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|  | btMultiBodyDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration) | 
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| virtual | ~btMultiBodyDynamicsWorld () | 
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| virtual void | addMultiBody (btMultiBody *body, short group=btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter) | 
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| virtual void | removeMultiBody (btMultiBody *body) | 
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| virtual int | getNumMultibodies () const | 
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| btMultiBody * | getMultiBody (int mbIndex) | 
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| virtual void | addMultiBodyConstraint (btMultiBodyConstraint *constraint) | 
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| virtual int | getNumMultiBodyConstraints () const | 
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| virtual btMultiBodyConstraint * | getMultiBodyConstraint (int constraintIndex) | 
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| virtual const btMultiBodyConstraint * | getMultiBodyConstraint (int constraintIndex) const | 
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| virtual void | removeMultiBodyConstraint (btMultiBodyConstraint *constraint) | 
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| virtual void | integrateTransforms (btScalar timeStep) | 
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| virtual void | debugDrawWorld () | 
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| virtual void | debugDrawMultiBodyConstraint (btMultiBodyConstraint *constraint) | 
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| void | forwardKinematics () | 
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| virtual void | clearForces () | 
|  | the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.  More... 
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| virtual void | clearMultiBodyConstraintForces () | 
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| virtual void | clearMultiBodyForces () | 
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| virtual void | applyGravity () | 
|  | apply gravity, call this once per timestep  More... 
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| virtual void | serialize (btSerializer *serializer) | 
|  | Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)  More... 
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|  | BT_DECLARE_ALIGNED_ALLOCATOR () | 
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|  | btDiscreteDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration) | 
|  | this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those  More... 
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| virtual | ~btDiscreteDynamicsWorld () | 
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| virtual int | stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)) | 
|  | if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's  More... 
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| virtual void | synchronizeMotionStates () | 
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| void | synchronizeSingleMotionState (btRigidBody *body) | 
|  | this can be useful to synchronize a single rigid body -> graphics object  More... 
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| virtual void | addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false) | 
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| virtual void | removeConstraint (btTypedConstraint *constraint) | 
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| virtual void | addAction (btActionInterface *) | 
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| virtual void | removeAction (btActionInterface *) | 
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| btSimulationIslandManager * | getSimulationIslandManager () | 
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| const btSimulationIslandManager * | getSimulationIslandManager () const | 
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| btCollisionWorld * | getCollisionWorld () | 
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| virtual void | setGravity (const btVector3 &gravity) | 
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| virtual btVector3 | getGravity () const | 
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| virtual void | addCollisionObject (btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::StaticFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter^btBroadphaseProxy::StaticFilter) | 
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| virtual void | addRigidBody (btRigidBody *body) | 
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| virtual void | addRigidBody (btRigidBody *body, short group, short mask) | 
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| virtual void | removeRigidBody (btRigidBody *body) | 
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| virtual void | removeCollisionObject (btCollisionObject *collisionObject) | 
|  | removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject  More... 
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| virtual void | debugDrawConstraint (btTypedConstraint *constraint) | 
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| virtual void | setConstraintSolver (btConstraintSolver *solver) | 
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| virtual btConstraintSolver * | getConstraintSolver () | 
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| virtual int | getNumConstraints () const | 
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| virtual btTypedConstraint * | getConstraint (int index) | 
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| virtual const btTypedConstraint * | getConstraint (int index) const | 
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| virtual btDynamicsWorldType | getWorldType () const | 
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| virtual void | setNumTasks (int numTasks) | 
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| virtual void | updateVehicles (btScalar timeStep) | 
|  | obsolete, use updateActions instead  More... 
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| virtual void | addVehicle (btActionInterface *vehicle) | 
|  | obsolete, use addAction instead  More... 
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| virtual void | removeVehicle (btActionInterface *vehicle) | 
|  | obsolete, use removeAction instead  More... 
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| virtual void | addCharacter (btActionInterface *character) | 
|  | obsolete, use addAction instead  More... 
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| virtual void | removeCharacter (btActionInterface *character) | 
|  | obsolete, use removeAction instead  More... 
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| void | setSynchronizeAllMotionStates (bool synchronizeAll) | 
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| bool | getSynchronizeAllMotionStates () const | 
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| void | setApplySpeculativeContactRestitution (bool enable) | 
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| bool | getApplySpeculativeContactRestitution () const | 
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| void | setLatencyMotionStateInterpolation (bool latencyInterpolation) | 
|  | Interpolate motion state between previous and current transform, instead of current and next transform.  More... 
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| bool | getLatencyMotionStateInterpolation () const | 
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|  | btDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration) | 
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| virtual | ~btDynamicsWorld () | 
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| void | setInternalTickCallback (btInternalTickCallback cb, void *worldUserInfo=0, bool isPreTick=false) | 
|  | Set the callback for when an internal tick (simulation substep) happens, optional user info.  More... 
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| void | setWorldUserInfo (void *worldUserInfo) | 
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| void * | getWorldUserInfo () const | 
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| btContactSolverInfo & | getSolverInfo () | 
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|  | btCollisionWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration) | 
|  | for debug drawing  More... 
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| virtual | ~btCollisionWorld () | 
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| void | setBroadphase (btBroadphaseInterface *pairCache) | 
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| const btBroadphaseInterface * | getBroadphase () const | 
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| btBroadphaseInterface * | getBroadphase () | 
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| btOverlappingPairCache * | getPairCache () | 
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| btDispatcher * | getDispatcher () | 
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| const btDispatcher * | getDispatcher () const | 
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| void | updateSingleAabb (btCollisionObject *colObj) | 
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| virtual void | updateAabbs () | 
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| virtual void | computeOverlappingPairs () | 
|  | the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation  More... 
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| virtual void | setDebugDrawer (btIDebugDraw *debugDrawer) | 
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| virtual btIDebugDraw * | getDebugDrawer () | 
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| virtual void | debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color) | 
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| int | getNumCollisionObjects () const | 
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| virtual void | rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const | 
|  | 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.  More... 
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| void | 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.  More... 
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| void | contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback) | 
|  | contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.  More... 
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| void | 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.  More... 
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| btCollisionObjectArray & | getCollisionObjectArray () | 
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| const btCollisionObjectArray & | getCollisionObjectArray () const | 
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| virtual void | performDiscreteCollisionDetection () | 
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| btDispatcherInfo & | getDispatchInfo () | 
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| const btDispatcherInfo & | getDispatchInfo () const | 
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| bool | getForceUpdateAllAabbs () const | 
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| void | setForceUpdateAllAabbs (bool forceUpdateAllAabbs) | 
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The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is still preliminary/experimental. 
Definition at line 30 of file btMultiBodyDynamicsWorld.h.