#include <btDiscreteDynamicsWorld.h>

Inheritance diagram for btDiscreteDynamicsWorld:

[legend]

Public Member Functions
	btDiscreteDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)
	this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
virtual	~btDiscreteDynamicsWorld ()
virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
	if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual void	synchronizeMotionStates ()
void	synchronizeSingleMotionState (btRigidBody *body)
	this can be useful to synchronize a single rigid body -> graphics object
virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
virtual void	removeConstraint (btTypedConstraint *constraint)
virtual void	addAction (btActionInterface *)
virtual void	removeAction (btActionInterface *)
btSimulationIslandManager *	getSimulationIslandManager ()
const btSimulationIslandManager *	getSimulationIslandManager () const
btCollisionWorld *	getCollisionWorld ()
virtual void	setGravity (const btVector3 &gravity)
virtual btVector3	getGravity () const
virtual void	addCollisionObject (btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::StaticFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter^btBroadphaseProxy::StaticFilter)
virtual void	addRigidBody (btRigidBody *body)
virtual void	addRigidBody (btRigidBody *body, short group, short mask)
virtual void	removeRigidBody (btRigidBody *body)
virtual void	removeCollisionObject (btCollisionObject *collisionObject)
	removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
void	debugDrawConstraint (btTypedConstraint *constraint)
virtual void	debugDrawWorld ()
virtual void	setConstraintSolver (btConstraintSolver *solver)
virtual btConstraintSolver *	getConstraintSolver ()
virtual int	getNumConstraints () const
virtual btTypedConstraint *	getConstraint (int index)
virtual const btTypedConstraint *	getConstraint (int index) const
virtual btDynamicsWorldType	getWorldType () const
virtual void	clearForces ()
	the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
virtual void	applyGravity ()
	apply gravity, call this once per timestep
virtual void	setNumTasks (int numTasks)
virtual void	updateVehicles (btScalar timeStep)
	obsolete, use updateActions instead
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
void	setSynchronizeAllMotionStates (bool synchronizeAll)
bool	getSynchronizeAllMotionStates () const
virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
Protected Member Functions
virtual void	predictUnconstraintMotion (btScalar timeStep)
virtual void	integrateTransforms (btScalar timeStep)
virtual void	calculateSimulationIslands ()
virtual void	solveConstraints (btContactSolverInfo &solverInfo)
void	updateActivationState (btScalar timeStep)
void	updateActions (btScalar timeStep)
void	startProfiling (btScalar timeStep)
virtual void	internalSingleStepSimulation (btScalar timeStep)
virtual void	saveKinematicState (btScalar timeStep)
void	serializeRigidBodies (btSerializer *serializer)
Protected Attributes
btConstraintSolver *	m_constraintSolver
btSimulationIslandManager *	m_islandManager
btAlignedObjectArray < btTypedConstraint * >	m_constraints
btAlignedObjectArray < btRigidBody * >	m_nonStaticRigidBodies
btVector3	m_gravity
btScalar	m_localTime
bool	m_ownsIslandManager
bool	m_ownsConstraintSolver
bool	m_synchronizeAllMotionStates
btAlignedObjectArray < btActionInterface * >	m_actions
int	m_profileTimings

Detailed Description

btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController

Definition at line 35 of file btDiscreteDynamicsWorld.h.

Constructor & Destructor Documentation

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

this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those

Definition at line 51 of file btDiscreteDynamicsWorld.cpp.

References btAlignedAlloc, m_constraintSolver, m_islandManager, m_ownsConstraintSolver, and m_ownsIslandManager.

btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld ( ) [virtual]

Definition at line 78 of file btDiscreteDynamicsWorld.cpp.

References btAlignedFree, m_constraintSolver, m_islandManager, m_ownsConstraintSolver, m_ownsIslandManager, btConstraintSolver::~btConstraintSolver(), and btSimulationIslandManager::~btSimulationIslandManager().

Member Function Documentation

void btDiscreteDynamicsWorld::addAction ( btActionInterface * action ) [virtual]

Implements btDynamicsWorld.

Definition at line 495 of file btDiscreteDynamicsWorld.cpp.

References m_actions, and btAlignedObjectArray< T >::push_back().

Referenced by addCharacter(), and addVehicle().

void btDiscreteDynamicsWorld::addCharacter ( btActionInterface * character ) [virtual]

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 516 of file btDiscreteDynamicsWorld.cpp.

References addAction().

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

Reimplemented from btCollisionWorld.

Definition at line 363 of file btDiscreteDynamicsWorld.cpp.

Referenced by CcdPhysicsEnvironment::addCcdPhysicsController(), addRigidBody(), btSoftRigidDynamicsWorld::addSoftBody(), CcdPhysicsEnvironment::enableCcdPhysicsController(), and CcdPhysicsEnvironment::updateCcdPhysicsController().

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

Reimplemented from btDynamicsWorld.

Definition at line 478 of file btDiscreteDynamicsWorld.cpp.

References btRigidBody::addConstraintRef(), btTypedConstraint::getRigidBodyA(), btTypedConstraint::getRigidBodyB(), m_constraints, and btAlignedObjectArray< T >::push_back().

Referenced by CcdPhysicsEnvironment::createUniversalD6Constraint().

void btDiscreteDynamicsWorld::addRigidBody ( btRigidBody * body ) [virtual]

Implements btDynamicsWorld.

Definition at line 384 of file btDiscreteDynamicsWorld.cpp.

References addCollisionObject(), BT_DISABLE_WORLD_GRAVITY, btRigidBody::getCollisionShape(), btRigidBody::getFlags(), ISLAND_SLEEPING, m_gravity, m_nonStaticRigidBodies, btAlignedObjectArray< T >::push_back(), and btRigidBody::setGravity().

Referenced by CcdPhysicsEnvironment::addCcdPhysicsController(), and CcdPhysicsEnvironment::updateCcdPhysicsController().

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

Implements btDynamicsWorld.

Definition at line 409 of file btDiscreteDynamicsWorld.cpp.

References addCollisionObject(), BT_DISABLE_WORLD_GRAVITY, btRigidBody::getCollisionShape(), btRigidBody::getFlags(), ISLAND_SLEEPING, m_gravity, m_nonStaticRigidBodies, btAlignedObjectArray< T >::push_back(), and btRigidBody::setGravity().

void btDiscreteDynamicsWorld::addVehicle ( btActionInterface * vehicle ) [virtual]

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 506 of file btDiscreteDynamicsWorld.cpp.

References addAction().

void btDiscreteDynamicsWorld::applyGravity ( ) [virtual]

apply gravity, call this once per timestep

Todo:: : iterate over awake simulation islands!

Definition at line 168 of file btDiscreteDynamicsWorld.cpp.

References btRigidBody::applyGravity(), i, m_nonStaticRigidBodies, and btAlignedObjectArray< T >::size().

Referenced by stepSimulation().

void btDiscreteDynamicsWorld::calculateSimulationIslands ( ) [protected, virtual]

Definition at line 708 of file btDiscreteDynamicsWorld.cpp.

References BT_PROFILE, getCollisionWorld(), btCollisionWorld::getDispatcher(), btTypedConstraint::getRigidBodyA(), btTypedConstraint::getRigidBodyB(), getSimulationIslandManager(), btSimulationIslandManager::getUnionFind(), i, m_constraints, btAlignedObjectArray< T >::size(), btSimulationIslandManager::storeIslandActivationState(), btUnionFind::unite(), and btSimulationIslandManager::updateActivationState().

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

void btDiscreteDynamicsWorld::clearForces ( ) [virtual]

the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.

Todo:: : iterate over awake simulation islands!

Implements btDynamicsWorld.

Definition at line 155 of file btDiscreteDynamicsWorld.cpp.

References btRigidBody::clearForces(), i, m_nonStaticRigidBodies, and btAlignedObjectArray< T >::size().

Referenced by stepSimulation().

void btDiscreteDynamicsWorld::debugDrawConstraint ( btTypedConstraint * constraint )

Definition at line 909 of file btDiscreteDynamicsWorld.cpp.

References btCos(), btSin(), CONETWIST_CONSTRAINT_TYPE, D6_CONSTRAINT_TYPE, D6_SPRING_CONSTRAINT_TYPE, btIDebugDraw::DBG_DrawConstraintLimits, btIDebugDraw::DBG_DrawConstraints, btIDebugDraw::drawArc(), btIDebugDraw::drawBox(), btIDebugDraw::drawLine(), btIDebugDraw::drawSpherePatch(), btIDebugDraw::drawTransform(), btConeTwistConstraint::getAFrame(), btGeneric6DofConstraint::getAngle(), btTransform::getBasis(), btConeTwistConstraint::getBFrame(), btGeneric6DofConstraint::getCalculatedTransformA(), btSliderConstraint::getCalculatedTransformA(), btGeneric6DofConstraint::getCalculatedTransformB(), btSliderConstraint::getCalculatedTransformB(), btRigidBody::getCenterOfMassTransform(), btMatrix3x3::getColumn(), btTypedConstraint::getConstraintType(), btTypedConstraint::getDbgDrawSize(), btCollisionWorld::getDebugDrawer(), btIDebugDraw::getDebugMode(), btRigidBody::getInvMass(), btSliderConstraint::getLowerAngLimit(), btSliderConstraint::getLowerLinLimit(), btTransform::getOrigin(), btConeTwistConstraint::GetPointForAngle(), btConeTwistConstraint::getRigidBodyA(), btConeTwistConstraint::getRigidBodyB(), btGeneric6DofConstraint::getRotationalLimitMotor(), btGeneric6DofConstraint::getTranslationalLimitMotor(), btConeTwistConstraint::getTwistAngle(), btConeTwistConstraint::getTwistSpan(), btSliderConstraint::getUpperAngLimit(), btSliderConstraint::getUpperLinLimit(), btSliderConstraint::getUseLinearReferenceFrameA(), HINGE_CONSTRAINT_TYPE, i, length(), btRotationalLimitMotor::m_hiLimit, btRotationalLimitMotor::m_loLimit, btTranslationalLimitMotor::m_lowerLimit, btTranslationalLimitMotor::m_upperLimit, POINT2POINT_CONSTRAINT_TYPE, btTransform::setIdentity(), btTransform::setOrigin(), SIMD_2_PI, SIMD_PI, and SLIDER_CONSTRAINT_TYPE.

Referenced by debugDrawWorld().

void btDiscreteDynamicsWorld::debugDrawWorld ( ) [virtual]

Implements btDynamicsWorld.

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 115 of file btDiscreteDynamicsWorld.cpp.

References BT_PROFILE, btIDebugDraw::DBG_DrawAabb, btIDebugDraw::DBG_DrawConstraintLimits, btIDebugDraw::DBG_DrawConstraints, btIDebugDraw::DBG_DrawWireframe, debugDrawConstraint(), getConstraint(), btCollisionWorld::getDebugDrawer(), btIDebugDraw::getDebugMode(), getNumConstraints(), i, m_actions, btCollisionWorld::m_debugDrawer, and btAlignedObjectArray< T >::size().

btCollisionWorld* btDiscreteDynamicsWorld::getCollisionWorld ( ) [inline]

Definition at line 117 of file btDiscreteDynamicsWorld.h.

Referenced by calculateSimulationIslands(), and solveConstraints().

const btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int index ) const [virtual]

Reimplemented from btDynamicsWorld.

Definition at line 1117 of file btDiscreteDynamicsWorld.cpp.

References m_constraints.

btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int index ) [virtual]

Reimplemented from btDynamicsWorld.

Definition at line 1113 of file btDiscreteDynamicsWorld.cpp.

References m_constraints.

Referenced by debugDrawWorld(), and CcdPhysicsEnvironment::removeConstraint().

btConstraintSolver * btDiscreteDynamicsWorld::getConstraintSolver ( ) [virtual]

Implements btDynamicsWorld.

Definition at line 1103 of file btDiscreteDynamicsWorld.cpp.

References m_constraintSolver.

btVector3 btDiscreteDynamicsWorld::getGravity ( ) const [virtual]

Implements btDynamicsWorld.

Definition at line 358 of file btDiscreteDynamicsWorld.cpp.

References m_gravity.

Referenced by CcdPhysicsEnvironment::getGravity().

int btDiscreteDynamicsWorld::getNumConstraints ( ) const [virtual]

Reimplemented from btDynamicsWorld.

Definition at line 1109 of file btDiscreteDynamicsWorld.cpp.

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

Referenced by debugDrawWorld(), CcdPhysicsEnvironment::removeConstraint(), and solveConstraints().

btSimulationIslandManager* btDiscreteDynamicsWorld::getSimulationIslandManager ( ) [inline]

Definition at line 107 of file btDiscreteDynamicsWorld.h.

References m_islandManager.

Referenced by calculateSimulationIslands().

const btSimulationIslandManager* btDiscreteDynamicsWorld::getSimulationIslandManager ( ) const [inline]

Definition at line 112 of file btDiscreteDynamicsWorld.h.

References m_islandManager.

bool btDiscreteDynamicsWorld::getSynchronizeAllMotionStates ( ) const [inline]

Definition at line 188 of file btDiscreteDynamicsWorld.h.

References m_synchronizeAllMotionStates.

virtual btDynamicsWorldType btDiscreteDynamicsWorld::getWorldType ( ) const [inline, virtual]

Implements btDynamicsWorld.

Reimplemented in btContinuousDynamicsWorld.

Definition at line 153 of file btDiscreteDynamicsWorld.h.

References BT_DISCRETE_DYNAMICS_WORLD.

void btDiscreteDynamicsWorld::integrateTransforms ( btScalar timeStep ) [protected, virtual]

void btDiscreteDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep ) [protected, virtual]

apply gravity, predict motion

perform collision detection

solve contact and other joint constraints

CallbackTriggers();

integrate transforms

update vehicle simulation

Reimplemented in btContinuousDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 299 of file btDiscreteDynamicsWorld.cpp.

References BT_PROFILE, calculateSimulationIslands(), btCollisionWorld::getDebugDrawer(), btCollisionWorld::getDispatchInfo(), btDynamicsWorld::getSolverInfo(), integrateTransforms(), btDispatcherInfo::m_debugDraw, btDynamicsWorld::m_internalPreTickCallback, btDynamicsWorld::m_internalTickCallback, btDispatcherInfo::m_stepCount, btDispatcherInfo::m_timeStep, btContactSolverInfoData::m_timeStep, btCollisionWorld::performDiscreteCollisionDetection(), predictUnconstraintMotion(), solveConstraints(), updateActions(), and updateActivationState().

Referenced by stepSimulation().

void btDiscreteDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep ) [protected, virtual]

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 876 of file btDiscreteDynamicsWorld.cpp.

References btRigidBody::applyDamping(), BT_PROFILE, i, btRigidBody::integrateVelocities(), m_nonStaticRigidBodies, btRigidBody::predictIntegratedTransform(), and btAlignedObjectArray< T >::size().

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

void btDiscreteDynamicsWorld::removeAction ( btActionInterface * action ) [virtual]

Implements btDynamicsWorld.

Definition at line 500 of file btDiscreteDynamicsWorld.cpp.

References m_actions, and btAlignedObjectArray< T >::remove().

Referenced by removeCharacter(), and removeVehicle().

void btDiscreteDynamicsWorld::removeCharacter ( btActionInterface * character ) [virtual]

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 521 of file btDiscreteDynamicsWorld.cpp.

References removeAction().

void btDiscreteDynamicsWorld::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.

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 368 of file btDiscreteDynamicsWorld.cpp.

References removeRigidBody(), and btRigidBody::upcast().

Referenced by removeRigidBody().

void btDiscreteDynamicsWorld::removeConstraint ( btTypedConstraint * constraint ) [virtual]

Reimplemented from btDynamicsWorld.

Definition at line 488 of file btDiscreteDynamicsWorld.cpp.

References btTypedConstraint::getRigidBodyA(), btTypedConstraint::getRigidBodyB(), m_constraints, btAlignedObjectArray< T >::remove(), and btRigidBody::removeConstraintRef().

Referenced by CcdPhysicsEnvironment::removeCcdPhysicsController(), and CcdPhysicsEnvironment::removeConstraint().

void btDiscreteDynamicsWorld::removeRigidBody ( btRigidBody * body ) [virtual]

Implements btDynamicsWorld.

Definition at line 377 of file btDiscreteDynamicsWorld.cpp.

References m_nonStaticRigidBodies, btAlignedObjectArray< T >::remove(), and removeCollisionObject().

Referenced by CcdPhysicsEnvironment::disableCcdPhysicsController(), CcdPhysicsEnvironment::removeCcdPhysicsController(), and removeCollisionObject().

void btDiscreteDynamicsWorld::removeVehicle ( btActionInterface * vehicle ) [virtual]

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 511 of file btDiscreteDynamicsWorld.cpp.

References removeAction().

void btDiscreteDynamicsWorld::saveKinematicState ( btScalar timeStep ) [protected, virtual]

would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows to switch status _after_ adding kinematic objects to the world fix it for Bullet 3.x release

Definition at line 94 of file btDiscreteDynamicsWorld.cpp.

References i, ISLAND_SLEEPING, btCollisionWorld::m_collisionObjects, btRigidBody::saveKinematicState(), btAlignedObjectArray< T >::size(), and btRigidBody::upcast().

Referenced by stepSimulation().

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

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

Reimplemented from btCollisionWorld.

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 1151 of file btDiscreteDynamicsWorld.cpp.

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

void btDiscreteDynamicsWorld::serializeRigidBodies ( btSerializer * serializer ) [protected]

Definition at line 1124 of file btDiscreteDynamicsWorld.cpp.

References btSerializer::allocate(), BT_CONSTRAINT_CODE, BT_RIGIDBODY_CODE, btTypedConstraint::calculateSerializeBufferSize(), btSerializer::finalizeChunk(), i, len(), btCollisionWorld::m_collisionObjects, m_constraints, btChunk::m_oldPtr, btTypedConstraint::serialize(), btAlignedObjectArray< T >::size(), and size().

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

void btDiscreteDynamicsWorld::setConstraintSolver ( btConstraintSolver * solver ) [virtual]

Implements btDynamicsWorld.

Definition at line 1093 of file btDiscreteDynamicsWorld.cpp.

References btAlignedFree, m_constraintSolver, and m_ownsConstraintSolver.

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

Implements btDynamicsWorld.

Definition at line 345 of file btDiscreteDynamicsWorld.cpp.

References BT_DISABLE_WORLD_GRAVITY, btRigidBody::getFlags(), i, m_gravity, m_nonStaticRigidBodies, btRigidBody::setGravity(), and btAlignedObjectArray< T >::size().

Referenced by CcdPhysicsEnvironment::setGravity().

virtual void btDiscreteDynamicsWorld::setNumTasks ( int numTasks ) [inline, virtual]

Definition at line 164 of file btDiscreteDynamicsWorld.h.

void btDiscreteDynamicsWorld::setSynchronizeAllMotionStates ( bool synchronizeAll ) [inline]

Definition at line 184 of file btDiscreteDynamicsWorld.h.

References m_synchronizeAllMotionStates.

void btDiscreteDynamicsWorld::solveConstraints ( btContactSolverInfo & solverInfo ) [protected, virtual]

we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id

only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive

solve all the constraints for this island

Definition at line 554 of file btDiscreteDynamicsWorld.cpp.

References btConstraintSolver::allSolved(), BT_PROFILE, btAssert, btGetConstraintIslandId(), btSimulationIslandManager::buildAndProcessIslands(), getCollisionWorld(), btCollisionWorld::getDispatcher(), btCollisionWorld::getNumCollisionObjects(), getNumConstraints(), i, m_constraints, m_constraintSolver, btCollisionWorld::m_debugDrawer, btCollisionWorld::m_dispatcher1, m_islandManager, btContactSolverInfoData::m_minimumSolverBatchSize, btDynamicsWorld::m_solverInfo, btCollisionWorld::m_stackAlloc, btConstraintSolver::prepareSolve(), btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::quickSort(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), and startConstraint().

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

void btDiscreteDynamicsWorld::startProfiling ( btScalar timeStep ) [protected]

Definition at line 894 of file btDiscreteDynamicsWorld.cpp.

References CProfileManager::Reset().

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

int btDiscreteDynamicsWorld::stepSimulation	(	btScalar	timeStep,
		int	maxSubSteps = `1`,
		btScalar	fixedTimeStep = `btScalar(1.)/btScalar(60.)`
	)		`[virtual]`