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

Go to download
/* ----------------------------------------------------------------------------
 * 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.BulletBase;
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.Matrix3;

public class btMultiBodyConstraint extends BulletBase {
	private long swigCPtr;

	protected btMultiBodyConstraint (final String className, long cPtr, boolean cMemoryOwn) {
		super(className, cPtr, cMemoryOwn);
		swigCPtr = cPtr;
	}

	/** Construct a new btMultiBodyConstraint, normally you should not need this constructor it's intended for low-level usage. */
	public btMultiBodyConstraint (long cPtr, boolean cMemoryOwn) {
		this("btMultiBodyConstraint", cPtr, cMemoryOwn);
		construct();
	}

	@Override
	protected void reset (long cPtr, boolean cMemoryOwn) {
		if (!destroyed) destroy();
		super.reset(swigCPtr = cPtr, cMemoryOwn);
	}

	public static long getCPtr (btMultiBodyConstraint obj) {
		return (obj == null) ? 0 : obj.swigCPtr;
	}

	@Override
	protected void finalize () throws Throwable {
		if (!destroyed) destroy();
		super.finalize();
	}

	@Override
	protected synchronized void delete () {
		if (swigCPtr != 0) {
			if (swigCMemOwn) {
				swigCMemOwn = false;
				DynamicsJNI.delete_btMultiBodyConstraint(swigCPtr);
			}
			swigCPtr = 0;
		}
		super.delete();
	}

	public long operatorNew (long sizeInBytes) {
		return DynamicsJNI.btMultiBodyConstraint_operatorNew__SWIG_0(swigCPtr, this, sizeInBytes);
	}

	public void operatorDelete (long ptr) {
		DynamicsJNI.btMultiBodyConstraint_operatorDelete__SWIG_0(swigCPtr, this, ptr);
	}

	public long operatorNew (long arg0, long ptr) {
		return DynamicsJNI.btMultiBodyConstraint_operatorNew__SWIG_1(swigCPtr, this, arg0, ptr);
	}

	public void operatorDelete (long arg0, long arg1) {
		DynamicsJNI.btMultiBodyConstraint_operatorDelete__SWIG_1(swigCPtr, this, arg0, arg1);
	}

	public long operatorNewArray (long sizeInBytes) {
		return DynamicsJNI.btMultiBodyConstraint_operatorNewArray__SWIG_0(swigCPtr, this, sizeInBytes);
	}

	public void operatorDeleteArray (long ptr) {
		DynamicsJNI.btMultiBodyConstraint_operatorDeleteArray__SWIG_0(swigCPtr, this, ptr);
	}

	public long operatorNewArray (long arg0, long ptr) {
		return DynamicsJNI.btMultiBodyConstraint_operatorNewArray__SWIG_1(swigCPtr, this, arg0, ptr);
	}

	public void operatorDeleteArray (long arg0, long arg1) {
		DynamicsJNI.btMultiBodyConstraint_operatorDeleteArray__SWIG_1(swigCPtr, this, arg0, arg1);
	}

	public void updateJacobianSizes () {
		DynamicsJNI.btMultiBodyConstraint_updateJacobianSizes(swigCPtr, this);
	}

	public void allocateJacobiansMultiDof () {
		DynamicsJNI.btMultiBodyConstraint_allocateJacobiansMultiDof(swigCPtr, this);
	}

	public void setFrameInB (Matrix3 frameInB) {
		DynamicsJNI.btMultiBodyConstraint_setFrameInB(swigCPtr, this, frameInB);
	}

	public void setPivotInB (Vector3 pivotInB) {
		DynamicsJNI.btMultiBodyConstraint_setPivotInB(swigCPtr, this, pivotInB);
	}

	public void finalizeMultiDof () {
		DynamicsJNI.btMultiBodyConstraint_finalizeMultiDof(swigCPtr, this);
	}

	public int getIslandIdA () {
		return DynamicsJNI.btMultiBodyConstraint_getIslandIdA(swigCPtr, this);
	}

	public int getIslandIdB () {
		return DynamicsJNI.btMultiBodyConstraint_getIslandIdB(swigCPtr, this);
	}

	public void createConstraintRows (SWIGTYPE_p_btAlignedObjectArrayT_btMultiBodySolverConstraint_t constraintRows,
		btMultiBodyJacobianData data, btContactSolverInfo infoGlobal) {
		DynamicsJNI.btMultiBodyConstraint_createConstraintRows(swigCPtr, this,
			SWIGTYPE_p_btAlignedObjectArrayT_btMultiBodySolverConstraint_t.getCPtr(constraintRows),
			btMultiBodyJacobianData.getCPtr(data), data, btContactSolverInfo.getCPtr(infoGlobal), infoGlobal);
	}

	public int getNumRows () {
		return DynamicsJNI.btMultiBodyConstraint_getNumRows(swigCPtr, this);
	}

	public btMultiBody getMultiBodyA () {
		long cPtr = DynamicsJNI.btMultiBodyConstraint_getMultiBodyA(swigCPtr, this);
		return (cPtr == 0) ? null : new btMultiBody(cPtr, false);
	}

	public btMultiBody getMultiBodyB () {
		long cPtr = DynamicsJNI.btMultiBodyConstraint_getMultiBodyB(swigCPtr, this);
		return (cPtr == 0) ? null : new btMultiBody(cPtr, false);
	}

	public void internalSetAppliedImpulse (int dof, float appliedImpulse) {
		DynamicsJNI.btMultiBodyConstraint_internalSetAppliedImpulse(swigCPtr, this, dof, appliedImpulse);
	}

	public float getAppliedImpulse (int dof) {
		return DynamicsJNI.btMultiBodyConstraint_getAppliedImpulse(swigCPtr, this, dof);
	}

	public float getPosition (int row) {
		return DynamicsJNI.btMultiBodyConstraint_getPosition(swigCPtr, this, row);
	}

	public void setPosition (int row, float pos) {
		DynamicsJNI.btMultiBodyConstraint_setPosition(swigCPtr, this, row, pos);
	}

	public boolean isUnilateral () {
		return DynamicsJNI.btMultiBodyConstraint_isUnilateral(swigCPtr, this);
	}

	public java.nio.FloatBuffer jacobianA (int row) {
		return DynamicsJNI.btMultiBodyConstraint_jacobianA(swigCPtr, this, row);
	}

	public java.nio.FloatBuffer jacobianAConst (int row) {
		return DynamicsJNI.btMultiBodyConstraint_jacobianAConst(swigCPtr, this, row);
	}

	public java.nio.FloatBuffer jacobianB (int row) {
		return DynamicsJNI.btMultiBodyConstraint_jacobianB(swigCPtr, this, row);
	}

	public java.nio.FloatBuffer jacobianBConst (int row) {
		return DynamicsJNI.btMultiBodyConstraint_jacobianBConst(swigCPtr, this, row);
	}

	public float getMaxAppliedImpulse () {
		return DynamicsJNI.btMultiBodyConstraint_getMaxAppliedImpulse(swigCPtr, this);
	}

	public void setMaxAppliedImpulse (float maxImp) {
		DynamicsJNI.btMultiBodyConstraint_setMaxAppliedImpulse(swigCPtr, this, maxImp);
	}

	public void debugDraw (btIDebugDraw drawer) {
		DynamicsJNI.btMultiBodyConstraint_debugDraw(swigCPtr, this, btIDebugDraw.getCPtr(drawer), drawer);
	}

	public void setGearRatio (float ratio) {
		DynamicsJNI.btMultiBodyConstraint_setGearRatio(swigCPtr, this, ratio);
	}

	public void setGearAuxLink (int gearAuxLink) {
		DynamicsJNI.btMultiBodyConstraint_setGearAuxLink(swigCPtr, this, gearAuxLink);
	}

	public void setRelativePositionTarget (float relPosTarget) {
		DynamicsJNI.btMultiBodyConstraint_setRelativePositionTarget(swigCPtr, this, relPosTarget);
	}

	public void setErp (float erp) {
		DynamicsJNI.btMultiBodyConstraint_setErp(swigCPtr, this, erp);
	}

}