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btDiscreteDynamicsWorld Class Reference

#include <btDiscreteDynamicsWorld.h>

Inheritance diagram for btDiscreteDynamicsWorld:

btDynamicsWorld btCollisionWorld

List of all members.


Detailed Description

btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController

Definition at line 35 of file btDiscreteDynamicsWorld.h.


Public Member Functions

void addCollisionObject (btCollisionObject *collisionObject, short int collisionFilterGroup=1, short int collisionFilterMask=1)
void addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
virtual void addRigidBody (btRigidBody *body, short group, short mask)
virtual void addRigidBody (btRigidBody *body)
void addVehicle (btRaycastVehicle *vehicle)
 btDiscreteDynamicsWorld (btDispatcher *dispatcher, btOverlappingPairCache *pairCache, btConstraintSolver *constraintSolver)
 this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
void debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
btBroadphaseInterfacegetBroadphase ()
const btCollisionObjectArraygetCollisionObjectArray () const
btCollisionObjectArraygetCollisionObjectArray ()
btCollisionWorldgetCollisionWorld ()
virtual const btTypedConstraintgetConstraint (int index) const
virtual btTypedConstraintgetConstraint (int index)
virtual btIDebugDraw * getDebugDrawer ()
btDispatchergetDispatcher ()
btDispatcherInfo & getDispatchInfo ()
int getNumCollisionObjects () const
virtual int getNumConstraints () const
btOverlappingPairCachegetPairCache ()
const btSimulationIslandManagergetSimulationIslandManager () const
btSimulationIslandManagergetSimulationIslandManager ()
btContactSolverInfo & getSolverInfo ()
virtual void performDiscreteCollisionDetection ()
void rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback, short int collisionFilterMask=-1)
void removeCollisionObject (btCollisionObject *collisionObject)
void removeConstraint (btTypedConstraint *constraint)
virtual void removeRigidBody (btRigidBody *body)
void removeVehicle (btRaycastVehicle *vehicle)
virtual void setConstraintSolver (btConstraintSolver *solver)
virtual void setDebugDrawer (btIDebugDraw *debugDrawer)
virtual void setGravity (const btVector3 &gravity)
virtual int stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
 if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual void updateAabbs ()

Static Public Member Functions

static void objectQuerySingle (const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback, short int collisionFilterMask=-1)
 objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback, short int collisionFilterMask=-1)

Protected Member Functions

void calculateSimulationIslands ()
void debugDrawSphere (btScalar radius, const btTransform &transform, const btVector3 &color)
void integrateTransforms (btScalar timeStep)
virtual void internalSingleStepSimulation (btScalar timeStep)
void predictUnconstraintMotion (btScalar timeStep)
void saveKinematicState (btScalar timeStep)
void solveConstraints (btContactSolverInfo &solverInfo)
void startProfiling (btScalar timeStep)
void synchronizeMotionStates ()
void updateActivationState (btScalar timeStep)
void updateVehicles (btScalar timeStep)

Protected Attributes

btOverlappingPairCachem_broadphasePairCache
btAlignedObjectArray
< btCollisionObject * > 
m_collisionObjects
btAlignedObjectArray
< btTypedConstraint * > 
m_constraints
btConstraintSolverm_constraintSolver
btIDebugDraw * m_debugDrawer
btDispatcherm_dispatcher1
btDispatcherInfo m_dispatchInfo
btVector3 m_gravity
btSimulationIslandManagerm_islandManager
btScalar m_localTime
bool m_ownsBroadphasePairCache
bool m_ownsConstraintSolver
bool m_ownsDispatcher
bool m_ownsIslandManager
int m_profileTimings
btContactSolverInfo m_solverInfo
btStackAllocm_stackAlloc
btAlignedObjectArray
< btRaycastVehicle * > 
m_vehicles

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

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