MultiBody (Libbulletjme API)

java.lang.Object
- com.jme3.bullet.NativePhysicsObject
- - com.jme3.bullet.MultiBody

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>
```
public class MultiBody
extends NativePhysicsObject
```
An articulated rigid body based on Bullet's btMultiBody. Uses Featherstone's algorithm.

Field Summary

Fields
Modifier and Type Field and Description

static java.util.logging.Logger logger
message logger for this class
- Fields inherited from class com.jme3.bullet.NativePhysicsObject
  loggerN

Fields
Modifier and Type	Field and Description
`static java.util.logging.Logger`	`logger` message logger for this class

Constructor Summary

Constructors
Constructor and Description
`MultiBody(int numLinks, float baseMass, Vector3f baseInertia, boolean fixedBase, boolean canSleep)` Instantiate a MultiBody.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`MultiBodyCollider`	`addBaseCollider(CollisionShape shape)` Add a collider for the base.
`void`	`addBaseForce(Vector3f force)` Add an external force to the base.
`void`	`addBaseTorque(Vector3f torque)` Add an external torque to the base.
`float`	`angularDamping()` Determine the angular damping.
`Vector3f`	`baseAngularVelocity(Vector3f storeResult)` Determine the angular velocity of the base.
`Vector3f`	`baseForce(Vector3f storeResult)` Determine the net force on the base.
`Vector3f`	`baseInertia(Vector3f storeResult)` Determine the rotational inertia of the base.
`Vector3f`	`baseLocation(Vector3f storeResult)` Determine the location of the base's center of mass.
`float`	`baseMass()` Determine the mass of the base.
`Quaternion`	`baseOrientation(Quaternion storeResult)` Determine the orientation of the base.
`Vector3f`	`baseTorque(Vector3f storeResult)` Determine the net torque on the base.
`Transform`	`baseTransform(Transform storeResult)` Determine the transform of the base.
`Vector3f`	`baseVelocity(Vector3f storeResult)` Determine the linear velocity of the base's center of mass.
`boolean`	`canSleep()` Test whether this MultiBody can sleep.
`boolean`	`canWakeup()` Test whether this MultiBody can wake up.
`void`	`clearConstraintForces()` Clear all constraint forces.
`void`	`clearForcesAndTorques()` Clear all external forces and torques.
`void`	`clearVelocities()` Zero out all velocities.
`int`	`collideWithGroups()` Read the set of collision groups with which this multibody can collide.
`int`	`collisionGroup()` Read the collision group of this multibody.
`MultiBodyLink`	`configureFixedLink(float mass, Vector3f inertia, MultiBodyLink parent, Quaternion orientation, Vector3f parent2Pivot, Vector3f pivot2Link)` Configure a new link that is fixed to its parent.
`MultiBodyLink`	`configurePlanarLink(float mass, Vector3f inertia, MultiBodyLink parent, Quaternion orientation, Vector3f axis, Vector3f parent2Link, boolean disableCollision)` Configure a link that is joined to its parent with a planar joint.
`MultiBodyLink`	`configurePrismaticLink(float mass, Vector3f inertia, MultiBodyLink parent, Quaternion orientation, Vector3f axis, Vector3f parent2Pivot, Vector3f pivot2Link, boolean disableCollision)` Configure a link that is joined to its parent with a prismatic joint.
`MultiBodyLink`	`configureRevoluteLink(float mass, Vector3f inertia, MultiBodyLink parent, Quaternion orientation, Vector3f axis, Vector3f parent2Pivot, Vector3f pivot2Link, boolean disableCollision)` Configure a link that is joined to its parent with a revolute joint.
`MultiBodyLink`	`configureSphericalLink(float mass, Vector3f inertia, MultiBodyLink parent, Quaternion orientation, Vector3f parent2Pivot, Vector3f pivot2Link, boolean disableCollision)` Configure a link that is joined to its parent with a spherical joint.
`boolean`	`contains(MultiBodyCollider collider)` Test whether the specified collider is part of this MultiBody.
`int`	`countConfiguredLinks()` Count the configured links in this MultiBody.
`int`	`countDofs()` Count the degrees of freedom.
`int`	`countPositionVariables()` Count the position variables in this MultiBody.
`MultiBodyCollider`	`getBaseCollider()` Access the collider for the base.
`MultiBodyLink`	`getLink(int linkIndex)` Access the index link of this MultiBody.
`boolean`	`hasFixedBase()` Test whether this MultiBody has a fixed base.
`boolean`	`isUsingGlobalVelocities()` Test whether this MultiBody uses global variables.
`boolean`	`isUsingGyroTerm()` Test whether this MultiBody uses the gyro term.
`boolean`	`isUsingRK4()` Test whether this MultiBody uses RK4 integration.
`float`	`linearDamping()` Determine the linear damping.
`java.util.List<MultiBodyCollider>`	`listColliders()` Enumerate the colliders in this MultiBody.
`float`	`maxAppliedImpulse()` Determine the maximum applied impulse.
`float`	`maxCoordinateVelocity()` Determine the maximum coordinate velocity.
`void`	`setBaseAngularVelocity(Vector3f angularVelocity)` Alter the angular velocity of the base.
`void`	`setBaseLocation(Vector3f location)` Alter the location of the base's center of mass.
`void`	`setBaseOrientation(Quaternion orientation)` Alter the orientation of the base.
`void`	`setBaseTransform(Transform transform)` Alter the transform of the base.
`void`	`setBaseVelocity(Vector3f velocity)` Alter the linear velocity of the base.
`void`	`setCollideWithGroups(int groups)` Directly alter the collision groups with which this MultiBody can collide.
`void`	`setCollisionGroup(int group)` Alter which collision group this MultiBody belongs to.
`void`	`setUserIndex(int index)` Alter the primary user index.
`void`	`setUserIndex2(int index)` Alter the secondary user index.
`long`	`spaceId()` Determine the ID of the MultiBodySpace to which this MultiBody is added.
`void`	`useGlobalVelocities(boolean setting)` Alter whether this MultiBody uses global velocities.
`int`	`userIndex()` Return the primary user index (native field: m_userIndex).
`int`	`userIndex2()` Return the secondary user index (native field: m_userIndex2).
`void`	`useRK4(boolean setting)` Alter whether this MultiBody uses RK4 integration.

Methods inherited from class com.jme3.bullet.NativePhysicsObject
compareTo, countTrackers, dumpTrackers, equals, freeUnusedObjects, hasAssignedNativeObject, hashCode, nativeId, reassignNativeId, setNativeId, setNativeIdNotTracked, toString, unassignNativeObject

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

- Field Detail
  - logger
```
public static final java.util.logging.Logger logger
```
    message logger for this class
- Constructor Detail
  - MultiBody
```
public MultiBody(int numLinks,
                 float baseMass,
                 Vector3f baseInertia,
                 boolean fixedBase,
                 boolean canSleep)
```
    Instantiate a MultiBody. Note that "sleep" is synonym for "deactivate".
    
    Parameters:
    
    numLinks - the desired number of links, not including the base (≥0)
    
    baseMass - the desired mass of the base (in physics-space units, >0)
    
    baseInertia - the desired rotational inertia of the base (not null, all elements positive)
    
    fixedBase - true → base is fixed, false → base can move
    
    canSleep - true → can sleep, false → won't sleep
- Method Detail
  - addBaseCollider
```
public MultiBodyCollider addBaseCollider(CollisionShape shape)
```
    Add a collider for the base.
    
    Parameters:
    
    shape - (not null, alias created)
    
    Returns:
    
    a new collider
  - addBaseForce
```
public void addBaseForce(Vector3f force)
```
    Add an external force to the base.
    
    Parameters:
    
    force - the force to add (in physics-space coordinates, not null, unaffected)
  - addBaseTorque
```
public void addBaseTorque(Vector3f torque)
```
    Add an external torque to the base.
    
    Parameters:
    
    torque - the torque to add (in physics-space coordinates, not null, unaffected)
  - angularDamping
```
public float angularDamping()
```
    Determine the angular damping.
    
    Returns:
    
    the damping
  - baseAngularVelocity
```
public Vector3f baseAngularVelocity(Vector3f storeResult)
```
    Determine the angular velocity of the base.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the angular-velocity vector (either storeResult or a new vector, not null)
  - baseForce
```
public Vector3f baseForce(Vector3f storeResult)
```
    Determine the net force on the base.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the force vector (either storeResult or a new vector, not null)
  - baseInertia
```
public Vector3f baseInertia(Vector3f storeResult)
```
    Determine the rotational inertia of the base.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the principal (diagonal) components of the inertia tensor (in the base's local coordinates, either storeResult or a new vector, not null)
  - baseLocation
```
public Vector3f baseLocation(Vector3f storeResult)
```
    Determine the location of the base's center of mass.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the location vector (in physics-space coordinates, either storeResult or a new vector, not null)
  - baseMass
```
public float baseMass()
```
    Determine the mass of the base.
    
    Returns:
    
    the mass (in physics-space units, >0)
  - baseOrientation
```
public Quaternion baseOrientation(Quaternion storeResult)
```
    Determine the orientation of the base.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the orientation (either storeResult or a new instance, not null)
  - baseTorque
```
public Vector3f baseTorque(Vector3f storeResult)
```
    Determine the net torque on the base.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the torque vector (either storeResult or a new vector, not null)
  - baseTransform
```
public Transform baseTransform(Transform storeResult)
```
    Determine the transform of the base.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the transform from local coordinates to physics-space coordinates (either storeResult or a new instance, not null, scale=1)
  - baseVelocity
```
public Vector3f baseVelocity(Vector3f storeResult)
```
    Determine the linear velocity of the base's center of mass.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the velocity vector (in physics-space coordinates, either storeResult or a new vector, not null)
  - canSleep
```
public boolean canSleep()
```
    Test whether this MultiBody can sleep. Note that "sleep" is synonym for "deactivate".
    
    Returns:
    
    true if it can sleep, otherwise false
  - canWakeup
```
public boolean canWakeup()
```
    Test whether this MultiBody can wake up.
    
    Returns:
    
    true if it can wake up, otherwise false
  - clearConstraintForces
```
public void clearConstraintForces()
```
    Clear all constraint forces.
  - clearForcesAndTorques
```
public void clearForcesAndTorques()
```
    Clear all external forces and torques.
  - clearVelocities
```
public void clearVelocities()
```
    Zero out all velocities.
  - collideWithGroups
```
public int collideWithGroups()
```
    Read the set of collision groups with which this multibody can collide.
    
    Returns:
    
    the bitmask
  - collisionGroup
```
public int collisionGroup()
```
    Read the collision group of this multibody.
    
    Returns:
    
    the collision group (bitmask with exactly one bit set)
  - configureFixedLink
```
public MultiBodyLink configureFixedLink(float mass,
                                        Vector3f inertia,
                                        MultiBodyLink parent,
                                        Quaternion orientation,
                                        Vector3f parent2Pivot,
                                        Vector3f pivot2Link)
```
    Configure a new link that is fixed to its parent.
    
    Parameters:
    
    mass - the desired mass of the link (>0)
    
    inertia - the desired moment of inertia of the link (not null, unaffected)
    
    parent - the parent link, or null if parented by the base
    
    orientation - the orientation of the link relative to its parent (not null, unaffected)
    
    parent2Pivot - the offset of the pivot from the parent's center of mass (not null, unaffected)
    
    pivot2Link - the offset of the child's center of mass from the pivot (not null, unaffected)
    
    Returns:
    
    a new link
  - configurePlanarLink
```
public MultiBodyLink configurePlanarLink(float mass,
                                         Vector3f inertia,
                                         MultiBodyLink parent,
                                         Quaternion orientation,
                                         Vector3f axis,
                                         Vector3f parent2Link,
                                         boolean disableCollision)
```
    Configure a link that is joined to its parent with a planar joint.
    
    Parameters:
    
    mass - the desired mass of the link (>0)
    
    inertia - the desired moment of inertia of the link (not null, unaffected)
    
    parent - the parent link, or null if parented by the base
    
    orientation - the orientation of the link relative to its parent (not null, unaffected)
    
    axis - the axis of rotation, which is also the plane's normal vector (not null, unaffected)
    
    parent2Link - the offset of the child's center of mass from the parent's center of mass (not null, unaffected)
    
    disableCollision - true to ignore collisions between the link and its parent
    
    Returns:
    
    a new link
  - configurePrismaticLink
```
public MultiBodyLink configurePrismaticLink(float mass,
                                            Vector3f inertia,
                                            MultiBodyLink parent,
                                            Quaternion orientation,
                                            Vector3f axis,
                                            Vector3f parent2Pivot,
                                            Vector3f pivot2Link,
                                            boolean disableCollision)
```
    Configure a link that is joined to its parent with a prismatic joint.
    
    Parameters:
    
    mass - the desired mass of the link (>0)
    
    inertia - the desired moment of inertia of the link (not null, unaffected)
    
    parent - the parent link, or null if parented by the base
    
    orientation - the orientation of the link relative to its parent (not null, unaffected)
    
    axis - the axis of rotation (not null, unaffected)
    
    parent2Pivot - the offset of the pivot from the parent's center of mass (not null, unaffected)
    
    pivot2Link - the offset of the child's center of mass from the pivot (not null, unaffected)
    
    disableCollision - true to ignore collisions between the link and its parent
    
    Returns:
    
    a new link
  - configureRevoluteLink
```
public MultiBodyLink configureRevoluteLink(float mass,
                                           Vector3f inertia,
                                           MultiBodyLink parent,
                                           Quaternion orientation,
                                           Vector3f axis,
                                           Vector3f parent2Pivot,
                                           Vector3f pivot2Link,
                                           boolean disableCollision)
```
    Configure a link that is joined to its parent with a revolute joint.
    
    Parameters:
    
    mass - the desired mass of the link (>0)
    
    inertia - the desired moment of inertia of the link (not null, unaffected)
    
    parent - the parent link, or null if parented by the base
    
    orientation - the orientation of the link relative to its parent (not null, unaffected)
    
    axis - the axis of rotation (not null, unaffected)
    
    parent2Pivot - the offset of the pivot from the parent's center of mass (not null, unaffected)
    
    pivot2Link - the offset of the child's center of mass from the pivot (not null, unaffected)
    
    disableCollision - true to ignore collisions between the link and its parent
    
    Returns:
    
    a new link
  - configureSphericalLink
```
public MultiBodyLink configureSphericalLink(float mass,
                                            Vector3f inertia,
                                            MultiBodyLink parent,
                                            Quaternion orientation,
                                            Vector3f parent2Pivot,
                                            Vector3f pivot2Link,
                                            boolean disableCollision)
```
    Configure a link that is joined to its parent with a spherical joint.
    
    Parameters:
    
    mass - the desired mass of the link (>0)
    
    inertia - the desired moment of inertia of the link (not null, unaffected)
    
    parent - the parent link, or null if parented by the base
    
    orientation - the orientation of the link relative to its parent (not null, unaffected)
    
    parent2Pivot - the offset of the pivot from the parent's center of mass (not null, unaffected)
    
    pivot2Link - the offset of the child's center of mass from the pivot (not null, unaffected)
    
    disableCollision - true to ignore collisions between the link and its parent
    
    Returns:
    
    a new link
  - contains
```
public boolean contains(MultiBodyCollider collider)
```
    Test whether the specified collider is part of this MultiBody.
    
    Parameters:
    
    collider - the collider to search for (not null, unaffected)
    
    Returns:
    
    true if included, otherwise false
  - countConfiguredLinks
```
public int countConfiguredLinks()
```
    Count the configured links in this MultiBody.
    
    Returns:
    
    the count (≥0)
  - countDofs
```
public int countDofs()
```
    Count the degrees of freedom.
    
    Returns:
    
    the count (≥0)
  - countPositionVariables
```
public int countPositionVariables()
```
    Count the position variables in this MultiBody.
    
    Returns:
    
    the count (≥0)
  - getBaseCollider
```
public MultiBodyCollider getBaseCollider()
```
    Access the collider for the base.
    
    Returns:
    
    the pre-existing instance, or null if none
  - getLink
```
public MultiBodyLink getLink(int linkIndex)
```
    Access the index link of this MultiBody.
    
    Parameters:
    
    linkIndex - (≥0, <numConfigured)
    
    Returns:
    
    the pre-existing instance (not null)
  - hasFixedBase
```
public boolean hasFixedBase()
```
    Test whether this MultiBody has a fixed base.
    
    Returns:
    
    true → fixed, false → movable
  - isUsingGlobalVelocities
```
public boolean isUsingGlobalVelocities()
```
    Test whether this MultiBody uses global variables.
    
    Returns:
    
    true if using global variables, otherwise false
  - isUsingGyroTerm
```
public boolean isUsingGyroTerm()
```
    Test whether this MultiBody uses the gyro term.
    
    Returns:
    
    true if using the gyro term, otherwise false
  - isUsingRK4
```
public boolean isUsingRK4()
```
    Test whether this MultiBody uses RK4 integration.
    
    Returns:
    
    true if using RK4, otherwise false
  - linearDamping
```
public float linearDamping()
```
    Determine the linear damping.
    
    Returns:
    
    the damping
  - listColliders
```
public java.util.List<MultiBodyCollider> listColliders()
```
    Enumerate the colliders in this MultiBody.
    
    Returns:
    
    a new collection of pre-existing instances
  - maxAppliedImpulse
```
public float maxAppliedImpulse()
```
    Determine the maximum applied impulse.
    
    Returns:
    
    the impulse
  - maxCoordinateVelocity
```
public float maxCoordinateVelocity()
```
    Determine the maximum coordinate velocity.
    
    Returns:
    
    the velocity
  - setBaseAngularVelocity
```
public void setBaseAngularVelocity(Vector3f angularVelocity)
```
    Alter the angular velocity of the base.
    
    Parameters:
    
    angularVelocity - the desired angular-velocity vector (in physics-space coordinates, not null, unaffected, default=(0,0,0))
  - setBaseLocation
```
public void setBaseLocation(Vector3f location)
```
    Alter the location of the base's center of mass.
    
    Parameters:
    
    location - the desired location vector (in physics-space coordinates, not null, unaffected, default=(0,0,0))
  - setBaseOrientation
```
public void setBaseOrientation(Quaternion orientation)
```
    Alter the orientation of the base.
    
    Parameters:
    
    orientation - the desired orientation (in physics-space coordinates, not null, unaffected)
  - setBaseTransform
```
public void setBaseTransform(Transform transform)
```
    Alter the transform of the base.
    
    Parameters:
    
    transform - the desired transform from local coordinates to physics-space coordinates (not null, unaffected, scale ignored)
  - setBaseVelocity
```
public void setBaseVelocity(Vector3f velocity)
```
    Alter the linear velocity of the base.
    
    Parameters:
    
    velocity - the desired velocity vector (in physics-space coordinates, not null, unaffected, default=(0,0,0))
  - setCollideWithGroups
```
public void setCollideWithGroups(int groups)
```
    Directly alter the collision groups with which this MultiBody can collide.
    
    Parameters:
    
    groups - the desired groups, ORed together (bitmask, default=COLLISION_GROUP_01)
  - setCollisionGroup
```
public void setCollisionGroup(int group)
```
    Alter which collision group this MultiBody belongs to.
    Groups are represented by bitmasks with exactly one bit set. Manifest constants are defined in PhysicsCollisionObject.
    Two objects can collide only if one of them has the collisionGroup of the other in its collideWithGroups set.
    
    Parameters:
    
    group - the collisionGroup to apply (bitmask with exactly one bit set, default=COLLISION_GROUP_01)
  - setUserIndex
```
public void setUserIndex(int index)
```
    Alter the primary user index. Applications may use this parameter for any purpose (native field: m_userIndex).
    
    Parameters:
    
    index - the desired value (default=-1)
  - setUserIndex2
```
public void setUserIndex2(int index)
```
    Alter the secondary user index. Applications may use this parameter for any purpose (native field: m_userIndex2).
    
    Parameters:
    
    index - the desired value (default=-1)
  - spaceId
```
public long spaceId()
```
    Determine the ID of the MultiBodySpace to which this MultiBody is added.
    
    Returns:
    
    the ID, or zero if not in any space
  - useGlobalVelocities
```
public void useGlobalVelocities(boolean setting)
```
    Alter whether this MultiBody uses global velocities.
    
    Parameters:
    
    setting - true to use global velocities (default=false)
  - useRK4
```
public void useRK4(boolean setting)
```
    Alter whether this MultiBody uses RK4 integration.
    
    Parameters:
    
    setting - true to use RK4 (default=false)
  - userIndex
```
public int userIndex()
```
    Return the primary user index (native field: m_userIndex).
    
    Returns:
    
    the value
  - userIndex2
```
public int userIndex2()
```
    Return the secondary user index (native field: m_userIndex2).
    
    Returns:
    
    the value

Class MultiBody

Field Summary

Fields inherited from class com.jme3.bullet.NativePhysicsObject

Constructor Summary

Method Summary

Methods inherited from class com.jme3.bullet.NativePhysicsObject

Methods inherited from class java.lang.Object

Field Detail

logger

Constructor Detail

MultiBody

Method Detail

addBaseCollider

addBaseForce

addBaseTorque

angularDamping

baseAngularVelocity

baseForce

baseInertia

baseLocation

baseMass

baseOrientation

baseTorque

baseTransform

baseVelocity

canSleep

canWakeup

clearConstraintForces

clearForcesAndTorques

clearVelocities

collideWithGroups

collisionGroup

configureFixedLink

configurePlanarLink

configurePrismaticLink

configureRevoluteLink

configureSphericalLink

contains

countConfiguredLinks

countDofs

countPositionVariables

getBaseCollider

getLink

hasFixedBase

isUsingGlobalVelocities

isUsingGyroTerm

isUsingRK4

linearDamping

listColliders

maxAppliedImpulse

maxCoordinateVelocity

setBaseAngularVelocity

setBaseLocation

setBaseOrientation

setBaseTransform

setBaseVelocity

setCollideWithGroups

setCollisionGroup

setUserIndex

setUserIndex2

spaceId

useGlobalVelocities

useRK4

userIndex

userIndex2