#include <CcdPhysicsEnvironment.h>

Inheritance diagram for CcdPhysicsEnvironment:

Public Member Functions
	CcdPhysicsEnvironment (bool useDbvtCulling, btDispatcher dispatcher=0, btOverlappingPairCache pairCache=0)
virtual	~CcdPhysicsEnvironment ()
virtual void	setDebugDrawer (btIDebugDraw *debugDrawer)
	Perform an integration step of duration 'timeStep'.
virtual void	setNumIterations (int numIter)
	setNumIterations set the number of iterations for iterative solvers
virtual void	setNumTimeSubSteps (int numTimeSubSteps)
	setNumTimeSubSteps set the number of divisions of the timestep. Tradeoff quality versus performance.
virtual void	setDeactivationTime (float dTime)
	setDeactivationTime sets the minimum time that an objects has to stay within the velocity tresholds until it gets fully deactivated
virtual void	setDeactivationLinearTreshold (float linTresh)
	setDeactivationLinearTreshold sets the linear velocity treshold, see setDeactivationTime
virtual void	setDeactivationAngularTreshold (float angTresh)
	setDeactivationAngularTreshold sets the angular velocity treshold, see setDeactivationTime
virtual void	setContactBreakingTreshold (float contactBreakingTreshold)
	setContactBreakingTreshold sets tresholds to do with contact point management
virtual void	setCcdMode (int ccdMode)
	continuous collision detection mode, very experimental for Bullet
virtual void	setSolverType (int solverType)
	setSolverType, internal setting, chooses solvertype, PSOR, Dantzig, impulse based, penalty based
virtual void	setSolverSorConstant (float sor)
	successive overrelaxation constant, in case PSOR is used, values in between 1 and 2 guarantee converging behaviour
virtual void	setSolverTau (float tau)
	setTau sets the spring constant of a penalty based solver
virtual void	setSolverDamping (float damping)
	setDamping sets the damper constant of a penalty based solver
virtual void	setLinearAirDamping (float damping)
	linear air damping for rigidbodies
virtual void	setUseEpa (bool epa)
	penetrationdepth setting
virtual void	beginFrame ()
virtual void	endFrame ()
virtual bool	proceedDeltaTime (double curTime, float timeStep, float interval)
	Perform an integration step of duration 'timeStep'.
virtual void	debugDrawWorld ()
	draw debug lines (make sure to call this during the render phase, otherwise lines are not drawn properly)
virtual void	setFixedTimeStep (bool useFixedTimeStep, float fixedTimeStep)
virtual float	getFixedTimeStep ()
virtual void	setDebugMode (int debugMode)
	setDebugMode is used to support several ways of debug lines, contact point visualization
virtual void	setGravity (float x, float y, float z)
virtual void	getGravity (PHY__Vector3 &grav)
virtual int	createConstraint (class PHY_IPhysicsController ctrl, class PHY_IPhysicsController ctrl2, PHY_ConstraintType type, float pivotX, float pivotY, float pivotZ, float axisX, float axisY, float axisZ, float axis1X=0, float axis1Y=0, float axis1Z=0, float axis2X=0, float axis2Y=0, float axis2Z=0, int flag=0)
virtual int	createUniversalD6Constraint (class PHY_IPhysicsController ctrlRef, class PHY_IPhysicsController ctrlOther, btTransform &localAttachmentFrameRef, btTransform &localAttachmentOther, const btVector3 &linearMinLimits, const btVector3 &linearMaxLimits, const btVector3 &angularMinLimits, const btVector3 &angularMaxLimits, int flags)
virtual void	setConstraintParam (int constraintId, int param, float value, float value1)
virtual float	getConstraintParam (int constraintId, int param)
virtual void	removeConstraint (int constraintid)
virtual float	getAppliedImpulse (int constraintid)
virtual void	CallbackTriggers ()
virtual PHY_IVehicle *	getVehicleConstraint (int constraintId)
btTypedConstraint *	getConstraintById (int constraintId)
virtual PHY_IPhysicsController *	rayTest (PHY_IRayCastFilterCallback &filterCallback, float fromX, float fromY, float fromZ, float toX, float toY, float toZ)
virtual bool	cullingTest (PHY_CullingCallback callback, void userData, PHY__Vector4 planes, int nplanes, int occlusionRes)
virtual void	addSensor (PHY_IPhysicsController *ctrl)
virtual void	removeSensor (PHY_IPhysicsController *ctrl)
virtual void	addTouchCallback (int response_class, PHY_ResponseCallback callback, void *user)
virtual bool	requestCollisionCallback (PHY_IPhysicsController *ctrl)
virtual bool	removeCollisionCallback (PHY_IPhysicsController *ctrl)
virtual PHY_IPhysicsController *	CreateSphereController (float radius, const PHY__Vector3 &position)
virtual PHY_IPhysicsController *	CreateConeController (float coneradius, float coneheight)
virtual int	getNumContactPoints ()
virtual void	getContactPoint (int i, float &hitX, float &hitY, float &hitZ, float &normalX, float &normalY, float &normalZ)
void	addCcdPhysicsController (CcdPhysicsController *ctrl)
bool	removeCcdPhysicsController (CcdPhysicsController *ctrl)
void	updateCcdPhysicsController (CcdPhysicsController *ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask)
void	disableCcdPhysicsController (CcdPhysicsController *ctrl)
void	enableCcdPhysicsController (CcdPhysicsController *ctrl)
void	refreshCcdPhysicsController (CcdPhysicsController *ctrl)
void	addCcdGraphicController (CcdGraphicController *ctrl)
void	removeCcdGraphicController (CcdGraphicController *ctrl)
btBroadphaseInterface *	getBroadphase ()
btDbvtBroadphase *	getCullingTree ()
btDispatcher *	getDispatcher ()
bool	IsSatCollisionDetectionEnabled () const
void	EnableSatCollisionDetection (bool enableSat)
const btPersistentManifold *	GetManifold (int index) const
void	SyncMotionStates (float timeStep)
class btSoftRigidDynamicsWorld *	getDynamicsWorld ()
class btConstraintSolver *	GetConstraintSolver ()
void	MergeEnvironment (CcdPhysicsEnvironment *other)
Protected Member Functions
void	processFhSprings (double curTime, float timeStep)
virtual void	exportFile (const char *filename)
Protected Attributes
btIDebugDraw *	m_debugDrawer
class btDefaultCollisionConfiguration *	m_collisionConfiguration
class btBroadphaseInterface *	m_broadphase
btOverlappingPairCache *	m_cullingCache
struct btDbvtBroadphase *	m_cullingTree
int	m_numIterations
int	m_numTimeSubSteps
int	m_ccdMode
int	m_solverType
int	m_profileTimings
bool	m_enableSatCollisionDetection
btContactSolverInfo	m_solverInfo
std::set< CcdPhysicsController * >	m_controllers
std::set< CcdPhysicsController * >	m_triggerControllers
PHY_ResponseCallback	m_triggerCallbacks [PHY_NUM_RESPONSE]
void *	m_triggerCallbacksUserPtrs [PHY_NUM_RESPONSE]
std::vector< WrapperVehicle * >	m_wrapperVehicles
class btSoftRigidDynamicsWorld *	m_dynamicsWorld
class btConstraintSolver *	m_solver
class btOverlappingPairCache *	m_ownPairCache
class CcdOverlapFilterCallBack *	m_filterCallback
class btDispatcher *	m_ownDispatcher
bool	m_scalingPropagated
Friends
class	CcdOverlapFilterCallBack

Detailed Description

CcdPhysicsEnvironment is an experimental mainloop for physics simulation using optional continuous collision detection. Physics Environment takes care of stepping the simulation and is a container for physics entities. It stores rigidbodies,constraints, materials etc. A derived class may be able to 'construct' entities by loading and/or converting

Definition at line 60 of file CcdPhysicsEnvironment.h.

Constructor & Destructor Documentation

CcdPhysicsEnvironment::CcdPhysicsEnvironment	(	bool	useDbvtCulling,
		btDispatcher *	dispatcher = `0`,
		btOverlappingPairCache *	pairCache = `0`
	)

CcdPhysicsEnvironment::~CcdPhysicsEnvironment ( ) [virtual]

Definition at line 1853 of file CcdPhysicsEnvironment.cpp.

References NULL.

Member Function Documentation

void CcdPhysicsEnvironment::addCcdGraphicController ( CcdGraphicController * ctrl )

Definition at line 537 of file CcdPhysicsEnvironment.cpp.

References assert, btDbvtBroadphase::createProxy(), CcdGraphicController::getAabb(), CcdGraphicController::getBroadphaseHandle(), INVALID_SHAPE_PROXYTYPE, m_cullingTree, NULL, and CcdGraphicController::setBroadphaseHandle().

Referenced by CcdGraphicController::Activate(), and BL_CreateGraphicObjectNew().

void CcdPhysicsEnvironment::addCcdPhysicsController ( CcdPhysicsController * ctrl )

Definition at line 383 of file CcdPhysicsEnvironment.cpp.

References btDiscreteDynamicsWorld::addCollisionObject(), btDiscreteDynamicsWorld::addRigidBody(), btSoftRigidDynamicsWorld::addSoftBody(), assert, CcdPhysicsController::GetCollisionFilterGroup(), CcdPhysicsController::GetCollisionFilterMask(), CcdPhysicsController::GetCollisionObject(), CcdPhysicsController::GetRigidBody(), CcdPhysicsController::GetSoftBody(), ISLAND_SLEEPING, m_controllers, m_dynamicsWorld, and btRigidBody::setGravity().

Referenced by CcdPhysicsController::PostProcessReplica(), CcdPhysicsController::ReplaceControllerShape(), and CcdPhysicsController::SetPhysicsEnvironment().

void CcdPhysicsEnvironment::addSensor ( PHY_IPhysicsController * ctrl ) [virtual]

void CcdPhysicsEnvironment::addTouchCallback	(	int	response_class,
		PHY_ResponseCallback	callback,
		void *	user
	)		`[virtual]`

PHY_IPhysicsController * CcdPhysicsEnvironment::CreateConeController	(	float	coneradius,
		float	coneheight
	)		`[virtual]`

int CcdPhysicsEnvironment::createConstraint	(	class PHY_IPhysicsController *	ctrl,
		class PHY_IPhysicsController *	ctrl2,
		PHY_ConstraintType	type,
		float	pivotX,
		float	pivotY,
		float	pivotZ,
		float	axisX,
		float	axisY,
		float	axisZ,
		float	axis1X = `0`,
		float	axis1Y = `0`,
		float	axis1Z = `0`,
		float	axis2X = `0`,
		float	axis2Y = `0`,
		float	axis2Z = `0`,
		int	flag = `0`
	)		`[virtual]`

PHY_IPhysicsController * CcdPhysicsEnvironment::CreateSphereController	(	float	radius,
		const PHY__Vector3 &	position
	)		`[virtual]`

int CcdPhysicsEnvironment::createUniversalD6Constraint	(	class PHY_IPhysicsController *	ctrlRef,
		class PHY_IPhysicsController *	ctrlOther,
		btTransform &	localAttachmentFrameRef,
		btTransform &	localAttachmentOther,
		const btVector3 &	linearMinLimits,
		const btVector3 &	linearMaxLimits,
		const btVector3 &	angularMinLimits,
		const btVector3 &	angularMaxLimits,
		int	flags
	)		`[virtual]`

bool CcdPhysicsEnvironment::cullingTest	(	PHY_CullingCallback	callback,
		void *	userData,
		PHY__Vector4 *	planes,
		int	nplanes,
		int	occlusionRes
	)		`[virtual]`

float CcdPhysicsEnvironment::getConstraintParam	(	int	constraintId,
		int	param
	)		`[virtual]`

void CcdPhysicsEnvironment::getContactPoint	(	int	i,
		float &	hitX,
		float &	hitY,
		float &	hitZ,
		float &	normalX,
		float &	normalY,
		float &	normalZ
	)		`[virtual]`

bool CcdPhysicsEnvironment::proceedDeltaTime	(	double	curTime,
		float	timeStep,
		float	interval
	)		`[virtual]`

void CcdPhysicsEnvironment::processFhSprings	(	double	curTime,
		float	timeStep
	)		`[protected]`

PHY_IPhysicsController * CcdPhysicsEnvironment::rayTest	(	PHY_IRayCastFilterCallback &	filterCallback,
		float	fromX,
		float	fromY,
		float	fromZ,
		float	toX,
		float	toY,
		float	toZ
	)		`[virtual]`

void CcdPhysicsEnvironment::setConstraintParam	(	int	constraintId,
		int	param,
		float	value,
		float	value1
	)		`[virtual]`

virtual void CcdPhysicsEnvironment::setFixedTimeStep	(	bool	useFixedTimeStep,
		float	fixedTimeStep
	)		`[inline, virtual]`

void CcdPhysicsEnvironment::setGravity	(	float	x,
		float	y,
		float	z
	)		`[virtual]`

void CcdPhysicsEnvironment::updateCcdPhysicsController	(	CcdPhysicsController *	ctrl,
		btScalar	newMass,
		int	newCollisionFlags,
		short int	newCollisionGroup,
		short int	newCollisionMask
	)

CcdPhysicsEnvironment Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation