btCollisionWorld Class Reference

CollisionWorld is interface and container for the collision detection. More...

#include <btCollisionWorld.h>

Inheritance diagram for btCollisionWorld:

[legend]

List of all members.

Classes
struct	ClosestConvexResultCallback
struct	ClosestRayResultCallback
struct	ContactResultCallback
	ContactResultCallback is used to report contact points. More...
struct	ConvexResultCallback
	RayResultCallback is used to report new raycast results. More...
struct	LocalConvexResult
struct	LocalRayResult
struct	LocalShapeInfo
struct	RayResultCallback
	RayResultCallback is used to report new raycast results. More...
Public Member Functions
virtual void	addCollisionObject (btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter)
	btCollisionWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
void	contactPairTest (btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback)
void	contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
void	convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
virtual void	debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
virtual void	debugDrawWorld ()
btBroadphaseInterface *	getBroadphase ()
const btBroadphaseInterface *	getBroadphase () const
const btCollisionObjectArray &	getCollisionObjectArray () const
btCollisionObjectArray &	getCollisionObjectArray ()
virtual btIDebugDraw *	getDebugDrawer ()
const btDispatcher *	getDispatcher () const
btDispatcher *	getDispatcher ()
const btDispatcherInfo &	getDispatchInfo () const
btDispatcherInfo &	getDispatchInfo ()
bool	getForceUpdateAllAabbs () const
int	getNumCollisionObjects () const
btOverlappingPairCache *	getPairCache ()
virtual void	performDiscreteCollisionDetection ()
virtual void	rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
virtual void	removeCollisionObject (btCollisionObject *collisionObject)
virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo).
void	setBroadphase (btBroadphaseInterface *pairCache)
virtual void	setDebugDrawer (btIDebugDraw *debugDrawer)
void	setForceUpdateAllAabbs (bool forceUpdateAllAabbs)
virtual void	updateAabbs ()
void	updateSingleAabb (btCollisionObject *colObj)
virtual	~btCollisionWorld ()
Static Public Member Functions
static void	objectQuerySingle (const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
	objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void	rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
Protected Member Functions
void	serializeCollisionObjects (btSerializer *serializer)
Protected Attributes
btBroadphaseInterface *	m_broadphasePairCache
btAlignedObjectArray < btCollisionObject * >	m_collisionObjects
btIDebugDraw *	m_debugDrawer
btDispatcher *	m_dispatcher1
btDispatcherInfo	m_dispatchInfo
bool	m_forceUpdateAllAabbs
btStackAlloc *	m_stackAlloc

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Detailed Description

CollisionWorld is interface and container for the collision detection.

Definition at line 82 of file btCollisionWorld.h.

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Constructor & Destructor Documentation

btCollisionWorld::btCollisionWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	broadphasePairCache,
		btCollisionConfiguration *	collisionConfiguration
	)

virtual btCollisionWorld::~btCollisionWorld

(

)

[virtual]

---

Member Function Documentation

virtual void btCollisionWorld::addCollisionObject	(	btCollisionObject *	collisionObject,
		short int	collisionFilterGroup = btBroadphaseProxy::DefaultFilter,
		short int	collisionFilterMask = btBroadphaseProxy::AllFilter
	)			[virtual]

Reimplemented in btDiscreteDynamicsWorld.

void btCollisionWorld::contactPairTest	(	btCollisionObject *	colObjA,
		btCollisionObject *	colObjB,
		ContactResultCallback &	resultCallback
	)

contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. it reports one or more contact points (including the one with deepest penetration)

void btCollisionWorld::contactTest	(	btCollisionObject *	colObj,
		ContactResultCallback &	resultCallback
	)

contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. it reports one or more contact points for every overlapping object (including the one with deepest penetration)

void btCollisionWorld::convexSweepTest	(	const btConvexShape *	castShape,
		const btTransform &	from,
		const btTransform &	to,
		ConvexResultCallback &	resultCallback,
		btScalar	allowedCcdPenetration = btScalar(0.)
	)			const

convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.

virtual void btCollisionWorld::debugDrawObject	(	const btTransform &	worldTransform,
		const btCollisionShape *	shape,
		const btVector3 &	color
	)			[virtual]

virtual void btCollisionWorld::debugDrawWorld

(

)

[virtual]

Reimplemented in btDiscreteDynamicsWorld, btDynamicsWorld, and btSoftRigidDynamicsWorld.

btBroadphaseInterface* btCollisionWorld::getBroadphase

(

)

[inline]

Definition at line 123 of file btCollisionWorld.h.

const btBroadphaseInterface* btCollisionWorld::getBroadphase

(

)

const [inline]

Definition at line 118 of file btCollisionWorld.h.

const btCollisionObjectArray& btCollisionWorld::getCollisionObjectArray

(

)

const [inline]

Definition at line 435 of file btCollisionWorld.h.

btCollisionObjectArray& btCollisionWorld::getCollisionObjectArray

(

)

[inline]

Definition at line 430 of file btCollisionWorld.h.

virtual btIDebugDraw* btCollisionWorld::getDebugDrawer

(

)

[inline, virtual]

Definition at line 153 of file btCollisionWorld.h.

const btDispatcher* btCollisionWorld::getDispatcher

(

)

const [inline]

Definition at line 139 of file btCollisionWorld.h.

btDispatcher* btCollisionWorld::getDispatcher

(

)

[inline]

Definition at line 134 of file btCollisionWorld.h.

const btDispatcherInfo& btCollisionWorld::getDispatchInfo

(

)

const [inline]

Definition at line 450 of file btCollisionWorld.h.

btDispatcherInfo& btCollisionWorld::getDispatchInfo

(

)

[inline]

Definition at line 445 of file btCollisionWorld.h.

bool btCollisionWorld::getForceUpdateAllAabbs

(

)

const [inline]

Definition at line 455 of file btCollisionWorld.h.

int btCollisionWorld::getNumCollisionObjects

(

)

const [inline]

Definition at line 390 of file btCollisionWorld.h.

btOverlappingPairCache* btCollisionWorld::getPairCache

(

)

[inline]

Definition at line 128 of file btCollisionWorld.h.

static void btCollisionWorld::objectQuerySingle	(	const btConvexShape *	castShape,
		const btTransform &	rayFromTrans,
		const btTransform &	rayToTrans,
		btCollisionObject *	collisionObject,
		const btCollisionShape *	collisionShape,
		const btTransform &	colObjWorldTransform,
		ConvexResultCallback &	resultCallback,
		btScalar	allowedPenetration
	)			[static]

objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.

virtual void btCollisionWorld::performDiscreteCollisionDetection

(

)

[virtual]

virtual void btCollisionWorld::rayTest	(	const btVector3 &	rayFromWorld,
		const btVector3 &	rayToWorld,
		RayResultCallback &	resultCallback
	)			const [virtual]

rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.

Reimplemented in btSoftRigidDynamicsWorld.

static void btCollisionWorld::rayTestSingle	(	const btTransform &	rayFromTrans,
		const btTransform &	rayToTrans,
		btCollisionObject *	collisionObject,
		const btCollisionShape *	collisionShape,
		const btTransform &	colObjWorldTransform,
		RayResultCallback &	resultCallback
	)			[static]

rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. This allows more customization.

Reimplemented in btSoftRigidDynamicsWorld.

virtual void btCollisionWorld::removeCollisionObject

(

btCollisionObject *

collisionObject

)

[virtual]

Reimplemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, and btSoftRigidDynamicsWorld.

virtual void btCollisionWorld::serialize

(

btSerializer *

serializer

)

[virtual]

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

Reimplemented in btDiscreteDynamicsWorld.

void btCollisionWorld::serializeCollisionObjects

(

btSerializer *

serializer

)

[protected]

void btCollisionWorld::setBroadphase

(

btBroadphaseInterface *

pairCache

)

[inline]

Definition at line 113 of file btCollisionWorld.h.

virtual void btCollisionWorld::setDebugDrawer

(

btIDebugDraw *

debugDrawer

)

[inline, virtual]

Definition at line 148 of file btCollisionWorld.h.

void btCollisionWorld::setForceUpdateAllAabbs

(

bool

forceUpdateAllAabbs

)

[inline]

Definition at line 459 of file btCollisionWorld.h.

virtual void btCollisionWorld::updateAabbs

(

)

[virtual]

Reimplemented in btSimpleDynamicsWorld.

void btCollisionWorld::updateSingleAabb

(

btCollisionObject *

colObj

)

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Member Data Documentation

btBroadphaseInterface* btCollisionWorld::m_broadphasePairCache [protected]

Definition at line 96 of file btCollisionWorld.h.

btAlignedObjectArray<btCollisionObject*> btCollisionWorld::m_collisionObjects [protected]

Definition at line 88 of file btCollisionWorld.h.

btIDebugDraw* btCollisionWorld::m_debugDrawer [protected]

Definition at line 98 of file btCollisionWorld.h.

btDispatcher* btCollisionWorld::m_dispatcher1 [protected]

Definition at line 90 of file btCollisionWorld.h.

btDispatcherInfo btCollisionWorld::m_dispatchInfo [protected]

Definition at line 92 of file btCollisionWorld.h.

bool btCollisionWorld::m_forceUpdateAllAabbs [protected]

m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)

Definition at line 102 of file btCollisionWorld.h.

btStackAlloc* btCollisionWorld::m_stackAlloc [protected]

Definition at line 94 of file btCollisionWorld.h.

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The documentation for this class was generated from the following file:

• btCollisionWorld.h