btDynamicsWorld Class Reference

The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. More...

#include <btDynamicsWorld.h>

Inheritance diagram for btDynamicsWorld:

Collaboration diagram for btDynamicsWorld:

Public Member Functions
	btDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration)
virtual	~btDynamicsWorld ()
virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0
	stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
virtual void	debugDrawWorld ()=0
virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
virtual void	removeConstraint (btTypedConstraint *constraint)
virtual void	addAction (btActionInterface *action)=0
virtual void	removeAction (btActionInterface *action)=0
virtual void	setGravity (const btVector3 &gravity)=0
virtual btVector3	getGravity () const =0
virtual void	synchronizeMotionStates ()=0
virtual void	addRigidBody (btRigidBody *body)=0
virtual void	addRigidBody (btRigidBody *body, int group, int mask)=0
virtual void	removeRigidBody (btRigidBody *body)=0
virtual void	setConstraintSolver (btConstraintSolver *solver)=0
virtual btConstraintSolver *	getConstraintSolver ()=0
virtual int	getNumConstraints () const
virtual btTypedConstraint *	getConstraint (int index)
virtual const btTypedConstraint *	getConstraint (int index) const
virtual btDynamicsWorldType	getWorldType () const =0
virtual void	clearForces ()=0
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	updateAabbs ()
virtual void	computeOverlappingPairs ()
	the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation
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
	rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void	convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
	convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void	contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
	contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
void	contactPairTest (btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback)
	contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
virtual void	addCollisionObject (btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
btCollisionObjectArray &	getCollisionObjectArray ()
const btCollisionObjectArray &	getCollisionObjectArray () const
virtual void	removeCollisionObject (btCollisionObject *collisionObject)
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 Attributes
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
	m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)

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)
	rayTestSingle performs a raycast call and calls the 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)
Protected Member Functions inherited from btCollisionWorld
void	serializeCollisionObjects (btSerializer *serializer)

Detailed Description

The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.

Definition at line 42 of file btDynamicsWorld.h.

Constructor & Destructor Documentation

btDynamicsWorld()

btDynamicsWorld::btDynamicsWorld ( btDispatcher * dispatcher, btBroadphaseInterface * broadphase, btCollisionConfiguration * collisionConfiguration )

inline

Definition at line 55 of file btDynamicsWorld.h.

~btDynamicsWorld()

virtual btDynamicsWorld::~btDynamicsWorld ( )

inlinevirtual

Definition at line 60 of file btDynamicsWorld.h.

Member Function Documentation

addAction()

virtual void btDynamicsWorld::addAction ( btActionInterface * action )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

addCharacter()

virtual void btDynamicsWorld::addCharacter ( btActionInterface * character )

inlinevirtual

obsolete, use addAction instead.

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 149 of file btDynamicsWorld.h.

addConstraint()

virtual void btDynamicsWorld::addConstraint ( btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false )

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 72 of file btDynamicsWorld.h.

addRigidBody() [1/2]

virtual void btDynamicsWorld::addRigidBody ( btRigidBody * body )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

addRigidBody() [2/2]

virtual void btDynamicsWorld::addRigidBody ( btRigidBody * body, int group, int mask )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

addVehicle()

virtual void btDynamicsWorld::addVehicle ( btActionInterface * vehicle )

inlinevirtual

obsolete, use addAction instead.

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 145 of file btDynamicsWorld.h.

clearForces()

virtual void btDynamicsWorld::clearForces ( )

pure virtual

Implemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, and btMultiBodyDynamicsWorld.

debugDrawWorld()

virtual void btDynamicsWorld::debugDrawWorld ( )

pure virtual

Reimplemented from btCollisionWorld.

Implemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, btMultiBodyDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

getConstraint() [1/2]

virtual btTypedConstraint * btDynamicsWorld::getConstraint ( int index )

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 102 of file btDynamicsWorld.h.

getConstraint() [2/2]

virtual const btTypedConstraint * btDynamicsWorld::getConstraint ( int index ) const

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 104 of file btDynamicsWorld.h.

getConstraintSolver()

virtual btConstraintSolver * btDynamicsWorld::getConstraintSolver ( )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

getGravity()

virtual btVector3 btDynamicsWorld::getGravity ( ) const

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

getNumConstraints()

virtual int btDynamicsWorld::getNumConstraints ( ) const

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 100 of file btDynamicsWorld.h.

getSolverInfo() [1/2]

btContactSolverInfo & btDynamicsWorld::getSolverInfo ( )

inline

Definition at line 133 of file btDynamicsWorld.h.

getSolverInfo() [2/2]

const btContactSolverInfo & btDynamicsWorld::getSolverInfo ( ) const

inline

Definition at line 138 of file btDynamicsWorld.h.

getWorldType()

virtual btDynamicsWorldType btDynamicsWorld::getWorldType ( ) const

pure virtual

Implemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, btSoftMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

getWorldUserInfo()

void * btDynamicsWorld::getWorldUserInfo ( ) const

inline

Definition at line 128 of file btDynamicsWorld.h.

removeAction()

virtual void btDynamicsWorld::removeAction ( btActionInterface * action )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

removeCharacter()

virtual void btDynamicsWorld::removeCharacter ( btActionInterface * character )

inlinevirtual

obsolete, use removeAction instead

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 151 of file btDynamicsWorld.h.

removeConstraint()

virtual void btDynamicsWorld::removeConstraint ( btTypedConstraint * constraint )

inlinevirtual

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 77 of file btDynamicsWorld.h.

removeRigidBody()

virtual void btDynamicsWorld::removeRigidBody ( btRigidBody * body )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

removeVehicle()

virtual void btDynamicsWorld::removeVehicle ( btActionInterface * vehicle )

inlinevirtual

obsolete, use removeAction instead

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 147 of file btDynamicsWorld.h.

setConstraintSolver()

virtual void btDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

setGravity()

virtual void btDynamicsWorld::setGravity ( const btVector3 & gravity )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

setInternalTickCallback()

void btDynamicsWorld::setInternalTickCallback ( btInternalTickCallback cb, void * worldUserInfo = 0, bool isPreTick = false )

inline

Set the callback for when an internal tick (simulation substep) happens, optional user info.

Definition at line 111 of file btDynamicsWorld.h.

setWorldUserInfo()

void btDynamicsWorld::setWorldUserInfo ( void * worldUserInfo )

inline

Definition at line 123 of file btDynamicsWorld.h.

stepSimulation()

virtual int btDynamicsWorld::stepSimulation ( btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.)/btScalar(60.) )

pure virtual

stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.

By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'. in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'. You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

synchronizeMotionStates()

virtual void btDynamicsWorld::synchronizeMotionStates ( )

pure virtual

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

Member Data Documentation

m_internalPreTickCallback

btInternalTickCallback btDynamicsWorld::m_internalPreTickCallback

protected

Definition at line 47 of file btDynamicsWorld.h.

m_internalTickCallback

btInternalTickCallback btDynamicsWorld::m_internalTickCallback

protected

Definition at line 46 of file btDynamicsWorld.h.

m_solverInfo

btContactSolverInfo btDynamicsWorld::m_solverInfo

protected

Definition at line 50 of file btDynamicsWorld.h.

m_worldUserInfo

void* btDynamicsWorld::m_worldUserInfo

protected

Definition at line 48 of file btDynamicsWorld.h.

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

• btDynamicsWorld.h