Rigid Body API implementation for Bullet. More...

#include <errno.h>
#include <stdio.h>
#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()

static 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()

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

inlinestatic

Definition at line 105 of file rb_bullet_api.cpp.

References 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()

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

static

Definition at line 939 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 560 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 650 of file rb_bullet_api.cpp.

References btRigidBody::applyCentralForce(), and btVector3.

◆ RB_body_deactivate()

void RB_body_deactivate ( rbRigidBody * object )

Definition at line 565 of file rb_bullet_api.cpp.

References ISLAND_SLEEPING.

◆ RB_body_delete()

void RB_body_delete ( rbRigidBody * object )

Definition at line 338 of file rb_bullet_api.cpp.

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

◆ RB_body_get_angular_damping()

float RB_body_get_angular_damping ( rbRigidBody * object )

Definition at line 448 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 476 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 509 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 413 of file rb_bullet_api.cpp.

◆ RB_body_get_linear_damping()

float RB_body_get_linear_damping ( rbRigidBody * object )

Definition at line 437 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 465 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 495 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 378 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 630 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 623 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 425 of file rb_bullet_api.cpp.

◆ RB_body_get_scale()

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

Definition at line 637 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 579 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 316 of file rb_bullet_api.cpp.

References btDefaultMotionState(), btTransform, btVector3, and rot.

◆ RB_body_set_activation_state()

void RB_body_set_activation_state	(	rbRigidBody *	object,
		int	use_deactivation )

Definition at line 550 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 454 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 529 of file rb_bullet_api.cpp.

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

◆ RB_body_set_angular_sleep_thresh()

void RB_body_set_angular_sleep_thresh	(	rbRigidBody *	object,
		float	value )

Definition at line 482 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 516 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 365 of file rb_bullet_api.cpp.

References 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 459 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 419 of file rb_bullet_api.cpp.

◆ RB_body_set_kinematic_state()

void RB_body_set_kinematic_state	(	rbRigidBody *	object,
		int	kinematic )

Definition at line 537 of file rb_bullet_api.cpp.

◆ RB_body_set_linear_damping()

void RB_body_set_linear_damping	(	rbRigidBody *	object,
		float	value )

Definition at line 443 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 523 of file rb_bullet_api.cpp.

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

◆ RB_body_set_linear_sleep_thresh()

void RB_body_set_linear_sleep_thresh	(	rbRigidBody *	object,
		float	value )

Definition at line 471 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 502 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 590 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 394 of file rb_bullet_api.cpp.

References btCollisionShape, btTransform, 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 431 of file rb_bullet_api.cpp.

◆ RB_body_set_scale()

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

Definition at line 604 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 487 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 859 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 1120 of file rb_bullet_api.cpp.

◆ RB_constraint_new_6dof()

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

Definition at line 1039 of file rb_bullet_api.cpp.

References rbRigidBody::body, btGeneric6DofConstraint(), btTransform, 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 1057 of file rb_bullet_api.cpp.

References rbRigidBody::body, btGeneric6DofSpringConstraint(), btTransform, 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 1075 of file rb_bullet_api.cpp.

References rbRigidBody::body, btGeneric6DofSpring2Constraint(), btTransform, 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 970 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 987 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 1093 of file rb_bullet_api.cpp.

References rbRigidBody::body, btGeneric6DofConstraint(), btTransform, 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 1021 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 955 of file rb_bullet_api.cpp.

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

◆ RB_constraint_new_slider()

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

Definition at line 1004 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 1262 of file rb_bullet_api.cpp.

◆ RB_constraint_set_damping_6dof_spring()

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

Definition at line 1196 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 1231 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 1269 of file rb_bullet_api.cpp.

References btGeneric6DofConstraint().

◆ RB_constraint_set_enabled()

void RB_constraint_set_enabled	(	rbConstraint *	con,
		int	enabled )

Definition at line 1135 of file rb_bullet_api.cpp.

◆ RB_constraint_set_equilibrium_6dof_spring()

void RB_constraint_set_equilibrium_6dof_spring ( rbConstraint * con )

Definition at line 1215 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 1247 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 1173 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 1180 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 1142 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 1162 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 1154 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 1277 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 1255 of file rb_bullet_api.cpp.

◆ RB_constraint_set_spring_6dof_spring()

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

Definition at line 1207 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 1239 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 1188 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 1223 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 1287 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 234 of file rb_bullet_api.cpp.

◆ RB_dworld_add_constraint()

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

Definition at line 923 of file rb_bullet_api.cpp.

◆ RB_dworld_delete()

void RB_dworld_delete ( rbDynamicsWorld * world )

Definition at line 151 of file rb_bullet_api.cpp.

References world.

◆ 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 211 of file rb_bullet_api.cpp.

References 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 166 of file rb_bullet_api.cpp.

References copy_v3_btvec3().

◆ 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, RB_dworld_set_gravity(), btGImpactCollisionAlgorithm::registerAlgorithm(), and world.

◆ RB_dworld_remove_body()

void RB_dworld_remove_body	(	rbDynamicsWorld *	world,
		rbRigidBody *	object )

Definition at line 242 of file rb_bullet_api.cpp.

◆ RB_dworld_remove_constraint()

void RB_dworld_remove_constraint	(	rbDynamicsWorld *	world,
		rbConstraint *	con )

Definition at line 930 of file rb_bullet_api.cpp.

◆ RB_dworld_set_gravity()

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

Definition at line 171 of file rb_bullet_api.cpp.

References btVector3.

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 177 of file rb_bullet_api.cpp.

References btContactSolverInfoData::m_numIterations.

◆ RB_dworld_set_split_impulse()

void RB_dworld_set_split_impulse	(	rbDynamicsWorld *	world,
		int	split_impulse )

Definition at line 185 of file rb_bullet_api.cpp.

References btContactSolverInfoData::m_splitImpulse.

◆ RB_dworld_step_simulation()

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

Definition at line 194 of file rb_bullet_api.cpp.

◆ RB_shape_delete()

void RB_shape_delete ( rbCollisionShape * shape )

Definition at line 882 of file rb_bullet_api.cpp.

References btBvhTriangleMeshShape(), btScaledBvhTriangleMeshShape(), free(), NULL, 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 908 of file rb_bullet_api.cpp.

◆ RB_shape_new_box()

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

Definition at line 662 of file rb_bullet_api.cpp.

References btBoxShape(), btVector3, rbCollisionShape::cshape, NULL, and z().

◆ RB_shape_new_capsule()

rbCollisionShape * RB_shape_new_capsule	(	float	radius,
		float	height )

Definition at line 682 of file rb_bullet_api.cpp.

References rbCollisionShape::cshape, and NULL.

◆ RB_shape_new_compound()

rbCollisionShape * RB_shape_new_compound ( void )

Definition at line 847 of file rb_bullet_api.cpp.

References btCompoundShape(), and NULL.

◆ RB_shape_new_cone()

rbCollisionShape * RB_shape_new_cone	(	float	radius,
		float	height )

Definition at line 692 of file rb_bullet_api.cpp.

References rbCollisionShape::cshape, and NULL.

◆ 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 714 of file rb_bullet_api.cpp.

References btConvexHullShape(), count, NULL, btAlignedObjectArray< T >::size(), btConvexHullComputer::vertices, and verts.

◆ RB_shape_new_cylinder()

rbCollisionShape * RB_shape_new_cylinder	(	float	radius,
		float	height )

Definition at line 702 of file rb_bullet_api.cpp.

References btVector3, rbCollisionShape::cshape, and NULL.

◆ RB_shape_new_gimpact_mesh()

rbCollisionShape * RB_shape_new_gimpact_mesh ( rbMeshData * mesh )

Definition at line 831 of file rb_bullet_api.cpp.

References mesh, NULL, and btGImpactShapeInterface::updateBound().

◆ RB_shape_new_sphere()

rbCollisionShape * RB_shape_new_sphere ( float radius )

Definition at line 672 of file rb_bullet_api.cpp.

References btSphereShape(), rbCollisionShape::cshape, and NULL.

◆ RB_shape_new_trimesh()

rbCollisionShape * RB_shape_new_trimesh ( rbMeshData * mesh )

Definition at line 786 of file rb_bullet_api.cpp.

References btBvhTriangleMeshShape(), btScaledBvhTriangleMeshShape(), btVector3, mesh, and NULL.

◆ RB_shape_set_margin()

void RB_shape_set_margin	(	rbCollisionShape *	shape,
		float	value )

Definition at line 913 of file rb_bullet_api.cpp.

◆ 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 802 of file rb_bullet_api.cpp.

References btBvhTriangleMeshShape(), btScaledBvhTriangleMeshShape(), btVector3, GIMPACT_SHAPE_PROXYTYPE, min, NULL, SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE, and btGImpactShapeInterface::updateBound().

◆ RB_trimesh_add_triangle_indices()

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

Definition at line 769 of file rb_bullet_api.cpp.

◆ RB_trimesh_add_vertices()

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

Definition at line 760 of file rb_bullet_api.cpp.

◆ RB_trimesh_data_delete()

static void RB_trimesh_data_delete ( rbMeshData * mesh )

static

Definition at line 752 of file rb_bullet_api.cpp.

References mesh.

Referenced by RB_shape_delete().

◆ RB_trimesh_data_new()

rbMeshData * RB_trimesh_data_new	(	int	num_tris,
		int	num_verts )

Definition at line 741 of file rb_bullet_api.cpp.

References mesh, and rbMeshData::vertices.

◆ RB_trimesh_finish()

void RB_trimesh_finish ( rbMeshData * mesh )

Definition at line 776 of file rb_bullet_api.cpp.

References btTriangleIndexVertexArray().

◆ 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 251 of file rb_bullet_api.cpp.

References btCollisionShape, btConvexShape(), btTransform, btVector3, 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()