 b3Vector3 b)

b3MprVec3Len2

public static float b3MprVec3Len2(@Const
                                  b3Vector3 v)

b3MprVec3Normalize

public static void b3MprVec3Normalize(b3Vector3 d)

b3MprVec3Cross

public static void b3MprVec3Cross(b3Vector3 d,
                                  @Const
                                  b3Vector3 a,
                                  @Const
                                  b3Vector3 b)

b3MprVec3Sub2

public static void b3MprVec3Sub2(b3Vector3 d,
                                 @Const
                                 b3Vector3 v,
                                 @Const
                                 b3Vector3 w)

b3PortalDir

public static void b3PortalDir(@Const
                               b3MprSimplex_t portal,
                               b3Vector3 dir)

portalEncapsulesOrigin

public static int portalEncapsulesOrigin(@Const
                                         b3MprSimplex_t portal,
                                         @Const
                                         b3Vector3 dir)

portalReachTolerance

public static int portalReachTolerance(@Const
                                       b3MprSimplex_t portal,
                                       @Const
                                       b3MprSupport_t v4,
                                       @Const
                                       b3Vector3 dir)

portalCanEncapsuleOrigin

public static int portalCanEncapsuleOrigin(@Const
                                           b3MprSimplex_t portal,
                                           @Const
                                           b3MprSupport_t v4,
                                           @Const
                                           b3Vector3 dir)

b3ExpandPortal

public static void b3ExpandPortal(b3MprSimplex_t portal,
                                  @Const
                                  b3MprSupport_t v4)

b3DiscoverPortal

public static int b3DiscoverPortal(int pairIndex,
                                   int bodyIndexA,
                                   int bodyIndexB,
                                   @Const
                                   b3RigidBodyData cpuBodyBuf,
                                   @Const
                                   b3ConvexPolyhedronData cpuConvexData,
                                   @Const
                                   b3Collidable cpuCollidables,
                                   @Const
                                   b3Vector3 cpuVertices,
                                   b3Vector3 sepAxis,
                                   IntPointer hasSepAxis,
                                   b3MprSimplex_t portal)

b3DiscoverPortal

public static int b3DiscoverPortal(int pairIndex,
                                   int bodyIndexA,
                                   int bodyIndexB,
                                   @Const
                                   b3RigidBodyData cpuBodyBuf,
                                   @Const
                                   b3ConvexPolyhedronData cpuConvexData,
                                   @Const
                                   b3Collidable cpuCollidables,
                                   @Const
                                   b3Vector3 cpuVertices,
                                   b3Vector3 sepAxis,
                                   IntBuffer hasSepAxis,
                                   b3MprSimplex_t portal)

b3DiscoverPortal

public static int b3DiscoverPortal(int pairIndex,
                                   int bodyIndexA,
                                   int bodyIndexB,
                                   @Const
                                   b3RigidBodyData cpuBodyBuf,
                                   @Const
                                   b3ConvexPolyhedronData cpuConvexData,
                                   @Const
                                   b3Collidable cpuCollidables,
                                   @Const
                                   b3Vector3 cpuVertices,
                                   b3Vector3 sepAxis,
                                   int[] hasSepAxis,
                                   b3MprSimplex_t portal)

b3RefinePortal

public static int b3RefinePortal(int pairIndex,
                                 int bodyIndexA,
                                 int bodyIndexB,
                                 @Const
                                 b3RigidBodyData cpuBodyBuf,
                                 @Const
                                 b3ConvexPolyhedronData cpuConvexData,
                                 @Const
                                 b3Collidable cpuCollidables,
                                 @Const
                                 b3Vector3 cpuVertices,
                                 b3Vector3 sepAxis,
                                 b3MprSimplex_t portal)

b3FindPos

public static void b3FindPos(@Const
                             b3MprSimplex_t portal,
                             b3Vector3 pos)

b3MprVec3Dist2

public static float b3MprVec3Dist2(@Const
                                   b3Vector3 a,
                                   @Const
                                   b3Vector3 b)

_b3MprVec3PointSegmentDist2

public static float _b3MprVec3PointSegmentDist2(@Const
                                                b3Vector3 P,
                                                @Const
                                                b3Vector3 x0,
                                                @Const
                                                b3Vector3 b,
                                                b3Vector3 witness)

b3MprVec3PointTriDist2

public static float b3MprVec3PointTriDist2(@Const
                                           b3Vector3 P,
                                           @Const
                                           b3Vector3 x0,
                                           @Const
                                           b3Vector3 B,
                                           @Const
                                           b3Vector3 C,
                                           b3Vector3 witness)

b3FindPenetr

public static void b3FindPenetr(int pairIndex,
                                int bodyIndexA,
                                int bodyIndexB,
                                @Const
                                b3RigidBodyData cpuBodyBuf,
                                @Const
                                b3ConvexPolyhedronData cpuConvexData,
                                @Const
                                b3Collidable cpuCollidables,
                                @Const
                                b3Vector3 cpuVertices,
                                b3Vector3 sepAxis,
                                b3MprSimplex_t portal,
                                FloatPointer depth,
                                b3Vector3 pdir,
                                b3Vector3 pos)

b3FindPenetr

public static void b3FindPenetr(int pairIndex,
                                int bodyIndexA,
                                int bodyIndexB,
                                @Const
                                b3RigidBodyData cpuBodyBuf,
                                @Const
                                b3ConvexPolyhedronData cpuConvexData,
                                @Const
                                b3Collidable cpuCollidables,
                                @Const
                                b3Vector3 cpuVertices,
                                b3Vector3 sepAxis,
                                b3MprSimplex_t portal,
                                FloatBuffer depth,
                                b3Vector3 pdir,
                                b3Vector3 pos)

b3FindPenetr

public static void b3FindPenetr(int pairIndex,
                                int bodyIndexA,
                                int bodyIndexB,
                                @Const
                                b3RigidBodyData cpuBodyBuf,
                                @Const
                                b3ConvexPolyhedronData cpuConvexData,
                                @Const
                                b3Collidable cpuCollidables,
                                @Const
                                b3Vector3 cpuVertices,
                                b3Vector3 sepAxis,
                                b3MprSimplex_t portal,
                                float[] depth,
                                b3Vector3 pdir,
                                b3Vector3 pos)

b3FindPenetrTouch

public static void b3FindPenetrTouch(b3MprSimplex_t portal,
                                     FloatPointer depth,
                                     b3Vector3 dir,
                                     b3Vector3 pos)

b3FindPenetrTouch

public static void b3FindPenetrTouch(b3MprSimplex_t portal,
                                     FloatBuffer depth,
                                     b3Vector3 dir,
                                     b3Vector3 pos)

b3FindPenetrTouch

public static void b3FindPenetrTouch(b3MprSimplex_t portal,
                                     float[] depth,
                                     b3Vector3 dir,
                                     b3Vector3 pos)

b3FindPenetrSegment

public static void b3FindPenetrSegment(b3MprSimplex_t portal,
                                       FloatPointer depth,
                                       b3Vector3 dir,
                                       b3Vector3 pos)

b3FindPenetrSegment

public static void b3FindPenetrSegment(b3MprSimplex_t portal,
                                       FloatBuffer depth,
                                       b3Vector3 dir,
                                       b3Vector3 pos)

b3FindPenetrSegment

public static void b3FindPenetrSegment(b3MprSimplex_t portal,
                                       float[] depth,
                                       b3Vector3 dir,
                                       b3Vector3 pos)

b3MprPenetration

public static int b3MprPenetration(int pairIndex,
                                   int bodyIndexA,
                                   int bodyIndexB,
                                   @Const
                                   b3RigidBodyData cpuBodyBuf,
                                   @Const
                                   b3ConvexPolyhedronData cpuConvexData,
                                   @Const
                                   b3Collidable cpuCollidables,
                                   @Const
                                   b3Vector3 cpuVertices,
                                   b3Vector3 sepAxis,
                                   IntPointer hasSepAxis,
                                   FloatPointer depthOut,
                                   b3Vector3 dirOut,
                                   b3Vector3 posOut)

b3MprPenetration

public static int b3MprPenetration(int pairIndex,
                                   int bodyIndexA,
                                   int bodyIndexB,
                                   @Const
                                   b3RigidBodyData cpuBodyBuf,
                                   @Const
                                   b3ConvexPolyhedronData cpuConvexData,
                                   @Const
                                   b3Collidable cpuCollidables,
                                   @Const
                                   b3Vector3 cpuVertices,
                                   b3Vector3 sepAxis,
                                   IntBuffer hasSepAxis,
                                   FloatBuffer depthOut,
                                   b3Vector3 dirOut,
                                   b3Vector3 posOut)

b3MprPenetration

public static int b3MprPenetration(int pairIndex,
                                   int bodyIndexA,
                                   int bodyIndexB,
                                   @Const
                                   b3RigidBodyData cpuBodyBuf,
                                   @Const
                                   b3ConvexPolyhedronData cpuConvexData,
                                   @Const
                                   b3Collidable cpuCollidables,
                                   @Const
                                   b3Vector3 cpuVertices,
                                   b3Vector3 sepAxis,
                                   int[] hasSepAxis,
                                   float[] depthOut,
                                   b3Vector3 dirOut,
                                   b3Vector3 posOut)

b3GetTriangleIndex

public static int b3GetTriangleIndex(@Const
                                     b3QuantizedBvhNodeData rootNode)

b3IsLeaf

public static int b3IsLeaf(@Const
                           b3QuantizedBvhNodeData rootNode)

b3GetEscapeIndex

public static int b3GetEscapeIndex(@Const
                                   b3QuantizedBvhNodeData rootNode)

b3QuantizeWithClamp

public static void b3QuantizeWithClamp(@Cast(value="unsigned short*")
                                       ShortPointer out,
                                       @Const @ByRef
                                       b3Vector3 point2,
                                       int isMax,
                                       @Const @ByRef
                                       b3Vector3 bvhAabbMin,
                                       @Const @ByRef
                                       b3Vector3 bvhAabbMax,
                                       @Const @ByRef
                                       b3Vector3 bvhQuantization)

b3QuantizeWithClamp

public static void b3QuantizeWithClamp(@Cast(value="unsigned short*")
                                       ShortBuffer out,
                                       @Const @ByRef
                                       b3Vector3 point2,
                                       int isMax,
                                       @Const @ByRef
                                       b3Vector3 bvhAabbMin,
                                       @Const @ByRef
                                       b3Vector3 bvhAabbMax,
                                       @Const @ByRef
                                       b3Vector3 bvhQuantization)

b3QuantizeWithClamp

public static void b3QuantizeWithClamp(@Cast(value="unsigned short*")
                                       short[] out,
                                       @Const @ByRef
                                       b3Vector3 point2,
                                       int isMax,
                                       @Const @ByRef
                                       b3Vector3 bvhAabbMin,
                                       @Const @ByRef
                                       b3Vector3 bvhAabbMax,
                                       @Const @ByRef
                                       b3Vector3 bvhQuantization)

b3TestQuantizedAabbAgainstQuantizedAabbSlow

public static int b3TestQuantizedAabbAgainstQuantizedAabbSlow(@Cast(value="const unsigned short int*")
                                                              ShortPointer aabbMin1,
                                                              @Cast(value="const unsigned short int*")
                                                              ShortPointer aabbMax1,
                                                              @Cast(value="const unsigned short int*")
                                                              ShortPointer aabbMin2,
                                                              @Cast(value="const unsigned short int*")
                                                              ShortPointer aabbMax2)

b3TestQuantizedAabbAgainstQuantizedAabbSlow

public static int b3TestQuantizedAabbAgainstQuantizedAabbSlow(@Cast(value="const unsigned short int*")
                                                              ShortBuffer aabbMin1,
                                                              @Cast(value="const unsigned short int*")
                                                              ShortBuffer aabbMax1,
                                                              @Cast(value="const unsigned short int*")
                                                              ShortBuffer aabbMin2,
                                                              @Cast(value="const unsigned short int*")
                                                              ShortBuffer aabbMax2)

b3TestQuantizedAabbAgainstQuantizedAabbSlow

public static int b3TestQuantizedAabbAgainstQuantizedAabbSlow(@Cast(value="const unsigned short int*")
                                                              short[] aabbMin1,
                                                              @Cast(value="const unsigned short int*")
                                                              short[] aabbMax1,
                                                              @Cast(value="const unsigned short int*")
                                                              short[] aabbMin2,
                                                              @Cast(value="const unsigned short int*")
                                                              short[] aabbMax2)

b3ReduceContacts

public static int b3ReduceContacts(@Const
                                   b3Vector3 p,
                                   int nPoints,
                                   @Const @ByRef
                                   b3Vector3 nearNormal,
                                   b3Int4 contactIdx)

Class Bullet3Collision

Field Summary

Constructor Summary

Method Summary

Methods inherited from class org.bytedeco.bullet.presets.Bullet3Collision

Methods inherited from class java.lang.Object

Field Detail

B3_USE_PLACEMENT_NEW

B3_DBVT_IMPL_GENERIC

B3_DBVT_IMPL_SSE

B3_DBVT_USE_INTRINSIC_SSE

B3_DBVT_USE_MEMMOVE

B3_DBVT_ENABLE_BENCHMARK

B3_DBVT_SELECT_IMPL

B3_DBVT_MERGE_IMPL

B3_DBVT_INT0_IMPL

B3_NEW_PAIR_MARKER

B3_REMOVED_PAIR_MARKER

B3_DBVT_BP_PREVENTFALSEUPDATE

B3_DBVT_BP_ACCURATESLEEPING

B3_DBVT_BP_ENABLE_BENCHMARK

B3_DBVT_BP_MARGIN

SHAPE_HEIGHT_FIELD

SHAPE_CONVEX_HULL

SHAPE_PLANE

SHAPE_CONCAVE_TRIMESH

SHAPE_COMPOUND_OF_CONVEX_HULLS

SHAPE_SPHERE

MAX_NUM_SHAPE_TYPES

B3_MAX_VERTS

B3_MPR_TOLERANCE

B3_MPR_MAX_ITERATIONS

B3_MAX_NUM_PARTS_IN_BITS

Constructor Detail

Bullet3Collision

Method Detail

b3Intersect

b3Intersect

b3Proximity

b3Select

b3Merge

b3NotEqual

b3MakeBroadphasePair

equals

b3g_removePairs

b3g_removePairs

b3g_addedPairs

b3g_addedPairs

b3g_findPairs

b3g_findPairs

B3_NULL_PAIR

b3TransformAabb2

b3TestAabbAgainstAabb

b3GetInvMass

b3Contact4Data_getNumPoints

b3Contact4Data_setNumPoints

b3Lerp3

b3ClipFace

b3ClipFaceAgainstHull

b3ClipHullAgainstHull

b3ClipHullHullSingle

b3ClipHullHullSingle

b3ClipHullHullSingle

b3ContactConvexConvexSAT

b3ContactConvexConvexSAT

b3ContactConvexConvexSAT

b3ProjectAxis

b3ProjectAxis

b3ProjectAxis

b3TestSepAxis

b3TestSepAxis

b3TestSepAxis

b3FindSeparatingAxis

b3MprSimplexPointW

b3MprSimplexSetSize

b3MprSimplexSize

b3MprSimplexPoint

b3MprSupportCopy

b3MprSimplexSet

b3MprSimplexSwap