Bullet-C-API.cpp File Reference

#include "Bullet-C-Api.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btScalar.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"

Go to the source code of this file.

Classes
struct	btPhysicsSdk
Functions
plPhysicsSdkHandle	plNewBulletSdk ()
void	plDeletePhysicsSdk (plPhysicsSdkHandle physicsSdk)
plDynamicsWorldHandle	plCreateDynamicsWorld (plPhysicsSdkHandle physicsSdkHandle)
void	plDeleteDynamicsWorld (plDynamicsWorldHandle world)
void	plStepSimulation (plDynamicsWorldHandle world, plReal timeStep)
void	plAddRigidBody (plDynamicsWorldHandle world, plRigidBodyHandle object)
void	plRemoveRigidBody (plDynamicsWorldHandle world, plRigidBodyHandle object)
plRigidBodyHandle	plCreateRigidBody (void *user_data, float mass, plCollisionShapeHandle cshape)
void	plDeleteRigidBody (plRigidBodyHandle cbody)
plCollisionShapeHandle	plNewSphereShape (plReal radius)
plCollisionShapeHandle	plNewBoxShape (plReal x, plReal y, plReal z)
plCollisionShapeHandle	plNewCapsuleShape (plReal radius, plReal height)
plCollisionShapeHandle	plNewConeShape (plReal radius, plReal height)
plCollisionShapeHandle	plNewCylinderShape (plReal radius, plReal height)
plCollisionShapeHandle	plNewConvexHullShape ()
plMeshInterfaceHandle	plNewMeshInterface ()
plCollisionShapeHandle	plNewCompoundShape ()
void	plAddChildShape (plCollisionShapeHandle compoundShapeHandle, plCollisionShapeHandle childShapeHandle, plVector3 childPos, plQuaternion childOrn)
void	plSetEuler (plReal yaw, plReal pitch, plReal roll, plQuaternion orient)
void	plAddVertex (plCollisionShapeHandle cshape, plReal x, plReal y, plReal z)
void	plDeleteShape (plCollisionShapeHandle cshape)
void	plSetScaling (plCollisionShapeHandle cshape, plVector3 cscaling)
void	plSetPosition (plRigidBodyHandle object, const plVector3 position)
void	plSetOrientation (plRigidBodyHandle object, const plQuaternion orientation)
void	plSetOpenGLMatrix (plRigidBodyHandle object, plReal *matrix)
void	plGetOpenGLMatrix (plRigidBodyHandle object, plReal *matrix)
void	plGetPosition (plRigidBodyHandle object, plVector3 position)
void	plGetOrientation (plRigidBodyHandle object, plQuaternion orientation)
double	plNearestPoints (float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3])

---

Function Documentation

void plAddChildShape	(	plCollisionShapeHandle	compoundShapeHandle,
		plCollisionShapeHandle	childShapeHandle,
		plVector3	childPos,
		plQuaternion	childOrn
	)

Definition at line 223 of file Bullet-C-API.cpp.

References btAssert, COMPOUND_SHAPE_PROXYTYPE, btCollisionShape::getShapeType(), btTransform::setIdentity(), btTransform::setOrigin(), and btTransform::setRotation().

void plAddRigidBody	(	plDynamicsWorldHandle	world,
		plRigidBodyHandle	object
	)

Definition at line 117 of file Bullet-C-API.cpp.

References btDynamicsWorld::addRigidBody(), and btAssert.

void plAddVertex	(	plCollisionShapeHandle	cshape,
		plReal	x,
		plReal	y,
		plReal	z
	)

Definition at line 252 of file Bullet-C-API.cpp.

References btAssert, CONVEX_HULL_SHAPE_PROXYTYPE, and btCollisionShape::getShapeType().

plDynamicsWorldHandle plCreateDynamicsWorld

(

plPhysicsSdkHandle

physicsSdkHandle

)

Definition at line 88 of file Bullet-C-API.cpp.

References btAlignedAlloc, btPhysicsSdk::m_worldAabbMax, and btPhysicsSdk::m_worldAabbMin.

plRigidBodyHandle plCreateRigidBody	(	void *	user_data,
		float	mass,
		plCollisionShapeHandle	cshape
	)

Definition at line 139 of file Bullet-C-API.cpp.

References btAlignedAlloc, btAssert, btCollisionShape::calculateLocalInertia(), and btTransform::setIdentity().

void plDeleteDynamicsWorld

(

plDynamicsWorldHandle

world

)

Definition at line 103 of file Bullet-C-API.cpp.

References btAlignedFree.

void plDeletePhysicsSdk

(

plPhysicsSdkHandle

physicsSdk

)

Definition at line 80 of file Bullet-C-API.cpp.

References btAlignedFree.

void plDeleteRigidBody

(

plRigidBodyHandle

cbody

)

Definition at line 158 of file Bullet-C-API.cpp.

References btAlignedFree, and btAssert.

void plDeleteShape

(

plCollisionShapeHandle

cshape

)

Definition at line 262 of file Bullet-C-API.cpp.

References btAlignedFree, and btAssert.

void plGetOpenGLMatrix	(	plRigidBodyHandle	object,
		plReal *	matrix
	)

Definition at line 306 of file Bullet-C-API.cpp.

References btAssert.

void plGetOrientation	(	plRigidBodyHandle	object,
		plQuaternion	orientation
	)

Definition at line 324 of file Bullet-C-API.cpp.

References btAssert, and btQuaternion::getW().

void plGetPosition	(	plRigidBodyHandle	object,
		plVector3	position
	)

Definition at line 314 of file Bullet-C-API.cpp.

References btAssert.

double plNearestPoints	(	float	p1[3],
		float	p2[3],
		float	p3[3],
		float	q1[3],
		float	q2[3],
		float	q3[3],
		float *	pa,
		float *	pb,
		float	normal[3]
	)

Definition at line 341 of file Bullet-C-API.cpp.

References btSimplexSolverInterface, btGjkPairDetector::getClosestPoints(), btGjkPairDetector::m_catchDegeneracies, btPointCollector::m_distance, btPointCollector::m_hasResult, btPointCollector::m_normalOnBInWorld, btPointCollector::m_pointInWorld, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB, NULL, and btTransform::setIdentity().

Referenced by cloth_collision().

plCollisionShapeHandle plNewBoxShape	(	plReal	x,
		plReal	y,
		plReal	z
	)

Definition at line 175 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plPhysicsSdkHandle plNewBulletSdk

(

void

)

Create and Delete a Physics SDK

Definition at line 74 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewCapsuleShape	(	plReal	radius,
		plReal	height
	)

Definition at line 181 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewCompoundShape

(

void

)

Definition at line 217 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewConeShape	(	plReal	radius,
		plReal	height
	)

Definition at line 191 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewConvexHullShape

(

void

)

Definition at line 204 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plCollisionShapeHandle plNewCylinderShape	(	plReal	radius,
		plReal	height
	)

Definition at line 197 of file Bullet-C-API.cpp.

References btAlignedAlloc.

plMeshInterfaceHandle plNewMeshInterface

(

void

)

Definition at line 212 of file Bullet-C-API.cpp.

plCollisionShapeHandle plNewSphereShape

(

plReal

radius

)

Definition at line 168 of file Bullet-C-API.cpp.

References btAlignedAlloc.

void plRemoveRigidBody	(	plDynamicsWorldHandle	world,
		plRigidBodyHandle	object
	)

Definition at line 127 of file Bullet-C-API.cpp.

References btAssert, and btDynamicsWorld::removeRigidBody().

void plSetEuler	(	plReal	yaw,
		plReal	pitch,
		plReal	roll,
		plQuaternion	orient
	)

Definition at line 236 of file Bullet-C-API.cpp.

References btQuaternion::getW(), and btQuaternion::setEuler().

void plSetOpenGLMatrix	(	plRigidBodyHandle	object,
		plReal *	matrix
	)

Definition at line 298 of file Bullet-C-API.cpp.

References btAssert, and btTransform::setFromOpenGLMatrix().

void plSetOrientation	(	plRigidBodyHandle	object,
		const plQuaternion	orientation
	)

Definition at line 288 of file Bullet-C-API.cpp.

References btAssert, and btTransform::setRotation().

void plSetPosition	(	plRigidBodyHandle	object,
		const plVector3	position
	)

Definition at line 278 of file Bullet-C-API.cpp.

References btAssert, and btTransform::setOrigin().

void plSetScaling	(	plCollisionShapeHandle	cshape,
		plVector3	cscaling
	)

Definition at line 268 of file Bullet-C-API.cpp.

References btAssert, and btCollisionShape::setLocalScaling().

void plStepSimulation	(	plDynamicsWorldHandle	world,
		plReal	timeStep
	)

Definition at line 110 of file Bullet-C-API.cpp.

References btAssert, and btDynamicsWorld::stepSimulation().