Rigid Body API implementation for Bullet. More...

#include <cerrno>
#include <cstdio>
#include "RBI_api.h"
#include <btBulletDynamicsCommon.h>
#include <LinearMath/btConvexHullComputer.h>
#include <LinearMath/btMatrix3x3.h>
#include <LinearMath/btScalar.h>
#include <LinearMath/btTransform.h>
#include <LinearMath/btVector3.h>
#include <BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h>
#include <BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h>
#include <BulletCollision/Gimpact/btGImpactShape.h>

Classes
struct	rbDynamicsWorld
struct	rbRigidBody
struct	rbVert
struct	rbTri
struct	rbMeshData
struct	rbCollisionShape
struct	rbFilterCallback

Functions
static void	copy_v3_btvec3 (float vec[3], const btVector3 &btvec)
static void	copy_quat_btquat (float quat[4], const btQuaternion &btquat)
rbDynamicsWorld *	RB_dworld_new (const float gravity[3])
void	RB_dworld_delete (rbDynamicsWorld *world)
void	RB_dworld_get_gravity (rbDynamicsWorld *world, float g_out[3])
void	RB_dworld_set_gravity (rbDynamicsWorld *world, const float g_in[3])
void	RB_dworld_set_solver_iterations (rbDynamicsWorld *world, int num_solver_iterations)
void	RB_dworld_set_split_impulse (rbDynamicsWorld *world, int split_impulse)
void	RB_dworld_step_simulation (rbDynamicsWorld *world, float timeStep, int maxSubSteps, float timeSubStep)
void	RB_dworld_export (rbDynamicsWorld world, const char filename)
void	RB_dworld_add_body (rbDynamicsWorld world, rbRigidBody object, int col_groups)
void	RB_dworld_remove_body (rbDynamicsWorld world, rbRigidBody object)
void	RB_world_convex_sweep_test (rbDynamicsWorld world, rbRigidBody object, const float loc_start[3], const float loc_end[3], float v_location[3], float v_hitpoint[3], float v_normal[3], int *r_hit)
rbRigidBody *	RB_body_new (rbCollisionShape *shape, const float loc[3], const float rot[4])
void	RB_body_delete (rbRigidBody *object)
void	RB_body_set_collision_shape (rbRigidBody object, rbCollisionShape shape)
float	RB_body_get_mass (rbRigidBody *object)
void	RB_body_set_mass (rbRigidBody *object, float value)
float	RB_body_get_friction (rbRigidBody *object)
void	RB_body_set_friction (rbRigidBody *object, float value)
float	RB_body_get_restitution (rbRigidBody *object)
void	RB_body_set_restitution (rbRigidBody *object, float value)
float	RB_body_get_linear_damping (rbRigidBody *object)
void	RB_body_set_linear_damping (rbRigidBody *object, float value)
float	RB_body_get_angular_damping (rbRigidBody *object)
void	RB_body_set_angular_damping (rbRigidBody *object, float value)
void	RB_body_set_damping (rbRigidBody *object, float linear, float angular)
float	RB_body_get_linear_sleep_thresh (rbRigidBody *object)
void	RB_body_set_linear_sleep_thresh (rbRigidBody *object, float value)
float	RB_body_get_angular_sleep_thresh (rbRigidBody *object)
void	RB_body_set_angular_sleep_thresh (rbRigidBody *object, float value)
void	RB_body_set_sleep_thresh (rbRigidBody *object, float linear, float angular)
void	RB_body_get_linear_velocity (rbRigidBody *object, float v_out[3])
void	RB_body_set_linear_velocity (rbRigidBody *object, const float v_in[3])
void	RB_body_get_angular_velocity (rbRigidBody *object, float v_out[3])
void	RB_body_set_angular_velocity (rbRigidBody *object, const float v_in[3])
void	RB_body_set_linear_factor (rbRigidBody *object, float x, float y, float z)
void	RB_body_set_angular_factor (rbRigidBody *object, float x, float y, float z)
void	RB_body_set_kinematic_state (rbRigidBody *object, int kinematic)
void	RB_body_set_activation_state (rbRigidBody *object, int use_deactivation)
void	RB_body_activate (rbRigidBody *object)
void	RB_body_deactivate (rbRigidBody *object)
void	RB_body_get_transform_matrix (rbRigidBody *object, float m_out[4][4])
void	RB_body_set_loc_rot (rbRigidBody *object, const float loc[3], const float rot[4])
void	RB_body_set_scale (rbRigidBody *object, const float scale[3])
void	RB_body_get_position (rbRigidBody *object, float v_out[3])
void	RB_body_get_orientation (rbRigidBody *object, float v_out[4])
void	RB_body_get_scale (rbRigidBody *object, float v_out[3])
void	RB_body_apply_central_force (rbRigidBody *object, const float v_in[3])
rbCollisionShape *	RB_shape_new_box (float x, float y, float z)
rbCollisionShape *	RB_shape_new_sphere (float radius)
rbCollisionShape *	RB_shape_new_capsule (float radius, float height)
rbCollisionShape *	RB_shape_new_cone (float radius, float height)
rbCollisionShape *	RB_shape_new_cylinder (float radius, float height)
rbCollisionShape *	RB_shape_new_convex_hull (const float verts, int stride, int count, float margin, bool can_embed)
rbMeshData *	RB_trimesh_data_new (int num_tris, int num_verts)
static void	RB_trimesh_data_delete (rbMeshData *mesh)
void	RB_trimesh_add_vertices (rbMeshData mesh, float vertices, int num_verts, int vert_stride)
void	RB_trimesh_add_triangle_indices (rbMeshData *mesh, int num, int index0, int index1, int index2)
void	RB_trimesh_finish (rbMeshData *mesh)
rbCollisionShape *	RB_shape_new_trimesh (rbMeshData *mesh)
void	RB_shape_trimesh_update (rbCollisionShape shape, const float vertices, int num_verts, int vert_stride, const float min[3], const float max[3])
rbCollisionShape *	RB_shape_new_gimpact_mesh (rbMeshData *mesh)
rbCollisionShape *	RB_shape_new_compound ()
void	RB_compound_add_child_shape (rbCollisionShape parentShape, rbCollisionShape shape, const float loc[3], const float rot[4])
void	RB_shape_delete (rbCollisionShape *shape)
float	RB_shape_get_margin (rbCollisionShape *shape)
void	RB_shape_set_margin (rbCollisionShape *shape, float value)
void	RB_dworld_add_constraint (rbDynamicsWorld world, rbConstraint con, int disable_collisions)
void	RB_dworld_remove_constraint (rbDynamicsWorld world, rbConstraint con)
static void	make_constraint_transforms (btTransform &transform1, btTransform &transform2, btRigidBody body1, btRigidBody body2, const float pivot[3], const float orn[4])
rbConstraint *	RB_constraint_new_point (const float pivot[3], rbRigidBody rb1, rbRigidBody rb2)
rbConstraint *	RB_constraint_new_fixed (float pivot[3], float orn[4], rbRigidBody rb1, rbRigidBody rb2)
rbConstraint *	RB_constraint_new_hinge (float pivot[3], float orn[4], rbRigidBody rb1, rbRigidBody rb2)
rbConstraint *	RB_constraint_new_slider (float pivot[3], float orn[4], rbRigidBody rb1, rbRigidBody rb2)
rbConstraint *	RB_constraint_new_piston (float pivot[3], float orn[4], rbRigidBody rb1, rbRigidBody rb2)
rbConstraint *	RB_constraint_new_6dof (float pivot[3], float orn[4], rbRigidBody rb1, rbRigidBody rb2)
rbConstraint *	RB_constraint_new_6dof_spring (float pivot[3], float orn[4], rbRigidBody rb1, rbRigidBody rb2)
rbConstraint *	RB_constraint_new_6dof_spring2 (float pivot[3], float orn[4], rbRigidBody rb1, rbRigidBody rb2)
rbConstraint *	RB_constraint_new_motor (float pivot[3], float orn[4], rbRigidBody rb1, rbRigidBody rb2)
void	RB_constraint_delete (rbConstraint *con)
void	RB_constraint_set_enabled (rbConstraint *con, int enabled)
void	RB_constraint_set_limits_hinge (rbConstraint *con, float lower, float upper)
void	RB_constraint_set_limits_slider (rbConstraint *con, float lower, float upper)
void	RB_constraint_set_limits_piston (rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper)
void	RB_constraint_set_limits_6dof (rbConstraint *con, int axis, float lower, float upper)
void	RB_constraint_set_limits_6dof_spring2 (rbConstraint *con, int axis, float lower, float upper)
void	RB_constraint_set_stiffness_6dof_spring (rbConstraint *con, int axis, float stiffness)
void	RB_constraint_set_damping_6dof_spring (rbConstraint *con, int axis, float damping)
void	RB_constraint_set_spring_6dof_spring (rbConstraint *con, int axis, int enable)
void	RB_constraint_set_equilibrium_6dof_spring (rbConstraint *con)
void	RB_constraint_set_stiffness_6dof_spring2 (rbConstraint *con, int axis, float stiffness)
void	RB_constraint_set_damping_6dof_spring2 (rbConstraint *con, int axis, float damping)
void	RB_constraint_set_spring_6dof_spring2 (rbConstraint *con, int axis, int enable)
void	RB_constraint_set_equilibrium_6dof_spring2 (rbConstraint *con)
void	RB_constraint_set_solver_iterations (rbConstraint *con, int num_solver_iterations)
void	RB_constraint_set_breaking_threshold (rbConstraint *con, float threshold)
void	RB_constraint_set_enable_motor (rbConstraint *con, int enable_lin, int enable_ang)
void	RB_constraint_set_max_impulse_motor (rbConstraint *con, float max_impulse_lin, float max_impulse_ang)
void	RB_constraint_set_target_velocity_motor (rbConstraint *con, float velocity_lin, float velocity_ang)

Detailed Description

Rigid Body API implementation for Bullet.

Definition in file rb_bullet_api.cpp.

Function Documentation

◆ copy_quat_btquat()

void copy_quat_btquat	(	float	quat[4],
		const btQuaternion &	btquat )

inlinestatic

Definition at line 111 of file rb_bullet_api.cpp.

References btQuaternion::getW().

Referenced by RB_body_get_orientation().

◆ copy_v3_btvec3()

void copy_v3_btvec3	(	float	vec[3],
		const btVector3 &	btvec )

inlinestatic

Definition at line 105 of file rb_bullet_api.cpp.

References btVector3, and float.

Referenced by RB_body_get_angular_velocity(), RB_body_get_linear_velocity(), RB_body_get_position(), RB_body_get_scale(), and RB_dworld_get_gravity().

◆ make_constraint_transforms()

void make_constraint_transforms	(	btTransform &	transform1,
		btTransform &	transform2,
		btRigidBody *	body1,
		btRigidBody *	body2,
		const float	pivot[3],
		const float	orn[4] )

static

Definition at line 935 of file rb_bullet_api.cpp.

References btTransform, and btVector3.

Referenced by RB_constraint_new_6dof(), RB_constraint_new_6dof_spring(), RB_constraint_new_6dof_spring2(), RB_constraint_new_fixed(), RB_constraint_new_hinge(), RB_constraint_new_motor(), RB_constraint_new_piston(), and RB_constraint_new_slider().

◆ RB_body_activate()

void RB_body_activate ( rbRigidBody * object )

Definition at line 556 of file rb_bullet_api.cpp.

References ACTIVE_TAG.

◆ RB_body_apply_central_force()

void RB_body_apply_central_force	(	rbRigidBody *	object,
		const float	v_in[3] )

Definition at line 646 of file rb_bullet_api.cpp.

References btRigidBody::applyCentralForce(), and btVector3.

◆ RB_body_deactivate()

void RB_body_deactivate ( rbRigidBody * object )

Definition at line 561 of file rb_bullet_api.cpp.

References ISLAND_SLEEPING.

◆ RB_body_delete()

void RB_body_delete ( rbRigidBody * object )

Definition at line 334 of file rb_bullet_api.cpp.

References btTypedConstraint(), btRigidBody::getConstraintRef(), btRigidBody::getMotionState(), btRigidBody::getNumConstraintRefs(), i, and btRigidBody::removeConstraintRef().

◆ RB_body_get_angular_damping()

float RB_body_get_angular_damping ( rbRigidBody * object )

Definition at line 444 of file rb_bullet_api.cpp.

References btRigidBody::getAngularDamping().

◆ RB_body_get_angular_sleep_thresh()

float RB_body_get_angular_sleep_thresh ( rbRigidBody * object )

Definition at line 472 of file rb_bullet_api.cpp.

References btRigidBody::getAngularSleepingThreshold().

Referenced by RB_body_set_linear_sleep_thresh().

◆ RB_body_get_angular_velocity()

void RB_body_get_angular_velocity	(	rbRigidBody *	object,
		float	v_out[3] )

Definition at line 505 of file rb_bullet_api.cpp.

References copy_v3_btvec3(), and btRigidBody::getAngularVelocity().

◆ RB_body_get_friction()

float RB_body_get_friction ( rbRigidBody * object )

Definition at line 409 of file rb_bullet_api.cpp.

◆ RB_body_get_linear_damping()

float RB_body_get_linear_damping ( rbRigidBody * object )

Definition at line 433 of file rb_bullet_api.cpp.

References btRigidBody::getLinearDamping().

Referenced by RB_body_set_angular_damping(), and RB_body_set_linear_damping().

◆ RB_body_get_linear_sleep_thresh()

float RB_body_get_linear_sleep_thresh ( rbRigidBody * object )

Definition at line 461 of file rb_bullet_api.cpp.

References btRigidBody::getLinearSleepingThreshold().

Referenced by RB_body_set_angular_sleep_thresh().

◆ RB_body_get_linear_velocity()

void RB_body_get_linear_velocity	(	rbRigidBody *	object,
		float	v_out[3] )

Definition at line 491 of file rb_bullet_api.cpp.

References copy_v3_btvec3(), and btRigidBody::getLinearVelocity().

◆ RB_body_get_mass()

float RB_body_get_mass ( rbRigidBody * object )

Definition at line 374 of file rb_bullet_api.cpp.

References float, and btRigidBody::getInvMass().

Referenced by RB_body_set_collision_shape().

◆ RB_body_get_orientation()

void RB_body_get_orientation	(	rbRigidBody *	object,
		float	v_out[4] )

Definition at line 626 of file rb_bullet_api.cpp.

References copy_quat_btquat().

Referenced by ptcache_rigidbody_write().

◆ RB_body_get_position()

void RB_body_get_position	(	rbRigidBody *	object,
		float	v_out[3] )

Definition at line 619 of file rb_bullet_api.cpp.

References copy_v3_btvec3().

Referenced by ptcache_rigidbody_write().

◆ RB_body_get_restitution()

float RB_body_get_restitution ( rbRigidBody * object )

Definition at line 421 of file rb_bullet_api.cpp.

◆ RB_body_get_scale()

void RB_body_get_scale	(	rbRigidBody *	object,
		float	v_out[3] )

Definition at line 633 of file rb_bullet_api.cpp.

References btAssert, btCollisionShape, copy_v3_btvec3(), and btRigidBody::getCollisionShape().

◆ RB_body_get_transform_matrix()

void RB_body_get_transform_matrix	(	rbRigidBody *	object,
		float	m_out[4][4] )

Definition at line 575 of file rb_bullet_api.cpp.

References btTransform, btRigidBody::getMotionState(), and btMotionState::getWorldTransform().

◆ RB_body_new()

rbRigidBody * RB_body_new	(	rbCollisionShape *	shape,
		const float	loc[3],
		const float	rot[4] )

Definition at line 312 of file rb_bullet_api.cpp.

References btDefaultMotionState(), btTransform, btVector3, rbCollisionShape::cshape, and rot.

◆ RB_body_set_activation_state()

void RB_body_set_activation_state	(	rbRigidBody *	object,
		int	use_deactivation )

Definition at line 546 of file rb_bullet_api.cpp.

References ACTIVE_TAG, and DISABLE_DEACTIVATION.

◆ RB_body_set_angular_damping()

void RB_body_set_angular_damping	(	rbRigidBody *	object,
		float	value )

Definition at line 450 of file rb_bullet_api.cpp.

References RB_body_get_linear_damping(), and RB_body_set_damping().

◆ RB_body_set_angular_factor()

void RB_body_set_angular_factor	(	rbRigidBody *	object,
		float	x,
		float	y,
		float	z )

Definition at line 525 of file rb_bullet_api.cpp.

References btVector3, btRigidBody::setAngularFactor(), x, y, and z().

◆ RB_body_set_angular_sleep_thresh()

void RB_body_set_angular_sleep_thresh	(	rbRigidBody *	object,
		float	value )

Definition at line 478 of file rb_bullet_api.cpp.

References RB_body_get_linear_sleep_thresh(), and RB_body_set_sleep_thresh().

◆ RB_body_set_angular_velocity()

void RB_body_set_angular_velocity	(	rbRigidBody *	object,
		const float	v_in[3] )

Definition at line 512 of file rb_bullet_api.cpp.

References btVector3, and btRigidBody::setAngularVelocity().

◆ RB_body_set_collision_shape()

void RB_body_set_collision_shape	(	rbRigidBody *	object,
		rbCollisionShape *	shape )

Definition at line 361 of file rb_bullet_api.cpp.

References rbCollisionShape::cshape, RB_body_get_mass(), and RB_body_set_mass().

◆ RB_body_set_damping()

void RB_body_set_damping	(	rbRigidBody *	object,
		float	linear,
		float	angular )

Definition at line 455 of file rb_bullet_api.cpp.

References btRigidBody::setDamping().

Referenced by RB_body_set_angular_damping(), and RB_body_set_linear_damping().

◆ RB_body_set_friction()

void RB_body_set_friction	(	rbRigidBody *	object,
		float	value )

Definition at line 415 of file rb_bullet_api.cpp.

◆ RB_body_set_kinematic_state()

void RB_body_set_kinematic_state	(	rbRigidBody *	object,
		int	kinematic )

Definition at line 533 of file rb_bullet_api.cpp.

◆ RB_body_set_linear_damping()

void RB_body_set_linear_damping	(	rbRigidBody *	object,
		float	value )

Definition at line 439 of file rb_bullet_api.cpp.

References RB_body_get_linear_damping(), and RB_body_set_damping().

◆ RB_body_set_linear_factor()

void RB_body_set_linear_factor	(	rbRigidBody *	object,
		float	x,
		float	y,
		float	z )

Definition at line 519 of file rb_bullet_api.cpp.

References btVector3, btRigidBody::setLinearFactor(), x, y, and z().

◆ RB_body_set_linear_sleep_thresh()

void RB_body_set_linear_sleep_thresh	(	rbRigidBody *	object,
		float	value )

Definition at line 467 of file rb_bullet_api.cpp.

References RB_body_get_angular_sleep_thresh(), and RB_body_set_sleep_thresh().

◆ RB_body_set_linear_velocity()

void RB_body_set_linear_velocity	(	rbRigidBody *	object,
		const float	v_in[3] )

Definition at line 498 of file rb_bullet_api.cpp.

References btVector3, and btRigidBody::setLinearVelocity().

◆ RB_body_set_loc_rot()

void RB_body_set_loc_rot	(	rbRigidBody *	object,
		const float	loc[3],
		const float	rot[4] )

Definition at line 586 of file rb_bullet_api.cpp.

References btTransform, btVector3, btRigidBody::getMotionState(), rot, and btMotionState::setWorldTransform().

◆ RB_body_set_mass()

void RB_body_set_mass	(	rbRigidBody *	object,
		float	value )

Definition at line 390 of file rb_bullet_api.cpp.

References btCollisionShape, btTransform, btVector3, btRigidBody::getCollisionShape(), btRigidBody::setMassProps(), and btRigidBody::updateInertiaTensor().

Referenced by RB_body_set_collision_shape().

◆ RB_body_set_restitution()

void RB_body_set_restitution	(	rbRigidBody *	object,
		float	value )

Definition at line 427 of file rb_bullet_api.cpp.

◆ RB_body_set_scale()

void RB_body_set_scale	(	rbRigidBody *	object,
		const float	scale[3] )

Definition at line 600 of file rb_bullet_api.cpp.

References btCollisionShape, btVector3, btRigidBody::getCollisionShape(), and GIMPACT_SHAPE_PROXYTYPE.

◆ RB_body_set_sleep_thresh()

void RB_body_set_sleep_thresh	(	rbRigidBody *	object,
		float	linear,
		float	angular )

Definition at line 483 of file rb_bullet_api.cpp.

References btRigidBody::setSleepingThresholds().

Referenced by RB_body_set_angular_sleep_thresh(), and RB_body_set_linear_sleep_thresh().

◆ RB_compound_add_child_shape()

void RB_compound_add_child_shape	(	rbCollisionShape *	parentShape,
		rbCollisionShape *	shape,
		const float	loc[3],
		const float	rot[4] )

Definition at line 855 of file rb_bullet_api.cpp.

References btCompoundShape(), btTransform, btVector3, rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, and rot.

◆ RB_constraint_delete()

void RB_constraint_delete ( rbConstraint * con )

Definition at line 1116 of file rb_bullet_api.cpp.

References btTypedConstraint().

◆ RB_constraint_new_6dof()

rbConstraint * RB_constraint_new_6dof	(	float	pivot[3],
		float	orn[4],
		rbRigidBody *	rb1,
		rbRigidBody *	rb2 )

Definition at line 1035 of file rb_bullet_api.cpp.

References rbRigidBody::body, btGeneric6DofConstraint(), btTransform, btTypedConstraint(), and make_constraint_transforms().

◆ RB_constraint_new_6dof_spring()

rbConstraint * RB_constraint_new_6dof_spring	(	float	pivot[3],
		float	orn[4],
		rbRigidBody *	rb1,
		rbRigidBody *	rb2 )

Definition at line 1053 of file rb_bullet_api.cpp.

References rbRigidBody::body, btGeneric6DofSpringConstraint(), btTransform, btTypedConstraint(), and make_constraint_transforms().

◆ RB_constraint_new_6dof_spring2()

rbConstraint * RB_constraint_new_6dof_spring2	(	float	pivot[3],
		float	orn[4],
		rbRigidBody *	rb1,
		rbRigidBody *	rb2 )

Definition at line 1071 of file rb_bullet_api.cpp.

References rbRigidBody::body, btGeneric6DofSpring2Constraint(), btTransform, btTypedConstraint(), and make_constraint_transforms().

◆ RB_constraint_new_fixed()

rbConstraint * RB_constraint_new_fixed	(	float	pivot[3],
		float	orn[4],
		rbRigidBody *	rb1,
		rbRigidBody *	rb2 )

Definition at line 966 of file rb_bullet_api.cpp.

References rbRigidBody::body, btTransform, and make_constraint_transforms().

◆ RB_constraint_new_hinge()

rbConstraint * RB_constraint_new_hinge	(	float	pivot[3],
		float	orn[4],
		rbRigidBody *	rb1,
		rbRigidBody *	rb2 )

Definition at line 983 of file rb_bullet_api.cpp.

References rbRigidBody::body, btHingeConstraint(), btTransform, and make_constraint_transforms().

◆ RB_constraint_new_motor()

rbConstraint * RB_constraint_new_motor	(	float	pivot[3],
		float	orn[4],
		rbRigidBody *	rb1,
		rbRigidBody *	rb2 )

Definition at line 1089 of file rb_bullet_api.cpp.

References rbRigidBody::body, btGeneric6DofConstraint(), btTransform, i, and make_constraint_transforms().

◆ RB_constraint_new_piston()

rbConstraint * RB_constraint_new_piston	(	float	pivot[3],
		float	orn[4],
		rbRigidBody *	rb1,
		rbRigidBody *	rb2 )

Definition at line 1017 of file rb_bullet_api.cpp.

References rbRigidBody::body, btSliderConstraint(), btTransform, and make_constraint_transforms().

◆ RB_constraint_new_point()

rbConstraint * RB_constraint_new_point	(	const float	pivot[3],
		rbRigidBody *	rb1,
		rbRigidBody *	rb2 )

Definition at line 951 of file rb_bullet_api.cpp.

References rbRigidBody::body, btPoint2PointConstraint(), btTypedConstraint(), and btVector3.

◆ RB_constraint_new_slider()

rbConstraint * RB_constraint_new_slider	(	float	pivot[3],
		float	orn[4],
		rbRigidBody *	rb1,
		rbRigidBody *	rb2 )

Definition at line 1000 of file rb_bullet_api.cpp.

References rbRigidBody::body, btSliderConstraint(), btTransform, and make_constraint_transforms().

◆ RB_constraint_set_breaking_threshold()

void RB_constraint_set_breaking_threshold	(	rbConstraint *	con,
		float	threshold )

Definition at line 1258 of file rb_bullet_api.cpp.

References btTypedConstraint().

◆ RB_constraint_set_damping_6dof_spring()

void RB_constraint_set_damping_6dof_spring	(	rbConstraint *	con,
		int	axis,
		float	damping )

Definition at line 1192 of file rb_bullet_api.cpp.

References btGeneric6DofSpringConstraint().

◆ RB_constraint_set_damping_6dof_spring2()

void RB_constraint_set_damping_6dof_spring2	(	rbConstraint *	con,
		int	axis,
		float	damping )

Definition at line 1227 of file rb_bullet_api.cpp.

References btGeneric6DofSpring2Constraint().

◆ RB_constraint_set_enable_motor()

void RB_constraint_set_enable_motor	(	rbConstraint *	con,
		int	enable_lin,
		int	enable_ang )

Definition at line 1265 of file rb_bullet_api.cpp.

References btGeneric6DofConstraint().

◆ RB_constraint_set_enabled()

void RB_constraint_set_enabled	(	rbConstraint *	con,
		int	enabled )

Definition at line 1131 of file rb_bullet_api.cpp.

References btTypedConstraint(), and enabled.

◆ RB_constraint_set_equilibrium_6dof_spring()

void RB_constraint_set_equilibrium_6dof_spring ( rbConstraint * con )

Definition at line 1211 of file rb_bullet_api.cpp.

References btGeneric6DofSpringConstraint().

◆ RB_constraint_set_equilibrium_6dof_spring2()

void RB_constraint_set_equilibrium_6dof_spring2 ( rbConstraint * con )

Definition at line 1243 of file rb_bullet_api.cpp.

References btGeneric6DofSpring2Constraint().

◆ RB_constraint_set_limits_6dof()

void RB_constraint_set_limits_6dof	(	rbConstraint *	con,
		int	axis,
		float	lower,
		float	upper )

Definition at line 1169 of file rb_bullet_api.cpp.

References btGeneric6DofConstraint().

◆ RB_constraint_set_limits_6dof_spring2()

void RB_constraint_set_limits_6dof_spring2	(	rbConstraint *	con,
		int	axis,
		float	lower,
		float	upper )

Definition at line 1176 of file rb_bullet_api.cpp.

References btGeneric6DofSpring2Constraint().

◆ RB_constraint_set_limits_hinge()

void RB_constraint_set_limits_hinge	(	rbConstraint *	con,
		float	lower,
		float	upper )

Definition at line 1138 of file rb_bullet_api.cpp.

References btHingeConstraint().

◆ RB_constraint_set_limits_piston()

void RB_constraint_set_limits_piston	(	rbConstraint *	con,
		float	lin_lower,
		float	lin_upper,
		float	ang_lower,
		float	ang_upper )

Definition at line 1158 of file rb_bullet_api.cpp.

References btSliderConstraint().

◆ RB_constraint_set_limits_slider()

void RB_constraint_set_limits_slider	(	rbConstraint *	con,
		float	lower,
		float	upper )

Definition at line 1150 of file rb_bullet_api.cpp.

References btSliderConstraint().

◆ RB_constraint_set_max_impulse_motor()

void RB_constraint_set_max_impulse_motor	(	rbConstraint *	con,
		float	max_impulse_lin,
		float	max_impulse_ang )

Definition at line 1273 of file rb_bullet_api.cpp.

References btGeneric6DofConstraint().

◆ RB_constraint_set_solver_iterations()

void RB_constraint_set_solver_iterations	(	rbConstraint *	con,
		int	num_solver_iterations )

Definition at line 1251 of file rb_bullet_api.cpp.

References btTypedConstraint().

◆ RB_constraint_set_spring_6dof_spring()

void RB_constraint_set_spring_6dof_spring	(	rbConstraint *	con,
		int	axis,
		int	enable )

Definition at line 1203 of file rb_bullet_api.cpp.

References btGeneric6DofSpringConstraint().

◆ RB_constraint_set_spring_6dof_spring2()

void RB_constraint_set_spring_6dof_spring2	(	rbConstraint *	con,
		int	axis,
		int	enable )

Definition at line 1235 of file rb_bullet_api.cpp.

References btGeneric6DofSpring2Constraint().

◆ RB_constraint_set_stiffness_6dof_spring()

void RB_constraint_set_stiffness_6dof_spring	(	rbConstraint *	con,
		int	axis,
		float	stiffness )

Definition at line 1184 of file rb_bullet_api.cpp.

References btGeneric6DofSpringConstraint().

◆ RB_constraint_set_stiffness_6dof_spring2()

void RB_constraint_set_stiffness_6dof_spring2	(	rbConstraint *	con,
		int	axis,
		float	stiffness )

Definition at line 1219 of file rb_bullet_api.cpp.

References btGeneric6DofSpring2Constraint().

◆ RB_constraint_set_target_velocity_motor()

void RB_constraint_set_target_velocity_motor	(	rbConstraint *	con,
		float	velocity_lin,
		float	velocity_ang )

Definition at line 1283 of file rb_bullet_api.cpp.

References btGeneric6DofConstraint().

◆ RB_dworld_add_body()

void RB_dworld_add_body	(	rbDynamicsWorld *	world,
		rbRigidBody *	object,
		int	col_groups )

Definition at line 230 of file rb_bullet_api.cpp.

References rbDynamicsWorld::dynamicsWorld.

◆ RB_dworld_add_constraint()

void RB_dworld_add_constraint	(	rbDynamicsWorld *	world,
		rbConstraint *	con,
		int	disable_collisions )

Definition at line 919 of file rb_bullet_api.cpp.

References btTypedConstraint(), and rbDynamicsWorld::dynamicsWorld.

◆ RB_dworld_delete()

void RB_dworld_delete ( rbDynamicsWorld * world )

Definition at line 151 of file rb_bullet_api.cpp.

References rbDynamicsWorld::collisionConfiguration, rbDynamicsWorld::constraintSolver, rbDynamicsWorld::dispatcher, rbDynamicsWorld::dynamicsWorld, rbDynamicsWorld::filterCallback, and rbDynamicsWorld::pairCache.

◆ RB_dworld_export()

void RB_dworld_export	(	rbDynamicsWorld *	world,
		const char *	filename )

Exports entire dynamics world to Bullet's "*.bullet" binary format which is similar to Blender's SDNA system.

Parameters

world	Dynamics world to write to file
filename	Assumed to be a valid filename, with .bullet extension

Definition at line 207 of file rb_bullet_api.cpp.

References rbDynamicsWorld::dynamicsWorld, btDefaultSerializer::getBufferPointer(), and btDefaultSerializer::getCurrentBufferSize().

Referenced by rigidbody_world_export_exec().

◆ RB_dworld_get_gravity()

void RB_dworld_get_gravity	(	rbDynamicsWorld *	world,
		float	g_out[3] )

Definition at line 167 of file rb_bullet_api.cpp.

References copy_v3_btvec3(), and rbDynamicsWorld::dynamicsWorld.

◆ RB_dworld_new()

rbDynamicsWorld * RB_dworld_new ( const float gravity[3] )

Definition at line 124 of file rb_bullet_api.cpp.

References btDiscreteDynamicsWorld(), btSequentialImpulseConstraintSolver(), rbDynamicsWorld::collisionConfiguration, rbDynamicsWorld::constraintSolver, rbDynamicsWorld::dispatcher, rbDynamicsWorld::dynamicsWorld, rbDynamicsWorld::filterCallback, btBroadphaseInterface::getOverlappingPairCache(), rbDynamicsWorld::pairCache, RB_dworld_set_gravity(), btGImpactCollisionAlgorithm::registerAlgorithm(), and btOverlappingPairCache::setOverlapFilterCallback().

◆ RB_dworld_remove_body()

void RB_dworld_remove_body	(	rbDynamicsWorld *	world,
		rbRigidBody *	object )

Definition at line 238 of file rb_bullet_api.cpp.

References rbDynamicsWorld::dynamicsWorld.

◆ RB_dworld_remove_constraint()

void RB_dworld_remove_constraint	(	rbDynamicsWorld *	world,
		rbConstraint *	con )

Definition at line 926 of file rb_bullet_api.cpp.

References btTypedConstraint(), and rbDynamicsWorld::dynamicsWorld.

◆ RB_dworld_set_gravity()

void RB_dworld_set_gravity	(	rbDynamicsWorld *	world,
		const float	g_in[3] )

Definition at line 172 of file rb_bullet_api.cpp.

References btVector3, and rbDynamicsWorld::dynamicsWorld.

Referenced by RB_dworld_new().

◆ RB_dworld_set_solver_iterations()

void RB_dworld_set_solver_iterations	(	rbDynamicsWorld *	world,
		int	num_solver_iterations )

Definition at line 179 of file rb_bullet_api.cpp.

References rbDynamicsWorld::dynamicsWorld, and btContactSolverInfoData::m_numIterations.

◆ RB_dworld_set_split_impulse()

void RB_dworld_set_split_impulse	(	rbDynamicsWorld *	world,
		int	split_impulse )

Definition at line 188 of file rb_bullet_api.cpp.

References rbDynamicsWorld::dynamicsWorld, and btContactSolverInfoData::m_splitImpulse.

◆ RB_dworld_step_simulation()

void RB_dworld_step_simulation	(	rbDynamicsWorld *	world,
		float	timeStep,
		int	maxSubSteps,
		float	timeSubStep )

Definition at line 197 of file rb_bullet_api.cpp.

References rbDynamicsWorld::dynamicsWorld.

◆ RB_shape_delete()

void RB_shape_delete ( rbCollisionShape * shape )

Definition at line 878 of file rb_bullet_api.cpp.

References btBvhTriangleMeshShape(), btScaledBvhTriangleMeshShape(), rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, free(), i, rbCollisionShape::mesh, RB_shape_delete(), RB_trimesh_data_delete(), and SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE.

Referenced by RB_shape_delete().

◆ RB_shape_get_margin()

float RB_shape_get_margin ( rbCollisionShape * shape )

Definition at line 904 of file rb_bullet_api.cpp.

References rbCollisionShape::cshape.

◆ RB_shape_new_box()

rbCollisionShape * RB_shape_new_box	(	float	x,
		float	y,
		float	z )

Definition at line 658 of file rb_bullet_api.cpp.

References btBoxShape(), btVector3, rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, rbCollisionShape::mesh, x, y, and z().

◆ RB_shape_new_capsule()

rbCollisionShape * RB_shape_new_capsule	(	float	radius,
		float	height )

Definition at line 678 of file rb_bullet_api.cpp.

References rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, and rbCollisionShape::mesh.

◆ RB_shape_new_compound()

rbCollisionShape * RB_shape_new_compound ( void )

Definition at line 843 of file rb_bullet_api.cpp.

References btCompoundShape(), rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, and rbCollisionShape::mesh.

◆ RB_shape_new_cone()

rbCollisionShape * RB_shape_new_cone	(	float	radius,
		float	height )

Definition at line 688 of file rb_bullet_api.cpp.

References rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, and rbCollisionShape::mesh.

◆ RB_shape_new_convex_hull()

rbCollisionShape * RB_shape_new_convex_hull	(	const float *	verts,
		int	stride,
		int	count,
		float	margin,
		bool *	can_embed )

Definition at line 710 of file rb_bullet_api.cpp.

References btConvexHullShape(), rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, count, rbCollisionShape::cshape, rbCollisionShape::mesh, btAlignedObjectArray< T >::size(), btConvexHullComputer::vertices, and verts.

◆ RB_shape_new_cylinder()

rbCollisionShape * RB_shape_new_cylinder	(	float	radius,
		float	height )

Definition at line 698 of file rb_bullet_api.cpp.

References btVector3, rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, and rbCollisionShape::mesh.

◆ RB_shape_new_gimpact_mesh()

rbCollisionShape * RB_shape_new_gimpact_mesh ( rbMeshData * mesh )

Definition at line 827 of file rb_bullet_api.cpp.

References rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, rbMeshData::index_array, rbCollisionShape::mesh, and btGImpactShapeInterface::updateBound().

◆ RB_shape_new_sphere()

rbCollisionShape * RB_shape_new_sphere ( float radius )

Definition at line 668 of file rb_bullet_api.cpp.

References btSphereShape(), rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, and rbCollisionShape::mesh.

◆ RB_shape_new_trimesh()

rbCollisionShape * RB_shape_new_trimesh ( rbMeshData * mesh )

Definition at line 782 of file rb_bullet_api.cpp.

References btBvhTriangleMeshShape(), btScaledBvhTriangleMeshShape(), btVector3, rbCollisionShape::compoundChilds, rbCollisionShape::compoundChildShapes, rbCollisionShape::cshape, rbMeshData::index_array, and rbCollisionShape::mesh.

◆ RB_shape_set_margin()

void RB_shape_set_margin	(	rbCollisionShape *	shape,
		float	value )

Definition at line 909 of file rb_bullet_api.cpp.

References rbCollisionShape::cshape.

◆ RB_shape_trimesh_update()

void RB_shape_trimesh_update	(	rbCollisionShape *	shape,
		const float *	vertices,
		int	num_verts,
		int	vert_stride,
		const float	min[3],
		const float	max[3] )

Definition at line 798 of file rb_bullet_api.cpp.

References btBvhTriangleMeshShape(), btScaledBvhTriangleMeshShape(), btVector3, rbCollisionShape::cshape, GIMPACT_SHAPE_PROXYTYPE, i, max, rbCollisionShape::mesh, min, rbMeshData::num_vertices, SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE, btGImpactShapeInterface::updateBound(), rbMeshData::vertices, rbVert::x, rbVert::y, and rbVert::z.

◆ RB_trimesh_add_triangle_indices()

void RB_trimesh_add_triangle_indices	(	rbMeshData *	mesh,
		int	num,
		int	index0,
		int	index1,
		int	index2 )

Definition at line 765 of file rb_bullet_api.cpp.

References num, rbMeshData::triangles, rbTri::v0, rbTri::v1, and rbTri::v2.

◆ RB_trimesh_add_vertices()

void RB_trimesh_add_vertices	(	rbMeshData *	mesh,
		float *	vertices,
		int	num_verts,
		int	vert_stride )

Definition at line 756 of file rb_bullet_api.cpp.

References i, rbMeshData::vertices, rbVert::x, rbVert::y, and rbVert::z.

◆ RB_trimesh_data_delete()

void RB_trimesh_data_delete ( rbMeshData * mesh )

static

Definition at line 748 of file rb_bullet_api.cpp.

References rbMeshData::index_array, rbMeshData::triangles, and rbMeshData::vertices.

Referenced by RB_shape_delete().

◆ RB_trimesh_data_new()

rbMeshData * RB_trimesh_data_new	(	int	num_tris,
		int	num_verts )

Definition at line 737 of file rb_bullet_api.cpp.

References rbMeshData::num_triangles, rbMeshData::num_vertices, rbMeshData::triangles, and rbMeshData::vertices.

◆ RB_trimesh_finish()

void RB_trimesh_finish ( rbMeshData * mesh )

Definition at line 772 of file rb_bullet_api.cpp.

References btTriangleIndexVertexArray(), rbMeshData::index_array, rbMeshData::num_triangles, rbMeshData::num_vertices, rbMeshData::triangles, and rbMeshData::vertices.

◆ RB_world_convex_sweep_test()

void RB_world_convex_sweep_test	(	rbDynamicsWorld *	world,
		rbRigidBody *	object,
		const float	loc_start[3],
		const float	loc_end[3],
		float	v_location[3],
		float	v_hitpoint[3],
		float	v_normal[3],
		int *	r_hit )

Definition at line 247 of file rb_bullet_api.cpp.

References btCollisionShape, btConvexShape(), btTransform, btVector3, rbDynamicsWorld::dynamicsWorld, btRigidBody::getCollisionShape(), and result.

Classes

Functions

Detailed Description

Function Documentation

◆ copy_quat_btquat()

◆ copy_v3_btvec3()

◆ make_constraint_transforms()

◆ RB_body_activate()

◆ RB_body_apply_central_force()

◆ RB_body_deactivate()

◆ RB_body_delete()

◆ RB_body_get_angular_damping()

◆ RB_body_get_angular_sleep_thresh()

◆ RB_body_get_angular_velocity()

◆ RB_body_get_friction()

◆ RB_body_get_linear_damping()

◆ RB_body_get_linear_sleep_thresh()

◆ RB_body_get_linear_velocity()

◆ RB_body_get_mass()

◆ RB_body_get_orientation()

◆ RB_body_get_position()

◆ RB_body_get_restitution()

◆ RB_body_get_scale()

◆ RB_body_get_transform_matrix()

◆ RB_body_new()

◆ RB_body_set_activation_state()

◆ RB_body_set_angular_damping()

◆ RB_body_set_angular_factor()

◆ RB_body_set_angular_sleep_thresh()

◆ RB_body_set_angular_velocity()

◆ RB_body_set_collision_shape()

◆ RB_body_set_damping()

◆ RB_body_set_friction()

◆ RB_body_set_kinematic_state()

◆ RB_body_set_linear_damping()

◆ RB_body_set_linear_factor()

◆ RB_body_set_linear_sleep_thresh()

◆ RB_body_set_linear_velocity()

◆ RB_body_set_loc_rot()

◆ RB_body_set_mass()

◆ RB_body_set_restitution()

◆ RB_body_set_scale()

◆ RB_body_set_sleep_thresh()

◆ RB_compound_add_child_shape()

◆ RB_constraint_delete()

◆ RB_constraint_new_6dof()

◆ RB_constraint_new_6dof_spring()

◆ RB_constraint_new_6dof_spring2()

◆ RB_constraint_new_fixed()

◆ RB_constraint_new_hinge()

◆ RB_constraint_new_motor()

◆ RB_constraint_new_piston()

◆ RB_constraint_new_point()

◆ RB_constraint_new_slider()

◆ RB_constraint_set_breaking_threshold()

◆ RB_constraint_set_damping_6dof_spring()

◆ RB_constraint_set_damping_6dof_spring2()

◆ RB_constraint_set_enable_motor()

◆ RB_constraint_set_enabled()

◆ RB_constraint_set_equilibrium_6dof_spring()

◆ RB_constraint_set_equilibrium_6dof_spring2()

◆ RB_constraint_set_limits_6dof()

◆ RB_constraint_set_limits_6dof_spring2()

◆ RB_constraint_set_limits_hinge()

◆ RB_constraint_set_limits_piston()

◆ RB_constraint_set_limits_slider()

◆ RB_constraint_set_max_impulse_motor()

◆ RB_constraint_set_solver_iterations()

◆ RB_constraint_set_spring_6dof_spring()

◆ RB_constraint_set_spring_6dof_spring2()

◆ RB_constraint_set_stiffness_6dof_spring()

◆ RB_constraint_set_stiffness_6dof_spring2()

◆ RB_constraint_set_target_velocity_motor()

◆ RB_dworld_add_body()

◆ RB_dworld_add_constraint()

◆ RB_dworld_delete()

◆ RB_dworld_export()

◆ RB_dworld_get_gravity()

◆ RB_dworld_new()

◆ RB_dworld_remove_body()