CollisionWorld is interface and container for the collision detection. More...

#include <btCollisionWorld.h>

Inheritance diagram for btCollisionWorld:

[legend]

Classes
struct	AllHitsRayResultCallback
struct	ClosestConvexResultCallback
struct	ClosestRayResultCallback
struct	ContactResultCallback
	ContactResultCallback is used to report contact points. More...
struct	ConvexResultCallback
	RayResultCallback is used to report new raycast results. More...
struct	LocalConvexResult
struct	LocalRayResult
struct	LocalShapeInfo
struct	RayResultCallback
	RayResultCallback is used to report new raycast results. More...
Public Member Functions
	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	setDebugDrawer (btIDebugDraw *debugDrawer)
virtual btIDebugDraw *	getDebugDrawer ()
virtual void	debugDrawWorld ()
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
void	convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
void	contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
void	contactPairTest (btCollisionObject colObjA, btCollisionObject colObjB, ContactResultCallback &resultCallback)
virtual void	addCollisionObject (btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, short 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)
Static Public Member Functions
static void	rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject collisionObject, const btCollisionShape collisionShape, const btTransform &colObjWorldTransform, 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.
Protected Member Functions
void	serializeCollisionObjects (btSerializer *serializer)
Protected Attributes
btAlignedObjectArray < btCollisionObject * >	m_collisionObjects
btDispatcher *	m_dispatcher1
btDispatcherInfo	m_dispatchInfo
btStackAlloc *	m_stackAlloc
btBroadphaseInterface *	m_broadphasePairCache
btIDebugDraw *	m_debugDrawer
bool	m_forceUpdateAllAabbs

Detailed Description

CollisionWorld is interface and container for the collision detection.

Definition at line 82 of file btCollisionWorld.h.

Constructor & Destructor Documentation

btCollisionWorld::btCollisionWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	broadphasePairCache,
		btCollisionConfiguration *	collisionConfiguration
	)

for debug drawing

Definition at line 68 of file btCollisionWorld.cpp.

References btCollisionConfiguration::getStackAllocator(), m_dispatchInfo, m_stackAlloc, and btDispatcherInfo::m_stackAllocator.

btCollisionWorld::~btCollisionWorld ( ) [virtual]

Definition at line 79 of file btCollisionWorld.cpp.

References btOverlappingPairCache::cleanProxyFromPairs(), btBroadphaseInterface::destroyProxy(), getBroadphase(), btBroadphaseInterface::getOverlappingPairCache(), i, m_collisionObjects, m_dispatcher1, and btAlignedObjectArray< T >::size().

Member Function Documentation

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

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 112 of file btCollisionWorld.cpp.

References btAssert, btAlignedObjectArray< T >::findLinearSearch(), getBroadphase(), m_collisionObjects, m_dispatcher1, btAlignedObjectArray< T >::push_back(), and btAlignedObjectArray< T >::size().

Referenced by btSimpleDynamicsWorld::addRigidBody().

void btCollisionWorld::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. it reports one or more contact points (including the one with deepest penetration)

Definition at line 1117 of file btCollisionWorld.cpp.

References btDispatcher::findAlgorithm(), btDispatcher::freeCollisionAlgorithm(), getDispatcher(), getDispatchInfo(), btCollisionAlgorithm::processCollision(), and btCollisionAlgorithm::~btCollisionAlgorithm().

void btCollisionWorld::contactTest	(	btCollisionObject *	colObj,
		ContactResultCallback &	resultCallback
	)

contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. it reports one or more contact points for every overlapping object (including the one with deepest penetration)

contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback. it reports one or more contact points for every overlapping object (including the one with deepest penetration)

Definition at line 1105 of file btCollisionWorld.cpp.

References btBroadphaseInterface::aabbTest(), and m_broadphasePairCache.

void btCollisionWorld::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.

use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical

Definition at line 943 of file btCollisionWorld.cpp.

References AabbExpand(), BT_PROFILE, btRayAabb(), btTransformUtil::calculateVelocity(), btTransform::getOrigin(), btTransform::getRotation(), i, m_broadphasePairCache, m_collisionObjects, btCollisionWorld::ConvexResultCallback::needsCollision(), objectQuerySingle(), R, btBroadphaseInterface::rayTest(), btTransform::setIdentity(), btTransform::setRotation(), and btAlignedObjectArray< T >::size().

Referenced by btDiscreteDynamicsWorld::integrateTransforms(), btKinematicCharacterController::stepDown(), btKinematicCharacterController::stepForwardAndStrafe(), and btKinematicCharacterController::stepUp().

void btCollisionWorld::debugDrawObject	(	const btTransform &	worldTransform,
		const btCollisionShape *	shape,
		const btVector3 &	color
	)		`[virtual]`

Todo:: pass camera, for some culling? no -> we are not a graphics lib

for polyhedral shapes

Definition at line 1181 of file btCollisionWorld.cpp.

References BOX_SHAPE_PROXYTYPE, BT_LARGE_FLOAT, CAPSULE_SHAPE_PROXYTYPE, MakeCursor::color, COMPOUND_SHAPE_PROXYTYPE, CONE_SHAPE_PROXYTYPE, CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE, CYLINDER_SHAPE_PROXYTYPE, btIDebugDraw::drawBox(), btIDebugDraw::drawCapsule(), btIDebugDraw::drawCone(), btIDebugDraw::drawCylinder(), btIDebugDraw::drawLine(), btIDebugDraw::drawPlane(), btIDebugDraw::drawSphere(), btIDebugDraw::drawTransform(), btConeShape::getConeUpIndex(), getDebugDrawer(), btPolyhedralConvexShape::getEdge(), btBoxShape::getHalfExtentsWithMargin(), btCylinderShape::getHalfExtentsWithMargin(), btCapsuleShape::getHalfHeight(), btConeShape::getHeight(), btConvexTriangleMeshShape::getMeshInterface(), btPolyhedralConvexShape::getNumEdges(), btConeShape::getRadius(), btCylinderShape::getRadius(), btCapsuleShape::getRadius(), btCollisionShape::getShapeType(), btMultiSphereShape::getSphereCount(), btMultiSphereShape::getSpherePosition(), btMultiSphereShape::getSphereRadius(), btCylinderShape::getUpAxis(), btCapsuleShape::getUpAxis(), i, btStridingMeshInterface::InternalProcessAllTriangles(), btCollisionShape::isConcave(), btCollisionShape::isPolyhedral(), MULTI_SPHERE_SHAPE_PROXYTYPE, btConcaveShape::processAllTriangles(), btTransform::setIdentity(), btTransform::setOrigin(), SPHERE_SHAPE_PROXYTYPE, and STATIC_PLANE_PROXYTYPE.

Referenced by debugDrawWorld().

void btCollisionWorld::debugDrawWorld ( ) [virtual]

Reimplemented in btDiscreteDynamicsWorld, btDynamicsWorld, btSimpleDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 1325 of file btCollisionWorld.cpp.

References ACTIVE_TAG, MakeCursor::color, btIDebugDraw::DBG_DrawAabb, btIDebugDraw::DBG_DrawContactPoints, btIDebugDraw::DBG_DrawWireframe, debugDrawObject(), DISABLE_DEACTIVATION, DISABLE_SIMULATION, btIDebugDraw::drawAabb(), btIDebugDraw::drawContactPoint(), gContactBreakingThreshold, getDebugDrawer(), btIDebugDraw::getDebugMode(), getDispatcher(), btManifoldPoint::getDistance(), btManifoldPoint::getLifeTime(), btDispatcher::getManifoldByIndexInternal(), btDispatcher::getNumManifolds(), i, ISLAND_SLEEPING, m_collisionObjects, m_debugDrawer, btManifoldPoint::m_normalWorldOnB, btManifoldPoint::m_positionWorldOnB, btAlignedObjectArray< T >::size(), and WANTS_DEACTIVATION.

btBroadphaseInterface* btCollisionWorld::getBroadphase ( ) [inline]

Definition at line 123 of file btCollisionWorld.h.

References m_broadphasePairCache.

const btBroadphaseInterface* btCollisionWorld::getBroadphase ( ) const [inline]

Definition at line 118 of file btCollisionWorld.h.

References m_broadphasePairCache.

Referenced by addCollisionObject(), btDiscreteDynamicsWorld::integrateTransforms(), removeCollisionObject(), btSimpleDynamicsWorld::updateAabbs(), and ~btCollisionWorld().

btCollisionObjectArray& btCollisionWorld::getCollisionObjectArray ( ) [inline]

Definition at line 469 of file btCollisionWorld.h.

References m_collisionObjects.

Referenced by btSimulationIslandManager::buildAndProcessIslands(), btSimulationIslandManager::buildIslands(), CcdPhysicsController::ReplaceControllerShape(), btSimpleDynamicsWorld::stepSimulation(), btSimulationIslandManager::storeIslandActivationState(), and btSimulationIslandManager::updateActivationState().

const btCollisionObjectArray& btCollisionWorld::getCollisionObjectArray ( ) const [inline]

Definition at line 474 of file btCollisionWorld.h.

References m_collisionObjects.

virtual btIDebugDraw* btCollisionWorld::getDebugDrawer ( ) [inline, virtual]

Definition at line 153 of file btCollisionWorld.h.

References m_debugDrawer.

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint(), debugDrawObject(), btDiscreteDynamicsWorld::debugDrawWorld(), debugDrawWorld(), btSoftRigidDynamicsWorld::debugDrawWorld(), CcdPhysicsEnvironment::debugDrawWorld(), btContinuousDynamicsWorld::internalSingleStepSimulation(), btDiscreteDynamicsWorld::internalSingleStepSimulation(), btDiscreteDynamicsWorld::stepSimulation(), and btSimpleDynamicsWorld::stepSimulation().

btDispatcher* btCollisionWorld::getDispatcher ( ) [inline]

Definition at line 134 of file btCollisionWorld.h.

References m_dispatcher1.

Referenced by btDiscreteDynamicsWorld::calculateSimulationIslands(), btContinuousDynamicsWorld::calculateTimeOfImpacts(), contactPairTest(), debugDrawWorld(), btDiscreteDynamicsWorld::integrateTransforms(), performDiscreteCollisionDetection(), btSingleContactCallback::process(), btKinematicCharacterController::recoverFromPenetration(), CcdPhysicsEnvironment::refreshCcdPhysicsController(), CcdPhysicsController::ReplaceControllerShape(), and btDiscreteDynamicsWorld::solveConstraints().

const btDispatcher* btCollisionWorld::getDispatcher ( ) const [inline]

Definition at line 139 of file btCollisionWorld.h.

References m_dispatcher1.

const btDispatcherInfo& btCollisionWorld::getDispatchInfo ( ) const [inline]

Definition at line 489 of file btCollisionWorld.h.

References m_dispatchInfo.

btDispatcherInfo& btCollisionWorld::getDispatchInfo ( ) [inline]

Definition at line 484 of file btCollisionWorld.h.

References m_dispatchInfo.

Referenced by btContinuousDynamicsWorld::calculateTimeOfImpacts(), contactPairTest(), btContinuousDynamicsWorld::internalSingleStepSimulation(), btDiscreteDynamicsWorld::internalSingleStepSimulation(), performDiscreteCollisionDetection(), btSingleContactCallback::process(), btKinematicCharacterController::recoverFromPenetration(), btKinematicCharacterController::stepDown(), btKinematicCharacterController::stepForwardAndStrafe(), btSimpleDynamicsWorld::stepSimulation(), btKinematicCharacterController::stepUp(), and updateSingleAabb().

bool btCollisionWorld::getForceUpdateAllAabbs ( ) const [inline]

Definition at line 494 of file btCollisionWorld.h.

References m_forceUpdateAllAabbs.

int btCollisionWorld::getNumCollisionObjects ( ) const [inline]

Definition at line 429 of file btCollisionWorld.h.

References m_collisionObjects, and btAlignedObjectArray< T >::size().

Referenced by btSoftRigidDynamicsWorld::rayTest(), rayTest(), btDiscreteDynamicsWorld::solveConstraints(), and btSimpleDynamicsWorld::stepSimulation().

btOverlappingPairCache* btCollisionWorld::getPairCache ( ) [inline]

Definition at line 128 of file btCollisionWorld.h.

References btBroadphaseInterface::getOverlappingPairCache(), and m_broadphasePairCache.

Referenced by btSimulationIslandManager::findUnions(), CcdPhysicsEnvironment::refreshCcdPhysicsController(), and CcdPhysicsController::ReplaceControllerShape().

void btCollisionWorld::objectQuerySingle	(	const btConvexShape *	castShape,
		const btTransform &	rayFromTrans,
		const btTransform &	rayToTrans,
		btCollisionObject *	collisionObject,
		const btCollisionShape *	collisionShape,
		const btTransform &	colObjWorldTransform,
		ConvexResultCallback &	resultCallback,
		btScalar	allowedPenetration
	)		`[static]`

objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.

Todo:: : use AABB tree or other BVH acceleration structure!

Definition at line 554 of file btCollisionWorld.cpp.

References btCollisionWorld::ConvexResultCallback::addSingleResult(), BT_PROFILE, btConvexCast::calcTimeOfImpact(), btTransform::getBasis(), btConcaveShape::getMargin(), btTransform::getOrigin(), btCollisionShape::getShapeType(), i, btTransform::inverse(), btCollisionShape::isCompound(), btCollisionShape::isConcave(), btCollisionShape::isConvex(), btConvexCast::CastResult::m_allowedPenetration, btCollisionWorld::ConvexResultCallback::m_closestHitFraction, btConvexCast::CastResult::m_fraction, btConvexCast::CastResult::m_hitPoint, btCollisionWorld::LocalConvexResult::m_localShapeInfo, btConvexCast::CastResult::m_normal, btCollisionWorld::LocalShapeInfo::m_shapePart, btCollisionWorld::LocalShapeInfo::m_triangleIndex, NULL, p, btConcaveShape::processAllTriangles(), and TRIANGLE_MESH_SHAPE_PROXYTYPE.

Referenced by convexSweepTest(), and btSingleSweepCallback::process().

void btCollisionWorld::performDiscreteCollisionDetection ( ) [virtual]

Definition at line 210 of file btCollisionWorld.cpp.

References BT_PROFILE, btBroadphaseInterface::calculateOverlappingPairs(), btDispatcher::dispatchAllCollisionPairs(), getDispatcher(), getDispatchInfo(), btBroadphaseInterface::getOverlappingPairCache(), m_broadphasePairCache, m_dispatcher1, and updateAabbs().

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

void btCollisionWorld::rayTest	(	const btVector3 &	rayFromWorld,
		const btVector3 &	rayToWorld,
		RayResultCallback &	resultCallback
	)		const `[virtual]`

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.

use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 865 of file btCollisionWorld.cpp.

References getNumCollisionObjects(), i, m_broadphasePairCache, m_collisionObjects, btSingleRayCallback::process(), and btBroadphaseInterface::rayTest().

Referenced by btDefaultVehicleRaycaster::castRay(), and rayTestSingle().

void btCollisionWorld::rayTestSingle	(	const btTransform &	rayFromTrans,
		const btTransform &	rayToTrans,
		btCollisionObject *	collisionObject,
		const btCollisionShape *	collisionShape,
		const btTransform &	colObjWorldTransform,
		RayResultCallback &	resultCallback
	)		`[static]`

rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. This allows more customization.

optimized version for btBvhTriangleMeshShape

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 263 of file btCollisionWorld.cpp.

References btCollisionWorld::RayResultCallback::addSingleResult(), btSubsimplexConvexCast::calcTimeOfImpact(), btDbvtNode::dataAsInt, btTransform::getBasis(), btTransform::getOrigin(), btCollisionShape::getShapeType(), i, btTransform::inverse(), btTransform::inverseTimes(), btCollisionShape::isCompound(), btCollisionShape::isConcave(), btCollisionShape::isConvex(), btCollisionWorld::RayResultCallback::m_closestHitFraction, btCollisionWorld::RayResultCallback::m_flags, btConvexCast::CastResult::m_fraction, btCollisionWorld::LocalRayResult::m_localShapeInfo, btConvexCast::CastResult::m_normal, btDbvt::m_root, btCollisionWorld::LocalShapeInfo::m_shapePart, btCollisionWorld::LocalShapeInfo::m_triangleIndex, NULL, p, btConcaveShape::processAllTriangles(), rayTest(), and TRIANGLE_MESH_SHAPE_PROXYTYPE.

Referenced by btSingleRayCallback::process().

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

Reimplemented in btDiscreteDynamicsWorld, btSimpleDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 235 of file btCollisionWorld.cpp.

References btOverlappingPairCache::cleanProxyFromPairs(), btBroadphaseInterface::destroyProxy(), getBroadphase(), btBroadphaseInterface::getOverlappingPairCache(), m_collisionObjects, m_dispatcher1, and btAlignedObjectArray< T >::remove().

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

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

Reimplemented in btDiscreteDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 1436 of file btCollisionWorld.cpp.

References btSerializer::finishSerialization(), serializeCollisionObjects(), and btSerializer::startSerialization().

void btCollisionWorld::serializeCollisionObjects ( btSerializer * serializer ) [protected]

keep track of shapes already serialized

Definition at line 1405 of file btCollisionWorld.cpp.

References btHashMap< Key, Value >::find(), i, btHashMap< Key, Value >::insert(), m_collisionObjects, btCollisionShape::serializeSingleShape(), and btAlignedObjectArray< T >::size().

Referenced by btSoftRigidDynamicsWorld::serialize(), serialize(), and btDiscreteDynamicsWorld::serialize().

void btCollisionWorld::setBroadphase ( btBroadphaseInterface * pairCache ) [inline]

Definition at line 113 of file btCollisionWorld.h.

References m_broadphasePairCache.

virtual void btCollisionWorld::setDebugDrawer ( btIDebugDraw * debugDrawer ) [inline, virtual]

Definition at line 148 of file btCollisionWorld.h.

References m_debugDrawer.

Referenced by CcdPhysicsEnvironment::setDebugDrawer().

void btCollisionWorld::setForceUpdateAllAabbs ( bool forceUpdateAllAabbs ) [inline]

Definition at line 498 of file btCollisionWorld.h.

References m_forceUpdateAllAabbs.

void btCollisionWorld::updateAabbs ( ) [virtual]

Reimplemented in btSimpleDynamicsWorld.

Definition at line 191 of file btCollisionWorld.cpp.

References BT_PROFILE, i, m_collisionObjects, m_forceUpdateAllAabbs, btAlignedObjectArray< T >::size(), and updateSingleAabb().

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

void btCollisionWorld::updateSingleAabb ( btCollisionObject * colObj )

Definition at line 148 of file btCollisionWorld.cpp.

References DISABLE_SIMULATION, gContactBreakingThreshold, getDispatchInfo(), m_broadphasePairCache, m_debugDrawer, m_dispatcher1, btIDebugDraw::reportErrorWarning(), and btBroadphaseInterface::setAabb().

Referenced by updateAabbs().

Member Data Documentation

btBroadphaseInterface* btCollisionWorld::m_broadphasePairCache [protected]

Definition at line 96 of file btCollisionWorld.h.

Referenced by btContinuousDynamicsWorld::calculateTimeOfImpacts(), contactTest(), convexSweepTest(), getBroadphase(), getPairCache(), performDiscreteCollisionDetection(), btSoftRigidDynamicsWorld::rayTest(), rayTest(), setBroadphase(), and updateSingleAabb().

btAlignedObjectArray<btCollisionObject*> btCollisionWorld::m_collisionObjects [protected]

btIDebugDraw* btCollisionWorld::m_debugDrawer [protected]

Definition at line 98 of file btCollisionWorld.h.

Referenced by btDiscreteDynamicsWorld::debugDrawWorld(), debugDrawWorld(), btSoftRigidDynamicsWorld::debugDrawWorld(), getDebugDrawer(), setDebugDrawer(), btDiscreteDynamicsWorld::solveConstraints(), btSimpleDynamicsWorld::stepSimulation(), and updateSingleAabb().

btDispatcher* btCollisionWorld::m_dispatcher1 [protected]

Definition at line 90 of file btCollisionWorld.h.

Referenced by addCollisionObject(), btContinuousDynamicsWorld::calculateTimeOfImpacts(), getDispatcher(), performDiscreteCollisionDetection(), removeCollisionObject(), btDiscreteDynamicsWorld::solveConstraints(), btSimpleDynamicsWorld::stepSimulation(), btSimpleDynamicsWorld::updateAabbs(), updateSingleAabb(), and ~btCollisionWorld().

btDispatcherInfo btCollisionWorld::m_dispatchInfo [protected]

Definition at line 92 of file btCollisionWorld.h.

Referenced by btCollisionWorld(), and getDispatchInfo().

bool btCollisionWorld::m_forceUpdateAllAabbs [protected]

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)

Definition at line 102 of file btCollisionWorld.h.

Referenced by getForceUpdateAllAabbs(), setForceUpdateAllAabbs(), and updateAabbs().

btStackAlloc* btCollisionWorld::m_stackAlloc [protected]

Definition at line 94 of file btCollisionWorld.h.

Referenced by btCollisionWorld(), btDiscreteDynamicsWorld::solveConstraints(), and btSimpleDynamicsWorld::stepSimulation().

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

btCollisionWorld Class Reference

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation