#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 )