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

#include <btDiscreteDynamicsWorld.h>

Inheritance diagram for btDiscreteDynamicsWorld:

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Collaboration diagram for btDiscreteDynamicsWorld:

[legend]

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btDiscreteDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)
	this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those More...

virtual	~btDiscreteDynamicsWorld ()

virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
	if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's More...

virtual void	solveConstraints (btContactSolverInfo &solverInfo)

virtual void	synchronizeMotionStates ()

void	synchronizeSingleMotionState (btRigidBody *body)
	this can be useful to synchronize a single rigid body -> graphics object More...

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

virtual void	removeConstraint (btTypedConstraint *constraint)

virtual void	addAction (btActionInterface *)

virtual void	removeAction (btActionInterface *)

btSimulationIslandManager *	getSimulationIslandManager ()

const btSimulationIslandManager *	getSimulationIslandManager () const

btCollisionWorld *	getCollisionWorld ()

virtual void	setGravity (const btVector3 &gravity)

virtual btVector3	getGravity () const

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

virtual void	addRigidBody (btRigidBody *body)

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

virtual void	removeRigidBody (btRigidBody *body)

virtual void	removeCollisionObject (btCollisionObject *collisionObject)
	removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject More...

virtual void	debugDrawConstraint (btTypedConstraint *constraint)

virtual void	debugDrawWorld ()

virtual void	setConstraintSolver (btConstraintSolver *solver)

virtual btConstraintSolver *	getConstraintSolver ()

virtual int	getNumConstraints () const

virtual btTypedConstraint *	getConstraint (int index)

virtual const btTypedConstraint *	getConstraint (int index) const

virtual btDynamicsWorldType	getWorldType () const

virtual void	clearForces ()
	the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. More...

virtual void	applyGravity ()
	apply gravity, call this once per timestep More...

virtual void	setNumTasks (int numTasks)

virtual void	updateVehicles (btScalar timeStep)
	obsolete, use updateActions instead More...

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

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

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

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

void	setSynchronizeAllMotionStates (bool synchronizeAll)

bool	getSynchronizeAllMotionStates () const

void	setApplySpeculativeContactRestitution (bool enable)

bool	getApplySpeculativeContactRestitution () const

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

void	setLatencyMotionStateInterpolation (bool latencyInterpolation)
	Interpolate motion state between previous and current transform, instead of current and next transform. More...

bool	getLatencyMotionStateInterpolation () const

btAlignedObjectArray< btRigidBody * > &	getNonStaticRigidBodies ()

const btAlignedObjectArray< btRigidBody * > &	getNonStaticRigidBodies () const

Public Member Functions inherited from btDynamicsWorld
	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. More...

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. More...

void	setWorldUserInfo (void *worldUserInfo)

void *	getWorldUserInfo () const

btContactSolverInfo &	getSolverInfo ()

const btContactSolverInfo &	getSolverInfo () const

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

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

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

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

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

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 More...

virtual void	setDebugDrawer (btIDebugDraw *debugDrawer)

virtual btIDebugDraw *	getDebugDrawer ()

virtual void	debugDrawWorld ()

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. More...

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. More...

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

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. More...

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) More...

Protected Member Functions
virtual void	predictUnconstraintMotion (btScalar timeStep)

void	integrateTransformsInternal (btRigidBody **bodies, int numBodies, btScalar timeStep)

virtual void	integrateTransforms (btScalar timeStep)

virtual void	calculateSimulationIslands ()

virtual void	updateActivationState (btScalar timeStep)

void	updateActions (btScalar timeStep)

void	startProfiling (btScalar timeStep)

virtual void	internalSingleStepSimulation (btScalar timeStep)

void	releasePredictiveContacts ()

void	createPredictiveContactsInternal (btRigidBody **bodies, int numBodies, btScalar timeStep)

virtual void	createPredictiveContacts (btScalar timeStep)

virtual void	saveKinematicState (btScalar timeStep)

void	serializeRigidBodies (btSerializer *serializer)

void	serializeDynamicsWorldInfo (btSerializer *serializer)

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

void	serializeContactManifolds (btSerializer *serializer)

Protected Attributes
btAlignedObjectArray< btTypedConstraint * >	m_sortedConstraints

InplaceSolverIslandCallback *	m_solverIslandCallback

btConstraintSolver *	m_constraintSolver

btSimulationIslandManager *	m_islandManager

btAlignedObjectArray< btTypedConstraint * >	m_constraints

btAlignedObjectArray< btRigidBody * >	m_nonStaticRigidBodies

btVector3	m_gravity

btScalar	m_localTime

btScalar	m_fixedTimeStep

bool	m_ownsIslandManager

bool	m_ownsConstraintSolver

bool	m_synchronizeAllMotionStates

bool	m_applySpeculativeContactRestitution

btAlignedObjectArray< btActionInterface * >	m_actions

int	m_profileTimings

bool	m_latencyMotionStateInterpolation

btAlignedObjectArray< btPersistentManifold * >	m_predictiveManifolds

btSpinMutex	m_predictiveManifoldsMutex

Protected Attributes inherited from btDynamicsWorld
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) More...

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. More...

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. More...

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

Detailed Description

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

Definition at line 36 of file btDiscreteDynamicsWorld.h.

Constructor & Destructor Documentation

◆ btDiscreteDynamicsWorld()

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

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

Definition at line 191 of file btDiscreteDynamicsWorld.cpp.

◆ ~btDiscreteDynamicsWorld()

btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld ( )

virtual

Definition at line 229 of file btDiscreteDynamicsWorld.cpp.

Member Function Documentation

◆ addAction()

void btDiscreteDynamicsWorld::addAction ( btActionInterface * action )

virtual

Implements btDynamicsWorld.

Definition at line 651 of file btDiscreteDynamicsWorld.cpp.

◆ addCharacter()

void btDiscreteDynamicsWorld::addCharacter ( btActionInterface * character )

virtual

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 671 of file btDiscreteDynamicsWorld.cpp.

◆ addCollisionObject()

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

virtual

Reimplemented from btCollisionWorld.

Definition at line 517 of file btDiscreteDynamicsWorld.cpp.

◆ addConstraint()

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

virtual

Reimplemented from btDynamicsWorld.

Definition at line 631 of file btDiscreteDynamicsWorld.cpp.

◆ addRigidBody() [1/2]

void btDiscreteDynamicsWorld::addRigidBody ( btRigidBody * body )

virtual

Implements btDynamicsWorld.

Definition at line 537 of file btDiscreteDynamicsWorld.cpp.

◆ addRigidBody() [2/2]

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

virtual

Implements btDynamicsWorld.

Definition at line 563 of file btDiscreteDynamicsWorld.cpp.

◆ addVehicle()

void btDiscreteDynamicsWorld::addVehicle ( btActionInterface * vehicle )

virtual

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 661 of file btDiscreteDynamicsWorld.cpp.

◆ applyGravity()

void btDiscreteDynamicsWorld::applyGravity ( )

virtual

apply gravity, call this once per timestep

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 322 of file btDiscreteDynamicsWorld.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btDiscreteDynamicsWorld::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateSimulationIslands()

void btDiscreteDynamicsWorld::calculateSimulationIslands ( )

protectedvirtual

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 709 of file btDiscreteDynamicsWorld.cpp.

◆ clearForces()

void btDiscreteDynamicsWorld::clearForces ( )

virtual

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

Implements btDynamicsWorld.

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 309 of file btDiscreteDynamicsWorld.cpp.

◆ createPredictiveContacts()

void btDiscreteDynamicsWorld::createPredictiveContacts ( btScalar timeStep )

protectedvirtual

Reimplemented in btDiscreteDynamicsWorldMt.

Definition at line 941 of file btDiscreteDynamicsWorld.cpp.

◆ createPredictiveContactsInternal()

void btDiscreteDynamicsWorld::createPredictiveContactsInternal	(	btRigidBody **	bodies,
		int	numBodies,
		btScalar	timeStep
	)

protected

Definition at line 849 of file btDiscreteDynamicsWorld.cpp.

◆ debugDrawConstraint()

void btDiscreteDynamicsWorld::debugDrawConstraint ( btTypedConstraint * constraint )

virtual

note: the code for D6_SPRING_2_CONSTRAINT_TYPE is identical to D6_CONSTRAINT_TYPE, the D6_CONSTRAINT_TYPE+D6_SPRING_CONSTRAINT_TYPE will likely become obsolete/deprecated at some stage

Definition at line 1117 of file btDiscreteDynamicsWorld.cpp.

◆ debugDrawWorld()

void btDiscreteDynamicsWorld::debugDrawWorld ( )

virtual

Implements btDynamicsWorld.

Reimplemented in btMultiBodyDynamicsWorld, btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 269 of file btDiscreteDynamicsWorld.cpp.

◆ getApplySpeculativeContactRestitution()

bool btDiscreteDynamicsWorld::getApplySpeculativeContactRestitution ( ) const

inline

Definition at line 214 of file btDiscreteDynamicsWorld.h.

◆ getCollisionWorld()

btCollisionWorld * btDiscreteDynamicsWorld::getCollisionWorld ( )

inline

Definition at line 135 of file btDiscreteDynamicsWorld.h.

◆ getConstraint() [1/2]

btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int index )

virtual

Reimplemented from btDynamicsWorld.

Definition at line 1370 of file btDiscreteDynamicsWorld.cpp.

◆ getConstraint() [2/2]

const btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int index ) const

virtual

Reimplemented from btDynamicsWorld.

Definition at line 1374 of file btDiscreteDynamicsWorld.cpp.

◆ getConstraintSolver()

btConstraintSolver * btDiscreteDynamicsWorld::getConstraintSolver ( )

virtual

Implements btDynamicsWorld.

Definition at line 1361 of file btDiscreteDynamicsWorld.cpp.

◆ getGravity()

btVector3 btDiscreteDynamicsWorld::getGravity ( ) const

virtual

Implements btDynamicsWorld.

Definition at line 512 of file btDiscreteDynamicsWorld.cpp.

◆ getLatencyMotionStateInterpolation()

bool btDiscreteDynamicsWorld::getLatencyMotionStateInterpolation ( ) const

inline

Definition at line 228 of file btDiscreteDynamicsWorld.h.

◆ getNonStaticRigidBodies() [1/2]

btAlignedObjectArray< btRigidBody * > & btDiscreteDynamicsWorld::getNonStaticRigidBodies ( )

inline

Definition at line 233 of file btDiscreteDynamicsWorld.h.

◆ getNonStaticRigidBodies() [2/2]

const btAlignedObjectArray< btRigidBody * > & btDiscreteDynamicsWorld::getNonStaticRigidBodies ( ) const

inline

Definition at line 238 of file btDiscreteDynamicsWorld.h.

◆ getNumConstraints()

int btDiscreteDynamicsWorld::getNumConstraints ( ) const

virtual

Reimplemented from btDynamicsWorld.

Definition at line 1366 of file btDiscreteDynamicsWorld.cpp.

◆ getSimulationIslandManager() [1/2]

btSimulationIslandManager * btDiscreteDynamicsWorld::getSimulationIslandManager ( )

inline

Definition at line 125 of file btDiscreteDynamicsWorld.h.

◆ getSimulationIslandManager() [2/2]

const btSimulationIslandManager * btDiscreteDynamicsWorld::getSimulationIslandManager ( ) const

inline

Definition at line 130 of file btDiscreteDynamicsWorld.h.

◆ getSynchronizeAllMotionStates()

bool btDiscreteDynamicsWorld::getSynchronizeAllMotionStates ( ) const

inline

Definition at line 204 of file btDiscreteDynamicsWorld.h.

◆ getWorldType()

virtual btDynamicsWorldType btDiscreteDynamicsWorld::getWorldType ( ) const

inlinevirtual

Implements btDynamicsWorld.

Reimplemented in btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 169 of file btDiscreteDynamicsWorld.h.

◆ integrateTransforms()

void btDiscreteDynamicsWorld::integrateTransforms ( btScalar timeStep )

protectedvirtual

this should probably be switched on by default, but it is not well tested yet

Reimplemented in btMultiBodyDynamicsWorld, btDeformableMultiBodyDynamicsWorld, and btDiscreteDynamicsWorldMt.

Definition at line 1047 of file btDiscreteDynamicsWorld.cpp.

◆ integrateTransformsInternal()

void btDiscreteDynamicsWorld::integrateTransformsInternal	(	btRigidBody **	bodies,
		int	numBodies,
		btScalar	timeStep
	)

protected

Definition at line 951 of file btDiscreteDynamicsWorld.cpp.

◆ internalSingleStepSimulation()

void btDiscreteDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep )

protectedvirtual

apply gravity, predict motion

perform collision detection

solve contact and other joint constraints

CallbackTriggers();

integrate transforms

update vehicle simulation

Reimplemented in btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 452 of file btDiscreteDynamicsWorld.cpp.

◆ predictUnconstraintMotion()

void btDiscreteDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep )

protectedvirtual

Reimplemented in btMultiBodyDynamicsWorld, btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, btSoftRigidDynamicsWorld, and btDiscreteDynamicsWorldMt.

Definition at line 1091 of file btDiscreteDynamicsWorld.cpp.

◆ releasePredictiveContacts()

void btDiscreteDynamicsWorld::releasePredictiveContacts ( )

protected

Definition at line 929 of file btDiscreteDynamicsWorld.cpp.

◆ removeAction()

void btDiscreteDynamicsWorld::removeAction ( btActionInterface * action )

virtual

Implements btDynamicsWorld.

Definition at line 656 of file btDiscreteDynamicsWorld.cpp.

◆ removeCharacter()

void btDiscreteDynamicsWorld::removeCharacter ( btActionInterface * character )

virtual

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 676 of file btDiscreteDynamicsWorld.cpp.

◆ removeCollisionObject()

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 btDeformableMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 522 of file btDiscreteDynamicsWorld.cpp.

◆ removeConstraint()

void btDiscreteDynamicsWorld::removeConstraint ( btTypedConstraint * constraint )

virtual

Reimplemented from btDynamicsWorld.

Definition at line 644 of file btDiscreteDynamicsWorld.cpp.

◆ removeRigidBody()

void btDiscreteDynamicsWorld::removeRigidBody ( btRigidBody * body )

virtual

Implements btDynamicsWorld.

Definition at line 531 of file btDiscreteDynamicsWorld.cpp.

◆ removeVehicle()

void btDiscreteDynamicsWorld::removeVehicle ( btActionInterface * vehicle )

virtual

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 666 of file btDiscreteDynamicsWorld.cpp.

◆ saveKinematicState()

void btDiscreteDynamicsWorld::saveKinematicState ( btScalar timeStep )

protectedvirtual

would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows to switch status after adding kinematic objects to the world fix it for Bullet 3.x release

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 249 of file btDiscreteDynamicsWorld.cpp.

◆ serialize()

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 btMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 1456 of file btDiscreteDynamicsWorld.cpp.

◆ serializeDynamicsWorldInfo()

void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo ( btSerializer * serializer )

protected

Definition at line 1405 of file btDiscreteDynamicsWorld.cpp.

◆ serializeRigidBodies()

void btDiscreteDynamicsWorld::serializeRigidBodies ( btSerializer * serializer )

protected

Definition at line 1379 of file btDiscreteDynamicsWorld.cpp.

◆ setApplySpeculativeContactRestitution()

void btDiscreteDynamicsWorld::setApplySpeculativeContactRestitution ( bool enable )

inline

Definition at line 209 of file btDiscreteDynamicsWorld.h.

◆ setConstraintSolver()

void btDiscreteDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver )

virtual

Implements btDynamicsWorld.

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 1350 of file btDiscreteDynamicsWorld.cpp.

◆ setGravity()

void btDiscreteDynamicsWorld::setGravity ( const btVector3 & gravity )

virtual

Implements btDynamicsWorld.

Reimplemented in btDeformableMultiBodyDynamicsWorld.

Definition at line 499 of file btDiscreteDynamicsWorld.cpp.

◆ setLatencyMotionStateInterpolation()

void btDiscreteDynamicsWorld::setLatencyMotionStateInterpolation ( bool latencyInterpolation )

inline

Interpolate motion state between previous and current transform, instead of current and next transform.

This can relieve discontinuities in the rendering, due to penetrations

Definition at line 224 of file btDiscreteDynamicsWorld.h.

◆ setNumTasks()

virtual void btDiscreteDynamicsWorld::setNumTasks ( int numTasks )

inlinevirtual

Definition at line 180 of file btDiscreteDynamicsWorld.h.

◆ setSynchronizeAllMotionStates()

void btDiscreteDynamicsWorld::setSynchronizeAllMotionStates ( bool synchronizeAll )

inline

Definition at line 200 of file btDiscreteDynamicsWorld.h.

◆ solveConstraints()

void btDiscreteDynamicsWorld::solveConstraints ( btContactSolverInfo & solverInfo )

virtual

solve all the constraints for this island

Reimplemented in btMultiBodyDynamicsWorld, and btDiscreteDynamicsWorldMt.

Definition at line 681 of file btDiscreteDynamicsWorld.cpp.

◆ startProfiling()

void btDiscreteDynamicsWorld::startProfiling ( btScalar timeStep )

protected

Definition at line 1108 of file btDiscreteDynamicsWorld.cpp.

◆ stepSimulation()

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.

Reimplemented in btDiscreteDynamicsWorldMt, and btDeformableMultiBodyDynamicsWorld.

Definition at line 382 of file btDiscreteDynamicsWorld.cpp.

◆ synchronizeMotionStates()

void btDiscreteDynamicsWorld::synchronizeMotionStates ( )

virtual

Implements btDynamicsWorld.

Definition at line 356 of file btDiscreteDynamicsWorld.cpp.

◆ synchronizeSingleMotionState()

void btDiscreteDynamicsWorld::synchronizeSingleMotionState ( btRigidBody * body )

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

Definition at line 335 of file btDiscreteDynamicsWorld.cpp.

◆ updateActions()

void btDiscreteDynamicsWorld::updateActions ( btScalar timeStep )

protected

Definition at line 584 of file btDiscreteDynamicsWorld.cpp.

◆ updateActivationState()

void btDiscreteDynamicsWorld::updateActivationState ( btScalar timeStep )

protectedvirtual

Reimplemented in btMultiBodyDynamicsWorld, and btDeformableMultiBodyDynamicsWorld.

Definition at line 594 of file btDiscreteDynamicsWorld.cpp.

◆ updateVehicles()

virtual void btDiscreteDynamicsWorld::updateVehicles ( btScalar timeStep )

inlinevirtual

obsolete, use updateActions instead

Definition at line 186 of file btDiscreteDynamicsWorld.h.

Member Data Documentation

◆ m_actions

btAlignedObjectArray<btActionInterface*> btDiscreteDynamicsWorld::m_actions

protected

Definition at line 63 of file btDiscreteDynamicsWorld.h.

◆ m_applySpeculativeContactRestitution

bool btDiscreteDynamicsWorld::m_applySpeculativeContactRestitution

protected

Definition at line 61 of file btDiscreteDynamicsWorld.h.

◆ m_constraints

btAlignedObjectArray<btTypedConstraint*> btDiscreteDynamicsWorld::m_constraints

protected

Definition at line 47 of file btDiscreteDynamicsWorld.h.

◆ m_constraintSolver

btConstraintSolver* btDiscreteDynamicsWorld::m_constraintSolver

protected

Definition at line 43 of file btDiscreteDynamicsWorld.h.

◆ m_fixedTimeStep

btScalar btDiscreteDynamicsWorld::m_fixedTimeStep

protected

Definition at line 55 of file btDiscreteDynamicsWorld.h.

◆ m_gravity

btVector3 btDiscreteDynamicsWorld::m_gravity

protected

Definition at line 51 of file btDiscreteDynamicsWorld.h.

◆ m_islandManager

btSimulationIslandManager* btDiscreteDynamicsWorld::m_islandManager

protected

Definition at line 45 of file btDiscreteDynamicsWorld.h.

◆ m_latencyMotionStateInterpolation

bool btDiscreteDynamicsWorld::m_latencyMotionStateInterpolation

protected

Definition at line 67 of file btDiscreteDynamicsWorld.h.

◆ m_localTime

btScalar btDiscreteDynamicsWorld::m_localTime

protected

Definition at line 54 of file btDiscreteDynamicsWorld.h.

◆ m_nonStaticRigidBodies

btAlignedObjectArray<btRigidBody*> btDiscreteDynamicsWorld::m_nonStaticRigidBodies

protected

Definition at line 49 of file btDiscreteDynamicsWorld.h.

◆ m_ownsConstraintSolver

bool btDiscreteDynamicsWorld::m_ownsConstraintSolver

protected

Definition at line 59 of file btDiscreteDynamicsWorld.h.

◆ m_ownsIslandManager

bool btDiscreteDynamicsWorld::m_ownsIslandManager

protected

Definition at line 58 of file btDiscreteDynamicsWorld.h.

◆ m_predictiveManifolds

btAlignedObjectArray<btPersistentManifold*> btDiscreteDynamicsWorld::m_predictiveManifolds

protected

Definition at line 69 of file btDiscreteDynamicsWorld.h.

◆ m_predictiveManifoldsMutex

btSpinMutex btDiscreteDynamicsWorld::m_predictiveManifoldsMutex

protected

Definition at line 70 of file btDiscreteDynamicsWorld.h.

◆ m_profileTimings

int btDiscreteDynamicsWorld::m_profileTimings

protected

Definition at line 65 of file btDiscreteDynamicsWorld.h.

◆ m_solverIslandCallback

InplaceSolverIslandCallback* btDiscreteDynamicsWorld::m_solverIslandCallback

protected

Definition at line 41 of file btDiscreteDynamicsWorld.h.

◆ m_sortedConstraints

btAlignedObjectArray<btTypedConstraint*> btDiscreteDynamicsWorld::m_sortedConstraints

protected

Definition at line 40 of file btDiscreteDynamicsWorld.h.

◆ m_synchronizeAllMotionStates

bool btDiscreteDynamicsWorld::m_synchronizeAllMotionStates

protected

Definition at line 60 of file btDiscreteDynamicsWorld.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btDiscreteDynamicsWorld()

◆ ~btDiscreteDynamicsWorld()

Member Function Documentation

◆ addAction()

◆ addCharacter()

◆ addCollisionObject()

◆ addConstraint()

◆ addRigidBody() [1/2]

◆ addRigidBody() [2/2]

◆ addVehicle()

◆ applyGravity()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateSimulationIslands()

◆ clearForces()

◆ createPredictiveContacts()

◆ createPredictiveContactsInternal()

◆ debugDrawConstraint()

◆ debugDrawWorld()

◆ getApplySpeculativeContactRestitution()

◆ getCollisionWorld()

◆ getConstraint() [1/2]

◆ getConstraint() [2/2]

◆ getConstraintSolver()

◆ getGravity()

◆ getLatencyMotionStateInterpolation()

◆ getNonStaticRigidBodies() [1/2]

◆ getNonStaticRigidBodies() [2/2]

◆ getNumConstraints()

◆ getSimulationIslandManager() [1/2]

◆ getSimulationIslandManager() [2/2]

◆ getSynchronizeAllMotionStates()

◆ getWorldType()

◆ integrateTransforms()

◆ integrateTransformsInternal()

◆ internalSingleStepSimulation()

◆ predictUnconstraintMotion()

◆ releasePredictiveContacts()

◆ removeAction()

◆ removeCharacter()

◆ removeCollisionObject()

◆ removeConstraint()

◆ removeRigidBody()

◆ removeVehicle()

◆ saveKinematicState()

◆ serialize()

◆ serializeDynamicsWorldInfo()

◆ serializeRigidBodies()

◆ setApplySpeculativeContactRestitution()

◆ setConstraintSolver()

◆ setGravity()

◆ setLatencyMotionStateInterpolation()

◆ setNumTasks()

◆ setSynchronizeAllMotionStates()

◆ solveConstraints()

◆ startProfiling()

◆ stepSimulation()

◆ synchronizeMotionStates()

◆ synchronizeSingleMotionState()

◆ updateActions()

◆ updateActivationState()

◆ updateVehicles()

Member Data Documentation

◆ m_actions

◆ m_applySpeculativeContactRestitution

◆ m_constraints

◆ m_constraintSolver

◆ m_fixedTimeStep

◆ m_gravity

◆ m_islandManager

◆ m_latencyMotionStateInterpolation

◆ m_localTime

◆ m_nonStaticRigidBodies

◆ m_ownsConstraintSolver

◆ m_ownsIslandManager