com.badlogic.gdx.physics.bullet.dynamics.btMultiBodyDynamicsWorld 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.*;

public class btMultiBodyDynamicsWorld extends btDiscreteDynamicsWorld {
	private long swigCPtr;

	protected btMultiBodyDynamicsWorld (final String className, long cPtr, boolean cMemoryOwn) {
		super(className, DynamicsJNI.btMultiBodyDynamicsWorld_SWIGUpcast(cPtr), cMemoryOwn);
		swigCPtr = cPtr;
	}

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

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

	public static long getCPtr (btMultiBodyDynamicsWorld 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_btMultiBodyDynamicsWorld(swigCPtr);
			}
			swigCPtr = 0;
		}
		super.delete();
	}

	public btMultiBodyDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache,
		btMultiBodyConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration) {
		this(DynamicsJNI.new_btMultiBodyDynamicsWorld(btDispatcher.getCPtr(dispatcher), dispatcher,
			btBroadphaseInterface.getCPtr(pairCache), pairCache, btMultiBodyConstraintSolver.getCPtr(constraintSolver),
			constraintSolver, btCollisionConfiguration.getCPtr(collisionConfiguration), collisionConfiguration), true);
	}

	public void addMultiBody (btMultiBody body, int group, int mask) {
		DynamicsJNI.btMultiBodyDynamicsWorld_addMultiBody__SWIG_0(swigCPtr, this, btMultiBody.getCPtr(body), body, group, mask);
	}

	public void addMultiBody (btMultiBody body, int group) {
		DynamicsJNI.btMultiBodyDynamicsWorld_addMultiBody__SWIG_1(swigCPtr, this, btMultiBody.getCPtr(body), body, group);
	}

	public void addMultiBody (btMultiBody body) {
		DynamicsJNI.btMultiBodyDynamicsWorld_addMultiBody__SWIG_2(swigCPtr, this, btMultiBody.getCPtr(body), body);
	}

	public void removeMultiBody (btMultiBody body) {
		DynamicsJNI.btMultiBodyDynamicsWorld_removeMultiBody(swigCPtr, this, btMultiBody.getCPtr(body), body);
	}

	public int getNumMultibodies () {
		return DynamicsJNI.btMultiBodyDynamicsWorld_getNumMultibodies(swigCPtr, this);
	}

	public btMultiBody getMultiBody (int mbIndex) {
		long cPtr = DynamicsJNI.btMultiBodyDynamicsWorld_getMultiBody(swigCPtr, this, mbIndex);
		return (cPtr == 0) ? null : new btMultiBody(cPtr, false);
	}

	public btMultiBody getMultiBodyConst (int mbIndex) {
		long cPtr = DynamicsJNI.btMultiBodyDynamicsWorld_getMultiBodyConst(swigCPtr, this, mbIndex);
		return (cPtr == 0) ? null : new btMultiBody(cPtr, false);
	}

	public void addMultiBodyConstraint (btMultiBodyConstraint constraint) {
		DynamicsJNI.btMultiBodyDynamicsWorld_addMultiBodyConstraint(swigCPtr, this, btMultiBodyConstraint.getCPtr(constraint),
			constraint);
	}

	public int getNumMultiBodyConstraints () {
		return DynamicsJNI.btMultiBodyDynamicsWorld_getNumMultiBodyConstraints(swigCPtr, this);
	}

	public btMultiBodyConstraint getMultiBodyConstraint (int constraintIndex) {
		long cPtr = DynamicsJNI.btMultiBodyDynamicsWorld_getMultiBodyConstraint(swigCPtr, this, constraintIndex);
		return (cPtr == 0) ? null : new btMultiBodyConstraint(cPtr, false);
	}

	public btMultiBodyConstraint getMultiBodyConstraintConst (int constraintIndex) {
		long cPtr = DynamicsJNI.btMultiBodyDynamicsWorld_getMultiBodyConstraintConst(swigCPtr, this, constraintIndex);
		return (cPtr == 0) ? null : new btMultiBodyConstraint(cPtr, false);
	}

	public void removeMultiBodyConstraint (btMultiBodyConstraint constraint) {
		DynamicsJNI.btMultiBodyDynamicsWorld_removeMultiBodyConstraint(swigCPtr, this, btMultiBodyConstraint.getCPtr(constraint),
			constraint);
	}

	public void integrateTransforms (float timeStep) {
		DynamicsJNI.btMultiBodyDynamicsWorld_integrateTransforms(swigCPtr, this, timeStep);
	}

	public void debugDrawMultiBodyConstraint (btMultiBodyConstraint constraint) {
		DynamicsJNI.btMultiBodyDynamicsWorld_debugDrawMultiBodyConstraint(swigCPtr, this, btMultiBodyConstraint.getCPtr(constraint),
			constraint);
	}

	public void forwardKinematics () {
		DynamicsJNI.btMultiBodyDynamicsWorld_forwardKinematics(swigCPtr, this);
	}

	public void clearMultiBodyConstraintForces () {
		DynamicsJNI.btMultiBodyDynamicsWorld_clearMultiBodyConstraintForces(swigCPtr, this);
	}

	public void clearMultiBodyForces () {
		DynamicsJNI.btMultiBodyDynamicsWorld_clearMultiBodyForces(swigCPtr, this);
	}

}