Module com.github.stephengold.joltjni
Package com.github.stephengold.joltjni

Class Shape

java.lang.Object
com.github.stephengold.joltjni.JoltPhysicsObject
com.github.stephengold.joltjni.NonCopyable
com.github.stephengold.joltjni.Shape
All Implemented Interfaces:
ConstJoltPhysicsObject, ConstShape, RefTarget, AutoCloseable, Comparable<JoltPhysicsObject>
Direct Known Subclasses:
CompoundShape, ConvexShape, DecoratedShape, EmptyShape, HeightFieldShape, MeshShape, PlaneShape, SoftBodyShape
public abstract class Shape extends NonCopyable implements ConstShape, RefTarget
The abstract base class for collision shapes.

  • Method Details

    • sRestoreFromBinaryState

      public static ShapeResult sRestoreFromBinaryState(StreamIn stream)
      Recreate a shape from the specified stream.
      Parameters:
      stream - the stream to read (not null)
      Returns:
      a new object

    • setVirtualAddressAsCoOwner

      protected final void setVirtualAddressAsCoOwner(long shapeVa)
      Assign a native object (assuming there's none already assigned) and designate the JVM object as a co-owner.
      Parameters:
      shapeVa - the virtual address of the native object to assign (not zero)

    • copyDebugTriangles

      public void copyDebugTriangles(FloatBuffer storeBuffer)
      Copy the vertex coordinates of the shape's debug mesh to the specified buffer. The shape is unaffected.
      Specified by:
      copyDebugTriangles in interface ConstShape
      Parameters:
      storeBuffer - the buffer to fill with vertex coordinates (not null, modified)

    • countDebugTriangles

      public int countDebugTriangles()
      Count the triangles in the shape's debug mesh. The shape is unaffected.
      Specified by:
      countDebugTriangles in interface ConstShape
      Returns:
      the count (>0)

    • draw

      public void draw(DebugRenderer renderer, RMat44Arg comTransform, Vec3Arg scale, ConstColor color, boolean useMaterialColors, boolean wireframe)
      Draw the shape using the specified renderer. The shape is unaffected.
      Specified by:
      draw in interface ConstShape
      Parameters:
      renderer - the renderer to use (not null)
      comTransform - the coordinate transform from the shape's center of mass to system coordinates (not null, unaffected)
      scale - the desired scaling (not null, unaffected)
      color - the desired color if useMaterialColors is false (not null, unaffected)
      useMaterialColors - true to use the color in the shape's material
      wireframe - true to draw a wire frame, false for solid triangles

    • drawGetSupportFunction

      public void drawGetSupportFunction(DebugRenderer renderer, RMat44Arg comTransform, Vec3Arg scale, ConstColor color, boolean drawSupportDirection)
      Draw the support function with the convex radius added back on. The shape is unaffected.
      Specified by:
      drawGetSupportFunction in interface ConstShape
      Parameters:
      renderer - the renderer to use (not null)
      comTransform - transform to apply (not null, unaffected)
      scale - scaling to apply (not null, unaffected)
      color - the color using for drawing (not null, unaffected)
      drawSupportDirection - the direction to draw

    • getCenterOfMass

      public Vec3 getCenterOfMass()
      Locate the shape's center of mass. The shape is unaffected.
      Specified by:
      getCenterOfMass in interface ConstShape
      Returns:
      a new location vector

    • getInnerRadius

      public float getInnerRadius()
      Return the radius of the largest sphere that fits inside the shape. The shape is unaffected.
      Specified by:
      getInnerRadius in interface ConstShape
      Returns:
      the radius (≥0)

    • getLeafShape

      public ConstShape getLeafShape(int subShapeId, int[] storeRemainderId)
      Access the leaf shape for the specified sub-shape ID.
      Specified by:
      getLeafShape in interface ConstShape
      Parameters:
      subShapeId - a sub-shape ID that specifies the path to the desired leaf shape
      storeRemainderId - storage for the remainder of the sub-shape ID after removing the path to the leaf shape (not null, modified)
      Returns:
      a new JVM object with the pre-existing native object assigned, or null if the ID is invalid

    • getLocalBounds

      public AaBox getLocalBounds()
      Return a bounding box that includes the convex radius. The shape is unaffected.
      Specified by:
      getLocalBounds in interface ConstShape
      Returns:
      a new, mutable box (relative to the shape's center of mass)

    • getMassProperties

      public MassProperties getMassProperties()
      Copy the shape's mass properties. The shape is unaffected.
      Specified by:
      getMassProperties in interface ConstShape
      Returns:
      a new, mutable properties object

    • getMaterial

      public ConstPhysicsMaterial getMaterial(int subShapeId)
      Access the material of the specified sub-shape. The shape is unaffected.
      Specified by:
      getMaterial in interface ConstShape
      Parameters:
      subShapeId - which sub-shape
      Returns:
      a new JVM object with the pre-existing native object assigned

    • getRevisionCount

      public long getRevisionCount()
      Return the shape's revision count, which is automatically incremented each time the shape is altered. The shape is unaffected.
      Specified by:
      getRevisionCount in interface ConstShape
      Returns:
      the count

    • getStats

      public Stats getStats()
      Copy the statistics. The shape is unaffected.
      Specified by:
      getStats in interface ConstShape
      Returns:
      a new object

    • getSubShapeIdBitsRecursive

      public int getSubShapeIdBitsRecursive()
      Count how many bits are used to address leaf shapes. The shape is unaffected.
      Specified by:
      getSubShapeIdBitsRecursive in interface ConstShape
      Returns:
      the number of bits (≥0)

    • getSubType

      public EShapeSubType getSubType()
      Return the shape's subtype. The shape is unaffected.
      Specified by:
      getSubType in interface ConstShape
      Returns:
      an enum value (not null)

    • getType

      public EShapeType getType()
      Return the shape's type. The shape is unaffected.
      Specified by:
      getType in interface ConstShape
      Returns:
      an enum value (not null)

    • getWorldSpaceBounds

      public AaBox getWorldSpaceBounds(Mat44Arg comTransform, Vec3Arg scale)
      Return the bounding box including convex radius. The shape is unaffected.
      Specified by:
      getWorldSpaceBounds in interface ConstShape
      Parameters:
      comTransform - the center-of-mass transform to apply to the shape (not null, unaffected)
      scale - the scale factors to apply to the shape (not null, unaffected)
      Returns:
      a new, mutable box (in system coordinates)

    • getWorldSpaceBounds

      public AaBox getWorldSpaceBounds(RMat44Arg comTransform, Vec3Arg scale)
      Return the bounding box including convex radius. The shape is unaffected.
      Specified by:
      getWorldSpaceBounds in interface ConstShape
      Parameters:
      comTransform - the center-of-mass transform to apply to the shape (not null, unaffected)
      scale - the scale factors to apply to the shape (not null, unaffected)
      Returns:
      a new, mutable box (in system coordinates)

    • isValidScale

      public boolean isValidScale(Vec3Arg scale)
      Test whether the specified scale vector is valid for wrapping the current shape in a ScaledShape. The current shape is unaffected.
      Specified by:
      isValidScale in interface ConstShape
      Parameters:
      scale - the proposed scale vector (not null, unaffected)
      Returns:
      true if valid, otherwise false

    • makeScaleValid

      public Vec3 makeScaleValid(Vec3Arg scale)
      Transform the specified scale vector such that it will be valid for wrapping the current shape in a ScaledShape. The current shape is unaffected.
      Specified by:
      makeScaleValid in interface ConstShape
      Parameters:
      scale - the proposed scale vector (not null, unaffected)
      Returns:
      a new scale vector

    • mustBeStatic

      public boolean mustBeStatic()
      Test whether the shape can be used in a dynamic/kinematic body. The shape is unaffected.
      Specified by:
      mustBeStatic in interface ConstShape
      Returns:
      true if it can be only be static, otherwise false

    • saveBinaryState

      public void saveBinaryState(StreamOut stream)
      Save the shape to the specified binary stream. The shape is unaffected.
      Specified by:
      saveBinaryState in interface ConstShape
      Parameters:
      stream - the stream to write to (not null)

    • scaleShape

      public ShapeResult scaleShape(Vec3Arg scaleFactors)
      Scale the current shape, which is unaffected.
      Specified by:
      scaleShape in interface ConstShape
      Parameters:
      scaleFactors - the desired scaling on each axis (not null, unaffected)
      Returns:
      a new JVM object with a new native object assigned

    • toRefC

      public ShapeRefC toRefC()
      Create a counted reference to the native Shape.
      Specified by:
      toRefC in interface ConstShape
      Returns:
      a new JVM object with a new native object assigned

    • getRefCount

      public int getRefCount()
      Count the active references to the native Shape. The shape is unaffected.
      Specified by:
      getRefCount in interface ConstShape
      Specified by:
      getRefCount in interface RefTarget
      Returns:
      the count (≥0)

    • setEmbedded

      public void setEmbedded()
      Mark the native Shape as embedded.
      Specified by:
      setEmbedded in interface RefTarget

    • toRef

      public ShapeRef toRef()
      Create a counted reference to the native Shape.
      Specified by:
      toRef in interface RefTarget
      Returns:
      a new JVM object with a new native object assigned