btMultiBody (JavaCPP Presets for Bullet Physics SDK 3.25-1.5.11 API)

java.lang.Object
- org.bytedeco.javacpp.Pointer
- - org.bytedeco.bullet.BulletDynamics.btMultiBody

All Implemented Interfaces:: AutoCloseable

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btMultiBody
extends Pointer

Nested Class Summary
- Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer
  Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary
- Fields inherited from class org.bytedeco.javacpp.Pointer
  address, capacity, limit, position

Constructor Summary

Constructors
Constructor and Description
`btMultiBody(int n_links, double mass, btVector3 inertia, boolean fixedBase, boolean canSleep)`
`btMultiBody(int n_links, double mass, btVector3 inertia, boolean fixedBase, boolean canSleep, boolean deprecatedMultiDof)`
`btMultiBody(Pointer p)` Pointer cast constructor.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addBaseConstraintForce(btVector3 f)`
`void`	`addBaseConstraintTorque(btVector3 t)`
`void`	`addBaseForce(btVector3 f)`
`void`	`addBaseTorque(btVector3 t)`
`void`	`addJointTorque(int i, double Q)`
`void`	`addJointTorqueMultiDof(int i, double[] Q)`
`void`	`addJointTorqueMultiDof(int i, DoubleBuffer Q)`
`void`	`addJointTorqueMultiDof(int i, DoublePointer Q)`
`void`	`addJointTorqueMultiDof(int i, int dof, double Q)`
`void`	`addLinkConstraintForce(int i, btVector3 f)`
`void`	`addLinkConstraintTorque(int i, btVector3 t)`
`void`	`addLinkForce(int i, btVector3 f)`
`void`	`addLinkTorque(int i, btVector3 t)`
`void`	`addSplitV()`
`void`	`applyDeltaSplitVeeMultiDof(double[] delta_vee, double multiplier)`
`void`	`applyDeltaSplitVeeMultiDof(DoubleBuffer delta_vee, double multiplier)`
`void`	`applyDeltaSplitVeeMultiDof(DoublePointer delta_vee, double multiplier)`
`void`	`applyDeltaVeeMultiDof(double[] delta_vee, double multiplier)`
`void`	`applyDeltaVeeMultiDof(DoubleBuffer delta_vee, double multiplier)`
`void`	`applyDeltaVeeMultiDof(DoublePointer delta_vee, double multiplier)`
`void`	`applyDeltaVeeMultiDof2(double[] delta_vee, double multiplier)`
`void`	`applyDeltaVeeMultiDof2(DoubleBuffer delta_vee, double multiplier)`
`void`	`applyDeltaVeeMultiDof2(DoublePointer delta_vee, double multiplier)`
`void`	`calcAccelerationDeltasMultiDof(double[] force, double[] output, btScalarArray scratch_r, btVector3Array scratch_v)`
`void`	`calcAccelerationDeltasMultiDof(DoubleBuffer force, DoubleBuffer output, btScalarArray scratch_r, btVector3Array scratch_v)`
`void`	`calcAccelerationDeltasMultiDof(DoublePointer force, DoublePointer output, btScalarArray scratch_r, btVector3Array scratch_v)` stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
`int`	`calculateSerializeBufferSize()`
`void`	`checkMotionAndSleepIfRequired(double timestep)`
`void`	`clearConstraintForces()`
`void`	`clearForcesAndTorques()`
`void`	`clearVelocities()`
`void`	`compTreeLinkVelocities(btVector3 omega, btVector3 vel)`
`void`	`computeAccelerationsArticulatedBodyAlgorithmMultiDof(double dt, btScalarArray scratch_r, btVector3Array scratch_v, btMatrix3x3Array scratch_m, boolean isConstraintPass, boolean jointFeedbackInWorldSpace, boolean jointFeedbackInJointFrame)`
`void`	`fillConstraintJacobianMultiDof(int link, btVector3 contact_point, btVector3 normal_ang, btVector3 normal_lin, double[] jac, btScalarArray scratch_r, btVector3Array scratch_v, btMatrix3x3Array scratch_m)`
`void`	`fillConstraintJacobianMultiDof(int link, btVector3 contact_point, btVector3 normal_ang, btVector3 normal_lin, DoubleBuffer jac, btScalarArray scratch_r, btVector3Array scratch_v, btMatrix3x3Array scratch_m)`
`void`	`fillConstraintJacobianMultiDof(int link, btVector3 contact_point, btVector3 normal_ang, btVector3 normal_lin, DoublePointer jac, btScalarArray scratch_r, btVector3Array scratch_v, btMatrix3x3Array scratch_m)`
`void`	`fillContactJacobianMultiDof(int link, btVector3 contact_point, btVector3 normal, double[] jac, btScalarArray scratch_r, btVector3Array scratch_v, btMatrix3x3Array scratch_m)`
`void`	`fillContactJacobianMultiDof(int link, btVector3 contact_point, btVector3 normal, DoubleBuffer jac, btScalarArray scratch_r, btVector3Array scratch_v, btMatrix3x3Array scratch_m)`
`void`	`fillContactJacobianMultiDof(int link, btVector3 contact_point, btVector3 normal, DoublePointer jac, btScalarArray scratch_r, btVector3Array scratch_v, btMatrix3x3Array scratch_m)`
`void`	`finalizeMultiDof()`
`void`	`forwardKinematics(btQuaternionArray world_to_local, btVector3Array local_origin)`
`double`	`getAngularDamping()`
`btMultiBodyLinkCollider`	`getBaseCollider()`
`btVector3`	`getBaseForce()`
`btVector3`	`getBaseInertia()`
`double`	`getBaseMass()`
`BytePointer`	`getBaseName()`
`btVector3`	`getBaseOmega()`
`btVector3`	`getBasePos()`
`btVector3`	`getBaseTorque()`
`btVector3`	`getBaseVel()`
`btTransform`	`getBaseWorldTransform()`
`boolean`	`getCanSleep()`
`boolean`	`getCanWakeup()`
`int`	`getCompanionId()`
`DoublePointer`	`getDeltaVelocityVector()`
`btVector3`	`getInterpolateBasePos()`
`btTransform`	`getInterpolateBaseWorldTransform()`
`btQuaternion`	`getInterpolateParentToLocalRot(int i)`
`btVector3`	`getInterpolateRVector(int i)`
`btQuaternion`	`getInterpolateWorldToBaseRot()`
`double`	`getJointPos(int i)`
`DoublePointer`	`getJointPosMultiDof(int i)`
`double`	`getJointTorque(int i)`
`DoublePointer`	`getJointTorqueMultiDof(int i)`
`double`	`getJointVel(int i)`
`DoublePointer`	`getJointVelMultiDof(int i)`
`double`	`getLinearDamping()`
`btMultibodyLink`	`getLink(int index)`
`btMultiBodyLinkCollider`	`getLinkCollider(int index)`
`btVector3`	`getLinkForce(int i)`
`btVector3`	`getLinkInertia(int i)`
`double`	`getLinkMass(int i)`
`btVector3`	`getLinkTorque(int i)`
`double`	`getMaxAppliedImpulse()`
`double`	`getMaxCoordinateVelocity()`
`int`	`getNumDofs()`
`int`	`getNumLinks()`
`int`	`getNumPosVars()`
`int`	`getParent(int link_num)`
`btQuaternion`	`getParentToLocalRot(int i)`
`btVector3`	`getRVector(int i)`
`DoublePointer`	`getSplitVelocityVector()`
`boolean`	`getUseGyroTerm()`
`int`	`getUserIndex()`
`int`	`getUserIndex2()`
`Pointer`	`getUserPointer()` users can point to their objects, userPointer is not used by Bullet
`DoublePointer`	`getVelocityVector()`
`btQuaternion`	`getWorldToBaseRot()`
`void`	`goToSleep()`
`boolean`	`hasFixedBase()`
`boolean`	`hasSelfCollision()`
`boolean`	`internalNeedsJointFeedback()`
`boolean`	`isAwake()`
`boolean`	`isBaseKinematic()`
`boolean`	`isBaseStaticOrKinematic()`
`boolean`	`isLinkAndAllAncestorsKinematic(int i)`
`boolean`	`isLinkAndAllAncestorsStaticOrKinematic(int i)`
`boolean`	`isLinkKinematic(int i)`
`boolean`	`isLinkStaticOrKinematic(int i)`
`boolean`	`isPosUpdated()`
`boolean`	`isUsingGlobalVelocities()`
`boolean`	`isUsingRK4Integration()`
`btVector3`	`localDirToWorld(int i, btVector3 local_dir)`
`btMatrix3x3`	`localFrameToWorld(int i, btMatrix3x3 local_frame)`
`btVector3`	`localPosToWorld(int i, btVector3 local_pos)`
`void`	`predictPositionsMultiDof(double dt)`
`void`	`processDeltaVeeMultiDof2()`
`void`	`saveKinematicState(double timeStep)`
`BytePointer`	`serialize(Pointer dataBuffer, btSerializer serializer)` fills the dataBuffer and returns the struct name (and 0 on failure)
`void`	`setAngularDamping(double damp)`
`void`	`setBaseCollider(btMultiBodyLinkCollider collider)`
`void`	`setBaseDynamicType(int dynamicType)`
`void`	`setBaseInertia(btVector3 inertia)`
`void`	`setBaseMass(double mass)`
`void`	`setBaseName(BytePointer name)` memory of setBaseName needs to be manager by user
`void`	`setBaseName(String name)`
`void`	`setBaseOmega(btVector3 omega)`
`void`	`setBasePos(btVector3 pos)`
`void`	`setBaseVel(btVector3 vel)`
`void`	`setBaseWorldTransform(btTransform tr)`
`void`	`setCanSleep(boolean canSleep)`
`void`	`setCanWakeup(boolean canWakeup)`
`void`	`setCompanionId(int id)`
`void`	`setFixedBase(boolean fixedBase)`
`void`	`setHasSelfCollision(boolean hasSelfCollision)`
`void`	`setInterpolateBasePos(btVector3 pos)`
`void`	`setInterpolateBaseWorldTransform(btTransform tr)`
`void`	`setInterpolateWorldToBaseRot(btQuaternion rot)`
`void`	`setJointPos(int i, double q)`
`void`	`setJointPosMultiDof(int i, double[] q)`
`void`	`setJointPosMultiDof(int i, DoubleBuffer q)`
`void`	`setJointPosMultiDof(int i, DoublePointer q)`
`void`	`setJointPosMultiDof(int i, float[] q)`
`void`	`setJointPosMultiDof(int i, FloatBuffer q)`
`void`	`setJointPosMultiDof(int i, FloatPointer q)`
`void`	`setJointVel(int i, double qdot)`
`void`	`setJointVelMultiDof(int i, double[] qdot)`
`void`	`setJointVelMultiDof(int i, DoubleBuffer qdot)`
`void`	`setJointVelMultiDof(int i, DoublePointer qdot)`
`void`	`setJointVelMultiDof(int i, float[] qdot)`
`void`	`setJointVelMultiDof(int i, FloatBuffer qdot)`
`void`	`setJointVelMultiDof(int i, FloatPointer qdot)`
`void`	`setLinearDamping(double damp)`
`void`	`setLinkDynamicType(int i, int type)`
`void`	`setMaxAppliedImpulse(double maxImp)`
`void`	`setMaxCoordinateVelocity(double maxVel)`
`void`	`setNumLinks(int numLinks)`
`void`	`setPosUpdated(boolean updated)`
`void`	`setSleepThreshold(double sleepThreshold)`
`void`	`setSleepTimeout(double sleepTimeout)`
`void`	`setupFixed(int i, double mass, btVector3 inertia, int parent, btQuaternion rotParentToThis, btVector3 parentComToThisPivotOffset, btVector3 thisPivotToThisComOffset)`
`void`	`setupFixed(int i, double mass, btVector3 inertia, int parent, btQuaternion rotParentToThis, btVector3 parentComToThisPivotOffset, btVector3 thisPivotToThisComOffset, boolean deprecatedDisableParentCollision)`
`void`	`setupPlanar(int i, double mass, btVector3 inertia, int parent, btQuaternion rotParentToThis, btVector3 rotationAxis, btVector3 parentComToThisComOffset)`
`void`	`setupPlanar(int i, double mass, btVector3 inertia, int parent, btQuaternion rotParentToThis, btVector3 rotationAxis, btVector3 parentComToThisComOffset, boolean disableParentCollision)`
`void`	`setupPrismatic(int i, double mass, btVector3 inertia, int parent, btQuaternion rotParentToThis, btVector3 jointAxis, btVector3 parentComToThisPivotOffset, btVector3 thisPivotToThisComOffset, boolean disableParentCollision)`
`void`	`setupRevolute(int i, double mass, btVector3 inertia, int parentIndex, btQuaternion rotParentToThis, btVector3 jointAxis, btVector3 parentComToThisPivotOffset, btVector3 thisPivotToThisComOffset)`
`void`	`setupRevolute(int i, double mass, btVector3 inertia, int parentIndex, btQuaternion rotParentToThis, btVector3 jointAxis, btVector3 parentComToThisPivotOffset, btVector3 thisPivotToThisComOffset, boolean disableParentCollision)`
`void`	`setupSpherical(int i, double mass, btVector3 inertia, int parent, btQuaternion rotParentToThis, btVector3 parentComToThisPivotOffset, btVector3 thisPivotToThisComOffset)`
`void`	`setupSpherical(int i, double mass, btVector3 inertia, int parent, btQuaternion rotParentToThis, btVector3 parentComToThisPivotOffset, btVector3 thisPivotToThisComOffset, boolean disableParentCollision)`
`void`	`setUseGyroTerm(boolean useGyro)`
`void`	`setUserIndex(int index)` users can point to their objects, userPointer is not used by Bullet
`void`	`setUserIndex2(int index)`
`void`	`setUserPointer(Pointer userPointer)` users can point to their objects, userPointer is not used by Bullet
`void`	`setWorldToBaseRot(btQuaternion rot)`
`static void`	`spatialTransform(btMatrix3x3 rotation_matrix, btVector3 displacement, btVector3 top_in, btVector3 bottom_in, btVector3 top_out, btVector3 bottom_out)`
`void`	`stepPositionsMultiDof(double dt)`
`void`	`stepPositionsMultiDof(double dt, double[] pq, double[] pqd)`
`void`	`stepPositionsMultiDof(double dt, DoubleBuffer pq, DoubleBuffer pqd)`
`void`	`stepPositionsMultiDof(double dt, DoublePointer pq, DoublePointer pqd)`
`void`	`substractSplitV()`
`void`	`updateCollisionObjectInterpolationWorldTransforms(btQuaternionArray world_to_local, btVector3Array local_origin)`
`void`	`updateCollisionObjectWorldTransforms(btQuaternionArray world_to_local, btVector3Array local_origin)`
`void`	`useGlobalVelocities(boolean use)`
`void`	`useRK4Integration(boolean use)`
`void`	`wakeUp()`
`btVector3`	`worldDirToLocal(int i, btVector3 world_dir)`
`btVector3`	`worldPosToLocal(int i, btVector3 world_pos)`

Methods inherited from class org.bytedeco.javacpp.Pointer
address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object
clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btMultiBody
```
public btMultiBody(Pointer p)
```
Pointer cast constructor. Invokes Pointer(Pointer).

btMultiBody

public btMultiBody(int n_links,
                   @Cast(value="btScalar")
                   double mass,
                   @Const @ByRef
                   btVector3 inertia,
                   @Cast(value="bool")
                   boolean fixedBase,
                   @Cast(value="bool")
                   boolean canSleep,
                   @Cast(value="bool")
                   boolean deprecatedMultiDof)

btMultiBody

public btMultiBody(int n_links,
                   @Cast(value="btScalar")
                   double mass,
                   @Const @ByRef
                   btVector3 inertia,
                   @Cast(value="bool")
                   boolean fixedBase,
                   @Cast(value="bool")
                   boolean canSleep)

Method Detail

setupFixed

public void setupFixed(int i,
                       @Cast(value="btScalar")
                       double mass,
                       @Const @ByRef
                       btVector3 inertia,
                       int parent,
                       @Const @ByRef
                       btQuaternion rotParentToThis,
                       @Const @ByRef
                       btVector3 parentComToThisPivotOffset,
                       @Const @ByRef
                       btVector3 thisPivotToThisComOffset,
                       @Cast(value="bool")
                       boolean deprecatedDisableParentCollision)

setupFixed

public void setupFixed(int i,
                       @Cast(value="btScalar")
                       double mass,
                       @Const @ByRef
                       btVector3 inertia,
                       int parent,
                       @Const @ByRef
                       btQuaternion rotParentToThis,
                       @Const @ByRef
                       btVector3 parentComToThisPivotOffset,
                       @Const @ByRef
                       btVector3 thisPivotToThisComOffset)

setupPrismatic

public void setupPrismatic(int i,
                           @Cast(value="btScalar")
                           double mass,
                           @Const @ByRef
                           btVector3 inertia,
                           int parent,
                           @Const @ByRef
                           btQuaternion rotParentToThis,
                           @Const @ByRef
                           btVector3 jointAxis,
                           @Const @ByRef
                           btVector3 parentComToThisPivotOffset,
                           @Const @ByRef
                           btVector3 thisPivotToThisComOffset,
                           @Cast(value="bool")
                           boolean disableParentCollision)

setupRevolute

public void setupRevolute(int i,
                          @Cast(value="btScalar")
                          double mass,
                          @Const @ByRef
                          btVector3 inertia,
                          int parentIndex,
                          @Const @ByRef
                          btQuaternion rotParentToThis,
                          @Const @ByRef
                          btVector3 jointAxis,
                          @Const @ByRef
                          btVector3 parentComToThisPivotOffset,
                          @Const @ByRef
                          btVector3 thisPivotToThisComOffset,
                          @Cast(value="bool")
                          boolean disableParentCollision)

setupRevolute

public void setupRevolute(int i,
                          @Cast(value="btScalar")
                          double mass,
                          @Const @ByRef
                          btVector3 inertia,
                          int parentIndex,
                          @Const @ByRef
                          btQuaternion rotParentToThis,
                          @Const @ByRef
                          btVector3 jointAxis,
                          @Const @ByRef
                          btVector3 parentComToThisPivotOffset,
                          @Const @ByRef
                          btVector3 thisPivotToThisComOffset)

setupSpherical

public void setupSpherical(int i,
                           @Cast(value="btScalar")
                           double mass,
                           @Const @ByRef
                           btVector3 inertia,
                           int parent,
                           @Const @ByRef
                           btQuaternion rotParentToThis,
                           @Const @ByRef
                           btVector3 parentComToThisPivotOffset,
                           @Const @ByRef
                           btVector3 thisPivotToThisComOffset,
                           @Cast(value="bool")
                           boolean disableParentCollision)

setupSpherical

public void setupSpherical(int i,
                           @Cast(value="btScalar")
                           double mass,
                           @Const @ByRef
                           btVector3 inertia,
                           int parent,
                           @Const @ByRef
                           btQuaternion rotParentToThis,
                           @Const @ByRef
                           btVector3 parentComToThisPivotOffset,
                           @Const @ByRef
                           btVector3 thisPivotToThisComOffset)

setupPlanar

public void setupPlanar(int i,
                        @Cast(value="btScalar")
                        double mass,
                        @Const @ByRef
                        btVector3 inertia,
                        int parent,
                        @Const @ByRef
                        btQuaternion rotParentToThis,
                        @Const @ByRef
                        btVector3 rotationAxis,
                        @Const @ByRef
                        btVector3 parentComToThisComOffset,
                        @Cast(value="bool")
                        boolean disableParentCollision)

setupPlanar

public void setupPlanar(int i,
                        @Cast(value="btScalar")
                        double mass,
                        @Const @ByRef
                        btVector3 inertia,
                        int parent,
                        @Const @ByRef
                        btQuaternion rotParentToThis,
                        @Const @ByRef
                        btVector3 rotationAxis,
                        @Const @ByRef
                        btVector3 parentComToThisComOffset)

getLink

@ByRef
public btMultibodyLink getLink(int index)

setBaseCollider

public void setBaseCollider(btMultiBodyLinkCollider collider)

getBaseCollider

public btMultiBodyLinkCollider getBaseCollider()

getLinkCollider

public btMultiBodyLinkCollider getLinkCollider(int index)

getParent
```
public int getParent(int link_num)
```

getNumLinks
```
public int getNumLinks()
```

getNumDofs
```
public int getNumDofs()
```

getNumPosVars
```
public int getNumPosVars()
```

getBaseMass

@Cast(value="btScalar")
public double getBaseMass()

getBaseInertia

@Const
 @ByRef
public btVector3 getBaseInertia()

getLinkMass

@Cast(value="btScalar")
public double getLinkMass(int i)

getLinkInertia

@Const
 @ByRef
public btVector3 getLinkInertia(int i)

setBaseMass

public void setBaseMass(@Cast(value="btScalar")
                        double mass)

setBaseInertia

public void setBaseInertia(@Const @ByRef
                           btVector3 inertia)

getBasePos

@Const
 @ByRef
public btVector3 getBasePos()

getBaseVel

@Const
 @ByVal
public btVector3 getBaseVel()

getWorldToBaseRot

@Const
 @ByRef
public btQuaternion getWorldToBaseRot()

getInterpolateBasePos

@Const
 @ByRef
public btVector3 getInterpolateBasePos()

getInterpolateWorldToBaseRot

@Const
 @ByRef
public btQuaternion getInterpolateWorldToBaseRot()

getBaseOmega

@ByVal
public btVector3 getBaseOmega()

setBasePos

public void setBasePos(@Const @ByRef
                       btVector3 pos)

setInterpolateBasePos

public void setInterpolateBasePos(@Const @ByRef
                                  btVector3 pos)

setBaseWorldTransform

public void setBaseWorldTransform(@Const @ByRef
                                  btTransform tr)

getBaseWorldTransform

@ByVal
public btTransform getBaseWorldTransform()

setInterpolateBaseWorldTransform

public void setInterpolateBaseWorldTransform(@Const @ByRef
                                             btTransform tr)

getInterpolateBaseWorldTransform

@ByVal
public btTransform getInterpolateBaseWorldTransform()

setBaseVel

public void setBaseVel(@Const @ByRef
                       btVector3 vel)

setWorldToBaseRot

public void setWorldToBaseRot(@Const @ByRef
                              btQuaternion rot)

setInterpolateWorldToBaseRot

public void setInterpolateWorldToBaseRot(@Const @ByRef
                                         btQuaternion rot)

setBaseOmega

public void setBaseOmega(@Const @ByRef
                         btVector3 omega)

saveKinematicState

public void saveKinematicState(@Cast(value="btScalar")
                               double timeStep)

getJointPos

@Cast(value="btScalar")
public double getJointPos(int i)

getJointVel

@Cast(value="btScalar")
public double getJointVel(int i)

getJointVelMultiDof

@Cast(value="btScalar*")
public DoublePointer getJointVelMultiDof(int i)

getJointPosMultiDof

@Cast(value="btScalar*")
public DoublePointer getJointPosMultiDof(int i)

setJointPos

public void setJointPos(int i,
                        @Cast(value="btScalar")
                        double q)

setJointVel

public void setJointVel(int i,
                        @Cast(value="btScalar")
                        double qdot)

setJointPosMultiDof

public void setJointPosMultiDof(int i,
                                @Const
                                DoublePointer q)

setJointPosMultiDof

public void setJointPosMultiDof(int i,
                                @Const
                                DoubleBuffer q)

setJointPosMultiDof

public void setJointPosMultiDof(int i,
                                @Const
                                double[] q)

setJointVelMultiDof

public void setJointVelMultiDof(int i,
                                @Const
                                DoublePointer qdot)

setJointVelMultiDof

public void setJointVelMultiDof(int i,
                                @Const
                                DoubleBuffer qdot)

setJointVelMultiDof

public void setJointVelMultiDof(int i,
                                @Const
                                double[] qdot)

setJointPosMultiDof

public void setJointPosMultiDof(int i,
                                @Const
                                FloatPointer q)

setJointPosMultiDof

public void setJointPosMultiDof(int i,
                                @Const
                                FloatBuffer q)

setJointPosMultiDof

public void setJointPosMultiDof(int i,
                                @Const
                                float[] q)

setJointVelMultiDof

public void setJointVelMultiDof(int i,
                                @Const
                                FloatPointer qdot)

setJointVelMultiDof

public void setJointVelMultiDof(int i,
                                @Const
                                FloatBuffer qdot)

setJointVelMultiDof

public void setJointVelMultiDof(int i,
                                @Const
                                float[] qdot)

getVelocityVector

@Cast(value="const btScalar*")
public DoublePointer getVelocityVector()

getDeltaVelocityVector

@Cast(value="const btScalar*")
public DoublePointer getDeltaVelocityVector()

getSplitVelocityVector

@Cast(value="const btScalar*")
public DoublePointer getSplitVelocityVector()

getRVector

@Const
 @ByRef
public btVector3 getRVector(int i)

getParentToLocalRot

@Const
 @ByRef
public btQuaternion getParentToLocalRot(int i)

getInterpolateRVector

@Const
 @ByRef
public btVector3 getInterpolateRVector(int i)

getInterpolateParentToLocalRot

@Const
 @ByRef
public btQuaternion getInterpolateParentToLocalRot(int i)

localPosToWorld

@ByVal
public btVector3 localPosToWorld(int i,
                                        @Const @ByRef
                                        btVector3 local_pos)

localDirToWorld

@ByVal
public btVector3 localDirToWorld(int i,
                                        @Const @ByRef
                                        btVector3 local_dir)

worldPosToLocal

@ByVal
public btVector3 worldPosToLocal(int i,
                                        @Const @ByRef
                                        btVector3 world_pos)

worldDirToLocal

@ByVal
public btVector3 worldDirToLocal(int i,
                                        @Const @ByRef
                                        btVector3 world_dir)

localFrameToWorld

@ByVal
public btMatrix3x3 localFrameToWorld(int i,
                                            @Const @ByRef
                                            btMatrix3x3 local_frame)

clearForcesAndTorques
```
public void clearForcesAndTorques()
```

clearConstraintForces
```
public void clearConstraintForces()
```

clearVelocities
```
public void clearVelocities()
```

addBaseForce

public void addBaseForce(@Const @ByRef
                         btVector3 f)

addBaseTorque

public void addBaseTorque(@Const @ByRef
                          btVector3 t)

addLinkForce

public void addLinkForce(int i,
                         @Const @ByRef
                         btVector3 f)

addLinkTorque

public void addLinkTorque(int i,
                          @Const @ByRef
                          btVector3 t)

addBaseConstraintForce

public void addBaseConstraintForce(@Const @ByRef
                                   btVector3 f)

addBaseConstraintTorque

public void addBaseConstraintTorque(@Const @ByRef
                                    btVector3 t)

addLinkConstraintForce

public void addLinkConstraintForce(int i,
                                   @Const @ByRef
                                   btVector3 f)

addLinkConstraintTorque

public void addLinkConstraintTorque(int i,
                                    @Const @ByRef
                                    btVector3 t)

addJointTorque

public void addJointTorque(int i,
                           @Cast(value="btScalar")
                           double Q)

addJointTorqueMultiDof

public void addJointTorqueMultiDof(int i,
                                   int dof,
                                   @Cast(value="btScalar")
                                   double Q)

addJointTorqueMultiDof

public void addJointTorqueMultiDof(int i,
                                   @Cast(value="const btScalar*")
                                   DoublePointer Q)

addJointTorqueMultiDof

public void addJointTorqueMultiDof(int i,
                                   @Cast(value="const btScalar*")
                                   DoubleBuffer Q)

addJointTorqueMultiDof

public void addJointTorqueMultiDof(int i,
                                   @Cast(value="const btScalar*")
                                   double[] Q)

getBaseForce

@Const
 @ByRef
public btVector3 getBaseForce()

getBaseTorque

@Const
 @ByRef
public btVector3 getBaseTorque()

getLinkForce

@Const
 @ByRef
public btVector3 getLinkForce(int i)

getLinkTorque

@Const
 @ByRef
public btVector3 getLinkTorque(int i)

getJointTorque

@Cast(value="btScalar")
public double getJointTorque(int i)

getJointTorqueMultiDof

@Cast(value="btScalar*")
public DoublePointer getJointTorqueMultiDof(int i)

computeAccelerationsArticulatedBodyAlgorithmMultiDof

public void computeAccelerationsArticulatedBodyAlgorithmMultiDof(@Cast(value="btScalar")
                                                                 double dt,
                                                                 @ByRef
                                                                 btScalarArray scratch_r,
                                                                 @ByRef
                                                                 btVector3Array scratch_v,
                                                                 @ByRef
                                                                 btMatrix3x3Array scratch_m,
                                                                 @Cast(value="bool")
                                                                 boolean isConstraintPass,
                                                                 @Cast(value="bool")
                                                                 boolean jointFeedbackInWorldSpace,
                                                                 @Cast(value="bool")
                                                                 boolean jointFeedbackInJointFrame)

calcAccelerationDeltasMultiDof

public void calcAccelerationDeltasMultiDof(@Cast(value="const btScalar*")
                                           DoublePointer force,
                                           @Cast(value="btScalar*")
                                           DoublePointer output,
                                           @ByRef
                                           btScalarArray scratch_r,
                                           @ByRef
                                           btVector3Array scratch_v)

stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead

calcAccelerationDeltasMultiDof

public void calcAccelerationDeltasMultiDof(@Cast(value="const btScalar*")
                                           DoubleBuffer force,
                                           @Cast(value="btScalar*")
                                           DoubleBuffer output,
                                           @ByRef
                                           btScalarArray scratch_r,
                                           @ByRef
                                           btVector3Array scratch_v)

calcAccelerationDeltasMultiDof

public void calcAccelerationDeltasMultiDof(@Cast(value="const btScalar*")
                                           double[] force,
                                           @Cast(value="btScalar*")
                                           double[] output,
                                           @ByRef
                                           btScalarArray scratch_r,
                                           @ByRef
                                           btVector3Array scratch_v)

applyDeltaVeeMultiDof2

public void applyDeltaVeeMultiDof2(@Cast(value="const btScalar*")
                                   DoublePointer delta_vee,
                                   @Cast(value="btScalar")
                                   double multiplier)

applyDeltaVeeMultiDof2

public void applyDeltaVeeMultiDof2(@Cast(value="const btScalar*")
                                   DoubleBuffer delta_vee,
                                   @Cast(value="btScalar")
                                   double multiplier)

applyDeltaVeeMultiDof2

public void applyDeltaVeeMultiDof2(@Cast(value="const btScalar*")
                                   double[] delta_vee,
                                   @Cast(value="btScalar")
                                   double multiplier)

applyDeltaSplitVeeMultiDof

public void applyDeltaSplitVeeMultiDof(@Cast(value="const btScalar*")
                                       DoublePointer delta_vee,
                                       @Cast(value="btScalar")
                                       double multiplier)

applyDeltaSplitVeeMultiDof

public void applyDeltaSplitVeeMultiDof(@Cast(value="const btScalar*")
                                       DoubleBuffer delta_vee,
                                       @Cast(value="btScalar")
                                       double multiplier)

applyDeltaSplitVeeMultiDof

public void applyDeltaSplitVeeMultiDof(@Cast(value="const btScalar*")
                                       double[] delta_vee,
                                       @Cast(value="btScalar")
                                       double multiplier)

addSplitV
```
public void addSplitV()
```

substractSplitV
```
public void substractSplitV()
```

processDeltaVeeMultiDof2

public void processDeltaVeeMultiDof2()

applyDeltaVeeMultiDof

public void applyDeltaVeeMultiDof(@Cast(value="const btScalar*")
                                  DoublePointer delta_vee,
                                  @Cast(value="btScalar")
                                  double multiplier)

applyDeltaVeeMultiDof

public void applyDeltaVeeMultiDof(@Cast(value="const btScalar*")
                                  DoubleBuffer delta_vee,
                                  @Cast(value="btScalar")
                                  double multiplier)

applyDeltaVeeMultiDof

public void applyDeltaVeeMultiDof(@Cast(value="const btScalar*")
                                  double[] delta_vee,
                                  @Cast(value="btScalar")
                                  double multiplier)

stepPositionsMultiDof

public void stepPositionsMultiDof(@Cast(value="btScalar")
                                  double dt,
                                  @Cast(value="btScalar*")
                                  DoublePointer pq,
                                  @Cast(value="btScalar*")
                                  DoublePointer pqd)

stepPositionsMultiDof

public void stepPositionsMultiDof(@Cast(value="btScalar")
                                  double dt)

stepPositionsMultiDof

public void stepPositionsMultiDof(@Cast(value="btScalar")
                                  double dt,
                                  @Cast(value="btScalar*")
                                  DoubleBuffer pq,
                                  @Cast(value="btScalar*")
                                  DoubleBuffer pqd)

stepPositionsMultiDof

public void stepPositionsMultiDof(@Cast(value="btScalar")
                                  double dt,
                                  @Cast(value="btScalar*")
                                  double[] pq,
                                  @Cast(value="btScalar*")
                                  double[] pqd)

predictPositionsMultiDof

public void predictPositionsMultiDof(@Cast(value="btScalar")
                                     double dt)

fillContactJacobianMultiDof

public void fillContactJacobianMultiDof(int link,
                                        @Const @ByRef
                                        btVector3 contact_point,
                                        @Const @ByRef
                                        btVector3 normal,
                                        @Cast(value="btScalar*")
                                        DoublePointer jac,
                                        @ByRef
                                        btScalarArray scratch_r,
                                        @ByRef
                                        btVector3Array scratch_v,
                                        @ByRef
                                        btMatrix3x3Array scratch_m)

fillContactJacobianMultiDof

public void fillContactJacobianMultiDof(int link,
                                        @Const @ByRef
                                        btVector3 contact_point,
                                        @Const @ByRef
                                        btVector3 normal,
                                        @Cast(value="btScalar*")
                                        DoubleBuffer jac,
                                        @ByRef
                                        btScalarArray scratch_r,
                                        @ByRef
                                        btVector3Array scratch_v,
                                        @ByRef
                                        btMatrix3x3Array scratch_m)

fillContactJacobianMultiDof

public void fillContactJacobianMultiDof(int link,
                                        @Const @ByRef
                                        btVector3 contact_point,
                                        @Const @ByRef
                                        btVector3 normal,
                                        @Cast(value="btScalar*")
                                        double[] jac,
                                        @ByRef
                                        btScalarArray scratch_r,
                                        @ByRef
                                        btVector3Array scratch_v,
                                        @ByRef
                                        btMatrix3x3Array scratch_m)

fillConstraintJacobianMultiDof

public void fillConstraintJacobianMultiDof(int link,
                                           @Const @ByRef
                                           btVector3 contact_point,
                                           @Const @ByRef
                                           btVector3 normal_ang,
                                           @Const @ByRef
                                           btVector3 normal_lin,
                                           @Cast(value="btScalar*")
                                           DoublePointer jac,
                                           @ByRef
                                           btScalarArray scratch_r,
                                           @ByRef
                                           btVector3Array scratch_v,
                                           @ByRef
                                           btMatrix3x3Array scratch_m)

fillConstraintJacobianMultiDof

public void fillConstraintJacobianMultiDof(int link,
                                           @Const @ByRef
                                           btVector3 contact_point,
                                           @Const @ByRef
                                           btVector3 normal_ang,
                                           @Const @ByRef
                                           btVector3 normal_lin,
                                           @Cast(value="btScalar*")
                                           DoubleBuffer jac,
                                           @ByRef
                                           btScalarArray scratch_r,
                                           @ByRef
                                           btVector3Array scratch_v,
                                           @ByRef
                                           btMatrix3x3Array scratch_m)

fillConstraintJacobianMultiDof

public void fillConstraintJacobianMultiDof(int link,
                                           @Const @ByRef
                                           btVector3 contact_point,
                                           @Const @ByRef
                                           btVector3 normal_ang,
                                           @Const @ByRef
                                           btVector3 normal_lin,
                                           @Cast(value="btScalar*")
                                           double[] jac,
                                           @ByRef
                                           btScalarArray scratch_r,
                                           @ByRef
                                           btVector3Array scratch_v,
                                           @ByRef
                                           btMatrix3x3Array scratch_m)

setCanSleep

public void setCanSleep(@Cast(value="bool")
                        boolean canSleep)

getCanSleep

@Cast(value="bool")
public boolean getCanSleep()

getCanWakeup

@Cast(value="bool")
public boolean getCanWakeup()

setCanWakeup

public void setCanWakeup(@Cast(value="bool")
                         boolean canWakeup)

isAwake

@Cast(value="bool")
public boolean isAwake()

wakeUp
```
public void wakeUp()
```

goToSleep
```
public void goToSleep()
```

checkMotionAndSleepIfRequired

public void checkMotionAndSleepIfRequired(@Cast(value="btScalar")
                                          double timestep)

hasFixedBase

@Cast(value="bool")
public boolean hasFixedBase()

isBaseKinematic

@Cast(value="bool")
public boolean isBaseKinematic()

isBaseStaticOrKinematic

@Cast(value="bool")
public boolean isBaseStaticOrKinematic()

setBaseDynamicType

public void setBaseDynamicType(int dynamicType)

setFixedBase

public void setFixedBase(@Cast(value="bool")
                         boolean fixedBase)

getCompanionId
```
public int getCompanionId()
```

setCompanionId
```
public void setCompanionId(int id)
```

setNumLinks

public void setNumLinks(int numLinks)

getLinearDamping

@Cast(value="btScalar")
public double getLinearDamping()

setLinearDamping

public void setLinearDamping(@Cast(value="btScalar")
                             double damp)

getAngularDamping

@Cast(value="btScalar")
public double getAngularDamping()

setAngularDamping

public void setAngularDamping(@Cast(value="btScalar")
                              double damp)

getUseGyroTerm

@Cast(value="bool")
public boolean getUseGyroTerm()

setUseGyroTerm

public void setUseGyroTerm(@Cast(value="bool")
                           boolean useGyro)

getMaxCoordinateVelocity

@Cast(value="btScalar")
public double getMaxCoordinateVelocity()

setMaxCoordinateVelocity

public void setMaxCoordinateVelocity(@Cast(value="btScalar")
                                     double maxVel)

getMaxAppliedImpulse

@Cast(value="btScalar")
public double getMaxAppliedImpulse()

setMaxAppliedImpulse

public void setMaxAppliedImpulse(@Cast(value="btScalar")
                                 double maxImp)

setHasSelfCollision

public void setHasSelfCollision(@Cast(value="bool")
                                boolean hasSelfCollision)

hasSelfCollision

@Cast(value="bool")
public boolean hasSelfCollision()

finalizeMultiDof
```
public void finalizeMultiDof()
```

useRK4Integration

public void useRK4Integration(@Cast(value="bool")
                              boolean use)

isUsingRK4Integration

@Cast(value="bool")
public boolean isUsingRK4Integration()

useGlobalVelocities

public void useGlobalVelocities(@Cast(value="bool")
                                boolean use)

isUsingGlobalVelocities

@Cast(value="bool")
public boolean isUsingGlobalVelocities()

isPosUpdated

@Cast(value="bool")
public boolean isPosUpdated()

setPosUpdated

public void setPosUpdated(@Cast(value="bool")
                          boolean updated)

internalNeedsJointFeedback

@Cast(value="bool")
public boolean internalNeedsJointFeedback()

forwardKinematics

public void forwardKinematics(@ByRef
                              btQuaternionArray world_to_local,
                              @ByRef
                              btVector3Array local_origin)

compTreeLinkVelocities

public void compTreeLinkVelocities(btVector3 omega,
                                   btVector3 vel)

updateCollisionObjectWorldTransforms

public void updateCollisionObjectWorldTransforms(@ByRef
                                                 btQuaternionArray world_to_local,
                                                 @ByRef
                                                 btVector3Array local_origin)

updateCollisionObjectInterpolationWorldTransforms

public void updateCollisionObjectInterpolationWorldTransforms(@ByRef
                                                              btQuaternionArray world_to_local,
                                                              @ByRef
                                                              btVector3Array local_origin)

calculateSerializeBufferSize

public int calculateSerializeBufferSize()

serialize

@Cast(value="const char*")
public BytePointer serialize(Pointer dataBuffer,
                                                        btSerializer serializer)

fills the dataBuffer and returns the struct name (and 0 on failure)

getBaseName

@Cast(value="const char*")
public BytePointer getBaseName()

setBaseName

public void setBaseName(@Cast(value="const char*")
                        BytePointer name)

memory of setBaseName needs to be manager by user

setBaseName
```
public void setBaseName(String name)
```

getUserPointer
```
public Pointer getUserPointer()
```
users can point to their objects, userPointer is not used by Bullet

getUserIndex
```
public int getUserIndex()
```

getUserIndex2
```
public int getUserIndex2()
```

setUserPointer
```
public void setUserPointer(Pointer userPointer)
```
users can point to their objects, userPointer is not used by Bullet

setUserIndex
```
public void setUserIndex(int index)
```
users can point to their objects, userPointer is not used by Bullet

setUserIndex2
```
public void setUserIndex2(int index)
```

spatialTransform

public static void spatialTransform(@Const @ByRef
                                    btMatrix3x3 rotation_matrix,
                                    @Const @ByRef
                                    btVector3 displacement,
                                    @Const @ByRef
                                    btVector3 top_in,
                                    @Const @ByRef
                                    btVector3 bottom_in,
                                    @ByRef
                                    btVector3 top_out,
                                    @ByRef
                                    btVector3 bottom_out)

setLinkDynamicType

public void setLinkDynamicType(int i,
                               int type)

isLinkStaticOrKinematic

@Cast(value="bool")
public boolean isLinkStaticOrKinematic(int i)

isLinkKinematic

@Cast(value="bool")
public boolean isLinkKinematic(int i)

isLinkAndAllAncestorsStaticOrKinematic

@Cast(value="bool")
public boolean isLinkAndAllAncestorsStaticOrKinematic(int i)

isLinkAndAllAncestorsKinematic

@Cast(value="bool")
public boolean isLinkAndAllAncestorsKinematic(int i)

setSleepThreshold

public void setSleepThreshold(@Cast(value="btScalar")
                              double sleepThreshold)

setSleepTimeout

public void setSleepTimeout(@Cast(value="btScalar")
                            double sleepTimeout)

Class btMultiBody

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

Constructor Summary

Method Summary

Methods inherited from class org.bytedeco.javacpp.Pointer

Methods inherited from class java.lang.Object

Constructor Detail

btMultiBody

btMultiBody

btMultiBody

Method Detail

setupFixed

setupFixed

setupPrismatic

setupRevolute

setupRevolute

setupSpherical

setupSpherical

setupPlanar

setupPlanar

getLink

setBaseCollider

getBaseCollider

getLinkCollider

getParent

getNumLinks

getNumDofs

getNumPosVars

getBaseMass

getBaseInertia

getLinkMass

getLinkInertia

setBaseMass

setBaseInertia

getBasePos

getBaseVel

getWorldToBaseRot

getInterpolateBasePos

getInterpolateWorldToBaseRot

getBaseOmega

setBasePos

setInterpolateBasePos

setBaseWorldTransform

getBaseWorldTransform

setInterpolateBaseWorldTransform

getInterpolateBaseWorldTransform

setBaseVel

setWorldToBaseRot

setInterpolateWorldToBaseRot

setBaseOmega

saveKinematicState

getJointPos

getJointVel

getJointVelMultiDof

getJointPosMultiDof

setJointPos

setJointVel

setJointPosMultiDof

setJointPosMultiDof

setJointPosMultiDof

setJointVelMultiDof

setJointVelMultiDof

setJointVelMultiDof

setJointPosMultiDof

setJointPosMultiDof

setJointPosMultiDof

setJointVelMultiDof

setJointVelMultiDof

setJointVelMultiDof

getVelocityVector

getDeltaVelocityVector

getSplitVelocityVector

getRVector

getParentToLocalRot

getInterpolateRVector

getInterpolateParentToLocalRot

localPosToWorld