Blender V4.3
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
btMultiBodyDynamicsWorld Class Reference

#include <btMultiBodyDynamicsWorld.h>

Inherits btDiscreteDynamicsWorld.

Inherited by btDeformableMultiBodyDynamicsWorld, and btSoftMultiBodyDynamicsWorld.

Public Member Functions

 btMultiBodyDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
 
virtual ~btMultiBodyDynamicsWorld ()
 
virtual void solveConstraints (btContactSolverInfo &solverInfo)
 
virtual void addMultiBody (btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter)
 
virtual void removeMultiBody (btMultiBody *body)
 
virtual int getNumMultibodies () const
 
btMultiBody * getMultiBody (int mbIndex)
 
const btMultiBody * getMultiBody (int mbIndex) const
 
virtual void addMultiBodyConstraint (btMultiBodyConstraint *constraint)
 
virtual int getNumMultiBodyConstraints () const
 
virtual btMultiBodyConstraint * getMultiBodyConstraint (int constraintIndex)
 
virtual const btMultiBodyConstraint * getMultiBodyConstraint (int constraintIndex) const
 
virtual void removeMultiBodyConstraint (btMultiBodyConstraint *constraint)
 
virtual void integrateTransforms (btScalar timeStep)
 
void integrateMultiBodyTransforms (btScalar timeStep)
 
void predictMultiBodyTransforms (btScalar timeStep)
 
virtual void predictUnconstraintMotion (btScalar timeStep)
 
virtual void debugDrawWorld ()
 
virtual void debugDrawMultiBodyConstraint (btMultiBodyConstraint *constraint)
 
void forwardKinematics ()
 
virtual void clearForces ()
 
virtual void clearMultiBodyConstraintForces ()
 
virtual void clearMultiBodyForces ()
 
virtual void applyGravity ()
 
virtual void serialize (btSerializer *serializer)
 
virtual void setMultiBodyConstraintSolver (btMultiBodyConstraintSolver *solver)
 
virtual void setConstraintSolver (btConstraintSolver *solver)
 
virtual void getAnalyticsData (btAlignedObjectArray< struct btSolverAnalyticsData > &m_islandAnalyticsData) const
 
virtual void solveExternalForces (btContactSolverInfo &solverInfo)
 
virtual void solveInternalConstraints (btContactSolverInfo &solverInfo)
 
void buildIslands ()
 

Protected Member Functions

virtual void calculateSimulationIslands ()
 
virtual void updateActivationState (btScalar timeStep)
 
virtual void serializeMultiBodies (btSerializer *serializer)
 

Protected Attributes

btAlignedObjectArray< btMultiBody * > m_multiBodies
 
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
 
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
 
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
 
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
 
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local
 
btAlignedObjectArray< btVector3 > m_scratch_local_origin
 
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local1
 
btAlignedObjectArray< btVector3 > m_scratch_local_origin1
 
btAlignedObjectArray< btScalar > m_scratch_r
 
btAlignedObjectArray< btVector3 > m_scratch_v
 
btAlignedObjectArray< btMatrix3x3 > m_scratch_m
 

Detailed Description

The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is still preliminary/experimental.

Definition at line 31 of file btMultiBodyDynamicsWorld.h.

Constructor & Destructor Documentation

◆ btMultiBodyDynamicsWorld()

btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld ( btDispatcher * dispatcher,
btBroadphaseInterface * pairCache,
btMultiBodyConstraintSolver * constraintSolver,
btCollisionConfiguration * collisionConfiguration )

Definition at line 177 of file btMultiBodyDynamicsWorld.cpp.

References m_solverMultiBodyIslandCallback, and SOLVER_USE_2_FRICTION_DIRECTIONS.

◆ ~btMultiBodyDynamicsWorld()

btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld ( )
virtual

Definition at line 187 of file btMultiBodyDynamicsWorld.cpp.

References m_solverMultiBodyIslandCallback.

Member Function Documentation

◆ addMultiBody()

void btMultiBodyDynamicsWorld::addMultiBody ( btMultiBody * body,
int group = btBroadphaseProxy::DefaultFilter,
int mask = btBroadphaseProxy::AllFilter )
virtual

Definition at line 26 of file btMultiBodyDynamicsWorld.cpp.

References m_multiBodies, and btAlignedObjectArray< T >::push_back().

◆ addMultiBodyConstraint()

void btMultiBodyDynamicsWorld::addMultiBodyConstraint ( btMultiBodyConstraint * constraint)
virtual

Definition at line 657 of file btMultiBodyDynamicsWorld.cpp.

References m_multiBodyConstraints, and btAlignedObjectArray< T >::push_back().

◆ applyGravity()

void btMultiBodyDynamicsWorld::applyGravity ( )
virtual

Definition at line 748 of file btMultiBodyDynamicsWorld.cpp.

References b, BT_PROFILE, btMultiBody, ISLAND_SLEEPING, m_gravity, m_multiBodies, and btAlignedObjectArray< T >::size().

Referenced by btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity().

◆ buildIslands()

void btMultiBodyDynamicsWorld::buildIslands ( )

Definition at line 223 of file btMultiBodyDynamicsWorld.cpp.

References btSimulationIslandManager::buildAndProcessIslands(), getCollisionWorld(), m_islandManager, and m_solverMultiBodyIslandCallback.

Referenced by solveConstraints().

◆ calculateSimulationIslands()

void btMultiBodyDynamicsWorld::calculateSimulationIslands ( )
protectedvirtual

Definition at line 42 of file btMultiBodyDynamicsWorld.cpp.

References b, BT_PROFILE, btMultiBody, btPersistentManifold(), getCollisionWorld(), getIslandTag(), getSimulationIslandManager(), btSimulationIslandManager::getUnionFind(), int, isStaticOrKinematicObject(), m_constraints, m_multiBodies, m_multiBodyConstraints, m_predictiveManifolds, numConstraints, btAlignedObjectArray< T >::size(), btSimulationIslandManager::storeIslandActivationState(), btUnionFind::unite(), and btSimulationIslandManager::updateActivationState().

Referenced by btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation().

◆ clearForces()

void btMultiBodyDynamicsWorld::clearForces ( )
virtual

Definition at line 818 of file btMultiBodyDynamicsWorld.cpp.

References clearMultiBodyForces().

Referenced by btDeformableMultiBodyDynamicsWorld::stepSimulation().

◆ clearMultiBodyConstraintForces()

void btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces ( )
virtual

Definition at line 782 of file btMultiBodyDynamicsWorld.cpp.

References btMultiBody, m_multiBodies, and btAlignedObjectArray< T >::size().

Referenced by btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(), and solveExternalForces().

◆ clearMultiBodyForces()

void btMultiBodyDynamicsWorld::clearMultiBodyForces ( )
virtual

Definition at line 790 of file btMultiBodyDynamicsWorld.cpp.

References b, btMultiBody, ISLAND_SLEEPING, m_multiBodies, and btAlignedObjectArray< T >::size().

Referenced by clearForces().

◆ debugDrawMultiBodyConstraint()

void btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint ( btMultiBodyConstraint * constraint)
virtual

Definition at line 667 of file btMultiBodyDynamicsWorld.cpp.

Referenced by debugDrawWorld().

◆ debugDrawWorld()

void btMultiBodyDynamicsWorld::debugDrawWorld ( )
virtual

Reimplemented in btDeformableMultiBodyDynamicsWorld, and btSoftMultiBodyDynamicsWorld.

Definition at line 672 of file btMultiBodyDynamicsWorld.cpp.

References b, BT_PROFILE, btMultiBody, btTransform, color, btIDebugDraw::DBG_DrawConstraintLimits, btIDebugDraw::DBG_DrawConstraints, btIDebugDraw::DBG_DrawFrames, debugDrawMultiBodyConstraint(), btMultibodyLink::eFixed, btMultibodyLink::ePrismatic, btMultibodyLink::eRevolute, m_multiBodies, m_multiBodyConstraints, m_scratch_local_origin1, m_scratch_world_to_local1, quatRotate(), and btAlignedObjectArray< T >::size().

Referenced by btDeformableMultiBodyDynamicsWorld::debugDrawWorld(), and btSoftMultiBodyDynamicsWorld::debugDrawWorld().

◆ forwardKinematics()

void btMultiBodyDynamicsWorld::forwardKinematics ( )

Definition at line 208 of file btMultiBodyDynamicsWorld.cpp.

References b, btMultiBody, m_multiBodies, m_scratch_local_origin, m_scratch_world_to_local, and btAlignedObjectArray< T >::size().

Referenced by btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(), and solveExternalForces().

◆ getAnalyticsData()

void btMultiBodyDynamicsWorld::getAnalyticsData ( btAlignedObjectArray< struct btSolverAnalyticsData > & m_islandAnalyticsData) const
virtual

Definition at line 172 of file btMultiBodyDynamicsWorld.cpp.

References MultiBodyInplaceSolverIslandCallback::m_islandAnalyticsData, and m_solverMultiBodyIslandCallback.

◆ getMultiBody() [1/2]

btMultiBody * btMultiBodyDynamicsWorld::getMultiBody ( int mbIndex)
inline

Definition at line 71 of file btMultiBodyDynamicsWorld.h.

References m_multiBodies.

◆ getMultiBody() [2/2]

const btMultiBody * btMultiBodyDynamicsWorld::getMultiBody ( int mbIndex) const
inline

Definition at line 76 of file btMultiBodyDynamicsWorld.h.

References m_multiBodies.

◆ getMultiBodyConstraint() [1/2]

virtual btMultiBodyConstraint * btMultiBodyDynamicsWorld::getMultiBodyConstraint ( int constraintIndex)
inlinevirtual

Definition at line 88 of file btMultiBodyDynamicsWorld.h.

References m_multiBodyConstraints.

◆ getMultiBodyConstraint() [2/2]

virtual const btMultiBodyConstraint * btMultiBodyDynamicsWorld::getMultiBodyConstraint ( int constraintIndex) const
inlinevirtual

Definition at line 93 of file btMultiBodyDynamicsWorld.h.

References m_multiBodyConstraints.

◆ getNumMultibodies()

virtual int btMultiBodyDynamicsWorld::getNumMultibodies ( ) const
inlinevirtual

Definition at line 66 of file btMultiBodyDynamicsWorld.h.

References m_multiBodies, and btAlignedObjectArray< T >::size().

◆ getNumMultiBodyConstraints()

virtual int btMultiBodyDynamicsWorld::getNumMultiBodyConstraints ( ) const
inlinevirtual

Definition at line 83 of file btMultiBodyDynamicsWorld.h.

References m_multiBodyConstraints, and btAlignedObjectArray< T >::size().

◆ integrateMultiBodyTransforms()

void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms ( btScalar timeStep)

base + num m_links

Definition at line 574 of file btMultiBodyDynamicsWorld.cpp.

References b, BT_PROFILE, btMultiBody, ISLAND_SLEEPING, m_multiBodies, m_scratch_local_origin, m_scratch_world_to_local, btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by integrateTransforms().

◆ integrateTransforms()

void btMultiBodyDynamicsWorld::integrateTransforms ( btScalar timeStep)
virtual

Reimplemented in btDeformableMultiBodyDynamicsWorld.

Definition at line 568 of file btMultiBodyDynamicsWorld.cpp.

References integrateMultiBodyTransforms().

Referenced by btDeformableMultiBodyDynamicsWorld::integrateTransforms().

◆ predictMultiBodyTransforms()

void btMultiBodyDynamicsWorld::predictMultiBodyTransforms ( btScalar timeStep)

Definition at line 623 of file btMultiBodyDynamicsWorld.cpp.

References b, BT_PROFILE, btMultiBody, ISLAND_SLEEPING, m_multiBodies, m_scratch_local_origin, m_scratch_world_to_local, btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by predictUnconstraintMotion().

◆ predictUnconstraintMotion()

void btMultiBodyDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep)
virtual

Reimplemented in btDeformableMultiBodyDynamicsWorld, and btSoftMultiBodyDynamicsWorld.

Definition at line 36 of file btMultiBodyDynamicsWorld.cpp.

References predictMultiBodyTransforms().

Referenced by btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion().

◆ removeMultiBody()

void btMultiBodyDynamicsWorld::removeMultiBody ( btMultiBody * body)
virtual

Definition at line 31 of file btMultiBodyDynamicsWorld.cpp.

References m_multiBodies, and btAlignedObjectArray< T >::remove().

◆ removeMultiBodyConstraint()

void btMultiBodyDynamicsWorld::removeMultiBodyConstraint ( btMultiBodyConstraint * constraint)
virtual

Definition at line 662 of file btMultiBodyDynamicsWorld.cpp.

References m_multiBodyConstraints, and btAlignedObjectArray< T >::remove().

◆ serialize()

void btMultiBodyDynamicsWorld::serialize ( btSerializer * serializer)
virtual

Reimplemented in btSoftMultiBodyDynamicsWorld.

Definition at line 827 of file btMultiBodyDynamicsWorld.cpp.

References btSerializer::finishSerialization(), serializeDynamicsWorldInfo(), serializeMultiBodies(), serializeRigidBodies(), and btSerializer::startSerialization().

◆ serializeMultiBodies()

void btMultiBodyDynamicsWorld::serializeMultiBodies ( btSerializer * serializer)
protectedvirtual

Definition at line 844 of file btMultiBodyDynamicsWorld.cpp.

References btSerializer::allocate(), BT_MB_LINKCOLLIDER_CODE, BT_MULTIBODY_CODE, btMultiBody, btSerializer::finalizeChunk(), len, m_multiBodies, btChunk::m_oldPtr, and btAlignedObjectArray< T >::size().

Referenced by serialize(), and btSoftMultiBodyDynamicsWorld::serialize().

◆ setConstraintSolver()

void btMultiBodyDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver)
virtual

Definition at line 199 of file btMultiBodyDynamicsWorld.cpp.

References BT_MULTIBODY_SOLVER, btConstraintSolver::getSolverType(), and m_multiBodyConstraintSolver.

◆ setMultiBodyConstraintSolver()

void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver ( btMultiBodyConstraintSolver * solver)
virtual

Definition at line 192 of file btMultiBodyDynamicsWorld.cpp.

References m_multiBodyConstraintSolver, m_solverMultiBodyIslandCallback, and MultiBodyInplaceSolverIslandCallback::setMultiBodyConstraintSolver().

◆ solveConstraints()

void btMultiBodyDynamicsWorld::solveConstraints ( btContactSolverInfo & solverInfo)
virtual

Definition at line 216 of file btMultiBodyDynamicsWorld.cpp.

References buildIslands(), solveExternalForces(), and solveInternalConstraints().

◆ solveExternalForces()

void btMultiBodyDynamicsWorld::solveExternalForces ( btContactSolverInfo & solverInfo)
virtual

Definition at line 281 of file btMultiBodyDynamicsWorld.cpp.

References b, BT_PROFILE, btAssert, btMultiBody, clearMultiBodyConstraintForces(), forwardKinematics(), getCollisionWorld(), getNumConstraints(), ISLAND_SLEEPING, m_constraints, m_constraintSolver, m_gravity, m_multiBodies, m_multiBodyConstraints, m_scratch_m, m_scratch_r, m_scratch_v, m_solverMultiBodyIslandCallback, m_sortedMultiBodyConstraints, btContactSolverInfoData::m_timeStep, operator()(), btConstraintSolver::prepareSolve(), btAlignedObjectArray< T >::quickSort(), btAlignedObjectArray< T >::resize(), MultiBodyInplaceSolverIslandCallback::setup(), btAlignedObjectArray< T >::size(), and size().

Referenced by solveConstraints().

◆ solveInternalConstraints()

void btMultiBodyDynamicsWorld::solveInternalConstraints ( btContactSolverInfo & solverInfo)
virtual

solve all the constraints for this island

Definition at line 228 of file btMultiBodyDynamicsWorld.cpp.

References btConstraintSolver::allSolved(), b, BT_PROFILE, btMultiBody, ISLAND_SLEEPING, m_constraintSolver, m_multiBodies, m_scratch_m, m_scratch_r, m_scratch_v, m_solverMultiBodyIslandCallback, btContactSolverInfoData::m_timeStep, MultiBodyInplaceSolverIslandCallback::processConstraints(), btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by solveConstraints().

◆ updateActivationState()

void btMultiBodyDynamicsWorld::updateActivationState ( btScalar timeStep)
protectedvirtual

Reimplemented in btDeformableMultiBodyDynamicsWorld.

Definition at line 125 of file btMultiBodyDynamicsWorld.cpp.

References ACTIVE_TAG, b, BT_PROFILE, btMultiBody, col, DISABLE_DEACTIVATION, m_multiBodies, btAlignedObjectArray< T >::size(), and WANTS_DEACTIVATION.

Referenced by btDeformableMultiBodyDynamicsWorld::updateActivationState().

Member Data Documentation

◆ m_multiBodies

btAlignedObjectArray<btMultiBody*> btMultiBodyDynamicsWorld::m_multiBodies
protected

Definition at line 34 of file btMultiBodyDynamicsWorld.h.

Referenced by addMultiBody(), applyGravity(), btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(), calculateSimulationIslands(), btDeformableMultiBodyDynamicsWorld::clearGravity(), clearMultiBodyConstraintForces(), clearMultiBodyForces(), debugDrawWorld(), forwardKinematics(), getMultiBody(), getMultiBody(), getNumMultibodies(), integrateMultiBodyTransforms(), predictMultiBodyTransforms(), removeMultiBody(), serializeMultiBodies(), btDeformableMultiBodyDynamicsWorld::solveContactConstraints(), solveExternalForces(), solveInternalConstraints(), and updateActivationState().

◆ m_multiBodyConstraints

btAlignedObjectArray<btMultiBodyConstraint*> btMultiBodyDynamicsWorld::m_multiBodyConstraints
protected

Definition at line 35 of file btMultiBodyDynamicsWorld.h.

Referenced by addMultiBodyConstraint(), calculateSimulationIslands(), debugDrawWorld(), getMultiBodyConstraint(), getMultiBodyConstraint(), getNumMultiBodyConstraints(), removeMultiBodyConstraint(), solveExternalForces(), and btDeformableMultiBodyDynamicsWorld::sortConstraints().

◆ m_multiBodyConstraintSolver

btMultiBodyConstraintSolver* btMultiBodyDynamicsWorld::m_multiBodyConstraintSolver
protected

Definition at line 37 of file btMultiBodyDynamicsWorld.h.

Referenced by setConstraintSolver(), and setMultiBodyConstraintSolver().

◆ m_scratch_local_origin

btAlignedObjectArray<btVector3> btMultiBodyDynamicsWorld::m_scratch_local_origin
protected

Definition at line 42 of file btMultiBodyDynamicsWorld.h.

Referenced by forwardKinematics(), integrateMultiBodyTransforms(), and predictMultiBodyTransforms().

◆ m_scratch_local_origin1

btAlignedObjectArray<btVector3> btMultiBodyDynamicsWorld::m_scratch_local_origin1
protected

Definition at line 44 of file btMultiBodyDynamicsWorld.h.

Referenced by debugDrawWorld().

◆ m_scratch_m

btAlignedObjectArray<btMatrix3x3> btMultiBodyDynamicsWorld::m_scratch_m
protected

Definition at line 47 of file btMultiBodyDynamicsWorld.h.

Referenced by btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(), btDeformableMultiBodyDynamicsWorld::solveContactConstraints(), solveExternalForces(), and solveInternalConstraints().

◆ m_scratch_r

btAlignedObjectArray<btScalar> btMultiBodyDynamicsWorld::m_scratch_r
protected

Definition at line 45 of file btMultiBodyDynamicsWorld.h.

Referenced by btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(), btDeformableMultiBodyDynamicsWorld::solveContactConstraints(), solveExternalForces(), and solveInternalConstraints().

◆ m_scratch_v

btAlignedObjectArray<btVector3> btMultiBodyDynamicsWorld::m_scratch_v
protected

Definition at line 46 of file btMultiBodyDynamicsWorld.h.

Referenced by btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(), btDeformableMultiBodyDynamicsWorld::solveContactConstraints(), solveExternalForces(), and solveInternalConstraints().

◆ m_scratch_world_to_local

btAlignedObjectArray<btQuaternion> btMultiBodyDynamicsWorld::m_scratch_world_to_local
protected

Definition at line 41 of file btMultiBodyDynamicsWorld.h.

Referenced by forwardKinematics(), integrateMultiBodyTransforms(), and predictMultiBodyTransforms().

◆ m_scratch_world_to_local1

btAlignedObjectArray<btQuaternion> btMultiBodyDynamicsWorld::m_scratch_world_to_local1
protected

Definition at line 43 of file btMultiBodyDynamicsWorld.h.

Referenced by debugDrawWorld().

◆ m_solverMultiBodyIslandCallback

MultiBodyInplaceSolverIslandCallback* btMultiBodyDynamicsWorld::m_solverMultiBodyIslandCallback
protected

Definition at line 38 of file btMultiBodyDynamicsWorld.h.

Referenced by btMultiBodyDynamicsWorld(), buildIslands(), getAnalyticsData(), setMultiBodyConstraintSolver(), solveExternalForces(), solveInternalConstraints(), and ~btMultiBodyDynamicsWorld().

◆ m_sortedMultiBodyConstraints

btAlignedObjectArray<btMultiBodyConstraint*> btMultiBodyDynamicsWorld::m_sortedMultiBodyConstraints
protected

Definition at line 36 of file btMultiBodyDynamicsWorld.h.

Referenced by btDeformableMultiBodyDynamicsWorld::setupConstraints(), solveExternalForces(), and btDeformableMultiBodyDynamicsWorld::sortConstraints().

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