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

#include <btDynamicsWorld.h>

Inheritance diagram for btDynamicsWorld:

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Collaboration diagram for btDynamicsWorld:

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Public Member Functions
	btDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface broadphase, btCollisionConfiguration *collisionConfiguration)

virtual	~btDynamicsWorld ()

virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0
	stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.

virtual void	debugDrawWorld ()=0

virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)

virtual void	removeConstraint (btTypedConstraint *constraint)

virtual void	addAction (btActionInterface *action)=0

virtual void	removeAction (btActionInterface *action)=0

virtual void	setGravity (const btVector3 &gravity)=0

virtual btVector3	getGravity () const =0

virtual void	synchronizeMotionStates ()=0

virtual void	addRigidBody (btRigidBody *body)=0

virtual void	addRigidBody (btRigidBody *body, int group, int mask)=0

virtual void	removeRigidBody (btRigidBody *body)=0

virtual void	setConstraintSolver (btConstraintSolver *solver)=0

virtual btConstraintSolver *	getConstraintSolver ()=0

virtual int	getNumConstraints () const

virtual btTypedConstraint *	getConstraint (int index)

virtual const btTypedConstraint *	getConstraint (int index) const

virtual btDynamicsWorldType	getWorldType () const =0

virtual void	clearForces ()=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)

void *	getWorldUserInfo () const

btContactSolverInfo &	getSolverInfo ()

const btContactSolverInfo &	getSolverInfo () const

virtual void	addVehicle (btActionInterface *vehicle)
	obsolete, use addAction instead.

virtual void	removeVehicle (btActionInterface *vehicle)
	obsolete, use removeAction instead

virtual void	addCharacter (btActionInterface *character)
	obsolete, use addAction instead.

virtual void	removeCharacter (btActionInterface *character)
	obsolete, use removeAction instead

Public Member Functions inherited from btCollisionWorld
	btCollisionWorld (btDispatcher dispatcher, btBroadphaseInterface broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
	for debug drawing

virtual	~btCollisionWorld ()

void	setBroadphase (btBroadphaseInterface *pairCache)

const btBroadphaseInterface *	getBroadphase () const

btBroadphaseInterface *	getBroadphase ()

btOverlappingPairCache *	getPairCache ()

btDispatcher *	getDispatcher ()

const btDispatcher *	getDispatcher () const

void	updateSingleAabb (btCollisionObject *colObj)

virtual void	updateAabbs ()

virtual void	computeOverlappingPairs ()
	the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation

virtual void	setDebugDrawer (btIDebugDraw *debugDrawer)

virtual btIDebugDraw *	getDebugDrawer ()

virtual void	debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)

int	getNumCollisionObjects () const

virtual void	rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
	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.

void	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.

void	contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
	contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.

void	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.

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

virtual void	refreshBroadphaseProxy (btCollisionObject *collisionObject)

btCollisionObjectArray &	getCollisionObjectArray ()

const btCollisionObjectArray &	getCollisionObjectArray () const

virtual void	removeCollisionObject (btCollisionObject *collisionObject)

virtual void	performDiscreteCollisionDetection ()

btDispatcherInfo &	getDispatchInfo ()

const btDispatcherInfo &	getDispatchInfo () const

bool	getForceUpdateAllAabbs () const

void	setForceUpdateAllAabbs (bool forceUpdateAllAabbs)

virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)

Protected Attributes
btInternalTickCallback	m_internalTickCallback

btInternalTickCallback	m_internalPreTickCallback

void *	m_worldUserInfo

btContactSolverInfo	m_solverInfo

Protected Attributes inherited from btCollisionWorld
btAlignedObjectArray< btCollisionObject * >	m_collisionObjects

btDispatcher *	m_dispatcher1

btDispatcherInfo	m_dispatchInfo

btBroadphaseInterface *	m_broadphasePairCache

btIDebugDraw *	m_debugDrawer

bool	m_forceUpdateAllAabbs
	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)

Additional Inherited Members
Static Public Member Functions inherited from btCollisionWorld
static void	rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject collisionObject, const btCollisionShape collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
	rayTestSingle performs a raycast call and calls the resultCallback.

static void	rayTestSingleInternal (const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)

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	objectQuerySingleInternal (const btConvexShape castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)

Protected Member Functions inherited from btCollisionWorld
void	serializeCollisionObjects (btSerializer *serializer)

void	serializeContactManifolds (btSerializer *serializer)

Detailed Description

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

Definition at line 42 of file btDynamicsWorld.h.

Constructor & Destructor Documentation

◆ btDynamicsWorld()

btDynamicsWorld::btDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	broadphase,
		btCollisionConfiguration *	collisionConfiguration
	)

inline

Definition at line 52 of file btDynamicsWorld.h.

◆ ~btDynamicsWorld()

virtual btDynamicsWorld::~btDynamicsWorld ( )

inlinevirtual

Definition at line 57 of file btDynamicsWorld.h.

Member Function Documentation

◆ addAction()

virtual void btDynamicsWorld::addAction ( btActionInterface * action )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

◆ addCharacter()

virtual void btDynamicsWorld::addCharacter ( btActionInterface * character )

inlinevirtual

obsolete, use addAction instead.

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 155 of file btDynamicsWorld.h.

◆ addConstraint()

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

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 69 of file btDynamicsWorld.h.

◆ addRigidBody() [1/2]

virtual void btDynamicsWorld::addRigidBody ( btRigidBody * body )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

◆ addRigidBody() [2/2]

virtual void btDynamicsWorld::addRigidBody	(	btRigidBody *	body,
		int	group,
		int	mask
	)

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

◆ addVehicle()

virtual void btDynamicsWorld::addVehicle ( btActionInterface * vehicle )

inlinevirtual

obsolete, use addAction instead.

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 151 of file btDynamicsWorld.h.

◆ clearForces()

virtual void btDynamicsWorld::clearForces ( )

pure virtual

Implemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, and btMultiBodyDynamicsWorld.

◆ debugDrawWorld()

virtual void btDynamicsWorld::debugDrawWorld ( )

pure virtual

Reimplemented from btCollisionWorld.

Implemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, btMultiBodyDynamicsWorld, btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

◆ getConstraint() [1/2]

virtual btTypedConstraint * btDynamicsWorld::getConstraint ( int index )

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 100 of file btDynamicsWorld.h.

◆ getConstraint() [2/2]

virtual const btTypedConstraint * btDynamicsWorld::getConstraint ( int index ) const

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 106 of file btDynamicsWorld.h.

◆ getConstraintSolver()

virtual btConstraintSolver * btDynamicsWorld::getConstraintSolver ( )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

◆ getGravity()

virtual btVector3 btDynamicsWorld::getGravity ( ) const

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

◆ getNumConstraints()

virtual int btDynamicsWorld::getNumConstraints ( ) const

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 98 of file btDynamicsWorld.h.

◆ getSolverInfo() [1/2]

btContactSolverInfo & btDynamicsWorld::getSolverInfo ( )

inline

Definition at line 140 of file btDynamicsWorld.h.

◆ getSolverInfo() [2/2]

const btContactSolverInfo & btDynamicsWorld::getSolverInfo ( ) const

inline

Definition at line 145 of file btDynamicsWorld.h.

◆ getWorldType()

virtual btDynamicsWorldType btDynamicsWorld::getWorldType ( ) const

pure virtual

Implemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

◆ getWorldUserInfo()

void * btDynamicsWorld::getWorldUserInfo ( ) const

inline

Definition at line 135 of file btDynamicsWorld.h.

◆ removeAction()

virtual void btDynamicsWorld::removeAction ( btActionInterface * action )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

◆ removeCharacter()

virtual void btDynamicsWorld::removeCharacter ( btActionInterface * character )

inlinevirtual

obsolete, use removeAction instead

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 157 of file btDynamicsWorld.h.

◆ removeConstraint()

virtual void btDynamicsWorld::removeConstraint ( btTypedConstraint * constraint )

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 75 of file btDynamicsWorld.h.

◆ removeRigidBody()

virtual void btDynamicsWorld::removeRigidBody ( btRigidBody * body )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

◆ removeVehicle()

virtual void btDynamicsWorld::removeVehicle ( btActionInterface * vehicle )

inlinevirtual

obsolete, use removeAction instead

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 153 of file btDynamicsWorld.h.

◆ setConstraintSolver()

virtual void btDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver )

pure virtual

Implemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, and btMultiBodyDynamicsWorld.

◆ setGravity()

virtual void btDynamicsWorld::setGravity ( const btVector3 & gravity )

pure virtual

Implemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, and btDeformableMultiBodyDynamicsWorld.

◆ setInternalTickCallback()

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 117 of file btDynamicsWorld.h.

◆ setWorldUserInfo()

void btDynamicsWorld::setWorldUserInfo ( void * worldUserInfo )

inline

Definition at line 130 of file btDynamicsWorld.h.

◆ stepSimulation()

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 btDiscreteDynamicsWorldMt, btDiscreteDynamicsWorld, btSimpleDynamicsWorld, and btDeformableMultiBodyDynamicsWorld.

◆ synchronizeMotionStates()

virtual void btDynamicsWorld::synchronizeMotionStates ( )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

Member Data Documentation

◆ m_internalPreTickCallback

btInternalTickCallback btDynamicsWorld::m_internalPreTickCallback

protected

Definition at line 46 of file btDynamicsWorld.h.

◆ m_internalTickCallback

btInternalTickCallback btDynamicsWorld::m_internalTickCallback

protected

Definition at line 45 of file btDynamicsWorld.h.

◆ m_solverInfo

btContactSolverInfo btDynamicsWorld::m_solverInfo

protected

Definition at line 49 of file btDynamicsWorld.h.

◆ m_worldUserInfo

void* btDynamicsWorld::m_worldUserInfo

protected

Definition at line 47 of file btDynamicsWorld.h.

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

btDynamicsWorld.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btDynamicsWorld()

◆ ~btDynamicsWorld()

Member Function Documentation

◆ addAction()

◆ addCharacter()

◆ addConstraint()

◆ addRigidBody() [1/2]

◆ addRigidBody() [2/2]

◆ addVehicle()

◆ clearForces()

◆ debugDrawWorld()

◆ getConstraint() [1/2]

◆ getConstraint() [2/2]

◆ getConstraintSolver()

◆ getGravity()

◆ getNumConstraints()

◆ getSolverInfo() [1/2]

◆ getSolverInfo() [2/2]

◆ getWorldType()

◆ getWorldUserInfo()

◆ removeAction()

◆ removeCharacter()

◆ removeConstraint()

◆ removeRigidBody()

◆ removeVehicle()

◆ setConstraintSolver()

◆ setGravity()

◆ setInternalTickCallback()

◆ setWorldUserInfo()

◆ stepSimulation()

◆ synchronizeMotionStates()

Member Data Documentation

◆ m_internalPreTickCallback

◆ m_internalTickCallback

◆ m_solverInfo

◆ m_worldUserInfo