btDynamicsWorld Class Reference

The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. More...

#include <btDynamicsWorld.h>

Inheritance diagram for btDynamicsWorld:

[legend]

List of all members.

Public Member Functions
virtual void	addAction (btActionInterface *action)=0
virtual void	addCharacter (btActionInterface *character)
	obsolete, use addAction instead.
virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
virtual void	addRigidBody (btRigidBody *body)=0
virtual void	addVehicle (btActionInterface *vehicle)
	obsolete, use addAction instead.
	btDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface broadphase, btCollisionConfiguration *collisionConfiguration)
virtual void	clearForces ()=0
virtual void	debugDrawWorld ()=0
virtual const btTypedConstraint *	getConstraint (int index) const
virtual btTypedConstraint *	getConstraint (int index)
virtual btConstraintSolver *	getConstraintSolver ()=0
virtual btVector3	getGravity () const =0
virtual int	getNumConstraints () const
btContactSolverInfo &	getSolverInfo ()
virtual btDynamicsWorldType	getWorldType () const =0
void *	getWorldUserInfo () const
virtual void	removeAction (btActionInterface *action)=0
virtual void	removeCharacter (btActionInterface *character)
	obsolete, use removeAction instead
virtual void	removeConstraint (btTypedConstraint *constraint)
virtual void	removeRigidBody (btRigidBody *body)=0
virtual void	removeVehicle (btActionInterface *vehicle)
	obsolete, use removeAction instead
virtual void	setConstraintSolver (btConstraintSolver *solver)=0
virtual void	setGravity (const btVector3 &gravity)=0
void	setInternalTickCallback (btInternalTickCallback cb, void *worldUserInfo=0, bool isPreTick=false)
	Set the callback for when an internal tick (simulation substep) happens, optional user info.
void	setWorldUserInfo (void *worldUserInfo)
virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0
virtual void	synchronizeMotionStates ()=0
virtual	~btDynamicsWorld ()
Protected Attributes
btInternalTickCallback	m_internalPreTickCallback
btInternalTickCallback	m_internalTickCallback
btContactSolverInfo	m_solverInfo
void *	m_worldUserInfo

Detailed Description

The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.

Definition at line 39 of file btDynamicsWorld.h.

Constructor & Destructor Documentation

btDynamicsWorld::btDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	broadphase,
		btCollisionConfiguration *	collisionConfiguration
	)			`[inline]`

Definition at line 52 of file btDynamicsWorld.h.

virtual btDynamicsWorld::~btDynamicsWorld ( ) [inline, virtual]

Definition at line 57 of file btDynamicsWorld.h.

Member Function Documentation

virtual void btDynamicsWorld::addAction ( btActionInterface * action ) [pure virtual]

Implemented in btDiscreteDynamicsWorld.

virtual void btDynamicsWorld::addCharacter ( btActionInterface * character ) [inline, virtual]

obsolete, use addAction instead.

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 139 of file btDynamicsWorld.h.

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

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 69 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::addRigidBody ( btRigidBody * body ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual void btDynamicsWorld::addVehicle ( btActionInterface * vehicle ) [inline, virtual]

obsolete, use addAction instead.

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 135 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::clearForces ( ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual void btDynamicsWorld::debugDrawWorld ( ) [pure virtual]

Reimplemented from btCollisionWorld.

Implemented in btDiscreteDynamicsWorld, and btSoftRigidDynamicsWorld.

virtual const btTypedConstraint* btDynamicsWorld::getConstraint ( int index ) const [inline, virtual]

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 99 of file btDynamicsWorld.h.

virtual btTypedConstraint* btDynamicsWorld::getConstraint ( int index ) [inline, virtual]

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 97 of file btDynamicsWorld.h.

virtual btConstraintSolver* btDynamicsWorld::getConstraintSolver ( ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual btVector3 btDynamicsWorld::getGravity ( ) const [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual int btDynamicsWorld::getNumConstraints ( ) const [inline, virtual]

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 95 of file btDynamicsWorld.h.

btContactSolverInfo& btDynamicsWorld::getSolverInfo ( ) [inline]

Definition at line 128 of file btDynamicsWorld.h.

virtual btDynamicsWorldType btDynamicsWorld::getWorldType ( ) const [pure virtual]

Implemented in btContinuousDynamicsWorld, btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

void* btDynamicsWorld::getWorldUserInfo ( ) const [inline]

Definition at line 123 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::removeAction ( btActionInterface * action ) [pure virtual]

Implemented in btDiscreteDynamicsWorld.

virtual void btDynamicsWorld::removeCharacter ( btActionInterface * character ) [inline, virtual]

obsolete, use removeAction instead

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 141 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::removeConstraint ( btTypedConstraint * constraint ) [inline, virtual]

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 74 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::removeRigidBody ( btRigidBody * body ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual void btDynamicsWorld::removeVehicle ( btActionInterface * vehicle ) [inline, virtual]

obsolete, use removeAction instead

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 137 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

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

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

void btDynamicsWorld::setInternalTickCallback	(	btInternalTickCallback	cb,
		void *	worldUserInfo = `0`,
		bool	isPreTick = `false`
	)			`[inline]`

Set the callback for when an internal tick (simulation substep) happens, optional user info.

Definition at line 106 of file btDynamicsWorld.h.

void btDynamicsWorld::setWorldUserInfo ( void * worldUserInfo ) [inline]

Definition at line 118 of file btDynamicsWorld.h.

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

stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'. in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'. You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual void btDynamicsWorld::synchronizeMotionStates ( ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.