Package com.jme3.bullet.collision

Class ManifoldPoints

java.lang.Object
com.jme3.bullet.collision.ManifoldPoints
public final class ManifoldPoints extends Object
Utility class to access fields of Bullet's btManifoldPoint class.

Based on PhysicsCollisionEvent.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final Logger
    logger
    message logger for this class

  • Method Summary

    Modifier and Type
    Method
    Description
    static long
    createTestPoint()
    Create a manifold point (for testing) that will never be freed.
    static float
    getAppliedImpulse(long manifoldPointId)
    Return the applied impulse of the specified point (native field: m_appliedImpulse).
    static float
    getAppliedImpulseLateral1(long manifoldPointId)
    Return the applied lateral impulse #1 of the specified point (native field: m_appliedImpulseLateral1).
    static float
    getAppliedImpulseLateral2(long manifoldPointId)
    Return the applied lateral impulse #2 of the specified point (native field: m_appliedImpulseLateral2).
    static float
    getCombinedFriction(long manifoldPointId)
    Return the combined friction of the specified point, which is the product of the collision-object frictions (native field: m_combinedFriction).
    static float
    getCombinedRestitution(long manifoldPointId)
    Return the combined restitution of the specified point, which is the product of the collision-object restitutions (native field: m_combinedRestitution).
    static float
    getCombinedRollingFriction(long manifoldPointId)
    Return the combined rolling friction of the specified point (native field: m_combinedRollingFriction).
    static float
    getCombinedSpinningFriction(long manifoldPointId)
    Return the combined spinning friction of the specified point (native field: m_combinedSpinningFriction).
    static float
    getContactMotion1(long manifoldPointId)
    Return the contact motion #1 of the specified point (native field: m_contactMotion1).
    static float
    getContactMotion2(long manifoldPointId)
    Return the contact motion #2 of the specified point (native field: m_contactMotion2).
    static float
    getDistance1(long manifoldPointId)
    Return the separation distance of the specified point (native field: m_distance1).
    static int
    getFlags(long manifoldPointId)
    Return the flags of the specified point (native field: m_contactPointFlags).
    static int
    getIndex0(long manifoldPointId)
    Return the triangle index from the shape of object A at the specified point of contact (native field: m_index0).
    static int
    getIndex1(long manifoldPointId)
    Return the triangle index from the shape of object B at the specified point of contact (native field: m_index1).
    static void
    getLateralFrictionDir1(long manifoldPointId, com.jme3.math.Vector3f storeVector)
    Determine the lateral friction direction #1 of the specified point (native field: m_lateralFrictionDir1).
    static void
    getLateralFrictionDir2(long manifoldPointId, com.jme3.math.Vector3f storeVector)
    Determine the lateral friction direction #2 of the specified point (native field: m_lateralFrictionDir2).
    static int
    getLifeTime(long manifoldPointId)
    Return the lifetime of the specified point (native name: m_lifeTime).
    static void
    getLocalPointA(long manifoldPointId, com.jme3.math.Vector3f storeVector)
    Determine the location of the specified point in the local coordinates of object A (native name: m_localPointA).
    static void
    getLocalPointB(long manifoldPointId, com.jme3.math.Vector3f storeVector)
    Determine the location of the specified point in the local coordinates of object B (native name: m_localPointB).
    static void
    getNormalWorldOnB(long manifoldPointId, com.jme3.math.Vector3f storeVector)
    Determine the normal on object B of the specified point in physics-space coordinates (native name: m_normalWorldOnB).
    static int
    getPartId0(long manifoldPointId)
    Return the part index from the shape of object A at the specified point of contact (native field: m_partId0).
    static int
    getPartId1(long manifoldPointId)
    Return the part index from the shape of object B at the specified point of contact (native field: m_partId1).
    static void
    getPositionWorldOnA(long manifoldPointId, com.jme3.math.Vector3f storeVector)
    Determine the location of the specified point on object A in physics-space coordinates (native field: m_positionWorldOnA).
    static void
    getPositionWorldOnADp(long manifoldPointId, com.simsilica.mathd.Vec3d storeVector)
    Determine the location of the specified point on object A in physics-space coordinates (native field: m_positionWorldOnA).
    static void
    getPositionWorldOnB(long manifoldPointId, com.jme3.math.Vector3f storeVector)
    Determine the location of the specified point on object B in physics-space coordinates (native field: m_positionWorldOnB).
    static void
    getPositionWorldOnBDp(long manifoldPointId, com.simsilica.mathd.Vec3d storeVector)
    Determine the location of the specified point on object B in physics-space coordinates (native field: m_positionWorldOnB).
    static boolean
    isContactCalcArea3Points()
    Determine how many points are used to calculate the area of the convex hull of a contact point.
    static void
    setAppliedImpulse(long manifoldPointId, float impulse)
    Alter the applied impulse of the specified point (native field: m_appliedImpulse).
    static void
    setAppliedImpulseLateral1(long manifoldPointId, float impulse)
    Alter the applied lateral impulse #1 of the specified point (native field: m_appliedImpulseLateral1).
    static void
    setAppliedImpulseLateral2(long manifoldPointId, float impulse)
    Alter the applied lateral impulse #2 of the specified point (native field: m_appliedImpulseLateral2).
    static void
    setCombinedFriction(long manifoldPointId, float friction)
    Alter the combined friction of the specified point (native field: m_combinedFriction).
    static void
    setCombinedRestitution(long manifoldPointId, float restitution)
    Alter the combined restitution of the specified point (native field: m_combinedRestitution).
    static void
    setCombinedRollingFriction(long manifoldPointId, float friction)
    Alter the combined rolling friction of the specified point (native field: m_combinedRollingFriction).
    static void
    setCombinedSpinningFriction(long manifoldPointId, float friction)
    Alter the combined spinning friction of the specified point (native field: m_combinedSpinningFriction).
    static void
    setContactCalcArea3Points(boolean setting)
    Alter the number of points used to calculate the area of the convex hull of a contact point.
    static void
    setContactMotion1(long manifoldPointId, float motion)
    Alter the contact motion #1 of the specified point (native field: m_contactMotion1).
    static void
    setContactMotion2(long manifoldPointId, float motion)
    Alter the contact motion #2 of the specified point (native field: m_contactMotion2).
    static void
    setDistance1(long manifoldPointId, float distance)
    Alter the separation distance of the specified point (native field: m_distance1).
    static void
    setFlags(long manifoldPointId, int bitmask)
    Alter the flags of the specified point (native field: m_contactPointFlags).
    static void
    setLateralFrictionDir1(long manifoldPointId, com.jme3.math.Vector3f direction)
    Alter the lateral friction direction #1 of the specified point (native field: m_lateralFrictionDir1).
    static void
    setLateralFrictionDir2(long manifoldPointId, com.jme3.math.Vector3f direction)
    Alter the lateral friction direction #2 of the specified point (native field: m_lateralFrictionDir2).
    static void
    setLocalPointA(long manifoldPointId, com.jme3.math.Vector3f locationVector)
    Alter the location of the specified point in the local coordinates of object A (native name: m_localPointA).
    static void
    setLocalPointB(long manifoldPointId, com.jme3.math.Vector3f locationVector)
    Alter the location of the specified point in the local coordinates of object B (native name: m_localPointB).
    static void
    setNormalWorldOnB(long manifoldPointId, com.jme3.math.Vector3f normalVector)
    Alter the normal on object B of the specified point in physics-space coordinates (native name: m_normalWorldOnB).
    static void
    setPositionWorldOnA(long manifoldPointId, com.jme3.math.Vector3f locationVector)
    Alter the location of the specified point on object A in physics-space coordinates (native field: m_positionWorldOnA).
    static void
    setPositionWorldOnB(long manifoldPointId, com.jme3.math.Vector3f locationVector)
    Alter the location of the specified point on object B in physics-space coordinates (native field: m_positionWorldOnB).

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • logger

      public static final Logger logger
      message logger for this class

  • Method Details

    • createTestPoint

      public static long createTestPoint()
      Create a manifold point (for testing) that will never be freed. For internal use only.
      Returns:
      the native ID of a new btManifoldPoint (not zero)

    • getAppliedImpulse

      public static float getAppliedImpulse(long manifoldPointId)
      Return the applied impulse of the specified point (native field: m_appliedImpulse).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the impulse calculated during the previous simulation step, or zero if the WarmStart bit is cleared in the solver mode

    • getAppliedImpulseLateral1

      public static float getAppliedImpulseLateral1(long manifoldPointId)
      Return the applied lateral impulse #1 of the specified point (native field: m_appliedImpulseLateral1).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the impulse

    • getAppliedImpulseLateral2

      public static float getAppliedImpulseLateral2(long manifoldPointId)
      Return the applied lateral impulse #2 of the specified point (native field: m_appliedImpulseLateral2).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the impulse

    • getCombinedFriction

      public static float getCombinedFriction(long manifoldPointId)
      Return the combined friction of the specified point, which is the product of the collision-object frictions (native field: m_combinedFriction).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the friction product

    • getCombinedRestitution

      public static float getCombinedRestitution(long manifoldPointId)
      Return the combined restitution of the specified point, which is the product of the collision-object restitutions (native field: m_combinedRestitution).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the restitution product

    • getCombinedRollingFriction

      public static float getCombinedRollingFriction(long manifoldPointId)
      Return the combined rolling friction of the specified point (native field: m_combinedRollingFriction).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the combined friction

    • getCombinedSpinningFriction

      public static float getCombinedSpinningFriction(long manifoldPointId)
      Return the combined spinning friction of the specified point (native field: m_combinedSpinningFriction).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the combined friction

    • getContactMotion1

      public static float getContactMotion1(long manifoldPointId)
      Return the contact motion #1 of the specified point (native field: m_contactMotion1).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the motion

    • getContactMotion2

      public static float getContactMotion2(long manifoldPointId)
      Return the contact motion #2 of the specified point (native field: m_contactMotion2).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the motion

    • getDistance1

      public static float getDistance1(long manifoldPointId)
      Return the separation distance of the specified point (native field: m_distance1). This is the negative of the penetration depth.
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the distance (in physics-space units)

    • getFlags

      public static int getFlags(long manifoldPointId)
      Return the flags of the specified point (native field: m_contactPointFlags).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      a bitmask
      See Also:

    • getIndex0

      public static int getIndex0(long manifoldPointId)
      Return the triangle index from the shape of object A at the specified point of contact (native field: m_index0).

      If shape is convex, the index is undefined.

      If shape is a CompoundCollisionShape, the index identifies a child shape.

      If the shape is a GImpactCollisionShape or MeshCollisionShape, the index identifies a triangle in an IndexedMesh.

      If the shape is a HeightfieldCollisionShape, the index indicates a grid column.

      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the index of the collision-shape triangle (≥0) or -1 if undefined

    • getIndex1

      public static int getIndex1(long manifoldPointId)
      Return the triangle index from the shape of object B at the specified point of contact (native field: m_index1).

      If shape is convex, the index is undefined.

      If shape is a CompoundCollisionShape, the index identifies a child shape.

      If the shape is a GImpactCollisionShape or MeshCollisionShape, the index identifies a triangle in an IndexedMesh.

      If the shape is a HeightfieldCollisionShape, the index indicates a grid column.

      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the index of the collision-shape triangle (≥0) or -1 if undefined

    • getLateralFrictionDir1

      public static void getLateralFrictionDir1(long manifoldPointId, com.jme3.math.Vector3f storeVector)
      Determine the lateral friction direction #1 of the specified point (native field: m_lateralFrictionDir1).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      storeVector - storage for the result (not null, modified)

    • getLateralFrictionDir2

      public static void getLateralFrictionDir2(long manifoldPointId, com.jme3.math.Vector3f storeVector)
      Determine the lateral friction direction #2 of the specified point (native field: m_lateralFrictionDir2).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      storeVector - storage for the result (not null, modified)

    • getLifeTime

      public static int getLifeTime(long manifoldPointId)
      Return the lifetime of the specified point (native name: m_lifeTime).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the duration (in simulation steps, ≥0)

    • getLocalPointA

      public static void getLocalPointA(long manifoldPointId, com.jme3.math.Vector3f storeVector)
      Determine the location of the specified point in the local coordinates of object A (native name: m_localPointA).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      storeVector - storage for the result (not null, modified)

    • getLocalPointB

      public static void getLocalPointB(long manifoldPointId, com.jme3.math.Vector3f storeVector)
      Determine the location of the specified point in the local coordinates of object B (native name: m_localPointB).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      storeVector - storage for the result (not null, modified)

    • getNormalWorldOnB

      public static void getNormalWorldOnB(long manifoldPointId, com.jme3.math.Vector3f storeVector)
      Determine the normal on object B of the specified point in physics-space coordinates (native name: m_normalWorldOnB).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      storeVector - storage for the result (not null, modified)

    • getPartId0

      public static int getPartId0(long manifoldPointId)
      Return the part index from the shape of object A at the specified point of contact (native field: m_partId0).

      If the shape is compound or convex, the index is undefined.

      If the shape is a GImpactCollisionShape or MeshCollisionShape, the index identifies an IndexedMesh.

      If the shape is a HeightfieldCollisionShape, the index identifies a grid row.

      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the index of the collision-shape part (≥0) or -1 if undefined

    • getPartId1

      public static int getPartId1(long manifoldPointId)
      Return the part index from the shape of object B at the specified point of contact (native field: m_partId1).

      If the shape is compound or convex, the index is undefined.

      If the shape is a GImpactCollisionShape or MeshCollisionShape, the index identifies an IndexedMesh.

      If the shape is a HeightfieldCollisionShape, the index identifies a grid row.

      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      Returns:
      the index of the collision-shape part (≥0) or -1 if undefined

    • getPositionWorldOnA

      public static void getPositionWorldOnA(long manifoldPointId, com.jme3.math.Vector3f storeVector)
      Determine the location of the specified point on object A in physics-space coordinates (native field: m_positionWorldOnA).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      storeVector - storage for the result (not null, modified)

    • getPositionWorldOnADp

      public static void getPositionWorldOnADp(long manifoldPointId, com.simsilica.mathd.Vec3d storeVector)
      Determine the location of the specified point on object A in physics-space coordinates (native field: m_positionWorldOnA).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      storeVector - storage for the result (not null, modified)

    • getPositionWorldOnB

      public static void getPositionWorldOnB(long manifoldPointId, com.jme3.math.Vector3f storeVector)
      Determine the location of the specified point on object B in physics-space coordinates (native field: m_positionWorldOnB).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      storeVector - storage for the result (modified if not null)

    • getPositionWorldOnBDp

      public static void getPositionWorldOnBDp(long manifoldPointId, com.simsilica.mathd.Vec3d storeVector)
      Determine the location of the specified point on object B in physics-space coordinates (native field: m_positionWorldOnB).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      storeVector - storage for the result (modified if not null)

    • isContactCalcArea3Points

      public static boolean isContactCalcArea3Points()
      Determine how many points are used to calculate the area of the convex hull of a contact point.
      Returns:
      true if using 3 points (faster), false if using 4 points (more accurate)

    • setAppliedImpulse

      public static void setAppliedImpulse(long manifoldPointId, float impulse)
      Alter the applied impulse of the specified point (native field: m_appliedImpulse).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      impulse - the desired impulse

    • setAppliedImpulseLateral1

      public static void setAppliedImpulseLateral1(long manifoldPointId, float impulse)
      Alter the applied lateral impulse #1 of the specified point (native field: m_appliedImpulseLateral1).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      impulse - the desired impulse

    • setAppliedImpulseLateral2

      public static void setAppliedImpulseLateral2(long manifoldPointId, float impulse)
      Alter the applied lateral impulse #2 of the specified point (native field: m_appliedImpulseLateral2).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      impulse - the desired impulse

    • setCombinedFriction

      public static void setCombinedFriction(long manifoldPointId, float friction)
      Alter the combined friction of the specified point (native field: m_combinedFriction).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      friction - the desired friction

    • setCombinedRestitution

      public static void setCombinedRestitution(long manifoldPointId, float restitution)
      Alter the combined restitution of the specified point (native field: m_combinedRestitution).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      restitution - the desired restitution

    • setCombinedRollingFriction

      public static void setCombinedRollingFriction(long manifoldPointId, float friction)
      Alter the combined rolling friction of the specified point (native field: m_combinedRollingFriction).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      friction - the desired friction

    • setCombinedSpinningFriction

      public static void setCombinedSpinningFriction(long manifoldPointId, float friction)
      Alter the combined spinning friction of the specified point (native field: m_combinedSpinningFriction).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      friction - the combined friction

    • setContactCalcArea3Points

      public static void setContactCalcArea3Points(boolean setting)
      Alter the number of points used to calculate the area of the convex hull of a contact point.
      Parameters:
      setting - true to use 3 points (faster), false to use 4 points (more accurate) (default=true)

    • setContactMotion1

      public static void setContactMotion1(long manifoldPointId, float motion)
      Alter the contact motion #1 of the specified point (native field: m_contactMotion1).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      motion - the desired motion

    • setContactMotion2

      public static void setContactMotion2(long manifoldPointId, float motion)
      Alter the contact motion #2 of the specified point (native field: m_contactMotion2).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      motion - the desired motion

    • setDistance1

      public static void setDistance1(long manifoldPointId, float distance)
      Alter the separation distance of the specified point (native field: m_distance1). This is the negative of the penetration depth.
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      distance - the desired distance (in physics-space units)

    • setFlags

      public static void setFlags(long manifoldPointId, int bitmask)
      Alter the flags of the specified point (native field: m_contactPointFlags).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      bitmask - the desired bitmask
      See Also:

    • setLateralFrictionDir1

      public static void setLateralFrictionDir1(long manifoldPointId, com.jme3.math.Vector3f direction)
      Alter the lateral friction direction #1 of the specified point (native field: m_lateralFrictionDir1).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      direction - the desired direction (in physics-space coordinates, not null, unaffected)

    • setLateralFrictionDir2

      public static void setLateralFrictionDir2(long manifoldPointId, com.jme3.math.Vector3f direction)
      Alter the lateral friction direction #2 of the specified point (native field: m_lateralFrictionDir2).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      direction - the desired direction (in physics-space coordinates, not null, unaffected)

    • setLocalPointA

      public static void setLocalPointA(long manifoldPointId, com.jme3.math.Vector3f locationVector)
      Alter the location of the specified point in the local coordinates of object A (native name: m_localPointA).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      locationVector - the desired location (not null, unaffected)

    • setLocalPointB

      public static void setLocalPointB(long manifoldPointId, com.jme3.math.Vector3f locationVector)
      Alter the location of the specified point in the local coordinates of object B (native name: m_localPointB).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      locationVector - the desired location (not null, unaffected)

    • setNormalWorldOnB

      public static void setNormalWorldOnB(long manifoldPointId, com.jme3.math.Vector3f normalVector)
      Alter the normal on object B of the specified point in physics-space coordinates (native name: m_normalWorldOnB).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      normalVector - the desired normal (not null, unaffected)

    • setPositionWorldOnA

      public static void setPositionWorldOnA(long manifoldPointId, com.jme3.math.Vector3f locationVector)
      Alter the location of the specified point on object A in physics-space coordinates (native field: m_positionWorldOnA).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      locationVector - the desired location (not null, unaffected)

    • setPositionWorldOnB

      public static void setPositionWorldOnB(long manifoldPointId, com.jme3.math.Vector3f locationVector)
      Alter the location of the specified point on object B in physics-space coordinates (native field: m_positionWorldOnB).
      Parameters:
      manifoldPointId - the native ID of the btManifoldPoint (not zero)
      locationVector - the desired location (not null, unaffected)