btDiscreteDynamicsWorld Class Reference

#include <btDiscreteDynamicsWorld.h>

Inheritance diagram for btDiscreteDynamicsWorld:

Public Member Functions
virtual void	addAction (btActionInterface *)
virtual void	addCharacter (btActionInterface *character)
	obsolete, use addAction instead
virtual void	addCollisionObject (btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::StaticFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter^btBroadphaseProxy::StaticFilter)
virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
virtual void	addRigidBody (btRigidBody *body, short group, short mask)
virtual void	addRigidBody (btRigidBody *body)
virtual void	addVehicle (btActionInterface *vehicle)
	obsolete, use addAction instead
virtual void	applyGravity ()
	apply gravity, call this once per timestep
	btDiscreteDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)
	this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
virtual void	clearForces ()
	the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
void	debugDrawConstraint (btTypedConstraint *constraint)
virtual void	debugDrawWorld ()
btCollisionWorld *	getCollisionWorld ()
virtual const btTypedConstraint *	getConstraint (int index) const
virtual btTypedConstraint *	getConstraint (int index)
virtual btConstraintSolver *	getConstraintSolver ()
virtual btVector3	getGravity () const
virtual int	getNumConstraints () const
const btSimulationIslandManager *	getSimulationIslandManager () const
btSimulationIslandManager *	getSimulationIslandManager ()
bool	getSynchronizeAllMotionStates () const
virtual btDynamicsWorldType	getWorldType () const
virtual void	removeAction (btActionInterface *)
virtual void	removeCharacter (btActionInterface *character)
	obsolete, use removeAction instead
virtual void	removeCollisionObject (btCollisionObject *collisionObject)
	removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
virtual void	removeConstraint (btTypedConstraint *constraint)
virtual void	removeRigidBody (btRigidBody *body)
virtual void	removeVehicle (btActionInterface *vehicle)
	obsolete, use removeAction instead
virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo).
virtual void	setConstraintSolver (btConstraintSolver *solver)
virtual void	setGravity (const btVector3 &gravity)
virtual void	setNumTasks (int numTasks)
void	setSynchronizeAllMotionStates (bool synchronizeAll)
virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
	if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual void	synchronizeMotionStates ()
void	synchronizeSingleMotionState (btRigidBody *body)
	this can be useful to synchronize a single rigid body -> graphics object
virtual void	updateVehicles (btScalar timeStep)
	obsolete, use updateActions instead
virtual	~btDiscreteDynamicsWorld ()
Protected Member Functions
virtual void	calculateSimulationIslands ()
virtual void	integrateTransforms (btScalar timeStep)
virtual void	internalSingleStepSimulation (btScalar timeStep)
virtual void	predictUnconstraintMotion (btScalar timeStep)
virtual void	saveKinematicState (btScalar timeStep)
void	serializeRigidBodies (btSerializer *serializer)
virtual void	solveConstraints (btContactSolverInfo &solverInfo)
void	startProfiling (btScalar timeStep)
void	updateActions (btScalar timeStep)
void	updateActivationState (btScalar timeStep)
Protected Attributes
btAlignedObjectArray < btActionInterface * >	m_actions
btAlignedObjectArray < btTypedConstraint * >	m_constraints
btConstraintSolver *	m_constraintSolver
btVector3	m_gravity
btSimulationIslandManager *	m_islandManager
btScalar	m_localTime
btAlignedObjectArray < btRigidBody * >	m_nonStaticRigidBodies
bool	m_ownsConstraintSolver
bool	m_ownsIslandManager
int	m_profileTimings
bool	m_synchronizeAllMotionStates

Detailed Description

btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController

Definition at line 35 of file btDiscreteDynamicsWorld.h.

Constructor & Destructor Documentation

btDiscreteDynamicsWorld::btDiscreteDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	pairCache,
		btConstraintSolver *	constraintSolver,
		btCollisionConfiguration *	collisionConfiguration
	)

this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those

virtual btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld ( ) [virtual]

Member Function Documentation

virtual void btDiscreteDynamicsWorld::addAction ( btActionInterface * ) [virtual]

Implements btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::addCharacter ( btActionInterface * character ) [virtual]

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::addCollisionObject	(	btCollisionObject *	collisionObject,
		short int	collisionFilterGroup = `btBroadphaseProxy::StaticFilter`,
		short int	collisionFilterMask = `btBroadphaseProxy::AllFilter^btBroadphaseProxy::StaticFilter`
	)			`[virtual]`

Reimplemented from btCollisionWorld.

virtual void btDiscreteDynamicsWorld::addConstraint	(	btTypedConstraint *	constraint,
		bool	disableCollisionsBetweenLinkedBodies = `false`
	)			`[virtual]`

Reimplemented from btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::addRigidBody	(	btRigidBody *	body,
		short	group,
		short	mask
	)			`[virtual]`

virtual void btDiscreteDynamicsWorld::addRigidBody ( btRigidBody * body ) [virtual]

Implements btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::addVehicle ( btActionInterface * vehicle ) [virtual]

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::applyGravity ( ) [virtual]

apply gravity, call this once per timestep

virtual void btDiscreteDynamicsWorld::calculateSimulationIslands ( ) [protected, virtual]

virtual void btDiscreteDynamicsWorld::clearForces ( ) [virtual]

the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.

Implements btDynamicsWorld.

void btDiscreteDynamicsWorld::debugDrawConstraint ( btTypedConstraint * constraint )

virtual void btDiscreteDynamicsWorld::debugDrawWorld ( ) [virtual]

Implements btDynamicsWorld.

Reimplemented in btSoftRigidDynamicsWorld.

btCollisionWorld* btDiscreteDynamicsWorld::getCollisionWorld ( ) [inline]

Definition at line 117 of file btDiscreteDynamicsWorld.h.

virtual const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint ( int index ) const [virtual]

Reimplemented from btDynamicsWorld.

virtual btTypedConstraint* btDiscreteDynamicsWorld::getConstraint ( int index ) [virtual]

Reimplemented from btDynamicsWorld.

virtual btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver ( ) [virtual]

Implements btDynamicsWorld.

virtual btVector3 btDiscreteDynamicsWorld::getGravity ( ) const [virtual]

Implements btDynamicsWorld.

virtual int btDiscreteDynamicsWorld::getNumConstraints ( ) const [virtual]

Reimplemented from btDynamicsWorld.

const btSimulationIslandManager* btDiscreteDynamicsWorld::getSimulationIslandManager ( ) const [inline]

Definition at line 112 of file btDiscreteDynamicsWorld.h.

btSimulationIslandManager* btDiscreteDynamicsWorld::getSimulationIslandManager ( ) [inline]

Definition at line 107 of file btDiscreteDynamicsWorld.h.

bool btDiscreteDynamicsWorld::getSynchronizeAllMotionStates ( ) const [inline]

Definition at line 188 of file btDiscreteDynamicsWorld.h.

virtual btDynamicsWorldType btDiscreteDynamicsWorld::getWorldType ( ) const [inline, virtual]

Implements btDynamicsWorld.

Reimplemented in btContinuousDynamicsWorld.

Definition at line 153 of file btDiscreteDynamicsWorld.h.

virtual void btDiscreteDynamicsWorld::integrateTransforms ( btScalar timeStep ) [protected, virtual]

virtual void btDiscreteDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep ) [protected, virtual]

Reimplemented in btContinuousDynamicsWorld, and btSoftRigidDynamicsWorld.

virtual void btDiscreteDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep ) [protected, virtual]

Reimplemented in btSoftRigidDynamicsWorld.

virtual void btDiscreteDynamicsWorld::removeAction ( btActionInterface * ) [virtual]

Implements btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::removeCharacter ( btActionInterface * character ) [virtual]

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::removeCollisionObject ( btCollisionObject * collisionObject ) [virtual]

removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject

Reimplemented from btCollisionWorld.

Reimplemented in btSoftRigidDynamicsWorld.

virtual void btDiscreteDynamicsWorld::removeConstraint ( btTypedConstraint * constraint ) [virtual]

Reimplemented from btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::removeRigidBody ( btRigidBody * body ) [virtual]

Implements btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::removeVehicle ( btActionInterface * vehicle ) [virtual]

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::saveKinematicState ( btScalar timeStep ) [protected, virtual]

virtual void btDiscreteDynamicsWorld::serialize ( btSerializer * serializer ) [virtual]

Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo).

Reimplemented from btCollisionWorld.

void btDiscreteDynamicsWorld::serializeRigidBodies ( btSerializer * serializer ) [protected]

virtual void btDiscreteDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver ) [virtual]

Implements btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::setGravity ( const btVector3 & gravity ) [virtual]

Implements btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::setNumTasks ( int numTasks ) [inline, virtual]

Definition at line 164 of file btDiscreteDynamicsWorld.h.

void btDiscreteDynamicsWorld::setSynchronizeAllMotionStates ( bool synchronizeAll ) [inline]

Definition at line 184 of file btDiscreteDynamicsWorld.h.

virtual void btDiscreteDynamicsWorld::solveConstraints ( btContactSolverInfo & solverInfo ) [protected, virtual]

void btDiscreteDynamicsWorld::startProfiling ( btScalar timeStep ) [protected]

virtual int btDiscreteDynamicsWorld::stepSimulation	(	btScalar	timeStep,
		int	maxSubSteps = `1`,
		btScalar	fixedTimeStep = `btScalar(1.)/btScalar(60.)`
	)			`[virtual]`