Logo Search packages:      
Sourcecode: blender version File versions

btDiscreteDynamicsWorld Class Reference

#include <btDiscreteDynamicsWorld.h>

Inheritance diagram for btDiscreteDynamicsWorld:

btDynamicsWorld btCollisionWorld btContinuousDynamicsWorld

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=btBroadphaseProxy::DefaultFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter)
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)
virtual void applyGravity ()
 apply gravity, call this once per timestep
 btDiscreteDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
 this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
virtual void clearForces ()
 the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
void convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback) const
void debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
virtual void debugDrawWorld ()
btBroadphaseInterfacegetBroadphase ()
const btCollisionObjectArraygetCollisionObjectArray () const
btCollisionObjectArraygetCollisionObjectArray ()
btCollisionWorldgetCollisionWorld ()
virtual const btTypedConstraintgetConstraint (int index) const
virtual btTypedConstraintgetConstraint (int index)
virtual btConstraintSolvergetConstraintSolver ()
virtual btIDebugDrawgetDebugDrawer ()
const btDispatchergetDispatcher () const
btDispatchergetDispatcher ()
const btDispatcherInfo & getDispatchInfo () const
btDispatcherInfo & getDispatchInfo ()
virtual btVector3 getGravity () const
int getNumCollisionObjects () const
virtual int getNumConstraints () const
btOverlappingPairCachegetPairCache ()
const btSimulationIslandManagergetSimulationIslandManager () const
btSimulationIslandManagergetSimulationIslandManager ()
btContactSolverInfo & getSolverInfo ()
virtual btDynamicsWorldType getWorldType () const
void * getWorldUserInfo () const
virtual void performDiscreteCollisionDetection ()
void rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
void removeCollisionObject (btCollisionObject *collisionObject)
void removeConstraint (btTypedConstraint *constraint)
virtual void removeRigidBody (btRigidBody *body)
void removeVehicle (btRaycastVehicle *vehicle)
void setBroadphase (btBroadphaseInterface *pairCache)
virtual void setConstraintSolver (btConstraintSolver *solver)
virtual void setDebugDrawer (btIDebugDraw *debugDrawer)
virtual void setGravity (const btVector3 &gravity)
void setInternalTickCallback (btInternalTickCallback cb, void *worldUserInfo=0)
 Set the callback for when an internal tick (simulation substep) happens, optional user info.
virtual void setNumTasks (int numTasks)
void setWorldUserInfo (void *worldUserInfo)
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, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
 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)

Protected Member Functions

void calculateSimulationIslands ()
void debugDrawSphere (btScalar radius, const btTransform &transform, const btVector3 &color)
virtual void integrateTransforms (btScalar timeStep)
virtual void internalSingleStepSimulation (btScalar timeStep)
virtual 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

btBroadphaseInterfacem_broadphasePairCache
btAlignedObjectArray
< btCollisionObject * > 
m_collisionObjects
btAlignedObjectArray
< btTypedConstraint * > 
m_constraints
btConstraintSolverm_constraintSolver
btIDebugDrawm_debugDrawer
btDispatcherm_dispatcher1
btDispatcherInfo m_dispatchInfo
btVector3 m_gravity
btInternalTickCallback m_internalTickCallback
btSimulationIslandManagerm_islandManager
btScalar m_localTime
bool m_ownsConstraintSolver
bool m_ownsIslandManager
int m_profileTimings
btContactSolverInfo m_solverInfo
btStackAllocm_stackAlloc
btAlignedObjectArray
< btRaycastVehicle * > 
m_vehicles
void * m_worldUserInfo

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

Generated by  Doxygen 1.6.0   Back to index