btSimpleDynamicsWorld Class Reference

#include <btSimpleDynamicsWorld.h>

Inherits btDynamicsWorld.

Public Member Functions
	btSimpleDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
	this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
virtual	~btSimpleDynamicsWorld ()
virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
	maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
virtual void	setGravity (const btVector3 &gravity)
virtual btVector3	getGravity () const
virtual void	addRigidBody (btRigidBody *body)
virtual void	addRigidBody (btRigidBody *body, int group, int mask)
virtual void	removeRigidBody (btRigidBody *body)
virtual void	debugDrawWorld ()
virtual void	addAction (btActionInterface *action)
virtual void	removeAction (btActionInterface *action)
virtual void	removeCollisionObject (btCollisionObject *collisionObject)
	removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
virtual void	updateAabbs ()
virtual void	synchronizeMotionStates ()
virtual void	setConstraintSolver (btConstraintSolver *solver)
virtual btConstraintSolver *	getConstraintSolver ()
virtual btDynamicsWorldType	getWorldType () const
virtual void	clearForces ()
Public Member Functions inherited from btDynamicsWorld
	btDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration)
virtual	~btDynamicsWorld ()
virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
virtual void	removeConstraint (btTypedConstraint *constraint)
virtual int	getNumConstraints () const
virtual btTypedConstraint *	getConstraint (int index)
virtual const btTypedConstraint *	getConstraint (int index) const
void	setInternalTickCallback (btInternalTickCallback cb, void *worldUserInfo=0, bool isPreTick=false)
	Set the callback for when an internal tick (simulation substep) happens, optional user info.
void	setWorldUserInfo (void *worldUserInfo)
void *	getWorldUserInfo () const
btContactSolverInfo &	getSolverInfo ()
const btContactSolverInfo &	getSolverInfo () const
virtual void	addVehicle (btActionInterface *vehicle)
	obsolete, use addAction instead.
virtual void	removeVehicle (btActionInterface *vehicle)
	obsolete, use removeAction instead
virtual void	addCharacter (btActionInterface *character)
	obsolete, use addAction instead.
virtual void	removeCharacter (btActionInterface *character)
	obsolete, use removeAction instead
Public Member Functions inherited from btCollisionWorld
	btCollisionWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
	for debug drawing
virtual	~btCollisionWorld ()
void	setBroadphase (btBroadphaseInterface *pairCache)
const btBroadphaseInterface *	getBroadphase () const
btBroadphaseInterface *	getBroadphase ()
btOverlappingPairCache *	getPairCache ()
btDispatcher *	getDispatcher ()
const btDispatcher *	getDispatcher () const
void	updateSingleAabb (btCollisionObject *colObj)
virtual void	computeOverlappingPairs ()
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
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	performDiscreteCollisionDetection ()
btDispatcherInfo &	getDispatchInfo ()
const btDispatcherInfo &	getDispatchInfo () const
bool	getForceUpdateAllAabbs () const
void	setForceUpdateAllAabbs (bool forceUpdateAllAabbs)
virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo).

Protected Member Functions
void	predictUnconstraintMotion (btScalar timeStep)
void	integrateTransforms (btScalar timeStep)
Protected Member Functions inherited from btCollisionWorld
void	serializeCollisionObjects (btSerializer *serializer)
void	serializeContactManifolds (btSerializer *serializer)

Protected Attributes
btConstraintSolver *	m_constraintSolver
bool	m_ownsConstraintSolver
btVector3	m_gravity
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

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)
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)

Detailed Description

The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds. Please use btDiscreteDynamicsWorld instead

Definition at line 27 of file btSimpleDynamicsWorld.h.

Constructor & Destructor Documentation

btSimpleDynamicsWorld()

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

this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver

Definition at line 35 of file btSimpleDynamicsWorld.cpp.

References btDynamicsWorld::btDynamicsWorld(), false, m_constraintSolver, m_gravity, and m_ownsConstraintSolver.

~btSimpleDynamicsWorld()

btSimpleDynamicsWorld::~btSimpleDynamicsWorld ( )

virtual

Definition at line 43 of file btSimpleDynamicsWorld.cpp.

References btAlignedFree, m_constraintSolver, and m_ownsConstraintSolver.

Member Function Documentation

addAction()

void btSimpleDynamicsWorld::addAction ( btActionInterface * action )

virtual

Implements btDynamicsWorld.

Definition at line 162 of file btSimpleDynamicsWorld.cpp.

addRigidBody() [1/2]

void btSimpleDynamicsWorld::addRigidBody ( btRigidBody * body )

virtual

Implements btDynamicsWorld.

Definition at line 138 of file btSimpleDynamicsWorld.cpp.

References btCollisionWorld::addCollisionObject(), btRigidBody::getCollisionShape(), m_gravity, and btRigidBody::setGravity().

addRigidBody() [2/2]

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

virtual

Implements btDynamicsWorld.

Definition at line 148 of file btSimpleDynamicsWorld.cpp.

References btCollisionWorld::addCollisionObject(), btRigidBody::getCollisionShape(), m_gravity, mask(), and btRigidBody::setGravity().

clearForces()

void btSimpleDynamicsWorld::clearForces ( )

virtual

Todo

: iterate over awake simulation islands!

Implements btDynamicsWorld.

Definition at line 90 of file btSimpleDynamicsWorld.cpp.

References btCollisionObject, btRigidBody::clearForces(), i, btCollisionWorld::m_collisionObjects, and btRigidBody::upcast().

Referenced by stepSimulation().

debugDrawWorld()

void btSimpleDynamicsWorld::debugDrawWorld ( )

virtual

Implements btDynamicsWorld.

Definition at line 158 of file btSimpleDynamicsWorld.cpp.

getConstraintSolver()

btConstraintSolver * btSimpleDynamicsWorld::getConstraintSolver ( )

virtual

Implements btDynamicsWorld.

Definition at line 257 of file btSimpleDynamicsWorld.cpp.

References m_constraintSolver.

getGravity()

btVector3 btSimpleDynamicsWorld::getGravity ( ) const

virtual

Implements btDynamicsWorld.

Definition at line 119 of file btSimpleDynamicsWorld.cpp.

References btVector3, and m_gravity.

getWorldType()

virtual btDynamicsWorldType btSimpleDynamicsWorld::getWorldType ( ) const

inlinevirtual

Implements btDynamicsWorld.

Definition at line 76 of file btSimpleDynamicsWorld.h.

References BT_SIMPLE_DYNAMICS_WORLD.

integrateTransforms()

void btSimpleDynamicsWorld::integrateTransforms ( btScalar timeStep )

protected

Definition at line 190 of file btSimpleDynamicsWorld.cpp.

References btCollisionObject, btTransform, i, btCollisionWorld::m_collisionObjects, btRigidBody::predictIntegratedTransform(), btRigidBody::proceedToTransform(), and btRigidBody::upcast().

Referenced by stepSimulation().

predictUnconstraintMotion()

void btSimpleDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep )

protected

Definition at line 208 of file btSimpleDynamicsWorld.cpp.

References btRigidBody::applyDamping(), btRigidBody::applyGravity(), btCollisionObject, i, btRigidBody::integrateVelocities(), btCollisionWorld::m_collisionObjects, btRigidBody::predictIntegratedTransform(), and btRigidBody::upcast().

Referenced by stepSimulation().

removeAction()

void btSimpleDynamicsWorld::removeAction ( btActionInterface * action )

virtual

Implements btDynamicsWorld.

Definition at line 166 of file btSimpleDynamicsWorld.cpp.

removeCollisionObject()

void btSimpleDynamicsWorld::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.

Definition at line 129 of file btSimpleDynamicsWorld.cpp.

References btCollisionObject, btCollisionWorld::removeCollisionObject(), removeRigidBody(), and btRigidBody::upcast().

removeRigidBody()

void btSimpleDynamicsWorld::removeRigidBody ( btRigidBody * body )

virtual

Implements btDynamicsWorld.

Definition at line 124 of file btSimpleDynamicsWorld.cpp.

References btCollisionWorld::removeCollisionObject().

Referenced by removeCollisionObject().

setConstraintSolver()

void btSimpleDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver )

virtual

Implements btDynamicsWorld.

Definition at line 247 of file btSimpleDynamicsWorld.cpp.

References btAlignedFree, m_constraintSolver, and m_ownsConstraintSolver.

setGravity()

void btSimpleDynamicsWorld::setGravity ( const btVector3 & gravity )

virtual

Implements btDynamicsWorld.

Definition at line 105 of file btSimpleDynamicsWorld.cpp.

References btCollisionObject, btVector3, i, btCollisionWorld::m_collisionObjects, m_gravity, btRigidBody::setGravity(), and btRigidBody::upcast().

stepSimulation()

int btSimpleDynamicsWorld::stepSimulation ( btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.) )

virtual

maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead

apply gravity, predict motion

perform collision detection

solve contact constraints

integrate transforms

Implements btDynamicsWorld.

Definition at line 49 of file btSimpleDynamicsWorld.cpp.

References btPersistentManifold(), clearForces(), btCollisionWorld::getCollisionObjectArray(), btCollisionWorld::getDebugDrawer(), btCollisionWorld::getDispatchInfo(), btCollisionWorld::getNumCollisionObjects(), infoGlobal, integrateTransforms(), m_constraintSolver, btDispatcherInfo::m_debugDraw, btCollisionWorld::m_debugDrawer, btCollisionWorld::m_dispatcher1, btDispatcherInfo::m_stepCount, btDispatcherInfo::m_timeStep, manifoldPtr, numManifolds, btCollisionWorld::performDiscreteCollisionDetection(), predictUnconstraintMotion(), synchronizeMotionStates(), and updateAabbs().

synchronizeMotionStates()

void btSimpleDynamicsWorld::synchronizeMotionStates ( )

virtual

Todo

: iterate over awake simulation islands!

Implements btDynamicsWorld.

Definition at line 230 of file btSimpleDynamicsWorld.cpp.

References btCollisionObject, btRigidBody::getMotionState(), i, ISLAND_SLEEPING, btCollisionWorld::m_collisionObjects, btMotionState::setWorldTransform(), and btRigidBody::upcast().

Referenced by stepSimulation().

updateAabbs()

void btSimpleDynamicsWorld::updateAabbs ( )

virtual

Reimplemented from btCollisionWorld.

Definition at line 170 of file btSimpleDynamicsWorld.cpp.

References btCollisionObject, btTransform, btVector3, btCollisionWorld::getBroadphase(), i, btCollisionWorld::m_collisionObjects, btCollisionWorld::m_dispatcher1, btBroadphaseInterface::setAabb(), and btRigidBody::upcast().

Referenced by stepSimulation().

Member Data Documentation

m_constraintSolver

btConstraintSolver* btSimpleDynamicsWorld::m_constraintSolver

protected

Definition at line 30 of file btSimpleDynamicsWorld.h.

Referenced by btSimpleDynamicsWorld(), getConstraintSolver(), setConstraintSolver(), stepSimulation(), and ~btSimpleDynamicsWorld().

m_gravity

btVector3 btSimpleDynamicsWorld::m_gravity

protected

Definition at line 38 of file btSimpleDynamicsWorld.h.

Referenced by addRigidBody(), addRigidBody(), btSimpleDynamicsWorld(), getGravity(), and setGravity().

m_ownsConstraintSolver

bool btSimpleDynamicsWorld::m_ownsConstraintSolver

protected

Definition at line 32 of file btSimpleDynamicsWorld.h.

Referenced by btSimpleDynamicsWorld(), setConstraintSolver(), and ~btSimpleDynamicsWorld().

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

• btSimpleDynamicsWorld.h
• btSimpleDynamicsWorld.cpp