The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds. More...

#include <btSimpleDynamicsWorld.h>

Inheritance diagram for btSimpleDynamicsWorld:

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Collaboration diagram for btSimpleDynamicsWorld:

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Public Member Functions
	btSimpleDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)
	this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver

virtual	~btSimpleDynamicsWorld ()

virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
	maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead

virtual void	setGravity (const btVector3 &gravity)

virtual btVector3	getGravity () const

virtual void	addRigidBody (btRigidBody *body)

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

virtual void	removeRigidBody (btRigidBody *body)

virtual void	debugDrawWorld ()

virtual void	addAction (btActionInterface *action)

virtual void	removeAction (btActionInterface *action)

virtual void	removeCollisionObject (btCollisionObject *collisionObject)
	removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject

virtual void	updateAabbs ()

virtual void	synchronizeMotionStates ()

virtual void	setConstraintSolver (btConstraintSolver *solver)

virtual btConstraintSolver *	getConstraintSolver ()

virtual btDynamicsWorldType	getWorldType () const

virtual void	clearForces ()

Public Member Functions inherited from btDynamicsWorld
	btDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface broadphase, btCollisionConfiguration *collisionConfiguration)

virtual	~btDynamicsWorld ()

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

virtual void	removeConstraint (btTypedConstraint *constraint)

virtual int	getNumConstraints () const

virtual btTypedConstraint *	getConstraint (int index)

virtual const btTypedConstraint *	getConstraint (int index) const

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	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	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 Member Functions
void	predictUnconstraintMotion (btScalar timeStep)

void	integrateTransforms (btScalar timeStep)

Protected Member Functions inherited from btCollisionWorld
void	serializeCollisionObjects (btSerializer *serializer)

Protected Attributes
btConstraintSolver *	m_constraintSolver

bool	m_ownsConstraintSolver

btVector3	m_gravity

Protected Attributes inherited from btDynamicsWorld
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)

Detailed Description

The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.

Please use btDiscreteDynamicsWorld instead

Definition at line 27 of file btSimpleDynamicsWorld.h.

Constructor & Destructor Documentation

◆ btSimpleDynamicsWorld()

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

this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver

Definition at line 39 of file btSimpleDynamicsWorld.cpp.

◆ ~btSimpleDynamicsWorld()

btSimpleDynamicsWorld::~btSimpleDynamicsWorld ( )

virtual

Definition at line 49 of file btSimpleDynamicsWorld.cpp.

Member Function Documentation

◆ addAction()

void btSimpleDynamicsWorld::addAction ( btActionInterface * action )

virtual

Implements btDynamicsWorld.

Definition at line 174 of file btSimpleDynamicsWorld.cpp.

◆ addRigidBody() [1/2]

void btSimpleDynamicsWorld::addRigidBody ( btRigidBody * body )

virtual

Implements btDynamicsWorld.

Definition at line 148 of file btSimpleDynamicsWorld.cpp.

◆ addRigidBody() [2/2]

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

virtual

Implements btDynamicsWorld.

Definition at line 158 of file btSimpleDynamicsWorld.cpp.

◆ clearForces()

void btSimpleDynamicsWorld::clearForces ( )

virtual

Implements btDynamicsWorld.

Definition at line 98 of file btSimpleDynamicsWorld.cpp.

◆ debugDrawWorld()

void btSimpleDynamicsWorld::debugDrawWorld ( )

virtual

Implements btDynamicsWorld.

Definition at line 169 of file btSimpleDynamicsWorld.cpp.

◆ getConstraintSolver()

btConstraintSolver * btSimpleDynamicsWorld::getConstraintSolver ( )

virtual

Implements btDynamicsWorld.

Definition at line 277 of file btSimpleDynamicsWorld.cpp.

◆ getGravity()

btVector3 btSimpleDynamicsWorld::getGravity ( ) const

virtual

Implements btDynamicsWorld.

Definition at line 128 of file btSimpleDynamicsWorld.cpp.

◆ getWorldType()

virtual btDynamicsWorldType btSimpleDynamicsWorld::getWorldType ( ) const

inlinevirtual

Implements btDynamicsWorld.

Definition at line 80 of file btSimpleDynamicsWorld.h.

◆ integrateTransforms()

void btSimpleDynamicsWorld::integrateTransforms ( btScalar timeStep )

protected

Definition at line 205 of file btSimpleDynamicsWorld.cpp.

◆ predictUnconstraintMotion()

void btSimpleDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep )

protected

Definition at line 225 of file btSimpleDynamicsWorld.cpp.

◆ removeAction()

void btSimpleDynamicsWorld::removeAction ( btActionInterface * action )

virtual

Implements btDynamicsWorld.

Definition at line 179 of file btSimpleDynamicsWorld.cpp.

◆ removeCollisionObject()

void btSimpleDynamicsWorld::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.

Definition at line 138 of file btSimpleDynamicsWorld.cpp.

◆ removeRigidBody()

void btSimpleDynamicsWorld::removeRigidBody ( btRigidBody * body )

virtual

Implements btDynamicsWorld.

Definition at line 133 of file btSimpleDynamicsWorld.cpp.

◆ setConstraintSolver()

void btSimpleDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver )

virtual

Implements btDynamicsWorld.

Definition at line 267 of file btSimpleDynamicsWorld.cpp.

◆ setGravity()

void btSimpleDynamicsWorld::setGravity ( const btVector3 & gravity )

virtual

Implements btDynamicsWorld.

Definition at line 114 of file btSimpleDynamicsWorld.cpp.

◆ stepSimulation()

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

virtual

maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead

apply gravity, predict motion

perform collision detection

solve contact constraints

integrate transforms

Implements btDynamicsWorld.

Definition at line 55 of file btSimpleDynamicsWorld.cpp.

◆ synchronizeMotionStates()

void btSimpleDynamicsWorld::synchronizeMotionStates ( )

virtual

Implements btDynamicsWorld.

Definition at line 248 of file btSimpleDynamicsWorld.cpp.

◆ updateAabbs()

void btSimpleDynamicsWorld::updateAabbs ( )

virtual

Reimplemented from btCollisionWorld.

Definition at line 185 of file btSimpleDynamicsWorld.cpp.

Member Data Documentation

◆ m_constraintSolver

btConstraintSolver* btSimpleDynamicsWorld::m_constraintSolver

protected

Definition at line 31 of file btSimpleDynamicsWorld.h.

◆ m_gravity

btVector3 btSimpleDynamicsWorld::m_gravity

protected

Definition at line 39 of file btSimpleDynamicsWorld.h.

◆ m_ownsConstraintSolver

bool btSimpleDynamicsWorld::m_ownsConstraintSolver

protected

Definition at line 33 of file btSimpleDynamicsWorld.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btSimpleDynamicsWorld()

◆ ~btSimpleDynamicsWorld()

Member Function Documentation

◆ addAction()

◆ addRigidBody() [1/2]

◆ addRigidBody() [2/2]

◆ clearForces()

◆ debugDrawWorld()

◆ getConstraintSolver()

◆ getGravity()

◆ getWorldType()

◆ integrateTransforms()

◆ predictUnconstraintMotion()

◆ removeAction()

◆ removeCollisionObject()

◆ removeRigidBody()

◆ setConstraintSolver()

◆ setGravity()

◆ stepSimulation()

◆ synchronizeMotionStates()

◆ updateAabbs()

Member Data Documentation

◆ m_constraintSolver

◆ m_gravity

◆ m_ownsConstraintSolver