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

#include <btCollisionWorld.h>

Classes
struct	LocalShapeInfo
struct	LocalRayResult
struct	RayResultCallback
	RayResultCallback is used to report new raycast results. More...
struct	ClosestRayResultCallback
struct	AllHitsRayResultCallback
struct	LocalConvexResult
struct	ConvexResultCallback
	RayResultCallback is used to report new raycast results. More...
struct	ClosestConvexResultCallback
struct	ContactResultCallback
	ContactResultCallback is used to report contact points. More...

Public Member Functions
	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 ()
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
void	convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
void	contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
void	contactPairTest (btCollisionObject colObjA, btCollisionObject colObjB, ContactResultCallback &resultCallback)
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).

Static Public Member Functions
static void	rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject collisionObject, const btCollisionShape collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &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
void	serializeCollisionObjects (btSerializer *serializer)
void	serializeContactManifolds (btSerializer *serializer)

Protected Attributes
btAlignedObjectArray< btCollisionObject * >	m_collisionObjects
btDispatcher *	m_dispatcher1
btDispatcherInfo	m_dispatchInfo
btBroadphaseInterface *	m_broadphasePairCache
btIDebugDraw *	m_debugDrawer
bool	m_forceUpdateAllAabbs

Detailed Description

CollisionWorld is interface and container for the collision detection.

Definition at line 85 of file btCollisionWorld.h.

Constructor & Destructor Documentation

◆ btCollisionWorld()

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

for debug drawing

Definition at line 67 of file btCollisionWorld.cpp.

References m_broadphasePairCache, m_debugDrawer, m_dispatcher1, m_forceUpdateAllAabbs, and true.

Referenced by btDynamicsWorld::btDynamicsWorld().

◆ ~btCollisionWorld()

btCollisionWorld::~btCollisionWorld ( )

virtual

Definition at line 75 of file btCollisionWorld.cpp.

References btBroadphaseProxy, btCollisionObject, btOverlappingPairCache::cleanProxyFromPairs(), btBroadphaseInterface::destroyProxy(), getBroadphase(), btBroadphaseInterface::getOverlappingPairCache(), i, m_collisionObjects, and m_dispatcher1.

Member Function Documentation

◆ addCollisionObject()

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

virtual

Definition at line 124 of file btCollisionWorld.cpp.

References btAssert, btCollisionObject, btTransform, btVector3, getBroadphase(), m_collisionObjects, and m_dispatcher1.

Referenced by btSimpleDynamicsWorld::addRigidBody(), btSimpleDynamicsWorld::addRigidBody(), btDeformableMultiBodyDynamicsWorld::addSoftBody(), btSoftMultiBodyDynamicsWorld::addSoftBody(), and btSoftRigidDynamicsWorld::addSoftBody().

◆ computeOverlappingPairs()

void btCollisionWorld::computeOverlappingPairs ( )

virtual

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

Definition at line 215 of file btCollisionWorld.cpp.

References BT_PROFILE, m_broadphasePairCache, and m_dispatcher1.

Referenced by performDiscreteCollisionDetection().

◆ contactPairTest()

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)

Definition at line 1243 of file btCollisionWorld.cpp.

References BT_CLOSEST_POINT_ALGORITHMS, btCollisionObject, btDispatcher::findAlgorithm(), btDispatcher::freeCollisionAlgorithm(), getDispatcher(), getDispatchInfo(), btCollisionWorld::ContactResultCallback::m_closestDistanceThreshold, btManifoldResult::m_closestPointDistanceThreshold, btCollisionAlgorithm::processCollision(), and btCollisionAlgorithm::~btCollisionAlgorithm().

◆ contactTest()

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)

contactTest performs a discrete collision test 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)

Definition at line 1232 of file btCollisionWorld.cpp.

References btCollisionObject, btVector3, and m_broadphasePairCache.

◆ convexSweepTest()

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.

use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical

Definition at line 1076 of file btCollisionWorld.cpp.

References AabbExpand(), BT_PROFILE, btCollisionObject, btConvexShape(), btRayAabb(), btTransform, btVector3, btTransformUtil::calculateVelocity(), i, m_broadphasePairCache, m_collisionObjects, btCollisionWorld::ConvexResultCallback::needsCollision(), objectQuerySingle(), and R.

Referenced by stepDown(), stepForwardAndStrafe(), and stepUp().

◆ debugDrawObject()

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

virtual

for polyhedral shapes

Todo: pass camera, for some culling? no -> we are not a graphics lib

Definition at line 1303 of file btCollisionWorld.cpp.

Referenced by debugDrawObject(), and debugDrawWorld().

◆ debugDrawWorld()

void btCollisionWorld::debugDrawWorld ( )

virtual

Reimplemented in btDynamicsWorld, and btSimpleDynamicsWorld.

Definition at line 1470 of file btCollisionWorld.cpp.

References ACTIVE_TAG, btCollisionObject, btPersistentManifold(), btVector3, btIDebugDraw::clearLines(), btIDebugDraw::DBG_DrawAabb, btIDebugDraw::DBG_DrawContactPoints, btIDebugDraw::DBG_DrawWireframe, debugDrawObject(), btIDebugDraw::DefaultColors, DISABLE_DEACTIVATION, DISABLE_SIMULATION, btIDebugDraw::drawContactPoint(), gContactBreakingThreshold, getDebugDrawer(), btIDebugDraw::getDefaultColors(), getDispatcher(), getDispatchInfo(), btManifoldPoint::getDistance(), btManifoldPoint::getLifeTime(), btDispatcher::getManifoldByIndexInternal(), btDispatcher::getNumManifolds(), i, ISLAND_SLEEPING, m_collisionObjects, m_debugDrawer, btManifoldPoint::m_normalWorldOnB, btManifoldPoint::m_positionWorldOnB, numManifolds, and WANTS_DEACTIVATION.

◆ getBroadphase() [1/2]

btBroadphaseInterface * btCollisionWorld::getBroadphase ( )

inline

Definition at line 122 of file btCollisionWorld.h.

References m_broadphasePairCache.

◆ getBroadphase() [2/2]

const btBroadphaseInterface * btCollisionWorld::getBroadphase ( ) const

inline

Definition at line 117 of file btCollisionWorld.h.

References m_broadphasePairCache.

Referenced by addCollisionObject(), recoverFromPenetration(), refreshBroadphaseProxy(), removeCollisionObject(), btSimpleDynamicsWorld::updateAabbs(), and ~btCollisionWorld().

◆ getCollisionObjectArray() [1/2]

btCollisionObjectArray & btCollisionWorld::getCollisionObjectArray ( )

inline

Definition at line 476 of file btCollisionWorld.h.

References m_collisionObjects.

Referenced by btSimulationIslandManagerMt::addBodiesToIslands(), btSimulationIslandManagerMt::buildAndProcessIslands(), btSimulationIslandManager::buildIslands(), btSimulationIslandManagerMt::buildIslands(), btSimulationIslandManager::processIslands(), btSimpleDynamicsWorld::stepSimulation(), btSimulationIslandManager::storeIslandActivationState(), and btSimulationIslandManager::updateActivationState().

◆ getCollisionObjectArray() [2/2]

const btCollisionObjectArray & btCollisionWorld::getCollisionObjectArray ( ) const

inline

Definition at line 481 of file btCollisionWorld.h.

References m_collisionObjects.

◆ getDebugDrawer()

virtual btIDebugDraw * btCollisionWorld::getDebugDrawer ( )

inlinevirtual

Definition at line 155 of file btCollisionWorld.h.

References m_debugDrawer.

Referenced by debugDrawObject(), debugDrawWorld(), and btSimpleDynamicsWorld::stepSimulation().

◆ getDispatcher() [1/2]

btDispatcher * btCollisionWorld::getDispatcher ( )

inline

Definition at line 132 of file btCollisionWorld.h.

References m_dispatcher1.

Referenced by contactPairTest(), debugDrawWorld(), performDiscreteCollisionDetection(), recoverFromPenetration(), refreshBroadphaseProxy(), and serializeContactManifolds().

◆ getDispatcher() [2/2]

const btDispatcher * btCollisionWorld::getDispatcher ( ) const

inline

Definition at line 137 of file btCollisionWorld.h.

References m_dispatcher1.

◆ getDispatchInfo() [1/2]

btDispatcherInfo & btCollisionWorld::getDispatchInfo ( )

inline

Definition at line 490 of file btCollisionWorld.h.

References m_dispatchInfo.

Referenced by btSimulationIslandManager::buildIslands(), contactPairTest(), debugDrawWorld(), performDiscreteCollisionDetection(), btSimulationIslandManager::processIslands(), recoverFromPenetration(), stepDown(), stepForwardAndStrafe(), btSimpleDynamicsWorld::stepSimulation(), stepUp(), and updateSingleAabb().

◆ getDispatchInfo() [2/2]

const btDispatcherInfo & btCollisionWorld::getDispatchInfo ( ) const

inline

Definition at line 495 of file btCollisionWorld.h.

References m_dispatchInfo.

◆ getForceUpdateAllAabbs()

bool btCollisionWorld::getForceUpdateAllAabbs ( ) const

inline

Definition at line 500 of file btCollisionWorld.h.

References m_forceUpdateAllAabbs.

◆ getNumCollisionObjects()

int btCollisionWorld::getNumCollisionObjects ( ) const

inline

Definition at line 427 of file btCollisionWorld.h.

References m_collisionObjects.

Referenced by rayTest(), and btSimpleDynamicsWorld::stepSimulation().

◆ getPairCache()

btOverlappingPairCache * btCollisionWorld::getPairCache ( )

inline

Definition at line 127 of file btCollisionWorld.h.

References m_broadphasePairCache.

Referenced by btSimulationIslandManager::findUnions().

◆ objectQuerySingle()

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.

Definition at line 602 of file btCollisionWorld.cpp.

References btCollisionObject, btCollisionShape, btConvexShape(), btTransform, and objectQuerySingleInternal().

Referenced by convexSweepTest().

◆ objectQuerySingleInternal()

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

static

Definition at line 612 of file btCollisionWorld.cpp.

References btCollisionWorld::ConvexResultCallback::addSingleResult(), ATTRIBUTE_ALIGNED16, b, bounds(), BT_PROFILE, btBroadphaseProxy, btBvhTriangleMeshShape(), btCollisionObject, btCollisionShape, btCompoundShape(), btConcaveShape(), btConvexShape(), btStaticPlaneShape(), btTransform, btTriangleMeshShape(), btVector3, btVoronoiSimplexSolver, btConvexCast::calcTimeOfImpact(), btDbvtNode::dataAsInt, btDbvtAabbMm::FromMM(), btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), i, btConvexCast::CastResult::m_allowedPenetration, btCollisionWorld::ConvexResultCallback::m_closestHitFraction, btConvexCast::CastResult::m_fraction, btConvexCast::CastResult::m_hitPoint, btCollisionWorld::LocalConvexResult::m_localShapeInfo, btConvexCast::CastResult::m_normal, btCollisionWorld::LocalShapeInfo::m_shapePart, btCollisionWorld::LocalShapeInfo::m_triangleIndex, btCollisionWorld::ConvexResultCallback::needsCollision(), needsCollision(), objectQuerySingleInternal(), result, STATIC_PLANE_PROXYTYPE, tree, and TRIANGLE_MESH_SHAPE_PROXYTYPE.

Referenced by objectQuerySingle(), and objectQuerySingleInternal().

◆ performDiscreteCollisionDetection()

void btCollisionWorld::performDiscreteCollisionDetection ( )

virtual

Definition at line 221 of file btCollisionWorld.cpp.

References BT_PROFILE, computeOverlappingPairs(), btDispatcher::dispatchAllCollisionPairs(), getDispatcher(), getDispatchInfo(), m_broadphasePairCache, m_dispatcher1, and updateAabbs().

Referenced by btSimpleDynamicsWorld::stepSimulation().

◆ rayTest()

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.

use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test

Definition at line 1004 of file btCollisionWorld.cpp.

References btVector3, getBroadphaseHandle(), getNumCollisionObjects(), i, m_broadphasePairCache, m_collisionObjects, and btSingleRayCallback::process().

◆ rayTestSingle()

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.

Definition at line 277 of file btCollisionWorld.cpp.

References btCollisionObject, btCollisionShape, btTransform, and rayTestSingleInternal().

Referenced by btDeformableMultiBodyDynamicsWorld::rayTestSingle(), btSoftMultiBodyDynamicsWorld::rayTestSingle(), and btSoftRigidDynamicsWorld::rayTestSingle().

◆ rayTestSingleInternal()

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

static

optimized version for btBvhTriangleMeshShape

optimized version for btScaledBvhTriangleMeshShape

optimized version for btHeightfieldTerrainShape

Definition at line 287 of file btCollisionWorld.cpp.

References btCollisionWorld::RayResultCallback::addSingleResult(), b, btBroadphaseProxy, btBvhTriangleMeshShape(), btCollisionObject, btCollisionShape, btCompoundShape(), btConcaveShape(), btConvexShape(), btHeightfieldTerrainShape(), btScaledBvhTriangleMeshShape(), btSphereShape(), btTransform, btVector3, btVoronoiSimplexSolver, btConvexCast::calcTimeOfImpact(), btDbvtNode::dataAsInt, btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), i, btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator, btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest, btCollisionWorld::RayResultCallback::m_closestHitFraction, btCollisionWorld::RayResultCallback::m_flags, m_flags, btConvexCast::CastResult::m_fraction, btCollisionWorld::LocalRayResult::m_localShapeInfo, btConvexCast::CastResult::m_normal, btDbvt::m_root, btCollisionWorld::LocalShapeInfo::m_shapePart, btCollisionWorld::LocalShapeInfo::m_triangleIndex, btCollisionWorld::RayResultCallback::needsCollision(), needsCollision(), btDbvt::rayTest(), rayTestSingleInternal(), result, SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE, TERRAIN_SHAPE_PROXYTYPE, and TRIANGLE_MESH_SHAPE_PROXYTYPE.

Referenced by rayTestSingle(), and rayTestSingleInternal().

◆ refreshBroadphaseProxy()

void btCollisionWorld::refreshBroadphaseProxy ( btCollisionObject * collisionObject )

virtual

Definition at line 96 of file btCollisionWorld.cpp.

References btCollisionObject, btTransform, btVector3, btBroadphaseInterface::destroyProxy(), getBroadphase(), getDispatcher(), and m_dispatcher1.

◆ removeCollisionObject()

void btCollisionWorld::removeCollisionObject ( btCollisionObject * collisionObject )

virtual

Reimplemented in btSimpleDynamicsWorld.

Definition at line 239 of file btCollisionWorld.cpp.

References btAssert, btBroadphaseProxy, btCollisionObject, btOverlappingPairCache::cleanProxyFromPairs(), btBroadphaseInterface::destroyProxy(), getBroadphase(), btBroadphaseInterface::getOverlappingPairCache(), m_collisionObjects, and m_dispatcher1.

Referenced by btSimpleDynamicsWorld::removeCollisionObject(), btSimpleDynamicsWorld::removeRigidBody(), btDeformableMultiBodyDynamicsWorld::removeSoftBody(), btSoftMultiBodyDynamicsWorld::removeSoftBody(), and btSoftRigidDynamicsWorld::removeSoftBody().

◆ serialize()

void btCollisionWorld::serialize ( btSerializer * serializer )

virtual

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

Definition at line 1618 of file btCollisionWorld.cpp.

References btSerializer::finishSerialization(), serializeCollisionObjects(), serializeContactManifolds(), and btSerializer::startSerialization().

◆ serializeCollisionObjects()

void btCollisionWorld::serializeCollisionObjects ( btSerializer * serializer )

protected

keep track of shapes already serialized

Definition at line 1568 of file btCollisionWorld.cpp.

References btCollisionObject, btCollisionShape, btHashMap< Key, Value >::find(), i, btHashMap< Key, Value >::insert(), and m_collisionObjects.

Referenced by serialize().

◆ serializeContactManifolds()

void btCollisionWorld::serializeContactManifolds ( btSerializer * serializer )

protected

Definition at line 1598 of file btCollisionWorld.cpp.

References btSerializer::allocate(), BT_CONTACTMANIFOLD_CODE, BT_SERIALIZE_CONTACT_MANIFOLDS, btPersistentManifold(), btSerializer::finalizeChunk(), getDispatcher(), btDispatcher::getInternalManifoldPointer(), btDispatcher::getNumManifolds(), btSerializer::getSerializationFlags(), i, btChunk::m_oldPtr, and numManifolds.

Referenced by serialize().

◆ setBroadphase()

void btCollisionWorld::setBroadphase ( btBroadphaseInterface * pairCache )

inline

Definition at line 112 of file btCollisionWorld.h.

References m_broadphasePairCache.

◆ setDebugDrawer()

virtual void btCollisionWorld::setDebugDrawer ( btIDebugDraw * debugDrawer )

inlinevirtual

Definition at line 150 of file btCollisionWorld.h.

References m_debugDrawer.

◆ setForceUpdateAllAabbs()

void btCollisionWorld::setForceUpdateAllAabbs ( bool forceUpdateAllAabbs )

inline

Definition at line 504 of file btCollisionWorld.h.

References m_forceUpdateAllAabbs.

◆ updateAabbs()

void btCollisionWorld::updateAabbs ( )

virtual

Reimplemented in btSimpleDynamicsWorld.

Definition at line 197 of file btCollisionWorld.cpp.

References BT_PROFILE, btAssert, btCollisionObject, btTransform, i, m_collisionObjects, m_forceUpdateAllAabbs, and updateSingleAabb().

Referenced by performDiscreteCollisionDetection().

◆ updateSingleAabb()

void btCollisionWorld::updateSingleAabb ( btCollisionObject * colObj )

Definition at line 153 of file btCollisionWorld.cpp.

References btCollisionObject, btVector3, DISABLE_SIMULATION, gContactBreakingThreshold, getDispatchInfo(), m_broadphasePairCache, m_debugDrawer, m_dispatcher1, and btBroadphaseInterface::setAabb().

Referenced by updateAabbs().

Member Data Documentation

◆ m_broadphasePairCache

btBroadphaseInterface* btCollisionWorld::m_broadphasePairCache

protected

Definition at line 94 of file btCollisionWorld.h.

Referenced by btCollisionWorld(), computeOverlappingPairs(), contactTest(), convexSweepTest(), getBroadphase(), getBroadphase(), getPairCache(), performDiscreteCollisionDetection(), rayTest(), setBroadphase(), and updateSingleAabb().

◆ m_collisionObjects

btAlignedObjectArray<btCollisionObject*> btCollisionWorld::m_collisionObjects

protected

Definition at line 88 of file btCollisionWorld.h.

Referenced by addCollisionObject(), btSimpleDynamicsWorld::clearForces(), convexSweepTest(), debugDrawWorld(), getCollisionObjectArray(), getCollisionObjectArray(), getNumCollisionObjects(), btSimpleDynamicsWorld::integrateTransforms(), btSimpleDynamicsWorld::predictUnconstraintMotion(), rayTest(), removeCollisionObject(), serializeCollisionObjects(), btSimpleDynamicsWorld::setGravity(), btSimpleDynamicsWorld::synchronizeMotionStates(), updateAabbs(), btSimpleDynamicsWorld::updateAabbs(), and ~btCollisionWorld().

◆ m_debugDrawer

btIDebugDraw* btCollisionWorld::m_debugDrawer

protected

Definition at line 96 of file btCollisionWorld.h.

Referenced by btCollisionWorld(), debugDrawWorld(), getDebugDrawer(), setDebugDrawer(), btSimpleDynamicsWorld::stepSimulation(), and updateSingleAabb().

◆ m_dispatcher1

btDispatcher* btCollisionWorld::m_dispatcher1

protected

Definition at line 90 of file btCollisionWorld.h.

Referenced by addCollisionObject(), btCollisionWorld(), computeOverlappingPairs(), getDispatcher(), getDispatcher(), performDiscreteCollisionDetection(), refreshBroadphaseProxy(), removeCollisionObject(), btSimpleDynamicsWorld::stepSimulation(), btSimpleDynamicsWorld::updateAabbs(), updateSingleAabb(), and ~btCollisionWorld().

◆ m_dispatchInfo

btDispatcherInfo btCollisionWorld::m_dispatchInfo

protected

Definition at line 92 of file btCollisionWorld.h.

Referenced by getDispatchInfo(), and getDispatchInfo().

◆ m_forceUpdateAllAabbs

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 100 of file btCollisionWorld.h.

Referenced by btCollisionWorld(), getForceUpdateAllAabbs(), setForceUpdateAllAabbs(), and updateAabbs().

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ btCollisionWorld()

◆ ~btCollisionWorld()

Member Function Documentation

◆ addCollisionObject()

◆ computeOverlappingPairs()

◆ contactPairTest()

◆ contactTest()

◆ convexSweepTest()

◆ debugDrawObject()

◆ debugDrawWorld()

◆ getBroadphase() [1/2]

◆ getBroadphase() [2/2]

◆ getCollisionObjectArray() [1/2]

◆ getCollisionObjectArray() [2/2]

◆ getDebugDrawer()

◆ getDispatcher() [1/2]

◆ getDispatcher() [2/2]

◆ getDispatchInfo() [1/2]

◆ getDispatchInfo() [2/2]

◆ getForceUpdateAllAabbs()

◆ getNumCollisionObjects()

◆ getPairCache()

◆ objectQuerySingle()

◆ objectQuerySingleInternal()

◆ performDiscreteCollisionDetection()

◆ rayTest()

◆ rayTestSingle()

◆ rayTestSingleInternal()

◆ refreshBroadphaseProxy()

◆ removeCollisionObject()

◆ serialize()

◆ serializeCollisionObjects()

◆ serializeContactManifolds()

◆ setBroadphase()

◆ setDebugDrawer()

◆ setForceUpdateAllAabbs()

◆ updateAabbs()

◆ updateSingleAabb()

Member Data Documentation

◆ m_broadphasePairCache

◆ m_collisionObjects

◆ m_debugDrawer

◆ m_dispatcher1

◆ m_dispatchInfo

◆ m_forceUpdateAllAabbs