Bullet Collision Detection & Physics Library
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btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController More...
#include <btDiscreteDynamicsWorld.h>
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 | 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, short int collisionFilterGroup=btBroadphaseProxy::StaticFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter^btBroadphaseProxy::StaticFilter) |
virtual void | addRigidBody (btRigidBody *body) |
virtual void | addRigidBody (btRigidBody *body, short group, short 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 |
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btDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration) | |
virtual | ~btDynamicsWorld () |
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 () |
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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 | 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... | |
btCollisionObjectArray & | getCollisionObjectArray () |
const btCollisionObjectArray & | getCollisionObjectArray () const |
virtual void | performDiscreteCollisionDetection () |
btDispatcherInfo & | getDispatchInfo () |
const btDispatcherInfo & | getDispatchInfo () const |
bool | getForceUpdateAllAabbs () const |
void | setForceUpdateAllAabbs (bool forceUpdateAllAabbs) |
Protected Member Functions | |
virtual void | predictUnconstraintMotion (btScalar timeStep) |
virtual void | integrateTransforms (btScalar timeStep) |
virtual void | calculateSimulationIslands () |
virtual void | solveConstraints (btContactSolverInfo &solverInfo) |
virtual void | updateActivationState (btScalar timeStep) |
void | updateActions (btScalar timeStep) |
void | startProfiling (btScalar timeStep) |
virtual void | internalSingleStepSimulation (btScalar timeStep) |
void | createPredictiveContacts (btScalar timeStep) |
virtual void | saveKinematicState (btScalar timeStep) |
void | serializeRigidBodies (btSerializer *serializer) |
void | serializeDynamicsWorldInfo (btSerializer *serializer) |
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void | serializeCollisionObjects (btSerializer *serializer) |
Additional Inherited Members | |
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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) |
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
Definition at line 37 of file btDiscreteDynamicsWorld.h.
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld | ( | btDispatcher * | dispatcher, |
btBroadphaseInterface * | pairCache, | ||
btConstraintSolver * | constraintSolver, | ||
btCollisionConfiguration * | collisionConfiguration | ||
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this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
Definition at line 203 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 241 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Definition at line 677 of file btDiscreteDynamicsWorld.cpp.
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obsolete, use addAction instead
Reimplemented from btDynamicsWorld.
Definition at line 698 of file btDiscreteDynamicsWorld.cpp.
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Reimplemented from btCollisionWorld.
Definition at line 542 of file btDiscreteDynamicsWorld.cpp.
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Reimplemented from btDynamicsWorld.
Definition at line 657 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Definition at line 563 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Definition at line 588 of file btDiscreteDynamicsWorld.cpp.
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obsolete, use addAction instead
Reimplemented from btDynamicsWorld.
Definition at line 688 of file btDiscreteDynamicsWorld.cpp.
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apply gravity, call this once per timestep
Definition at line 339 of file btDiscreteDynamicsWorld.cpp.
btDiscreteDynamicsWorld::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
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Reimplemented in btMultiBodyDynamicsWorld.
Definition at line 742 of file btDiscreteDynamicsWorld.cpp.
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the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
Implements btDynamicsWorld.
Definition at line 326 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 881 of file btDiscreteDynamicsWorld.cpp.
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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 1158 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Reimplemented in btMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.
Definition at line 283 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 214 of file btDiscreteDynamicsWorld.h.
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Definition at line 133 of file btDiscreteDynamicsWorld.h.
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Reimplemented from btDynamicsWorld.
Definition at line 1414 of file btDiscreteDynamicsWorld.cpp.
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Reimplemented from btDynamicsWorld.
Definition at line 1418 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Definition at line 1404 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Definition at line 537 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 228 of file btDiscreteDynamicsWorld.h.
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Reimplemented from btDynamicsWorld.
Definition at line 1410 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 123 of file btDiscreteDynamicsWorld.h.
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Definition at line 128 of file btDiscreteDynamicsWorld.h.
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Definition at line 204 of file btDiscreteDynamicsWorld.h.
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Implements btDynamicsWorld.
Reimplemented in btSoftRigidDynamicsWorld.
Definition at line 169 of file btDiscreteDynamicsWorld.h.
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this should probably be switched on by default, but it is not well tested yet
Reimplemented in btMultiBodyDynamicsWorld.
Definition at line 977 of file btDiscreteDynamicsWorld.cpp.
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apply gravity, predict motion
perform collision detection
solve contact and other joint constraints
CallbackTriggers();
integrate transforms
update vehicle simulation
Reimplemented in btSoftRigidDynamicsWorld.
Definition at line 474 of file btDiscreteDynamicsWorld.cpp.
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Reimplemented in btSoftRigidDynamicsWorld.
Definition at line 1125 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Definition at line 682 of file btDiscreteDynamicsWorld.cpp.
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obsolete, use removeAction instead
Reimplemented from btDynamicsWorld.
Definition at line 703 of file btDiscreteDynamicsWorld.cpp.
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removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
Reimplemented from btCollisionWorld.
Reimplemented in btSoftRigidDynamicsWorld.
Definition at line 547 of file btDiscreteDynamicsWorld.cpp.
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Reimplemented from btDynamicsWorld.
Definition at line 670 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Definition at line 556 of file btDiscreteDynamicsWorld.cpp.
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obsolete, use removeAction instead
Reimplemented from btDynamicsWorld.
Definition at line 693 of file btDiscreteDynamicsWorld.cpp.
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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
Definition at line 262 of file btDiscreteDynamicsWorld.cpp.
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Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
Reimplemented from btCollisionWorld.
Reimplemented in btSoftRigidDynamicsWorld.
Definition at line 1504 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 1454 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 1425 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 209 of file btDiscreteDynamicsWorld.h.
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Implements btDynamicsWorld.
Definition at line 1393 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Definition at line 524 of file btDiscreteDynamicsWorld.cpp.
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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.
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Definition at line 180 of file btDiscreteDynamicsWorld.h.
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Definition at line 200 of file btDiscreteDynamicsWorld.h.
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solve all the constraints for this island
Reimplemented in btMultiBodyDynamicsWorld.
Definition at line 711 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 1143 of file btDiscreteDynamicsWorld.cpp.
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if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
Implements btDynamicsWorld.
Definition at line 401 of file btDiscreteDynamicsWorld.cpp.
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Implements btDynamicsWorld.
Definition at line 375 of file btDiscreteDynamicsWorld.cpp.
void btDiscreteDynamicsWorld::synchronizeSingleMotionState | ( | btRigidBody * | body | ) |
this can be useful to synchronize a single rigid body -> graphics object
Definition at line 353 of file btDiscreteDynamicsWorld.cpp.
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Definition at line 610 of file btDiscreteDynamicsWorld.cpp.
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Reimplemented in btMultiBodyDynamicsWorld.
Definition at line 621 of file btDiscreteDynamicsWorld.cpp.
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obsolete, use updateActions instead
Definition at line 186 of file btDiscreteDynamicsWorld.h.
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Definition at line 64 of file btDiscreteDynamicsWorld.h.
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Definition at line 62 of file btDiscreteDynamicsWorld.h.
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Definition at line 48 of file btDiscreteDynamicsWorld.h.
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Definition at line 44 of file btDiscreteDynamicsWorld.h.
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Definition at line 56 of file btDiscreteDynamicsWorld.h.
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Definition at line 52 of file btDiscreteDynamicsWorld.h.
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Definition at line 46 of file btDiscreteDynamicsWorld.h.
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Definition at line 68 of file btDiscreteDynamicsWorld.h.
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Definition at line 55 of file btDiscreteDynamicsWorld.h.
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Definition at line 50 of file btDiscreteDynamicsWorld.h.
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Definition at line 60 of file btDiscreteDynamicsWorld.h.
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Definition at line 59 of file btDiscreteDynamicsWorld.h.
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Definition at line 70 of file btDiscreteDynamicsWorld.h.
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Definition at line 66 of file btDiscreteDynamicsWorld.h.
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Definition at line 42 of file btDiscreteDynamicsWorld.h.
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Definition at line 41 of file btDiscreteDynamicsWorld.h.
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Definition at line 61 of file btDiscreteDynamicsWorld.h.