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

#include <btDynamicsWorld.h>

Inheritance diagram for btDynamicsWorld:

[legend]

List of all members.

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
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, short group, short 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 ()
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
Protected Attributes
btInternalTickCallback	m_internalTickCallback
btInternalTickCallback	m_internalPreTickCallback
void *	m_worldUserInfo
btContactSolverInfo	m_solverInfo

Detailed Description

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

Definition at line 39 of file btDynamicsWorld.h.

Constructor & Destructor Documentation

btDynamicsWorld::btDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	broadphase,
		btCollisionConfiguration *	collisionConfiguration
	)		`[inline]`

Definition at line 52 of file btDynamicsWorld.h.

virtual btDynamicsWorld::~btDynamicsWorld ( ) [inline, virtual]

Definition at line 57 of file btDynamicsWorld.h.

Member Function Documentation

virtual void btDynamicsWorld::addAction ( btActionInterface * action ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual void btDynamicsWorld::addCharacter ( btActionInterface * character ) [inline, virtual]

obsolete, use addAction instead.

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 141 of file btDynamicsWorld.h.

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

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 69 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::addRigidBody ( btRigidBody * body ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

Referenced by plAddRigidBody().

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

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual void btDynamicsWorld::addVehicle ( btActionInterface * vehicle ) [inline, virtual]

obsolete, use addAction instead.

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 137 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::clearForces ( ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual void btDynamicsWorld::debugDrawWorld ( ) [pure virtual]

Reimplemented from btCollisionWorld.

Implemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, and btSoftRigidDynamicsWorld.

virtual const btTypedConstraint* btDynamicsWorld::getConstraint ( int index ) const [inline, virtual]

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 101 of file btDynamicsWorld.h.

virtual btTypedConstraint* btDynamicsWorld::getConstraint ( int index ) [inline, virtual]

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 99 of file btDynamicsWorld.h.

virtual btConstraintSolver* btDynamicsWorld::getConstraintSolver ( ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual btVector3 btDynamicsWorld::getGravity ( ) const [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual int btDynamicsWorld::getNumConstraints ( ) const [inline, virtual]

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 97 of file btDynamicsWorld.h.

btContactSolverInfo& btDynamicsWorld::getSolverInfo ( ) [inline]

Definition at line 130 of file btDynamicsWorld.h.

References m_solverInfo.

Referenced by btContinuousDynamicsWorld::internalSingleStepSimulation(), and btDiscreteDynamicsWorld::internalSingleStepSimulation().

virtual btDynamicsWorldType btDynamicsWorld::getWorldType ( ) const [pure virtual]

Implemented in btContinuousDynamicsWorld, btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

void* btDynamicsWorld::getWorldUserInfo ( ) const [inline]

Definition at line 125 of file btDynamicsWorld.h.

References m_worldUserInfo.

virtual void btDynamicsWorld::removeAction ( btActionInterface * action ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

virtual void btDynamicsWorld::removeCharacter ( btActionInterface * character ) [inline, virtual]

obsolete, use removeAction instead

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 143 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::removeConstraint ( btTypedConstraint * constraint ) [inline, virtual]

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 74 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::removeRigidBody ( btRigidBody * body ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

Referenced by plRemoveRigidBody().

virtual void btDynamicsWorld::removeVehicle ( btActionInterface * vehicle ) [inline, virtual]

obsolete, use removeAction instead

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 139 of file btDynamicsWorld.h.

virtual void btDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

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

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.

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 108 of file btDynamicsWorld.h.

References m_internalPreTickCallback, m_internalTickCallback, and m_worldUserInfo.

void btDynamicsWorld::setWorldUserInfo ( void * worldUserInfo ) [inline]

Definition at line 120 of file btDynamicsWorld.h.

References m_worldUserInfo.

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.

Referenced by plStepSimulation().

virtual void btDynamicsWorld::synchronizeMotionStates ( ) [pure virtual]

Implemented in btDiscreteDynamicsWorld, and btSimpleDynamicsWorld.