btDiscreteDynamicsWorld Class Reference

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

#include <btDiscreteDynamicsWorld.h>

Inheritance diagram for btDiscreteDynamicsWorld:

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Collaboration diagram for btDiscreteDynamicsWorld:

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List of all members.

Public Member Functions
	btDiscreteDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)
	this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
virtual	~btDiscreteDynamicsWorld ()
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	synchronizeMotionStates ()
void	synchronizeSingleMotionState (btRigidBody *body)
	this can be useful to synchronize a single rigid body -> graphics object
virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
virtual void	removeConstraint (btTypedConstraint *constraint)
virtual void	addAction (btActionInterface *)
virtual void	removeAction (btActionInterface *)
btSimulationIslandManager *	getSimulationIslandManager ()
const btSimulationIslandManager *	getSimulationIslandManager () const
btCollisionWorld *	getCollisionWorld ()
virtual void	setGravity (const btVector3 &gravity)
virtual btVector3	getGravity () const
virtual void	addCollisionObject (btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::StaticFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter^btBroadphaseProxy::StaticFilter)
virtual void	addRigidBody (btRigidBody *body)
virtual void	addRigidBody (btRigidBody *body, short group, short mask)
virtual void	removeRigidBody (btRigidBody *body)
virtual void	removeCollisionObject (btCollisionObject *collisionObject)
	removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
void	debugDrawConstraint (btTypedConstraint *constraint)
virtual void	debugDrawWorld ()
virtual void	setConstraintSolver (btConstraintSolver *solver)
virtual btConstraintSolver *	getConstraintSolver ()
virtual int	getNumConstraints () const
virtual btTypedConstraint *	getConstraint (int index)
virtual const btTypedConstraint *	getConstraint (int index) const
virtual btDynamicsWorldType	getWorldType () const
virtual void	clearForces ()
	the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
virtual void	applyGravity ()
	apply gravity, call this once per timestep
virtual void	setNumTasks (int numTasks)
virtual void	updateVehicles (btScalar timeStep)
	obsolete, use updateActions instead
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
void	setSynchronizeAllMotionStates (bool synchronizeAll)
bool	getSynchronizeAllMotionStates () const
virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo).
Protected Member Functions
virtual void	predictUnconstraintMotion (btScalar timeStep)
virtual void	integrateTransforms (btScalar timeStep)
virtual void	calculateSimulationIslands ()
virtual void	solveConstraints (btContactSolverInfo &solverInfo)
void	updateActivationState (btScalar timeStep)
void	updateActions (btScalar timeStep)
void	startProfiling (btScalar timeStep)
virtual void	internalSingleStepSimulation (btScalar timeStep)
virtual void	saveKinematicState (btScalar timeStep)
void	serializeRigidBodies (btSerializer *serializer)
Protected Attributes
btConstraintSolver *	m_constraintSolver
btSimulationIslandManager *	m_islandManager
btAlignedObjectArray < btTypedConstraint * >	m_constraints
btAlignedObjectArray < btRigidBody * >	m_nonStaticRigidBodies
btVector3	m_gravity
btScalar	m_localTime
bool	m_ownsIslandManager
bool	m_ownsConstraintSolver
bool	m_synchronizeAllMotionStates
btAlignedObjectArray < btActionInterface * >	m_actions
int	m_profileTimings

Detailed Description

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

Definition at line 35 of file btDiscreteDynamicsWorld.h.

Constructor & Destructor Documentation

btDiscreteDynamicsWorld::btDiscreteDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	pairCache,
		btConstraintSolver *	constraintSolver,
		btCollisionConfiguration *	collisionConfiguration
	)

this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those

Definition at line 50 of file btDiscreteDynamicsWorld.cpp.

btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld ( ) [virtual]

Definition at line 77 of file btDiscreteDynamicsWorld.cpp.

Member Function Documentation

void btDiscreteDynamicsWorld::addAction ( btActionInterface * action ) [virtual]

Implements btDynamicsWorld.

Definition at line 492 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addCharacter ( btActionInterface * character ) [virtual]

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 513 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addCollisionObject	(	btCollisionObject *	collisionObject,
		short int	collisionFilterGroup = `btBroadphaseProxy::StaticFilter`,
		short int	collisionFilterMask = `btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter`
	)			`[virtual]`

Reimplemented from btCollisionWorld.

Definition at line 360 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addConstraint	(	btTypedConstraint *	constraint,
		bool	disableCollisionsBetweenLinkedBodies = `false`
	)			`[virtual]`

Reimplemented from btDynamicsWorld.

Definition at line 475 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addRigidBody	(	btRigidBody *	body,
		short	group,
		short	mask
	)			`[virtual]`

Definition at line 406 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addRigidBody ( btRigidBody * body ) [virtual]

Implements btDynamicsWorld.

Definition at line 381 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addVehicle ( btActionInterface * vehicle ) [virtual]

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 503 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::applyGravity ( ) [virtual]

apply gravity, call this once per timestep

Definition at line 167 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::calculateSimulationIslands ( ) [protected, virtual]

Definition at line 705 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::clearForces ( ) [virtual]

the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.

Implements btDynamicsWorld.

Definition at line 154 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::debugDrawConstraint ( btTypedConstraint * constraint )

Definition at line 906 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::debugDrawWorld ( ) [virtual]

Implements btDynamicsWorld.

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 114 of file btDiscreteDynamicsWorld.cpp.

btCollisionWorld* btDiscreteDynamicsWorld::getCollisionWorld ( ) [inline]

Definition at line 117 of file btDiscreteDynamicsWorld.h.

const btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int index ) const [virtual]

Reimplemented from btDynamicsWorld.

Definition at line 1113 of file btDiscreteDynamicsWorld.cpp.

btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int index ) [virtual]

Reimplemented from btDynamicsWorld.

Definition at line 1109 of file btDiscreteDynamicsWorld.cpp.

btConstraintSolver * btDiscreteDynamicsWorld::getConstraintSolver ( ) [virtual]

Implements btDynamicsWorld.

Definition at line 1099 of file btDiscreteDynamicsWorld.cpp.

btVector3 btDiscreteDynamicsWorld::getGravity ( ) const [virtual]

Implements btDynamicsWorld.

Definition at line 355 of file btDiscreteDynamicsWorld.cpp.

int btDiscreteDynamicsWorld::getNumConstraints ( ) const [virtual]

Reimplemented from btDynamicsWorld.

Definition at line 1105 of file btDiscreteDynamicsWorld.cpp.

const btSimulationIslandManager* btDiscreteDynamicsWorld::getSimulationIslandManager ( ) const [inline]

Definition at line 112 of file btDiscreteDynamicsWorld.h.

btSimulationIslandManager* btDiscreteDynamicsWorld::getSimulationIslandManager ( ) [inline]

Definition at line 107 of file btDiscreteDynamicsWorld.h.

bool btDiscreteDynamicsWorld::getSynchronizeAllMotionStates ( ) const [inline]

Definition at line 188 of file btDiscreteDynamicsWorld.h.

virtual btDynamicsWorldType btDiscreteDynamicsWorld::getWorldType ( ) const [inline, virtual]

Implements btDynamicsWorld.

Reimplemented in btContinuousDynamicsWorld.

Definition at line 153 of file btDiscreteDynamicsWorld.h.

void btDiscreteDynamicsWorld::integrateTransforms ( btScalar timeStep ) [protected, virtual]

Definition at line 825 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep ) [protected, virtual]

apply gravity, predict motion

perform collision detection

solve contact and other joint constraints

CallbackTriggers();

integrate transforms

update vehicle simulation

Reimplemented in btContinuousDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 296 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep ) [protected, virtual]

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 873 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeAction ( btActionInterface * action ) [virtual]

Implements btDynamicsWorld.

Definition at line 497 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeCharacter ( btActionInterface * character ) [virtual]

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 518 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeCollisionObject ( btCollisionObject * collisionObject ) [virtual]

removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject

Reimplemented from btCollisionWorld.

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 365 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeConstraint ( btTypedConstraint * constraint ) [virtual]

Reimplemented from btDynamicsWorld.

Definition at line 485 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeRigidBody ( btRigidBody * body ) [virtual]

Implements btDynamicsWorld.

Definition at line 374 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeVehicle ( btActionInterface * vehicle ) [virtual]

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 508 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::saveKinematicState ( btScalar timeStep ) [protected, virtual]

would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows to switch status _after_ adding kinematic objects to the world fix it for Bullet 3.x release

Definition at line 93 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::serialize ( btSerializer * serializer ) [virtual]

Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo).

Reimplemented from btCollisionWorld.

Definition at line 1147 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::serializeRigidBodies ( btSerializer * serializer ) [protected]

Definition at line 1120 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver ) [virtual]

Implements btDynamicsWorld.

Definition at line 1089 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::setGravity ( const btVector3 & gravity ) [virtual]

Implements btDynamicsWorld.

Definition at line 342 of file btDiscreteDynamicsWorld.cpp.

virtual void btDiscreteDynamicsWorld::setNumTasks ( int numTasks ) [inline, virtual]

Definition at line 164 of file btDiscreteDynamicsWorld.h.

void btDiscreteDynamicsWorld::setSynchronizeAllMotionStates ( bool synchronizeAll ) [inline]

Definition at line 184 of file btDiscreteDynamicsWorld.h.

void btDiscreteDynamicsWorld::solveConstraints ( btContactSolverInfo & solverInfo ) [protected, virtual]

we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id

only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive

solve all the constraints for this island

Definition at line 551 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::startProfiling ( btScalar timeStep ) [protected]

Definition at line 891 of file btDiscreteDynamicsWorld.cpp.

int btDiscreteDynamicsWorld::stepSimulation	(	btScalar	timeStep,
		int	maxSubSteps = `1`,
		btScalar	fixedTimeStep = `btScalar(1.)/btScalar(60.)`
	)			`[virtual]`