org.bytedeco.bullet.BulletSoftBody.btSoftBody Maven / Gradle / Ivy
// Targeted by JavaCPP version 1.5.8: DO NOT EDIT THIS FILE
package org.bytedeco.bullet.BulletSoftBody;
import java.nio.*;
import org.bytedeco.javacpp.*;
import org.bytedeco.javacpp.annotation.*;
import static org.bytedeco.javacpp.presets.javacpp.*;
import org.bytedeco.bullet.LinearMath.*;
import static org.bytedeco.bullet.global.LinearMath.*;
import org.bytedeco.bullet.BulletCollision.*;
import static org.bytedeco.bullet.global.BulletCollision.*;
import org.bytedeco.bullet.BulletDynamics.*;
import static org.bytedeco.bullet.global.BulletDynamics.*;
import static org.bytedeco.bullet.global.BulletSoftBody.*;
/**The btSoftBody is an class to simulate cloth and volumetric soft bodies.
* There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject. */
@NoOffset @Properties(inherit = org.bytedeco.bullet.presets.BulletSoftBody.class)
public class btSoftBody extends btCollisionObject {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public btSoftBody(Pointer p) { super(p); }
// The solver object that handles this soft body
public native btSoftBodySolver m_softBodySolver(); public native btSoftBody m_softBodySolver(btSoftBodySolver setter);
//
// Enumerations
//
/**eAeroModel */
public static class eAeroModel extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public eAeroModel() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public eAeroModel(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public eAeroModel(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public eAeroModel position(long position) {
return (eAeroModel)super.position(position);
}
@Override public eAeroModel getPointer(long i) {
return new eAeroModel((Pointer)this).offsetAddress(i);
}
/** enum btSoftBody::eAeroModel::_ */
public static final int
V_Point = 0, /**Vertex normals are oriented toward velocity */
V_TwoSided = 1, /**Vertex normals are flipped to match velocity */
V_TwoSidedLiftDrag = 2, /**Vertex normals are flipped to match velocity and lift and drag forces are applied */
V_OneSided = 3, /**Vertex normals are taken as it is */
F_TwoSided = 4, /**Face normals are flipped to match velocity */
F_TwoSidedLiftDrag = 5, /**Face normals are flipped to match velocity and lift and drag forces are applied */
F_OneSided = 6, /**Face normals are taken as it is */
END = 7;
}
/**eVSolver : velocities solvers */
public static class eVSolver extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public eVSolver() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public eVSolver(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public eVSolver(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public eVSolver position(long position) {
return (eVSolver)super.position(position);
}
@Override public eVSolver getPointer(long i) {
return new eVSolver((Pointer)this).offsetAddress(i);
}
/** enum btSoftBody::eVSolver::_ */
public static final int
Linear = 0, /**Linear solver */
END = 1;
}
/**ePSolver : positions solvers */
public static class ePSolver extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public ePSolver() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public ePSolver(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public ePSolver(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public ePSolver position(long position) {
return (ePSolver)super.position(position);
}
@Override public ePSolver getPointer(long i) {
return new ePSolver((Pointer)this).offsetAddress(i);
}
/** enum btSoftBody::ePSolver::_ */
public static final int
Linear = 0, /**Linear solver */
Anchors = 1, /**Anchor solver */
RContacts = 2, /**Rigid contacts solver */
SContacts = 3, /**Soft contacts solver */
END = 4;
}
/**eSolverPresets */
public static class eSolverPresets extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public eSolverPresets() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public eSolverPresets(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public eSolverPresets(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public eSolverPresets position(long position) {
return (eSolverPresets)super.position(position);
}
@Override public eSolverPresets getPointer(long i) {
return new eSolverPresets((Pointer)this).offsetAddress(i);
}
/** enum btSoftBody::eSolverPresets::_ */
public static final int
Positions = 0,
Velocities = 1,
Default = Positions,
END = Positions + 1;
}
/**eFeature */
public static class eFeature extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public eFeature() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public eFeature(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public eFeature(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public eFeature position(long position) {
return (eFeature)super.position(position);
}
@Override public eFeature getPointer(long i) {
return new eFeature((Pointer)this).offsetAddress(i);
}
/** enum btSoftBody::eFeature::_ */
public static final int
None = 0,
Node = 1,
Link = 2,
Face = 3,
Tetra = 4,
END = 5;
}
//
// Flags
//
/**fCollision */
public static class fCollision extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public fCollision() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public fCollision(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public fCollision(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public fCollision position(long position) {
return (fCollision)super.position(position);
}
@Override public fCollision getPointer(long i) {
return new fCollision((Pointer)this).offsetAddress(i);
}
/** enum btSoftBody::fCollision::_ */
public static final int
RVSmask = 0x000f, /**Rigid versus soft mask */
SDF_RS = 0x0001, /**SDF based rigid vs soft */
CL_RS = 0x0002, /**Cluster vs convex rigid vs soft */
SDF_RD = 0x0004, /**rigid vs deformable */
SVSmask = 0x00f0, /**Rigid versus soft mask */
VF_SS = 0x0010, /**Vertex vs face soft vs soft handling */
CL_SS = 0x0020, /**Cluster vs cluster soft vs soft handling */
CL_SELF = 0x0040, /**Cluster soft body self collision */
VF_DD = 0x0080, /**Vertex vs face soft vs soft handling */
RVDFmask = 0x0f00, /** Rigid versus deformable face mask */
SDF_RDF = 0x0100, /** GJK based Rigid vs. deformable face */
SDF_MDF = 0x0200, /** GJK based Multibody vs. deformable face */
SDF_RDN = 0x0400, /** SDF based Rigid vs. deformable node */
/* presets */
Default = SDF_RS,
END = SDF_RS + 1;
}
/**fMaterial */
public static class fMaterial extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public fMaterial() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public fMaterial(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public fMaterial(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public fMaterial position(long position) {
return (fMaterial)super.position(position);
}
@Override public fMaterial getPointer(long i) {
return new fMaterial((Pointer)this).offsetAddress(i);
}
/** enum btSoftBody::fMaterial::_ */
public static final int
DebugDraw = 0x0001, /** Enable debug draw */
/* presets */
Default = DebugDraw,
END = DebugDraw + 1;
}
//
// API Types
//
/* sRayCast */
public static class sRayCast extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public sRayCast() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public sRayCast(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public sRayCast(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public sRayCast position(long position) {
return (sRayCast)super.position(position);
}
@Override public sRayCast getPointer(long i) {
return new sRayCast((Pointer)this).offsetAddress(i);
}
public native btSoftBody body(); public native sRayCast body(btSoftBody setter); /** soft body */
public native @Cast("btSoftBody::eFeature::_") int feature(); public native sRayCast feature(int setter); /** feature type */
public native int index(); public native sRayCast index(int setter); /** feature index */
public native @Cast("btScalar") double fraction(); public native sRayCast fraction(double setter); /** time of impact fraction (rayorg+(rayto-rayfrom)*fraction) */
}
/* ImplicitFn */
public static class ImplicitFn extends Pointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public ImplicitFn(Pointer p) { super(p); }
public native @Cast("btScalar") double Eval(@Const @ByRef btVector3 x);
}
//
// Internal types
//
/* sCti is Softbody contact info */
public static class sCti extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public sCti() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public sCti(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public sCti(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public sCti position(long position) {
return (sCti)super.position(position);
}
@Override public sCti getPointer(long i) {
return new sCti((Pointer)this).offsetAddress(i);
}
public native @Const btCollisionObject m_colObj(); public native sCti m_colObj(btCollisionObject setter); /* Rigid body */
public native @ByRef btVector3 m_normal(); public native sCti m_normal(btVector3 setter); /* Outward normal */
public native @Cast("btScalar") double m_offset(); public native sCti m_offset(double setter); /* Offset from origin */
public native @ByRef btVector3 m_bary(); public native sCti m_bary(btVector3 setter); /* Barycentric weights for faces */
}
/* sMedium */
public static class sMedium extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public sMedium() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public sMedium(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public sMedium(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public sMedium position(long position) {
return (sMedium)super.position(position);
}
@Override public sMedium getPointer(long i) {
return new sMedium((Pointer)this).offsetAddress(i);
}
public native @ByRef btVector3 m_velocity(); public native sMedium m_velocity(btVector3 setter); /* Velocity */
public native @Cast("btScalar") double m_pressure(); public native sMedium m_pressure(double setter); /* Pressure */
public native @Cast("btScalar") double m_density(); public native sMedium m_density(double setter); /* Density */
}
/* Base type */
@NoOffset public static class Element extends Pointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Element(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Element(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public Element position(long position) {
return (Element)super.position(position);
}
@Override public Element getPointer(long i) {
return new Element((Pointer)this).offsetAddress(i);
}
public native Pointer m_tag(); public native Element m_tag(Pointer setter); // User data
public Element() { super((Pointer)null); allocate(); }
private native void allocate();
}
/* Material */
@NoOffset public static class Material extends Element {
static { Loader.load(); }
/** Default native constructor. */
public Material() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Material(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Material(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Material position(long position) {
return (Material)super.position(position);
}
@Override public Material getPointer(long i) {
return new Material((Pointer)this).offsetAddress(i);
}
public native @Cast("btScalar") double m_kLST(); public native Material m_kLST(double setter); // Linear stiffness coefficient [0,1]
public native @Cast("btScalar") double m_kAST(); public native Material m_kAST(double setter); // Area/Angular stiffness coefficient [0,1]
public native @Cast("btScalar") double m_kVST(); public native Material m_kVST(double setter); // Volume stiffness coefficient [0,1]
public native int m_flags(); public native Material m_flags(int setter); // Flags
}
/* Feature */
@NoOffset public static class Feature extends Element {
static { Loader.load(); }
/** Default native constructor. */
public Feature() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Feature(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Feature(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Feature position(long position) {
return (Feature)super.position(position);
}
@Override public Feature getPointer(long i) {
return new Feature((Pointer)this).offsetAddress(i);
}
public native Material m_material(); public native Feature m_material(Material setter); // Material
}
/* Node */
public static class RenderNode extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public RenderNode() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public RenderNode(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public RenderNode(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public RenderNode position(long position) {
return (RenderNode)super.position(position);
}
@Override public RenderNode getPointer(long i) {
return new RenderNode((Pointer)this).offsetAddress(i);
}
public native @ByRef btVector3 m_x(); public native RenderNode m_x(btVector3 setter);
public native @ByRef btVector3 m_uv1(); public native RenderNode m_uv1(btVector3 setter);
public native @ByRef btVector3 m_normal(); public native RenderNode m_normal(btVector3 setter);
}
@NoOffset public static class Node extends Feature {
static { Loader.load(); }
/** Default native constructor. */
public Node() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Node(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Node(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Node position(long position) {
return (Node)super.position(position);
}
@Override public Node getPointer(long i) {
return new Node((Pointer)this).offsetAddress(i);
}
public native @ByRef btVector3 m_x(); public native Node m_x(btVector3 setter); // Position
public native @ByRef btVector3 m_q(); public native Node m_q(btVector3 setter); // Previous step position/Test position
public native @ByRef btVector3 m_v(); public native Node m_v(btVector3 setter); // Velocity
public native @ByRef btVector3 m_vn(); public native Node m_vn(btVector3 setter); // Previous step velocity
public native @ByRef btVector3 m_f(); public native Node m_f(btVector3 setter); // Force accumulator
public native @ByRef btVector3 m_n(); public native Node m_n(btVector3 setter); // Normal
public native @Cast("btScalar") double m_im(); public native Node m_im(double setter); // 1/mass
public native @Cast("btScalar") double m_area(); public native Node m_area(double setter); // Area
public native btDbvtNode m_leaf(); public native Node m_leaf(btDbvtNode setter); // Leaf data
public native int m_constrained(); public native Node m_constrained(int setter); // depth of penetration
public native @NoOffset int m_battach(); public native Node m_battach(int setter); // Attached
public native int index(); public native Node index(int setter);
public native @ByRef btVector3 m_splitv(); public native Node m_splitv(btVector3 setter); // velocity associated with split impulse
public native @ByRef btMatrix3x3 m_effectiveMass(); public native Node m_effectiveMass(btMatrix3x3 setter); // effective mass in contact
public native @ByRef btMatrix3x3 m_effectiveMass_inv(); public native Node m_effectiveMass_inv(btMatrix3x3 setter); // inverse of effective mass
}
/* Link */
@NoOffset public static class Link extends Feature {
static { Loader.load(); }
/** Default native constructor. */
public Link() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Link(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Link(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Link position(long position) {
return (Link)super.position(position);
}
@Override public Link getPointer(long i) {
return new Link((Pointer)this).offsetAddress(i);
}
public native @ByRef btVector3 m_c3(); public native Link m_c3(btVector3 setter); // gradient
public native Node m_n(int i); public native Link m_n(int i, Node setter);
@MemberGetter public native @Cast("btSoftBody::Node**") PointerPointer m_n(); // Node pointers
public native @Cast("btScalar") double m_rl(); public native Link m_rl(double setter); // Rest length
public native @NoOffset int m_bbending(); public native Link m_bbending(int setter); // Bending link
public native @Cast("btScalar") double m_c0(); public native Link m_c0(double setter); // (ima+imb)*kLST
public native @Cast("btScalar") double m_c1(); public native Link m_c1(double setter); // rl^2
public native @Cast("btScalar") double m_c2(); public native Link m_c2(double setter); // |gradient|^2/c0
}
public static class RenderFace extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public RenderFace() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public RenderFace(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public RenderFace(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public RenderFace position(long position) {
return (RenderFace)super.position(position);
}
@Override public RenderFace getPointer(long i) {
return new RenderFace((Pointer)this).offsetAddress(i);
}
public native RenderNode m_n(int i); public native RenderFace m_n(int i, RenderNode setter);
@MemberGetter public native @Cast("btSoftBody::RenderNode**") PointerPointer m_n(); // Node pointers
}
/* Face */
@NoOffset public static class Face extends Feature {
static { Loader.load(); }
/** Default native constructor. */
public Face() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Face(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Face(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Face position(long position) {
return (Face)super.position(position);
}
@Override public Face getPointer(long i) {
return new Face((Pointer)this).offsetAddress(i);
}
public native Node m_n(int i); public native Face m_n(int i, Node setter);
@MemberGetter public native @Cast("btSoftBody::Node**") PointerPointer m_n(); // Node pointers
public native @ByRef btVector3 m_normal(); public native Face m_normal(btVector3 setter); // Normal
public native @Cast("btScalar") double m_ra(); public native Face m_ra(double setter); // Rest area
public native btDbvtNode m_leaf(); public native Face m_leaf(btDbvtNode setter); // Leaf data
public native @ByRef btVector4 m_pcontact(); public native Face m_pcontact(btVector4 setter); // barycentric weights of the persistent contact
public native @ByRef btVector3 m_n0(); public native Face m_n0(btVector3 setter);
public native @ByRef btVector3 m_n1(); public native Face m_n1(btVector3 setter);
public native @ByRef btVector3 m_vn(); public native Face m_vn(btVector3 setter);
public native int m_index(); public native Face m_index(int setter);
}
/* Tetra */
@NoOffset public static class Tetra extends Feature {
static { Loader.load(); }
/** Default native constructor. */
public Tetra() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Tetra(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Tetra(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Tetra position(long position) {
return (Tetra)super.position(position);
}
@Override public Tetra getPointer(long i) {
return new Tetra((Pointer)this).offsetAddress(i);
}
public native Node m_n(int i); public native Tetra m_n(int i, Node setter);
@MemberGetter public native @Cast("btSoftBody::Node**") PointerPointer m_n(); // Node pointers
public native @Cast("btScalar") double m_rv(); public native Tetra m_rv(double setter); // Rest volume
public native btDbvtNode m_leaf(); public native Tetra m_leaf(btDbvtNode setter); // Leaf data
public native @ByRef btVector3 m_c0(int i); public native Tetra m_c0(int i, btVector3 setter);
@MemberGetter public native btVector3 m_c0(); // gradients
public native @Cast("btScalar") double m_c1(); public native Tetra m_c1(double setter); // (4*kVST)/(im0+im1+im2+im3)
public native @Cast("btScalar") double m_c2(); public native Tetra m_c2(double setter); // m_c1/sum(|g0..3|^2)
public native @ByRef btMatrix3x3 m_Dm_inverse(); public native Tetra m_Dm_inverse(btMatrix3x3 setter); // rest Dm^-1
public native @ByRef btMatrix3x3 m_F(); public native Tetra m_F(btMatrix3x3 setter);
public native @Cast("btScalar") double m_element_measure(); public native Tetra m_element_measure(double setter);
public native @ByRef btVector4 m_P_inv(int i); public native Tetra m_P_inv(int i, btVector4 setter);
@MemberGetter public native btVector4 m_P_inv(); // first three columns of P_inv matrix
}
/* TetraScratch */
public static class TetraScratch extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public TetraScratch() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public TetraScratch(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public TetraScratch(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public TetraScratch position(long position) {
return (TetraScratch)super.position(position);
}
@Override public TetraScratch getPointer(long i) {
return new TetraScratch((Pointer)this).offsetAddress(i);
}
public native @ByRef btMatrix3x3 m_F(); public native TetraScratch m_F(btMatrix3x3 setter); // deformation gradient F
public native @Cast("btScalar") double m_trace(); public native TetraScratch m_trace(double setter); // trace of F^T * F
public native @Cast("btScalar") double m_J(); public native TetraScratch m_J(double setter); // det(F)
public native @ByRef btMatrix3x3 m_cofF(); public native TetraScratch m_cofF(btMatrix3x3 setter); // cofactor of F
public native @ByRef btMatrix3x3 m_corotation(); public native TetraScratch m_corotation(btMatrix3x3 setter); // corotatio of the tetra
}
/* RContact */
public static class RContact extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public RContact() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public RContact(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public RContact(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public RContact position(long position) {
return (RContact)super.position(position);
}
@Override public RContact getPointer(long i) {
return new RContact((Pointer)this).offsetAddress(i);
}
public native @ByRef sCti m_cti(); public native RContact m_cti(sCti setter); // Contact infos
public native Node m_node(); public native RContact m_node(Node setter); // Owner node
public native @ByRef btMatrix3x3 m_c0(); public native RContact m_c0(btMatrix3x3 setter); // Impulse matrix
public native @ByRef btVector3 m_c1(); public native RContact m_c1(btVector3 setter); // Relative anchor
public native @Cast("btScalar") double m_c2(); public native RContact m_c2(double setter); // ima*dt
public native @Cast("btScalar") double m_c3(); public native RContact m_c3(double setter); // Friction
public native @Cast("btScalar") double m_c4(); public native RContact m_c4(double setter); // Hardness
// jacobians and unit impulse responses for multibody
public native @ByRef btMultiBodyJacobianData jacobianData_normal(); public native RContact jacobianData_normal(btMultiBodyJacobianData setter);
public native @ByRef btMultiBodyJacobianData jacobianData_t1(); public native RContact jacobianData_t1(btMultiBodyJacobianData setter);
public native @ByRef btMultiBodyJacobianData jacobianData_t2(); public native RContact jacobianData_t2(btMultiBodyJacobianData setter);
public native @ByRef btVector3 t1(); public native RContact t1(btVector3 setter);
public native @ByRef btVector3 t2(); public native RContact t2(btVector3 setter);
}
public static class DeformableRigidContact extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public DeformableRigidContact() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public DeformableRigidContact(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public DeformableRigidContact(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public DeformableRigidContact position(long position) {
return (DeformableRigidContact)super.position(position);
}
@Override public DeformableRigidContact getPointer(long i) {
return new DeformableRigidContact((Pointer)this).offsetAddress(i);
}
public native @ByRef sCti m_cti(); public native DeformableRigidContact m_cti(sCti setter); // Contact infos
public native @ByRef btMatrix3x3 m_c0(); public native DeformableRigidContact m_c0(btMatrix3x3 setter); // Impulse matrix
public native @ByRef btVector3 m_c1(); public native DeformableRigidContact m_c1(btVector3 setter); // Relative anchor
public native @Cast("btScalar") double m_c2(); public native DeformableRigidContact m_c2(double setter); // inverse mass of node/face
public native @Cast("btScalar") double m_c3(); public native DeformableRigidContact m_c3(double setter); // Friction
public native @Cast("btScalar") double m_c4(); public native DeformableRigidContact m_c4(double setter); // Hardness
public native @ByRef btMatrix3x3 m_c5(); public native DeformableRigidContact m_c5(btMatrix3x3 setter); // inverse effective mass
// jacobians and unit impulse responses for multibody
public native @ByRef btMultiBodyJacobianData jacobianData_normal(); public native DeformableRigidContact jacobianData_normal(btMultiBodyJacobianData setter);
public native @ByRef btMultiBodyJacobianData jacobianData_t1(); public native DeformableRigidContact jacobianData_t1(btMultiBodyJacobianData setter);
public native @ByRef btMultiBodyJacobianData jacobianData_t2(); public native DeformableRigidContact jacobianData_t2(btMultiBodyJacobianData setter);
public native @ByRef btVector3 t1(); public native DeformableRigidContact t1(btVector3 setter);
public native @ByRef btVector3 t2(); public native DeformableRigidContact t2(btVector3 setter);
}
@NoOffset public static class DeformableNodeRigidContact extends DeformableRigidContact {
static { Loader.load(); }
/** Default native constructor. */
public DeformableNodeRigidContact() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public DeformableNodeRigidContact(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public DeformableNodeRigidContact(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public DeformableNodeRigidContact position(long position) {
return (DeformableNodeRigidContact)super.position(position);
}
@Override public DeformableNodeRigidContact getPointer(long i) {
return new DeformableNodeRigidContact((Pointer)this).offsetAddress(i);
}
public native Node m_node(); public native DeformableNodeRigidContact m_node(Node setter); // Owner node
}
@NoOffset public static class DeformableNodeRigidAnchor extends DeformableNodeRigidContact {
static { Loader.load(); }
/** Default native constructor. */
public DeformableNodeRigidAnchor() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public DeformableNodeRigidAnchor(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public DeformableNodeRigidAnchor(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public DeformableNodeRigidAnchor position(long position) {
return (DeformableNodeRigidAnchor)super.position(position);
}
@Override public DeformableNodeRigidAnchor getPointer(long i) {
return new DeformableNodeRigidAnchor((Pointer)this).offsetAddress(i);
}
public native @ByRef btVector3 m_local(); public native DeformableNodeRigidAnchor m_local(btVector3 setter); // Anchor position in body space
}
@NoOffset public static class DeformableFaceRigidContact extends DeformableRigidContact {
static { Loader.load(); }
/** Default native constructor. */
public DeformableFaceRigidContact() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public DeformableFaceRigidContact(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public DeformableFaceRigidContact(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public DeformableFaceRigidContact position(long position) {
return (DeformableFaceRigidContact)super.position(position);
}
@Override public DeformableFaceRigidContact getPointer(long i) {
return new DeformableFaceRigidContact((Pointer)this).offsetAddress(i);
}
public native Face m_face(); public native DeformableFaceRigidContact m_face(Face setter); // Owner face
public native @ByRef btVector3 m_contactPoint(); public native DeformableFaceRigidContact m_contactPoint(btVector3 setter); // Contact point
public native @ByRef btVector3 m_bary(); public native DeformableFaceRigidContact m_bary(btVector3 setter); // Barycentric weights
public native @ByRef btVector3 m_weights(); public native DeformableFaceRigidContact m_weights(btVector3 setter); // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v;
}
public static class DeformableFaceNodeContact extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public DeformableFaceNodeContact() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public DeformableFaceNodeContact(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public DeformableFaceNodeContact(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public DeformableFaceNodeContact position(long position) {
return (DeformableFaceNodeContact)super.position(position);
}
@Override public DeformableFaceNodeContact getPointer(long i) {
return new DeformableFaceNodeContact((Pointer)this).offsetAddress(i);
}
public native Node m_node(); public native DeformableFaceNodeContact m_node(Node setter); // Node
public native Face m_face(); public native DeformableFaceNodeContact m_face(Face setter); // Face
public native @ByRef btVector3 m_bary(); public native DeformableFaceNodeContact m_bary(btVector3 setter); // Barycentric weights
public native @ByRef btVector3 m_weights(); public native DeformableFaceNodeContact m_weights(btVector3 setter); // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v;
public native @ByRef btVector3 m_normal(); public native DeformableFaceNodeContact m_normal(btVector3 setter); // Normal
public native @Cast("btScalar") double m_margin(); public native DeformableFaceNodeContact m_margin(double setter); // Margin
public native @Cast("btScalar") double m_friction(); public native DeformableFaceNodeContact m_friction(double setter); // Friction
public native @Cast("btScalar") double m_imf(); public native DeformableFaceNodeContact m_imf(double setter); // inverse mass of the face at contact point
public native @Cast("btScalar") double m_c0(); public native DeformableFaceNodeContact m_c0(double setter); // scale of the impulse matrix;
public native @Const btCollisionObject m_colObj(); public native DeformableFaceNodeContact m_colObj(btCollisionObject setter); // Collision object to collide with.
}
/* SContact */
public static class SContact extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public SContact() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public SContact(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public SContact(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public SContact position(long position) {
return (SContact)super.position(position);
}
@Override public SContact getPointer(long i) {
return new SContact((Pointer)this).offsetAddress(i);
}
public native Node m_node(); public native SContact m_node(Node setter); // Node
public native Face m_face(); public native SContact m_face(Face setter); // Face
public native @ByRef btVector3 m_weights(); public native SContact m_weights(btVector3 setter); // Weigths
public native @ByRef btVector3 m_normal(); public native SContact m_normal(btVector3 setter); // Normal
public native @Cast("btScalar") double m_margin(); public native SContact m_margin(double setter); // Margin
public native @Cast("btScalar") double m_friction(); public native SContact m_friction(double setter); // Friction
public native @Cast("btScalar") double m_cfm(int i); public native SContact m_cfm(int i, double setter);
@MemberGetter public native @Cast("btScalar*") DoublePointer m_cfm(); // Constraint force mixing
}
/* Anchor */
public static class Anchor extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public Anchor() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Anchor(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Anchor(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Anchor position(long position) {
return (Anchor)super.position(position);
}
@Override public Anchor getPointer(long i) {
return new Anchor((Pointer)this).offsetAddress(i);
}
public native Node m_node(); public native Anchor m_node(Node setter); // Node pointer
public native @ByRef btVector3 m_local(); public native Anchor m_local(btVector3 setter); // Anchor position in body space
public native btRigidBody m_body(); public native Anchor m_body(btRigidBody setter); // Body
public native @Cast("btScalar") double m_influence(); public native Anchor m_influence(double setter);
public native @ByRef btMatrix3x3 m_c0(); public native Anchor m_c0(btMatrix3x3 setter); // Impulse matrix
public native @ByRef btVector3 m_c1(); public native Anchor m_c1(btVector3 setter); // Relative anchor
public native @Cast("btScalar") double m_c2(); public native Anchor m_c2(double setter); // ima*dt
}
/* Note */
@NoOffset public static class Note extends Element {
static { Loader.load(); }
/** Default native constructor. */
public Note() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Note(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Note(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Note position(long position) {
return (Note)super.position(position);
}
@Override public Note getPointer(long i) {
return new Note((Pointer)this).offsetAddress(i);
}
public native @Cast("const char*") BytePointer m_text(); public native Note m_text(BytePointer setter); // Text
public native @ByRef btVector3 m_offset(); public native Note m_offset(btVector3 setter); // Offset
public native int m_rank(); public native Note m_rank(int setter); // Rank
public native Node m_nodes(int i); public native Note m_nodes(int i, Node setter);
@MemberGetter public native @Cast("btSoftBody::Node**") PointerPointer m_nodes(); // Nodes
public native @Cast("btScalar") double m_coords(int i); public native Note m_coords(int i, double setter);
@MemberGetter public native @Cast("btScalar*") DoublePointer m_coords(); // Coordinates
}
/* Pose */
public static class Pose extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public Pose() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Pose(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Pose(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Pose position(long position) {
return (Pose)super.position(position);
}
@Override public Pose getPointer(long i) {
return new Pose((Pointer)this).offsetAddress(i);
}
public native @Cast("bool") boolean m_bvolume(); public native Pose m_bvolume(boolean setter); // Is valid
public native @Cast("bool") boolean m_bframe(); public native Pose m_bframe(boolean setter); // Is frame
public native @Cast("btScalar") double m_volume(); public native Pose m_volume(double setter); // Rest volume
public native @ByRef @Cast("btSoftBody::tVector3Array*") btVector3Array m_pos(); public native Pose m_pos(btVector3Array setter); // Reference positions
public native @ByRef @Cast("btSoftBody::tScalarArray*") btScalarArray m_wgh(); public native Pose m_wgh(btScalarArray setter); // Weights
public native @ByRef btVector3 m_com(); public native Pose m_com(btVector3 setter); // COM
public native @ByRef btMatrix3x3 m_rot(); public native Pose m_rot(btMatrix3x3 setter); // Rotation
public native @ByRef btMatrix3x3 m_scl(); public native Pose m_scl(btMatrix3x3 setter); // Scale
public native @ByRef btMatrix3x3 m_aqq(); public native Pose m_aqq(btMatrix3x3 setter); // Base scaling
}
/* Cluster */
@NoOffset public static class Cluster extends Pointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Cluster(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Cluster(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public Cluster position(long position) {
return (Cluster)super.position(position);
}
@Override public Cluster getPointer(long i) {
return new Cluster((Pointer)this).offsetAddress(i);
}
public native @ByRef @Cast("btSoftBody::tScalarArray*") btScalarArray m_masses(); public native Cluster m_masses(btScalarArray setter);
public native @ByRef btSoftBodyNodePointerArray m_nodes(); public native Cluster m_nodes(btSoftBodyNodePointerArray setter);
public native @ByRef @Cast("btSoftBody::tVector3Array*") btVector3Array m_framerefs(); public native Cluster m_framerefs(btVector3Array setter);
public native @ByRef btTransform m_framexform(); public native Cluster m_framexform(btTransform setter);
public native @Cast("btScalar") double m_idmass(); public native Cluster m_idmass(double setter);
public native @Cast("btScalar") double m_imass(); public native Cluster m_imass(double setter);
public native @ByRef btMatrix3x3 m_locii(); public native Cluster m_locii(btMatrix3x3 setter);
public native @ByRef btMatrix3x3 m_invwi(); public native Cluster m_invwi(btMatrix3x3 setter);
public native @ByRef btVector3 m_com(); public native Cluster m_com(btVector3 setter);
public native @ByRef btVector3 m_vimpulses(int i); public native Cluster m_vimpulses(int i, btVector3 setter);
@MemberGetter public native btVector3 m_vimpulses();
public native @ByRef btVector3 m_dimpulses(int i); public native Cluster m_dimpulses(int i, btVector3 setter);
@MemberGetter public native btVector3 m_dimpulses();
public native int m_nvimpulses(); public native Cluster m_nvimpulses(int setter);
public native int m_ndimpulses(); public native Cluster m_ndimpulses(int setter);
public native @ByRef btVector3 m_lv(); public native Cluster m_lv(btVector3 setter);
public native @ByRef btVector3 m_av(); public native Cluster m_av(btVector3 setter);
public native btDbvtNode m_leaf(); public native Cluster m_leaf(btDbvtNode setter);
public native @Cast("btScalar") double m_ndamping(); public native Cluster m_ndamping(double setter); /* Node damping */
public native @Cast("btScalar") double m_ldamping(); public native Cluster m_ldamping(double setter); /* Linear damping */
public native @Cast("btScalar") double m_adamping(); public native Cluster m_adamping(double setter); /* Angular damping */
public native @Cast("btScalar") double m_matching(); public native Cluster m_matching(double setter);
public native @Cast("btScalar") double m_maxSelfCollisionImpulse(); public native Cluster m_maxSelfCollisionImpulse(double setter);
public native @Cast("btScalar") double m_selfCollisionImpulseFactor(); public native Cluster m_selfCollisionImpulseFactor(double setter);
public native @Cast("bool") boolean m_containsAnchor(); public native Cluster m_containsAnchor(boolean setter);
public native @Cast("bool") boolean m_collide(); public native Cluster m_collide(boolean setter);
public native int m_clusterIndex(); public native Cluster m_clusterIndex(int setter);
public Cluster() { super((Pointer)null); allocate(); }
private native void allocate();
}
/* Impulse */
@NoOffset public static class Impulse extends Pointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Impulse(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Impulse(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public Impulse position(long position) {
return (Impulse)super.position(position);
}
@Override public Impulse getPointer(long i) {
return new Impulse((Pointer)this).offsetAddress(i);
}
public native @ByRef btVector3 m_velocity(); public native Impulse m_velocity(btVector3 setter);
public native @ByRef btVector3 m_drift(); public native Impulse m_drift(btVector3 setter);
public native @NoOffset int m_asVelocity(); public native Impulse m_asVelocity(int setter);
public native @NoOffset int m_asDrift(); public native Impulse m_asDrift(int setter);
public Impulse() { super((Pointer)null); allocate(); }
private native void allocate();
public native @ByVal @Name("operator -") Impulse subtract();
public native @ByVal @Name("operator *") Impulse multiply(@Cast("btScalar") double x);
}
/* Body */
@NoOffset public static class Body extends Pointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Body(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Body(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public Body position(long position) {
return (Body)super.position(position);
}
@Override public Body getPointer(long i) {
return new Body((Pointer)this).offsetAddress(i);
}
public native Cluster m_soft(); public native Body m_soft(Cluster setter);
public native btRigidBody m_rigid(); public native Body m_rigid(btRigidBody setter);
public native @Const btCollisionObject m_collisionObject(); public native Body m_collisionObject(btCollisionObject setter);
public Body() { super((Pointer)null); allocate(); }
private native void allocate();
public Body(Cluster p) { super((Pointer)null); allocate(p); }
private native void allocate(Cluster p);
public Body(@Const btCollisionObject colObj) { super((Pointer)null); allocate(colObj); }
private native void allocate(@Const btCollisionObject colObj);
public native void activate();
public native @Const @ByRef btMatrix3x3 invWorldInertia();
public native @Cast("btScalar") double invMass();
public native @Const @ByRef btTransform xform();
public native @ByVal btVector3 linearVelocity();
public native @ByVal btVector3 angularVelocity(@Const @ByRef btVector3 rpos);
public native @ByVal btVector3 angularVelocity();
public native @ByVal btVector3 velocity(@Const @ByRef btVector3 rpos);
public native void applyVImpulse(@Const @ByRef btVector3 impulse, @Const @ByRef btVector3 rpos);
public native void applyDImpulse(@Const @ByRef btVector3 impulse, @Const @ByRef btVector3 rpos);
public native void applyImpulse(@Const @ByRef Impulse impulse, @Const @ByRef btVector3 rpos);
public native void applyVAImpulse(@Const @ByRef btVector3 impulse);
public native void applyDAImpulse(@Const @ByRef btVector3 impulse);
public native void applyAImpulse(@Const @ByRef Impulse impulse);
public native void applyDCImpulse(@Const @ByRef btVector3 impulse);
}
/* Joint */
@NoOffset public static class Joint extends Pointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Joint(Pointer p) { super(p); }
public static class eType extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public eType() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public eType(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public eType(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public eType position(long position) {
return (eType)super.position(position);
}
@Override public eType getPointer(long i) {
return new eType((Pointer)this).offsetAddress(i);
}
/** enum btSoftBody::Joint::eType::_ */
public static final int
Linear = 0,
Angular = 1,
Contact = 2;
}
@NoOffset public static class Specs extends Pointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Specs(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Specs(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public Specs position(long position) {
return (Specs)super.position(position);
}
@Override public Specs getPointer(long i) {
return new Specs((Pointer)this).offsetAddress(i);
}
public Specs() { super((Pointer)null); allocate(); }
private native void allocate();
public native @Cast("btScalar") double erp(); public native Specs erp(double setter);
public native @Cast("btScalar") double cfm(); public native Specs cfm(double setter);
public native @Cast("btScalar") double split(); public native Specs split(double setter);
}
public native @ByRef Body m_bodies(int i); public native Joint m_bodies(int i, Body setter);
@MemberGetter public native Body m_bodies();
public native @ByRef btVector3 m_refs(int i); public native Joint m_refs(int i, btVector3 setter);
@MemberGetter public native btVector3 m_refs();
public native @Cast("btScalar") double m_cfm(); public native Joint m_cfm(double setter);
public native @Cast("btScalar") double m_erp(); public native Joint m_erp(double setter);
public native @Cast("btScalar") double m_split(); public native Joint m_split(double setter);
public native @ByRef btVector3 m_drift(); public native Joint m_drift(btVector3 setter);
public native @ByRef btVector3 m_sdrift(); public native Joint m_sdrift(btVector3 setter);
public native @ByRef btMatrix3x3 m_massmatrix(); public native Joint m_massmatrix(btMatrix3x3 setter);
public native @Cast("bool") boolean m_delete(); public native Joint m_delete(boolean setter);
public native void Prepare(@Cast("btScalar") double dt, int iterations);
public native void Solve(@Cast("btScalar") double dt, @Cast("btScalar") double sor);
public native void Terminate(@Cast("btScalar") double dt);
public native @Cast("btSoftBody::Joint::eType::_") int Type();
}
/* LJoint */
@NoOffset public static class LJoint extends Joint {
static { Loader.load(); }
/** Default native constructor. */
public LJoint() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public LJoint(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public LJoint(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public LJoint position(long position) {
return (LJoint)super.position(position);
}
@Override public LJoint getPointer(long i) {
return new LJoint((Pointer)this).offsetAddress(i);
}
@NoOffset public static class Specs extends Joint.Specs {
static { Loader.load(); }
/** Default native constructor. */
public Specs() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Specs(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Specs(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Specs position(long position) {
return (Specs)super.position(position);
}
@Override public Specs getPointer(long i) {
return new Specs((Pointer)this).offsetAddress(i);
}
public native @ByRef @Name("position") btVector3 _position(); public native Specs _position(btVector3 setter);
}
public native @ByRef btVector3 m_rpos(int i); public native LJoint m_rpos(int i, btVector3 setter);
@MemberGetter public native btVector3 m_rpos();
public native void Prepare(@Cast("btScalar") double dt, int iterations);
public native void Solve(@Cast("btScalar") double dt, @Cast("btScalar") double sor);
public native void Terminate(@Cast("btScalar") double dt);
}
/* AJoint */
@NoOffset public static class AJoint extends Joint {
static { Loader.load(); }
/** Default native constructor. */
public AJoint() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public AJoint(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public AJoint(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public AJoint position(long position) {
return (AJoint)super.position(position);
}
@Override public AJoint getPointer(long i) {
return new AJoint((Pointer)this).offsetAddress(i);
}
public static class IControl extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public IControl() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public IControl(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public IControl(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public IControl position(long position) {
return (IControl)super.position(position);
}
@Override public IControl getPointer(long i) {
return new IControl((Pointer)this).offsetAddress(i);
}
public native void Prepare(AJoint arg0);
public native @Cast("btScalar") double Speed(AJoint arg0, @Cast("btScalar") double current);
public static native IControl Default();
}
@NoOffset public static class Specs extends Joint.Specs {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Specs(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Specs(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public Specs position(long position) {
return (Specs)super.position(position);
}
@Override public Specs getPointer(long i) {
return new Specs((Pointer)this).offsetAddress(i);
}
public Specs() { super((Pointer)null); allocate(); }
private native void allocate();
public native @ByRef btVector3 axis(); public native Specs axis(btVector3 setter);
public native IControl icontrol(); public native Specs icontrol(IControl setter);
}
public native @ByRef btVector3 m_axis(int i); public native AJoint m_axis(int i, btVector3 setter);
@MemberGetter public native btVector3 m_axis();
public native IControl m_icontrol(); public native AJoint m_icontrol(IControl setter);
public native void Prepare(@Cast("btScalar") double dt, int iterations);
public native void Solve(@Cast("btScalar") double dt, @Cast("btScalar") double sor);
public native void Terminate(@Cast("btScalar") double dt);
}
/* CJoint */
@NoOffset public static class CJoint extends Joint {
static { Loader.load(); }
/** Default native constructor. */
public CJoint() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public CJoint(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public CJoint(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public CJoint position(long position) {
return (CJoint)super.position(position);
}
@Override public CJoint getPointer(long i) {
return new CJoint((Pointer)this).offsetAddress(i);
}
public native int m_life(); public native CJoint m_life(int setter);
public native int m_maxlife(); public native CJoint m_maxlife(int setter);
public native @ByRef btVector3 m_rpos(int i); public native CJoint m_rpos(int i, btVector3 setter);
@MemberGetter public native btVector3 m_rpos();
public native @ByRef btVector3 m_normal(); public native CJoint m_normal(btVector3 setter);
public native @Cast("btScalar") double m_friction(); public native CJoint m_friction(double setter);
public native void Prepare(@Cast("btScalar") double dt, int iterations);
public native void Solve(@Cast("btScalar") double dt, @Cast("btScalar") double sor);
public native void Terminate(@Cast("btScalar") double dt);
}
/* Config */
public static class Config extends Pointer {
static { Loader.load(); }
/** Default native constructor. */
public Config() { super((Pointer)null); allocate(); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public Config(long size) { super((Pointer)null); allocateArray(size); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public Config(Pointer p) { super(p); }
private native void allocate();
private native void allocateArray(long size);
@Override public Config position(long position) {
return (Config)super.position(position);
}
@Override public Config getPointer(long i) {
return new Config((Pointer)this).offsetAddress(i);
}
public native @Cast("btSoftBody::eAeroModel::_") int aeromodel(); public native Config aeromodel(int setter); // Aerodynamic model (default: V_Point)
public native @Cast("btScalar") double kVCF(); public native Config kVCF(double setter); // Velocities correction factor (Baumgarte)
public native @Cast("btScalar") double kDP(); public native Config kDP(double setter); // Damping coefficient [0,1]
public native @Cast("btScalar") double kDG(); public native Config kDG(double setter); // Drag coefficient [0,+inf]
public native @Cast("btScalar") double kLF(); public native Config kLF(double setter); // Lift coefficient [0,+inf]
public native @Cast("btScalar") double kPR(); public native Config kPR(double setter); // Pressure coefficient [-inf,+inf]
public native @Cast("btScalar") double kVC(); public native Config kVC(double setter); // Volume conversation coefficient [0,+inf]
public native @Cast("btScalar") double kDF(); public native Config kDF(double setter); // Dynamic friction coefficient [0,1]
public native @Cast("btScalar") double kMT(); public native Config kMT(double setter); // Pose matching coefficient [0,1]
public native @Cast("btScalar") double kCHR(); public native Config kCHR(double setter); // Rigid contacts hardness [0,1]
public native @Cast("btScalar") double kKHR(); public native Config kKHR(double setter); // Kinetic contacts hardness [0,1]
public native @Cast("btScalar") double kSHR(); public native Config kSHR(double setter); // Soft contacts hardness [0,1]
public native @Cast("btScalar") double kAHR(); public native Config kAHR(double setter); // Anchors hardness [0,1]
public native @Cast("btScalar") double kSRHR_CL(); public native Config kSRHR_CL(double setter); // Soft vs rigid hardness [0,1] (cluster only)
public native @Cast("btScalar") double kSKHR_CL(); public native Config kSKHR_CL(double setter); // Soft vs kinetic hardness [0,1] (cluster only)
public native @Cast("btScalar") double kSSHR_CL(); public native Config kSSHR_CL(double setter); // Soft vs soft hardness [0,1] (cluster only)
public native @Cast("btScalar") double kSR_SPLT_CL(); public native Config kSR_SPLT_CL(double setter); // Soft vs rigid impulse split [0,1] (cluster only)
public native @Cast("btScalar") double kSK_SPLT_CL(); public native Config kSK_SPLT_CL(double setter); // Soft vs rigid impulse split [0,1] (cluster only)
public native @Cast("btScalar") double kSS_SPLT_CL(); public native Config kSS_SPLT_CL(double setter); // Soft vs rigid impulse split [0,1] (cluster only)
public native @Cast("btScalar") double maxvolume(); public native Config maxvolume(double setter); // Maximum volume ratio for pose
public native @Cast("btScalar") double timescale(); public native Config timescale(double setter); // Time scale
public native int viterations(); public native Config viterations(int setter); // Velocities solver iterations
public native int piterations(); public native Config piterations(int setter); // Positions solver iterations
public native int diterations(); public native Config diterations(int setter); // Drift solver iterations
public native int citerations(); public native Config citerations(int setter); // Cluster solver iterations
public native int collisions(); public native Config collisions(int setter); // Collisions flags
public native @ByRef @Cast("btSoftBody::tVSolverArray*") LagrangeMultiplierArray m_vsequence(); public native Config m_vsequence(LagrangeMultiplierArray setter); // Velocity solvers sequence
public native @ByRef @Cast("btSoftBody::tPSolverArray*") LagrangeMultiplierArray m_psequence(); public native Config m_psequence(LagrangeMultiplierArray setter); // Position solvers sequence
public native @ByRef @Cast("btSoftBody::tPSolverArray*") LagrangeMultiplierArray m_dsequence(); public native Config m_dsequence(LagrangeMultiplierArray setter); // Drift solvers sequence
public native @Cast("btScalar") double drag(); public native Config drag(double setter); // deformable air drag
public native @Cast("btScalar") double m_maxStress(); public native Config m_maxStress(double setter); // Maximum principle first Piola stress
}
/* SolverState */
@NoOffset public static class SolverState extends Pointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public SolverState(Pointer p) { super(p); }
/** Native array allocator. Access with {@link Pointer#position(long)}. */
public SolverState(long size) { super((Pointer)null); allocateArray(size); }
private native void allocateArray(long size);
@Override public SolverState position(long position) {
return (SolverState)super.position(position);
}
@Override public SolverState getPointer(long i) {
return new SolverState((Pointer)this).offsetAddress(i);
}
//if you add new variables, always initialize them!
public SolverState() { super((Pointer)null); allocate(); }
private native void allocate();
public native @Cast("btScalar") double sdt(); public native SolverState sdt(double setter); // dt*timescale
public native @Cast("btScalar") double isdt(); public native SolverState isdt(double setter); // 1/sdt
public native @Cast("btScalar") double velmrg(); public native SolverState velmrg(double setter); // velocity margin
public native @Cast("btScalar") double radmrg(); public native SolverState radmrg(double setter); // radial margin
public native @Cast("btScalar") double updmrg(); public native SolverState updmrg(double setter); // Update margin
}
/** RayFromToCaster takes a ray from, ray to (instead of direction!) */
@NoOffset public static class RayFromToCaster extends btDbvt.ICollide {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public RayFromToCaster(Pointer p) { super(p); }
public native @ByRef btVector3 m_rayFrom(); public native RayFromToCaster m_rayFrom(btVector3 setter);
public native @ByRef btVector3 m_rayTo(); public native RayFromToCaster m_rayTo(btVector3 setter);
public native @ByRef btVector3 m_rayNormalizedDirection(); public native RayFromToCaster m_rayNormalizedDirection(btVector3 setter);
public native @Cast("btScalar") double m_mint(); public native RayFromToCaster m_mint(double setter);
public native Face m_face(); public native RayFromToCaster m_face(Face setter);
public native int m_tests(); public native RayFromToCaster m_tests(int setter);
public RayFromToCaster(@Const @ByRef btVector3 rayFrom, @Const @ByRef btVector3 rayTo, @Cast("btScalar") double mxt) { super((Pointer)null); allocate(rayFrom, rayTo, mxt); }
private native void allocate(@Const @ByRef btVector3 rayFrom, @Const @ByRef btVector3 rayTo, @Cast("btScalar") double mxt);
public native void Process(@Const btDbvtNode leaf);
public static native @Cast("btScalar") double rayFromToTriangle(@Const @ByRef btVector3 rayFrom,
@Const @ByRef btVector3 rayTo,
@Const @ByRef btVector3 rayNormalizedDirection,
@Const @ByRef btVector3 a,
@Const @ByRef btVector3 b,
@Const @ByRef btVector3 c,
@Cast("btScalar") double maxt/*=SIMD_INFINITY*/);
public static native @Cast("btScalar") double rayFromToTriangle(@Const @ByRef btVector3 rayFrom,
@Const @ByRef btVector3 rayTo,
@Const @ByRef btVector3 rayNormalizedDirection,
@Const @ByRef btVector3 a,
@Const @ByRef btVector3 b,
@Const @ByRef btVector3 c);
}
//
// Typedefs
//
public static class psolver_t extends FunctionPointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public psolver_t(Pointer p) { super(p); }
protected psolver_t() { allocate(); }
private native void allocate();
public native void call(btSoftBody arg0, @Cast("btScalar") double arg1, @Cast("btScalar") double arg2);
}
public static class vsolver_t extends FunctionPointer {
static { Loader.load(); }
/** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */
public vsolver_t(Pointer p) { super(p); }
protected vsolver_t() { allocate(); }
private native void allocate();
public native void call(btSoftBody arg0, @Cast("btScalar") double arg1);
}
//
// Fields
//
public native @ByRef Config m_cfg(); public native btSoftBody m_cfg(Config setter); // Configuration
public native @ByRef SolverState m_sst(); public native btSoftBody m_sst(SolverState setter); // Solver state
public native @ByRef Pose m_pose(); public native btSoftBody m_pose(Pose setter); // Pose
public native Pointer m_tag(); public native btSoftBody m_tag(Pointer setter); // User data
public native btSoftBodyWorldInfo m_worldInfo(); public native btSoftBody m_worldInfo(btSoftBodyWorldInfo setter); // World info
public native @ByRef @Cast("btSoftBody::tNoteArray*") btSoftBodyNoteArray m_notes(); public native btSoftBody m_notes(btSoftBodyNoteArray setter); // Notes
public native @ByRef @Cast("btSoftBody::tNodeArray*") btSoftBodyNodeArray m_nodes(); public native btSoftBody m_nodes(btSoftBodyNodeArray setter); // Nodes
public native @ByRef @Cast("btSoftBody::tRenderNodeArray*") btSoftBodyRenderNodeArray m_renderNodes(); public native btSoftBody m_renderNodes(btSoftBodyRenderNodeArray setter); // Render Nodes
public native @ByRef @Cast("btSoftBody::tLinkArray*") btSoftBodyLinkArray m_links(); public native btSoftBody m_links(btSoftBodyLinkArray setter); // Links
public native @ByRef @Cast("btSoftBody::tFaceArray*") btSoftBodyFaceArray m_faces(); public native btSoftBody m_faces(btSoftBodyFaceArray setter); // Faces
public native @ByRef @Cast("btSoftBody::tRenderFaceArray*") btSoftBodyRenderFaceArray m_renderFaces(); public native btSoftBody m_renderFaces(btSoftBodyRenderFaceArray setter); // Faces
public native @ByRef @Cast("btSoftBody::tTetraArray*") btSoftBodyTetraArray m_tetras(); public native btSoftBody m_tetras(btSoftBodyTetraArray setter); // Tetras
public native @ByRef btSoftBodyTetraSratchArray m_tetraScratches(); public native btSoftBody m_tetraScratches(btSoftBodyTetraSratchArray setter);
public native @ByRef btSoftBodyTetraSratchArray m_tetraScratchesTn(); public native btSoftBody m_tetraScratchesTn(btSoftBodyTetraSratchArray setter);
public native @ByRef @Cast("btSoftBody::tAnchorArray*") btSoftBodyAnchorArray m_anchors(); public native btSoftBody m_anchors(btSoftBodyAnchorArray setter); // Anchors
public native @ByRef btSoftBodyDeformableNodeRigidAnchorArray m_deformableAnchors(); public native btSoftBody m_deformableAnchors(btSoftBodyDeformableNodeRigidAnchorArray setter);
public native @ByRef @Cast("btSoftBody::tRContactArray*") btSoftBodyRContactArray m_rcontacts(); public native btSoftBody m_rcontacts(btSoftBodyRContactArray setter); // Rigid contacts
public native @ByRef btSoftBodyDeformableNodeRigidContactArray m_nodeRigidContacts(); public native btSoftBody m_nodeRigidContacts(btSoftBodyDeformableNodeRigidContactArray setter);
public native @ByRef btSoftBodyDeformableFaceNodeContactArray m_faceNodeContacts(); public native btSoftBody m_faceNodeContacts(btSoftBodyDeformableFaceNodeContactArray setter);
public native @ByRef btSoftBodyDeformableFaceRigidContactArray m_faceRigidContacts(); public native btSoftBody m_faceRigidContacts(btSoftBodyDeformableFaceRigidContactArray setter);
public native @ByRef btSoftBodyDeformableFaceNodeContactArray m_faceNodeContactsCCD(); public native btSoftBody m_faceNodeContactsCCD(btSoftBodyDeformableFaceNodeContactArray setter);
public native @ByRef @Cast("btSoftBody::tSContactArray*") btSoftBodySContactArray m_scontacts(); public native btSoftBody m_scontacts(btSoftBodySContactArray setter); // Soft contacts
public native @ByRef @Cast("btSoftBody::tJointArray*") btSoftBodyJointArray m_joints(); public native btSoftBody m_joints(btSoftBodyJointArray setter); // Joints
public native @ByRef @Cast("btSoftBody::tMaterialArray*") btSoftBodyMaterialArray m_materials(); public native btSoftBody m_materials(btSoftBodyMaterialArray setter); // Materials
public native @Cast("btScalar") double m_timeacc(); public native btSoftBody m_timeacc(double setter); // Time accumulator
public native @ByRef btVector3 m_bounds(int i); public native btSoftBody m_bounds(int i, btVector3 setter);
@MemberGetter public native btVector3 m_bounds(); // Spatial bounds
public native @Cast("bool") boolean m_bUpdateRtCst(); public native btSoftBody m_bUpdateRtCst(boolean setter); // Update runtime constants
public native @ByRef btDbvt m_ndbvt(); public native btSoftBody m_ndbvt(btDbvt setter); // Nodes tree
public native @ByRef btDbvt m_fdbvt(); public native btSoftBody m_fdbvt(btDbvt setter); // Faces tree
public native btDbvntNode m_fdbvnt(); public native btSoftBody m_fdbvnt(btDbvntNode setter); // Faces tree with normals
public native @ByRef btDbvt m_cdbvt(); public native btSoftBody m_cdbvt(btDbvt setter); // Clusters tree
public native @ByRef @Cast("btSoftBody::tClusterArray*") btSoftBodyClusterArray m_clusters(); public native btSoftBody m_clusters(btSoftBodyClusterArray setter); // Clusters
public native @Cast("btScalar") double m_dampingCoefficient(); public native btSoftBody m_dampingCoefficient(double setter); // Damping Coefficient
public native @Cast("btScalar") double m_sleepingThreshold(); public native btSoftBody m_sleepingThreshold(double setter);
public native @Cast("btScalar") double m_maxSpeedSquared(); public native btSoftBody m_maxSpeedSquared(double setter);
public native @ByRef btVector3Array m_quads(); public native btSoftBody m_quads(btVector3Array setter); // quadrature points for collision detection
public native @Cast("btScalar") double m_repulsionStiffness(); public native btSoftBody m_repulsionStiffness(double setter);
public native @Cast("btScalar") double m_gravityFactor(); public native btSoftBody m_gravityFactor(double setter);
public native @Cast("bool") boolean m_cacheBarycenter(); public native btSoftBody m_cacheBarycenter(boolean setter);
public native @ByRef btVector3Array m_X(); public native btSoftBody m_X(btVector3Array setter); // initial positions
public native @ByRef btVector4Array m_renderNodesInterpolationWeights(); public native btSoftBody m_renderNodesInterpolationWeights(btVector4Array setter);
public native @ByRef btScalarArray m_z(); public native btSoftBody m_z(btScalarArray setter); // vertical distance used in extrapolation
public native @Cast("bool") boolean m_useSelfCollision(); public native btSoftBody m_useSelfCollision(boolean setter);
public native @Cast("bool") boolean m_softSoftCollision(); public native btSoftBody m_softSoftCollision(boolean setter);
public native @ByRef btBoolArray m_clusterConnectivity(); public native btSoftBody m_clusterConnectivity(btBoolArray setter); //cluster connectivity, for self-collision
public native @ByRef btVector3 m_windVelocity(); public native btSoftBody m_windVelocity(btVector3 setter);
public native @Cast("btScalar") double m_restLengthScale(); public native btSoftBody m_restLengthScale(double setter);
public native @Cast("bool") boolean m_reducedModel(); public native btSoftBody m_reducedModel(boolean setter); // Reduced deformable model flag
//
// Api
//
/* ctor */
public btSoftBody(btSoftBodyWorldInfo worldInfo, int node_count, @Const btVector3 x, @Cast("const btScalar*") DoublePointer m) { super((Pointer)null); allocate(worldInfo, node_count, x, m); }
private native void allocate(btSoftBodyWorldInfo worldInfo, int node_count, @Const btVector3 x, @Cast("const btScalar*") DoublePointer m);
public btSoftBody(btSoftBodyWorldInfo worldInfo, int node_count, @Const btVector3 x, @Cast("const btScalar*") DoubleBuffer m) { super((Pointer)null); allocate(worldInfo, node_count, x, m); }
private native void allocate(btSoftBodyWorldInfo worldInfo, int node_count, @Const btVector3 x, @Cast("const btScalar*") DoubleBuffer m);
public btSoftBody(btSoftBodyWorldInfo worldInfo, int node_count, @Const btVector3 x, @Cast("const btScalar*") double[] m) { super((Pointer)null); allocate(worldInfo, node_count, x, m); }
private native void allocate(btSoftBodyWorldInfo worldInfo, int node_count, @Const btVector3 x, @Cast("const btScalar*") double[] m);
/* ctor */
public btSoftBody(btSoftBodyWorldInfo worldInfo) { super((Pointer)null); allocate(worldInfo); }
private native void allocate(btSoftBodyWorldInfo worldInfo);
public native void initDefaults();
/* dtor */
/* Check for existing link */
public native @ByRef btIntArray m_userIndexMapping(); public native btSoftBody m_userIndexMapping(btIntArray setter);
public native btSoftBodyWorldInfo getWorldInfo();
public native void setDampingCoefficient(@Cast("btScalar") double damping_coeff);
/**\todo: avoid internal softbody shape hack and move collision code to collision library */
public native void setCollisionShape(btCollisionShape collisionShape);
public native @Cast("bool") boolean checkLink(int node0,
int node1);
public native @Cast("bool") boolean checkLink(@Const Node node0,
@Const Node node1);
/* Check for existring face */
public native @Cast("bool") boolean checkFace(int node0,
int node1,
int node2);
/* Append material */
public native Material appendMaterial();
/* Append note */
public native void appendNote(@Cast("const char*") BytePointer text,
@Const @ByRef btVector3 o,
@Const @ByRef(nullValue = "btVector4(1, 0, 0, 0)") btVector4 c,
Node n0/*=0*/,
Node n1/*=0*/,
Node n2/*=0*/,
Node n3/*=0*/);
public native void appendNote(@Cast("const char*") BytePointer text,
@Const @ByRef btVector3 o);
public native void appendNote(String text,
@Const @ByRef btVector3 o,
@Const @ByRef(nullValue = "btVector4(1, 0, 0, 0)") btVector4 c,
Node n0/*=0*/,
Node n1/*=0*/,
Node n2/*=0*/,
Node n3/*=0*/);
public native void appendNote(String text,
@Const @ByRef btVector3 o);
public native void appendNote(@Cast("const char*") BytePointer text,
@Const @ByRef btVector3 o,
Node feature);
public native void appendNote(String text,
@Const @ByRef btVector3 o,
Node feature);
public native void appendNote(@Cast("const char*") BytePointer text,
@Const @ByRef btVector3 o,
Link feature);
public native void appendNote(String text,
@Const @ByRef btVector3 o,
Link feature);
public native void appendNote(@Cast("const char*") BytePointer text,
@Const @ByRef btVector3 o,
Face feature);
public native void appendNote(String text,
@Const @ByRef btVector3 o,
Face feature);
/* Append node */
public native void appendNode(@Const @ByRef btVector3 x, @Cast("btScalar") double m);
/* Append link */
public native void appendLink(int model/*=-1*/, Material mat/*=0*/);
public native void appendLink();
public native void appendLink(int node0,
int node1,
Material mat/*=0*/,
@Cast("bool") boolean bcheckexist/*=false*/);
public native void appendLink(int node0,
int node1);
public native void appendLink(Node node0,
Node node1,
Material mat/*=0*/,
@Cast("bool") boolean bcheckexist/*=false*/);
public native void appendLink(Node node0,
Node node1);
/* Append face */
public native void appendFace(int model/*=-1*/, Material mat/*=0*/);
public native void appendFace();
public native void appendFace(int node0,
int node1,
int node2,
Material mat/*=0*/);
public native void appendFace(int node0,
int node1,
int node2);
public native void appendTetra(int model, Material mat);
//
public native void appendTetra(int node0,
int node1,
int node2,
int node3,
Material mat/*=0*/);
public native void appendTetra(int node0,
int node1,
int node2,
int node3);
/* Append anchor */
public native void appendDeformableAnchor(int node, btRigidBody body);
public native void appendDeformableAnchor(int node, btMultiBodyLinkCollider link);
public native void appendAnchor(int node,
btRigidBody body, @Cast("bool") boolean disableCollisionBetweenLinkedBodies/*=false*/, @Cast("btScalar") double influence/*=1*/);
public native void appendAnchor(int node,
btRigidBody body);
public native void appendAnchor(int node, btRigidBody body, @Const @ByRef btVector3 localPivot, @Cast("bool") boolean disableCollisionBetweenLinkedBodies/*=false*/, @Cast("btScalar") double influence/*=1*/);
public native void appendAnchor(int node, btRigidBody body, @Const @ByRef btVector3 localPivot);
public native void removeAnchor(int node);
/* Append linear joint */
public native void appendLinearJoint(@Const @ByRef LJoint.Specs specs, Cluster body0, @ByVal Body body1);
public native void appendLinearJoint(@Const @ByRef LJoint.Specs specs, @ByVal(nullValue = "btSoftBody::Body()") Body body);
public native void appendLinearJoint(@Const @ByRef LJoint.Specs specs);
public native void appendLinearJoint(@Const @ByRef LJoint.Specs specs, btSoftBody body);
/* Append linear joint */
public native void appendAngularJoint(@Const @ByRef AJoint.Specs specs, Cluster body0, @ByVal Body body1);
public native void appendAngularJoint(@Const @ByRef AJoint.Specs specs, @ByVal(nullValue = "btSoftBody::Body()") Body body);
public native void appendAngularJoint(@Const @ByRef AJoint.Specs specs);
public native void appendAngularJoint(@Const @ByRef AJoint.Specs specs, btSoftBody body);
/* Add force (or gravity) to the entire body */
public native void addForce(@Const @ByRef btVector3 force);
/* Add force (or gravity) to a node of the body */
public native void addForce(@Const @ByRef btVector3 force,
int node);
/* Add aero force to a node of the body */
public native void addAeroForceToNode(@Const @ByRef btVector3 windVelocity, int nodeIndex);
/* Add aero force to a face of the body */
public native void addAeroForceToFace(@Const @ByRef btVector3 windVelocity, int faceIndex);
/* Add velocity to the entire body */
public native void addVelocity(@Const @ByRef btVector3 velocity);
/* Set velocity for the entire body */
public native void setVelocity(@Const @ByRef btVector3 velocity);
/* Add velocity to a node of the body */
public native void addVelocity(@Const @ByRef btVector3 velocity,
int node);
/* Set mass */
public native void setMass(int node,
@Cast("btScalar") double mass);
/* Get mass */
public native @Cast("btScalar") double getMass(int node);
/* Get total mass */
public native @Cast("btScalar") double getTotalMass();
/* Set total mass (weighted by previous masses) */
public native void setTotalMass(@Cast("btScalar") double mass,
@Cast("bool") boolean fromfaces/*=false*/);
public native void setTotalMass(@Cast("btScalar") double mass);
/* Set total density */
public native void setTotalDensity(@Cast("btScalar") double density);
/* Set volume mass (using tetrahedrons) */
public native void setVolumeMass(@Cast("btScalar") double mass);
/* Set volume density (using tetrahedrons) */
public native void setVolumeDensity(@Cast("btScalar") double density);
/* Get the linear velocity of the center of mass */
public native @ByVal btVector3 getLinearVelocity();
/* Set the linear velocity of the center of mass */
public native void setLinearVelocity(@Const @ByRef btVector3 linVel);
/* Set the angular velocity of the center of mass */
public native void setAngularVelocity(@Const @ByRef btVector3 angVel);
/* Get best fit rigid transform */
public native @ByVal btTransform getRigidTransform();
/* Transform to given pose */
public native void transformTo(@Const @ByRef btTransform trs);
/* Transform */
public native void transform(@Const @ByRef btTransform trs);
/* Translate */
public native void translate(@Const @ByRef btVector3 trs);
/* Rotate */
public native void rotate(@Const @ByRef btQuaternion rot);
/* Scale */
public native void scale(@Const @ByRef btVector3 scl);
/* Get link resting lengths scale */
public native @Cast("btScalar") double getRestLengthScale();
/* Scale resting length of all springs */
public native void setRestLengthScale(@Cast("btScalar") double restLength);
/* Set current state as pose */
public native void setPose(@Cast("bool") boolean bvolume,
@Cast("bool") boolean bframe);
/* Set current link lengths as resting lengths */
public native void resetLinkRestLengths();
/* Return the volume */
public native @Cast("btScalar") double getVolume();
/* Cluster count */
public native @ByVal btVector3 getCenterOfMass();
public native int clusterCount();
/* Cluster center of mass */
public static native @ByVal btVector3 clusterCom(@Const Cluster cluster);
public native @ByVal btVector3 clusterCom(int cluster);
/* Cluster velocity at rpos */
public static native @ByVal btVector3 clusterVelocity(@Const Cluster cluster, @Const @ByRef btVector3 rpos);
/* Cluster impulse */
public static native void clusterVImpulse(Cluster cluster, @Const @ByRef btVector3 rpos, @Const @ByRef btVector3 impulse);
public static native void clusterDImpulse(Cluster cluster, @Const @ByRef btVector3 rpos, @Const @ByRef btVector3 impulse);
public static native void clusterImpulse(Cluster cluster, @Const @ByRef btVector3 rpos, @Const @ByRef Impulse impulse);
public static native void clusterVAImpulse(Cluster cluster, @Const @ByRef btVector3 impulse);
public static native void clusterDAImpulse(Cluster cluster, @Const @ByRef btVector3 impulse);
public static native void clusterAImpulse(Cluster cluster, @Const @ByRef Impulse impulse);
public static native void clusterDCImpulse(Cluster cluster, @Const @ByRef btVector3 impulse);
/* Generate bending constraints based on distance in the adjency graph */
public native int generateBendingConstraints(int distance,
Material mat/*=0*/);
public native int generateBendingConstraints(int distance);
/* Randomize constraints to reduce solver bias */
public native void randomizeConstraints();
public native void updateState(@Const @ByRef btVector3Array qs, @Const @ByRef btVector3Array vs);
/* Release clusters */
public native void releaseCluster(int index);
public native void releaseClusters();
/* Generate clusters (K-mean) */
/**generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle
/**otherwise an approximation will be used (better performance) */
public native int generateClusters(int k, int maxiterations/*=8192*/);
public native int generateClusters(int k);
/* Refine */
public native void refine(ImplicitFn ifn, @Cast("btScalar") double accurary, @Cast("bool") boolean cut);
/* CutLink */
public native @Cast("bool") boolean cutLink(int node0, int node1, @Cast("btScalar") double _position);
public native @Cast("bool") boolean cutLink(@Const Node node0, @Const Node node1, @Cast("btScalar") double _position);
/**Ray casting using rayFrom and rayTo in worldspace, (not direction!) */
public native @Cast("bool") boolean rayTest(@Const @ByRef btVector3 rayFrom,
@Const @ByRef btVector3 rayTo,
@ByRef sRayCast results);
public native @Cast("bool") boolean rayFaceTest(@Const @ByRef btVector3 rayFrom,
@Const @ByRef btVector3 rayTo,
@ByRef sRayCast results);
public native int rayFaceTest(@Const @ByRef btVector3 rayFrom, @Const @ByRef btVector3 rayTo,
@Cast("btScalar*") @ByRef DoublePointer mint, @ByRef IntPointer index);
public native int rayFaceTest(@Const @ByRef btVector3 rayFrom, @Const @ByRef btVector3 rayTo,
@Cast("btScalar*") @ByRef DoubleBuffer mint, @ByRef IntBuffer index);
public native int rayFaceTest(@Const @ByRef btVector3 rayFrom, @Const @ByRef btVector3 rayTo,
@Cast("btScalar*") @ByRef double[] mint, @ByRef int[] index);
/* Solver presets */
public native void setSolver(@Cast("btSoftBody::eSolverPresets::_") int preset);
/* predictMotion */
public native void predictMotion(@Cast("btScalar") double dt);
/* solveConstraints */
public native void solveConstraints();
/* staticSolve */
public native void staticSolve(int iterations);
/* solveCommonConstraints */
public static native void solveCommonConstraints(@Cast("btSoftBody**") PointerPointer bodies, int count, int iterations);
public static native void solveCommonConstraints(@ByPtrPtr btSoftBody bodies, int count, int iterations);
/* solveClusters */
public static native void solveClusters(@Const @ByRef btSoftBodyArray bodies);
/* integrateMotion */
public native void integrateMotion();
/* defaultCollisionHandlers */
public native void defaultCollisionHandler(@Const btCollisionObjectWrapper pcoWrap);
public native void defaultCollisionHandler(btSoftBody psb);
public native void setSelfCollision(@Cast("bool") boolean useSelfCollision);
public native @Cast("bool") boolean useSelfCollision();
public native void updateDeactivation(@Cast("btScalar") double timeStep);
public native void setZeroVelocity();
public native @Cast("bool") boolean wantsSleeping();
public native @ByVal btMatrix3x3 getImpulseFactor(int n_node);
//
// Functionality to deal with new accelerated solvers.
//
/**
* Set a wind velocity for interaction with the air.
*/
public native void setWindVelocity(@Const @ByRef btVector3 velocity);
/**
* Return the wind velocity for interaction with the air.
*/
public native @Const @ByRef btVector3 getWindVelocity();
//
// Set the solver that handles this soft body
// Should not be allowed to get out of sync with reality
// Currently called internally on addition to the world
public native void setSoftBodySolver(btSoftBodySolver softBodySolver);
//
// Return the solver that handles this soft body
//
public native btSoftBodySolver getSoftBodySolver();
//
// Return the solver that handles this soft body
//
//
// Cast
//
public static native @Const btSoftBody upcast(@Const btCollisionObject colObj);
//
// ::btCollisionObject
//
public native void getAabb(@ByRef btVector3 aabbMin, @ByRef btVector3 aabbMax);
//
// Private
//
public native void pointersToIndices();
public native void indicesToPointers(@Const IntPointer map/*=0*/);
public native void indicesToPointers();
public native void indicesToPointers(@Const IntBuffer map/*=0*/);
public native void indicesToPointers(@Const int[] map/*=0*/);
public native int rayTest(@Const @ByRef btVector3 rayFrom, @Const @ByRef btVector3 rayTo,
@Cast("btScalar*") @ByRef DoublePointer mint, @Cast("btSoftBody::eFeature::_*") @ByRef IntPointer feature, @ByRef IntPointer index, @Cast("bool") boolean bcountonly);
public native int rayTest(@Const @ByRef btVector3 rayFrom, @Const @ByRef btVector3 rayTo,
@Cast("btScalar*") @ByRef DoubleBuffer mint, @Cast("btSoftBody::eFeature::_*") @ByRef IntBuffer feature, @ByRef IntBuffer index, @Cast("bool") boolean bcountonly);
public native int rayTest(@Const @ByRef btVector3 rayFrom, @Const @ByRef btVector3 rayTo,
@Cast("btScalar*") @ByRef double[] mint, @Cast("btSoftBody::eFeature::_*") @ByRef int[] feature, @ByRef int[] index, @Cast("bool") boolean bcountonly);
public native void initializeFaceTree();
public native void rebuildNodeTree();
public native @ByVal btVector3 evaluateCom();
public native @Cast("bool") boolean checkDeformableContact(@Const btCollisionObjectWrapper colObjWrap, @Const @ByRef btVector3 x, @Cast("btScalar") double margin, @ByRef sCti cti, @Cast("bool") boolean predict/*=false*/);
public native @Cast("bool") boolean checkDeformableContact(@Const btCollisionObjectWrapper colObjWrap, @Const @ByRef btVector3 x, @Cast("btScalar") double margin, @ByRef sCti cti);
public native @Cast("bool") boolean checkDeformableFaceContact(@Const btCollisionObjectWrapper colObjWrap, @ByRef Face f, @ByRef btVector3 contact_point, @ByRef btVector3 bary, @Cast("btScalar") double margin, @ByRef sCti cti, @Cast("bool") boolean predict/*=false*/);
public native @Cast("bool") boolean checkDeformableFaceContact(@Const btCollisionObjectWrapper colObjWrap, @ByRef Face f, @ByRef btVector3 contact_point, @ByRef btVector3 bary, @Cast("btScalar") double margin, @ByRef sCti cti);
public native @Cast("bool") boolean checkContact(@Const btCollisionObjectWrapper colObjWrap, @Const @ByRef btVector3 x, @Cast("btScalar") double margin, @ByRef sCti cti);
public native void updateNormals();
public native void updateBounds();
public native void updatePose();
public native void updateConstants();
public native void updateLinkConstants();
public native void updateArea(@Cast("bool") boolean averageArea/*=true*/);
public native void updateArea();
public native void initializeClusters();
public native void updateClusters();
public native void cleanupClusters();
public native void prepareClusters(int iterations);
public native void solveClusters(@Cast("btScalar") double sor);
public native void applyClusters(@Cast("bool") boolean drift);
public native void dampClusters();
public native void setSpringStiffness(@Cast("btScalar") double k);
public native void setGravityFactor(@Cast("btScalar") double gravFactor);
public native void setCacheBarycenter(@Cast("bool") boolean cacheBarycenter);
public native void initializeDmInverse();
public native void updateDeformation();
public native void advanceDeformation();
public native void applyForces();
public native void setMaxStress(@Cast("btScalar") double maxStress);
public native void interpolateRenderMesh();
public native void setCollisionQuadrature(int N);
public static native void PSolve_Anchors(btSoftBody psb, @Cast("btScalar") double kst, @Cast("btScalar") double ti);
public static native void PSolve_RContacts(btSoftBody psb, @Cast("btScalar") double kst, @Cast("btScalar") double ti);
public static native void PSolve_SContacts(btSoftBody psb, @Cast("btScalar") double arg1, @Cast("btScalar") double ti);
public static native void PSolve_Links(btSoftBody psb, @Cast("btScalar") double kst, @Cast("btScalar") double ti);
public static native void VSolve_Links(btSoftBody psb, @Cast("btScalar") double kst);
public static native psolver_t getSolver(@Cast("btSoftBody::ePSolver::_") int solver);
public native void geometricCollisionHandler(btSoftBody psb);
// #define SAFE_EPSILON SIMD_EPSILON * 100.0
public native void updateNode(btDbvtNode node, @Cast("bool") boolean use_velocity, @Cast("bool") boolean margin);
public native void updateNodeTree(@Cast("bool") boolean use_velocity, @Cast("bool") boolean margin);
public native void updateFaceTree(@Cast("bool") boolean use_velocity, @Cast("bool") boolean margin);
public native void applyRepulsionForce(@Cast("btScalar") double timeStep, @Cast("bool") boolean applySpringForce);
public native int calculateSerializeBufferSize();
/**fills the dataBuffer and returns the struct name (and 0 on failure) */
public native @Cast("const char*") BytePointer serialize(Pointer dataBuffer, btSerializer serializer);
}
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