Public Member Functions | Protected Member Functions | Protected Attributes
btDiscreteDynamicsWorld Class Reference

#include <btDiscreteDynamicsWorld.h>

Inheritance diagram for btDiscreteDynamicsWorld:
Inheritance graph
[legend]

List of all members.

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)
virtual void addRigidBody (btRigidBody *body, short group, short mask)
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 ()
btCollisionWorldgetCollisionWorld ()
virtual btTypedConstraintgetConstraint (int index)
virtual const btTypedConstraintgetConstraint (int index) const
virtual btConstraintSolvergetConstraintSolver ()
virtual btVector3 getGravity () const
virtual int getNumConstraints () const
btSimulationIslandManagergetSimulationIslandManager ()
const btSimulationIslandManagergetSimulationIslandManager () const
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
btConstraintSolverm_constraintSolver
btVector3 m_gravity
btSimulationIslandManagerm_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


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) [virtual]

Implements btDynamicsWorld.

virtual void btDiscreteDynamicsWorld::addRigidBody ( btRigidBody body,
short  group,
short  mask 
) [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.

virtual void btDiscreteDynamicsWorld::debugDrawWorld ( ) [virtual]

Implements btDynamicsWorld.

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 117 of file btDiscreteDynamicsWorld.h.

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

Reimplemented from btDynamicsWorld.

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

Reimplemented from btDynamicsWorld.

Implements btDynamicsWorld.

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

Implements btDynamicsWorld.

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

Reimplemented from btDynamicsWorld.

Definition at line 107 of file btDiscreteDynamicsWorld.h.

Definition at line 112 of file btDiscreteDynamicsWorld.h.

Definition at line 188 of file btDiscreteDynamicsWorld.h.

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

Implements btDynamicsWorld.

Reimplemented in btSoftRigidDynamicsWorld.

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 btSoftRigidDynamicsWorld.

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

Reimplemented in btSoftRigidDynamicsWorld.

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.

Reimplemented in btSoftRigidDynamicsWorld.

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

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]

if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's

Implements btDynamicsWorld.

Implements btDynamicsWorld.

this can be useful to synchronize a single rigid body -> graphics object

void btDiscreteDynamicsWorld::updateActions ( btScalar  timeStep) [protected]
virtual void btDiscreteDynamicsWorld::updateVehicles ( btScalar  timeStep) [inline, virtual]

obsolete, use updateActions instead

Definition at line 170 of file btDiscreteDynamicsWorld.h.


Member Data Documentation

Definition at line 57 of file btDiscreteDynamicsWorld.h.

Definition at line 43 of file btDiscreteDynamicsWorld.h.

Definition at line 39 of file btDiscreteDynamicsWorld.h.

btVector3 btDiscreteDynamicsWorld::m_gravity [protected]

Definition at line 47 of file btDiscreteDynamicsWorld.h.

Definition at line 41 of file btDiscreteDynamicsWorld.h.

Definition at line 50 of file btDiscreteDynamicsWorld.h.

Definition at line 45 of file btDiscreteDynamicsWorld.h.

Definition at line 54 of file btDiscreteDynamicsWorld.h.

Definition at line 53 of file btDiscreteDynamicsWorld.h.

Definition at line 59 of file btDiscreteDynamicsWorld.h.

Definition at line 55 of file btDiscreteDynamicsWorld.h.


The documentation for this class was generated from the following file:
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Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32