com.badlogic.gdx.physics.bullet.dynamics.Dynamics Maven / Gradle / Ivy

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/* ----------------------------------------------------------------------------
 * This file was automatically generated by SWIG (http://www.swig.org).
 * Version 3.0.11
 *
 * Do not make changes to this file unless you know what you are doing--modify
 * the SWIG interface file instead.
 * ----------------------------------------------------------------------------- */

package com.badlogic.gdx.physics.bullet.dynamics;

import com.badlogic.gdx.physics.bullet.linearmath.*;
import com.badlogic.gdx.physics.bullet.collision.*;
import com.badlogic.gdx.math.Vector3;
import com.badlogic.gdx.math.Quaternion;
import com.badlogic.gdx.math.Matrix3;
import com.badlogic.gdx.math.Matrix4;

public class Dynamics implements DynamicsConstants {

	/** Temporary Vector3 instance, used by native methods that return a Vector3 instance */
	public final static Vector3 staticVector3 = new Vector3();
	/** Pool of Vector3, used by native (callback) method for the arguments */
	public final static com.badlogic.gdx.utils.Pool poolVector3 = new com.badlogic.gdx.utils.Pool() {
		@Override
		protected Vector3 newObject () {
			return new Vector3();
		}
	};

	/** Temporary Quaternion instance, used by native methods that return a Quaternion instance */
	public final static Quaternion staticQuaternion = new Quaternion();
	/** Pool of Quaternion, used by native (callback) method for the arguments */
	public final static com.badlogic.gdx.utils.Pool poolQuaternion = new com.badlogic.gdx.utils.Pool() {
		@Override
		protected Quaternion newObject () {
			return new Quaternion();
		}
	};

	/** Temporary Matrix3 instance, used by native methods that return a Matrix3 instance */
	public final static Matrix3 staticMatrix3 = new Matrix3();
	/** Pool of Matrix3, used by native (callback) method for the arguments */
	public final static com.badlogic.gdx.utils.Pool poolMatrix3 = new com.badlogic.gdx.utils.Pool() {
		@Override
		protected Matrix3 newObject () {
			return new Matrix3();
		}
	};

	/** Temporary Matrix4 instance, used by native methods that return a Matrix4 instance */
	public final static Matrix4 staticMatrix4 = new Matrix4();
	/** Pool of Matrix4, used by native (callback) method for the arguments */
	public final static com.badlogic.gdx.utils.Pool poolMatrix4 = new com.badlogic.gdx.utils.Pool() {
		@Override
		protected Matrix4 newObject () {
			return new Matrix4();
		}
	};

	public static void setGDeactivationTime (float value) {
		DynamicsJNI.gDeactivationTime_set(value);
	}

	public static float getGDeactivationTime () {
		return DynamicsJNI.gDeactivationTime_get();
	}

	public static void setGDisableDeactivation (boolean value) {
		DynamicsJNI.gDisableDeactivation_set(value);
	}

	public static boolean getGDisableDeactivation () {
		return DynamicsJNI.gDisableDeactivation_get();
	}

	public static float btAdjustAngleToLimits (float angleInRadians, float angleLowerLimitInRadians,
		float angleUpperLimitInRadians) {
		return DynamicsJNI.btAdjustAngleToLimits(angleInRadians, angleLowerLimitInRadians, angleUpperLimitInRadians);
	}

	public static void InternalTickCallback_CB (btDynamicsWorld world, float timeStep) {
		DynamicsJNI.InternalTickCallback_CB(btDynamicsWorld.getCPtr(world), world, timeStep);
	}

	public static float resolveSingleCollision (btRigidBody body1, btCollisionObject colObj2, Vector3 contactPositionWorld,
		Vector3 contactNormalOnB, btContactSolverInfo solverInfo, float distance) {
		return DynamicsJNI.resolveSingleCollision(btRigidBody.getCPtr(body1), body1, btCollisionObject.getCPtr(colObj2), colObj2,
			contactPositionWorld, contactNormalOnB, btContactSolverInfo.getCPtr(solverInfo), solverInfo, distance);
	}

	public static void resolveSingleBilateral (btRigidBody body1, Vector3 pos1, btRigidBody body2, Vector3 pos2, float distance,
		Vector3 normal, SWIGTYPE_p_float impulse, float timeStep) {
		DynamicsJNI.resolveSingleBilateral(btRigidBody.getCPtr(body1), body1, pos1, btRigidBody.getCPtr(body2), body2, pos2,
			distance, normal, SWIGTYPE_p_float.getCPtr(impulse), timeStep);
	}

	public static boolean btSolveDantzigLCP (int n, java.nio.FloatBuffer A, java.nio.FloatBuffer x, java.nio.FloatBuffer b,
		java.nio.FloatBuffer w, int nub, java.nio.FloatBuffer lo, java.nio.FloatBuffer hi, java.nio.IntBuffer findex,
		btDantzigScratchMemory scratch) {
		assert A.isDirect() : "Buffer must be allocated direct.";
		assert x.isDirect() : "Buffer must be allocated direct.";
		assert b.isDirect() : "Buffer must be allocated direct.";
		assert w.isDirect() : "Buffer must be allocated direct.";
		assert lo.isDirect() : "Buffer must be allocated direct.";
		assert hi.isDirect() : "Buffer must be allocated direct.";
		assert findex.isDirect() : "Buffer must be allocated direct.";
		{
			return DynamicsJNI.btSolveDantzigLCP(n, A, x, b, w, nub, lo, hi, findex, btDantzigScratchMemory.getCPtr(scratch),
				scratch);
		}
	}

}