com.badlogic.gdx.physics.bullet.inversedynamics.MultiBodyTree 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.inversedynamics;

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.physics.bullet.dynamics.*;

public class MultiBodyTree extends BulletBase {
	private long swigCPtr;

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

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

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

	public static long getCPtr (MultiBodyTree 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;
				InverseDynamicsJNI.delete_MultiBodyTree(swigCPtr);
			}
			swigCPtr = 0;
		}
		super.delete();
	}

	public long operatorNew (long sizeInBytes) {
		return InverseDynamicsJNI.MultiBodyTree_operatorNew__SWIG_0(swigCPtr, this, sizeInBytes);
	}

	public void operatorDelete (long ptr) {
		InverseDynamicsJNI.MultiBodyTree_operatorDelete__SWIG_0(swigCPtr, this, ptr);
	}

	public long operatorNew (long arg0, long ptr) {
		return InverseDynamicsJNI.MultiBodyTree_operatorNew__SWIG_1(swigCPtr, this, arg0, ptr);
	}

	public void operatorDelete (long arg0, long arg1) {
		InverseDynamicsJNI.MultiBodyTree_operatorDelete__SWIG_1(swigCPtr, this, arg0, arg1);
	}

	public long operatorNewArray (long sizeInBytes) {
		return InverseDynamicsJNI.MultiBodyTree_operatorNewArray__SWIG_0(swigCPtr, this, sizeInBytes);
	}

	public void operatorDeleteArray (long ptr) {
		InverseDynamicsJNI.MultiBodyTree_operatorDeleteArray__SWIG_0(swigCPtr, this, ptr);
	}

	public long operatorNewArray (long arg0, long ptr) {
		return InverseDynamicsJNI.MultiBodyTree_operatorNewArray__SWIG_1(swigCPtr, this, arg0, ptr);
	}

	public void operatorDeleteArray (long arg0, long arg1) {
		InverseDynamicsJNI.MultiBodyTree_operatorDeleteArray__SWIG_1(swigCPtr, this, arg0, arg1);
	}

	public MultiBodyTree () {
		this(InverseDynamicsJNI.new_MultiBodyTree(), true);
	}

	public int addBody (int body_index, int parent_index, int joint_type, SWIGTYPE_p_vec3 parent_r_parent_body_ref,
		SWIGTYPE_p_mat33 body_T_parent_ref, SWIGTYPE_p_vec3 body_axis_of_motion, float mass, SWIGTYPE_p_vec3 body_r_body_com,
		SWIGTYPE_p_mat33 body_I_body, int user_int, long user_ptr) {
		return InverseDynamicsJNI.MultiBodyTree_addBody(swigCPtr, this, body_index, parent_index, joint_type,
			SWIGTYPE_p_vec3.getCPtr(parent_r_parent_body_ref), SWIGTYPE_p_mat33.getCPtr(body_T_parent_ref),
			SWIGTYPE_p_vec3.getCPtr(body_axis_of_motion), mass, SWIGTYPE_p_vec3.getCPtr(body_r_body_com),
			SWIGTYPE_p_mat33.getCPtr(body_I_body), user_int, user_ptr);
	}

	public void setAcceptInvalidMassParameters (boolean flag) {
		InverseDynamicsJNI.MultiBodyTree_setAcceptInvalidMassParameters(swigCPtr, this, flag);
	}

	public boolean getAcceptInvalidMassProperties () {
		return InverseDynamicsJNI.MultiBodyTree_getAcceptInvalidMassProperties(swigCPtr, this);
	}

	public int finalizeInternal () {
		return InverseDynamicsJNI.MultiBodyTree_finalizeInternal(swigCPtr, this);
	}

	public void printTree () {
		InverseDynamicsJNI.MultiBodyTree_printTree(swigCPtr, this);
	}

	public void printTreeData () {
		InverseDynamicsJNI.MultiBodyTree_printTreeData(swigCPtr, this);
	}

	public int calculateInverseDynamics (SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u, SWIGTYPE_p_vecx dot_u,
		SWIGTYPE_p_vecx joint_forces) {
		return InverseDynamicsJNI.MultiBodyTree_calculateInverseDynamics(swigCPtr, this, SWIGTYPE_p_vecx.getCPtr(q),
			SWIGTYPE_p_vecx.getCPtr(u), SWIGTYPE_p_vecx.getCPtr(dot_u), SWIGTYPE_p_vecx.getCPtr(joint_forces));
	}

	public int calculateMassMatrix (SWIGTYPE_p_vecx q, boolean update_kinematics, boolean initialize_matrix,
		boolean set_lower_triangular_matrix, SWIGTYPE_p_matxx mass_matrix) {
		return InverseDynamicsJNI.MultiBodyTree_calculateMassMatrix__SWIG_0(swigCPtr, this, SWIGTYPE_p_vecx.getCPtr(q),
			update_kinematics, initialize_matrix, set_lower_triangular_matrix, SWIGTYPE_p_matxx.getCPtr(mass_matrix));
	}

	public int calculateMassMatrix (SWIGTYPE_p_vecx q, SWIGTYPE_p_matxx mass_matrix) {
		return InverseDynamicsJNI.MultiBodyTree_calculateMassMatrix__SWIG_1(swigCPtr, this, SWIGTYPE_p_vecx.getCPtr(q),
			SWIGTYPE_p_matxx.getCPtr(mass_matrix));
	}

	public int calculateKinematics (SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u, SWIGTYPE_p_vecx dot_u) {
		return InverseDynamicsJNI.MultiBodyTree_calculateKinematics(swigCPtr, this, SWIGTYPE_p_vecx.getCPtr(q),
			SWIGTYPE_p_vecx.getCPtr(u), SWIGTYPE_p_vecx.getCPtr(dot_u));
	}

	public int calculatePositionKinematics (SWIGTYPE_p_vecx q) {
		return InverseDynamicsJNI.MultiBodyTree_calculatePositionKinematics(swigCPtr, this, SWIGTYPE_p_vecx.getCPtr(q));
	}

	public int calculatePositionAndVelocityKinematics (SWIGTYPE_p_vecx q, SWIGTYPE_p_vecx u) {
		return InverseDynamicsJNI.MultiBodyTree_calculatePositionAndVelocityKinematics(swigCPtr, this, SWIGTYPE_p_vecx.getCPtr(q),
			SWIGTYPE_p_vecx.getCPtr(u));
	}

	public int setGravityInWorldFrame (SWIGTYPE_p_vec3 gravity) {
		return InverseDynamicsJNI.MultiBodyTree_setGravityInWorldFrame(swigCPtr, this, SWIGTYPE_p_vec3.getCPtr(gravity));
	}

	public int numBodies () {
		return InverseDynamicsJNI.MultiBodyTree_numBodies(swigCPtr, this);
	}

	public int numDoFs () {
		return InverseDynamicsJNI.MultiBodyTree_numDoFs(swigCPtr, this);
	}

	public int getBodyOrigin (int body_index, SWIGTYPE_p_vec3 world_origin) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyOrigin(swigCPtr, this, body_index, SWIGTYPE_p_vec3.getCPtr(world_origin));
	}

	public int getBodyCoM (int body_index, SWIGTYPE_p_vec3 world_com) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyCoM(swigCPtr, this, body_index, SWIGTYPE_p_vec3.getCPtr(world_com));
	}

	public int getBodyTransform (int body_index, SWIGTYPE_p_mat33 world_T_body) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyTransform(swigCPtr, this, body_index,
			SWIGTYPE_p_mat33.getCPtr(world_T_body));
	}

	public int getBodyAngularVelocity (int body_index, SWIGTYPE_p_vec3 world_omega) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyAngularVelocity(swigCPtr, this, body_index,
			SWIGTYPE_p_vec3.getCPtr(world_omega));
	}

	public int getBodyLinearVelocity (int body_index, SWIGTYPE_p_vec3 world_velocity) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyLinearVelocity(swigCPtr, this, body_index,
			SWIGTYPE_p_vec3.getCPtr(world_velocity));
	}

	public int getBodyLinearVelocityCoM (int body_index, SWIGTYPE_p_vec3 world_velocity) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyLinearVelocityCoM(swigCPtr, this, body_index,
			SWIGTYPE_p_vec3.getCPtr(world_velocity));
	}

	public int getBodyAngularAcceleration (int body_index, SWIGTYPE_p_vec3 world_dot_omega) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyAngularAcceleration(swigCPtr, this, body_index,
			SWIGTYPE_p_vec3.getCPtr(world_dot_omega));
	}

	public int getBodyLinearAcceleration (int body_index, SWIGTYPE_p_vec3 world_acceleration) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyLinearAcceleration(swigCPtr, this, body_index,
			SWIGTYPE_p_vec3.getCPtr(world_acceleration));
	}

	public int getParentIndex (int body_index, java.nio.IntBuffer parent_index) {
		assert parent_index.isDirect() : "Buffer must be allocated direct.";
		{
			return InverseDynamicsJNI.MultiBodyTree_getParentIndex(swigCPtr, this, body_index, parent_index);
		}
	}

	public int getJointType (int body_index, SWIGTYPE_p_btInverseDynamicsBullet3__JointType joint_type) {
		return InverseDynamicsJNI.MultiBodyTree_getJointType(swigCPtr, this, body_index,
			SWIGTYPE_p_btInverseDynamicsBullet3__JointType.getCPtr(joint_type));
	}

	public int getJointTypeStr (int body_index, SWIGTYPE_p_p_char joint_type) {
		return InverseDynamicsJNI.MultiBodyTree_getJointTypeStr(swigCPtr, this, body_index, SWIGTYPE_p_p_char.getCPtr(joint_type));
	}

	public int getParentRParentBodyRef (int body_index, SWIGTYPE_p_vec3 r) {
		return InverseDynamicsJNI.MultiBodyTree_getParentRParentBodyRef(swigCPtr, this, body_index, SWIGTYPE_p_vec3.getCPtr(r));
	}

	public int getBodyTParentRef (int body_index, SWIGTYPE_p_mat33 T) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyTParentRef(swigCPtr, this, body_index, SWIGTYPE_p_mat33.getCPtr(T));
	}

	public int getBodyAxisOfMotion (int body_index, SWIGTYPE_p_vec3 axis) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyAxisOfMotion(swigCPtr, this, body_index, SWIGTYPE_p_vec3.getCPtr(axis));
	}

	public int getDoFOffset (int body_index, java.nio.IntBuffer q_offset) {
		assert q_offset.isDirect() : "Buffer must be allocated direct.";
		{
			return InverseDynamicsJNI.MultiBodyTree_getDoFOffset(swigCPtr, this, body_index, q_offset);
		}
	}

	public int getUserInt (int body_index, java.nio.IntBuffer user_int) {
		assert user_int.isDirect() : "Buffer must be allocated direct.";
		{
			return InverseDynamicsJNI.MultiBodyTree_getUserInt(swigCPtr, this, body_index, user_int);
		}
	}

	public int getUserPtr (int body_index, SWIGTYPE_p_p_void user_ptr) {
		return InverseDynamicsJNI.MultiBodyTree_getUserPtr(swigCPtr, this, body_index, SWIGTYPE_p_p_void.getCPtr(user_ptr));
	}

	public int setUserInt (int body_index, int user_int) {
		return InverseDynamicsJNI.MultiBodyTree_setUserInt(swigCPtr, this, body_index, user_int);
	}

	public int setUserPtr (int body_index, long user_ptr) {
		return InverseDynamicsJNI.MultiBodyTree_setUserPtr(swigCPtr, this, body_index, user_ptr);
	}

	public int setBodyMass (int body_index, float mass) {
		return InverseDynamicsJNI.MultiBodyTree_setBodyMass(swigCPtr, this, body_index, mass);
	}

	public int setBodyFirstMassMoment (int body_index, SWIGTYPE_p_vec3 first_mass_moment) {
		return InverseDynamicsJNI.MultiBodyTree_setBodyFirstMassMoment(swigCPtr, this, body_index,
			SWIGTYPE_p_vec3.getCPtr(first_mass_moment));
	}

	public int setBodySecondMassMoment (int body_index, SWIGTYPE_p_mat33 second_mass_moment) {
		return InverseDynamicsJNI.MultiBodyTree_setBodySecondMassMoment(swigCPtr, this, body_index,
			SWIGTYPE_p_mat33.getCPtr(second_mass_moment));
	}

	public int getBodyMass (int body_index, java.nio.FloatBuffer mass) {
		assert mass.isDirect() : "Buffer must be allocated direct.";
		{
			return InverseDynamicsJNI.MultiBodyTree_getBodyMass(swigCPtr, this, body_index, mass);
		}
	}

	public int getBodyFirstMassMoment (int body_index, SWIGTYPE_p_vec3 first_mass_moment) {
		return InverseDynamicsJNI.MultiBodyTree_getBodyFirstMassMoment(swigCPtr, this, body_index,
			SWIGTYPE_p_vec3.getCPtr(first_mass_moment));
	}

	public int getBodySecondMassMoment (int body_index, SWIGTYPE_p_mat33 second_mass_moment) {
		return InverseDynamicsJNI.MultiBodyTree_getBodySecondMassMoment(swigCPtr, this, body_index,
			SWIGTYPE_p_mat33.getCPtr(second_mass_moment));
	}

	public void clearAllUserForcesAndMoments () {
		InverseDynamicsJNI.MultiBodyTree_clearAllUserForcesAndMoments(swigCPtr, this);
	}

	public int addUserForce (int body_index, SWIGTYPE_p_vec3 body_force) {
		return InverseDynamicsJNI.MultiBodyTree_addUserForce(swigCPtr, this, body_index, SWIGTYPE_p_vec3.getCPtr(body_force));
	}

	public int addUserMoment (int body_index, SWIGTYPE_p_vec3 body_moment) {
		return InverseDynamicsJNI.MultiBodyTree_addUserMoment(swigCPtr, this, body_index, SWIGTYPE_p_vec3.getCPtr(body_moment));
	}

}