17 #ifndef BT_DISCRETE_DYNAMICS_WORLD_H    18 #define BT_DISCRETE_DYNAMICS_WORLD_H    72         virtual void    predictUnconstraintMotion(
btScalar timeStep);
    74         virtual void    integrateTransforms(
btScalar timeStep);
    76         virtual void    calculateSimulationIslands();
    80         virtual void    updateActivationState(
btScalar timeStep);
    82         void    updateActions(
btScalar timeStep);
    84         void    startProfiling(
btScalar timeStep);
    86         virtual void    internalSingleStepSimulation( 
btScalar timeStep);
    88         void    createPredictiveContacts(
btScalar timeStep);
    90         virtual void    saveKinematicState(
btScalar timeStep);
    94         void    serializeDynamicsWorldInfo(
btSerializer* serializer);
   110         virtual void    synchronizeMotionStates();
   113         void    synchronizeSingleMotionState(
btRigidBody* body);
   115         virtual void    addConstraint(
btTypedConstraint* constraint, 
bool disableCollisionsBetweenLinkedBodies=
false);
   125                 return m_islandManager;
   130                 return m_islandManager;
   138         virtual void    setGravity(
const btVector3& gravity);
   146         virtual void    addRigidBody(
btRigidBody* body, 
short group, 
short mask);
   156         virtual void    debugDrawWorld();
   162         virtual int             getNumConstraints() 
const;
   175         virtual void    clearForces();
   178         virtual void    applyGravity();
   188                 updateActions(timeStep);
   202                 m_synchronizeAllMotionStates = synchronizeAll;
   206                 return m_synchronizeAllMotionStates;
   211                 m_applySpeculativeContactRestitution = enable;
   216                 return m_applySpeculativeContactRestitution;
   226                 m_latencyMotionStateInterpolation = latencyInterpolation;
   230                 return m_latencyMotionStateInterpolation;
   234 #endif //BT_DISCRETE_DYNAMICS_WORLD_H btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
btSimulationIslandManager * m_islandManager
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
void setSynchronizeAllMotionStates(bool synchronizeAll)
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
SimulationIslandManager creates and handles simulation islands, using btUnionFind. 
The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. 
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
btAlignedObjectArray< btActionInterface * > m_actions
btSimulationIslandManager * getSimulationIslandManager()
virtual void updateVehicles(btScalar timeStep)
obsolete, use updateActions instead 
bool m_ownsConstraintSolver
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases. 
btCollisionWorld * getCollisionWorld()
bool getLatencyMotionStateInterpolation() const 
btCollisionObject can be used to manage collision detection objects. 
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
The btRigidBody is the main class for rigid body objects. 
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
bool getApplySpeculativeContactRestitution() const 
btVector3 can be used to represent 3D points and vectors. 
#define ATTRIBUTE_ALIGNED16(a)
CollisionWorld is interface and container for the collision detection. 
bool m_latencyMotionStateInterpolation
virtual btDynamicsWorldType getWorldType() const 
TypedConstraint is the baseclass for Bullet constraints and vehicles. 
bool m_synchronizeAllMotionStates
virtual void setNumTasks(int numTasks)
#define BT_DECLARE_ALIGNED_ALLOCATOR()
InplaceSolverIslandCallback * m_solverIslandCallback
const btSimulationIslandManager * getSimulationIslandManager() const 
bool m_applySpeculativeContactRestitution
btConstraintSolver * m_constraintSolver
void setApplySpeculativeContactRestitution(bool enable)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
bool getSynchronizeAllMotionStates() const 
void setLatencyMotionStateInterpolation(bool latencyInterpolation)
Interpolate motion state between previous and current transform, instead of current and next transfor...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btAlignedObjectArray< btTypedConstraint * > m_constraints