Bullet Collision Detection & Physics Library: btSimpleDynamicsWorld.h Source File

Bullet Collision Detection & Physics Library

btSimpleDynamicsWorld.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_SIMPLE_DYNAMICS_WORLD_H
17 #define BT_SIMPLE_DYNAMICS_WORLD_H
18
19 #include "btDynamicsWorld.h"
20
21 class btDispatcher;
22 class btOverlappingPairCache;
23 class btConstraintSolver;
24
27 class btSimpleDynamicsWorld : public btDynamicsWorld
28 {
29 protected:
30
31 btConstraintSolver* m_constraintSolver;
32
33 bool m_ownsConstraintSolver;
34
35 void predictUnconstraintMotion(btScalar timeStep);
36
37 void integrateTransforms(btScalar timeStep);
38
39 btVector3 m_gravity;
40
41 public:
42
43
44
46 btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
47
48 virtual ~btSimpleDynamicsWorld();
49
51 virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
52
53 virtual void setGravity(const btVector3& gravity);
54
55 virtual btVector3 getGravity () const;
56
57 virtual void addRigidBody(btRigidBody* body);
58
59 virtual void addRigidBody(btRigidBody* body, int group, int mask);
60
61 virtual void removeRigidBody(btRigidBody* body);
62
63 virtual void debugDrawWorld();
64
65 virtual void addAction(btActionInterface* action);
66
67 virtual void removeAction(btActionInterface* action);
68
70 virtual void removeCollisionObject(btCollisionObject* collisionObject);
71
72 virtual void updateAabbs();
73
74 virtual void synchronizeMotionStates();
75
76 virtual void setConstraintSolver(btConstraintSolver* solver);
77
78 virtual btConstraintSolver* getConstraintSolver();
79
80 virtual btDynamicsWorldType getWorldType() const
81 {
82 return BT_SIMPLE_DYNAMICS_WORLD;
83 }
84
85 virtual void clearForces();
86
87 };
88
89 #endif //BT_SIMPLE_DYNAMICS_WORLD_H
btSimpleDynamicsWorld::stepSimulation
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
Definition: btSimpleDynamicsWorld.cpp:55
btSimpleDynamicsWorld::integrateTransforms
void integrateTransforms(btScalar timeStep)
Definition: btSimpleDynamicsWorld.cpp:205
btSimpleDynamicsWorld::updateAabbs
virtual void updateAabbs()
Definition: btSimpleDynamicsWorld.cpp:185
btSimpleDynamicsWorld
The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics w...
Definition: btSimpleDynamicsWorld.h:27
BT_SIMPLE_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:33
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
Definition: btDynamicsWorld.h:42
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
Definition: btCollisionConfiguration.h:26
btSimpleDynamicsWorld::removeRigidBody
virtual void removeRigidBody(btRigidBody *body)
Definition: btSimpleDynamicsWorld.cpp:133
btActionInterface
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
Definition: btActionInterface.h:26
btSimpleDynamicsWorld::getGravity
virtual btVector3 getGravity() const
Definition: btSimpleDynamicsWorld.cpp:128
btSimpleDynamicsWorld::getWorldType
virtual btDynamicsWorldType getWorldType() const
Definition: btSimpleDynamicsWorld.h:80
btDynamicsWorld.h
btSimpleDynamicsWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
Definition: btSimpleDynamicsWorld.cpp:138
btSimpleDynamicsWorld::synchronizeMotionStates
virtual void synchronizeMotionStates()
Definition: btSimpleDynamicsWorld.cpp:248
btSimpleDynamicsWorld::m_ownsConstraintSolver
bool m_ownsConstraintSolver
Definition: btSimpleDynamicsWorld.h:33
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
Definition: btOverlappingPairCache.h:60
btSimpleDynamicsWorld::removeAction
virtual void removeAction(btActionInterface *action)
Definition: btSimpleDynamicsWorld.cpp:179
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btSimpleDynamicsWorld::predictUnconstraintMotion
void predictUnconstraintMotion(btScalar timeStep)
Definition: btSimpleDynamicsWorld.cpp:225
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
Definition: btBroadphaseInterface.h:55
btSimpleDynamicsWorld::~btSimpleDynamicsWorld
virtual ~btSimpleDynamicsWorld()
Definition: btSimpleDynamicsWorld.cpp:49
btSimpleDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btSimpleDynamicsWorld.cpp:169
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btSimpleDynamicsWorld::getConstraintSolver
virtual btConstraintSolver * getConstraintSolver()
Definition: btSimpleDynamicsWorld.cpp:277
btSimpleDynamicsWorld::m_gravity
btVector3 m_gravity
Definition: btSimpleDynamicsWorld.h:39
btSimpleDynamicsWorld::setConstraintSolver
virtual void setConstraintSolver(btConstraintSolver *solver)
Definition: btSimpleDynamicsWorld.cpp:267
btDynamicsWorldType
btDynamicsWorldType
Definition: btDynamicsWorld.h:31
btSimpleDynamicsWorld::setGravity
virtual void setGravity(const btVector3 &gravity)
Definition: btSimpleDynamicsWorld.cpp:114
btSimpleDynamicsWorld::btSimpleDynamicsWorld
btSimpleDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver ...
Definition: btSimpleDynamicsWorld.cpp:39
btSimpleDynamicsWorld::clearForces
virtual void clearForces()
Definition: btSimpleDynamicsWorld.cpp:98
btSimpleDynamicsWorld::addRigidBody
virtual void addRigidBody(btRigidBody *body)
Definition: btSimpleDynamicsWorld.cpp:148
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:75
btSimpleDynamicsWorld::m_constraintSolver
btConstraintSolver * m_constraintSolver
Definition: btSimpleDynamicsWorld.h:31
btSimpleDynamicsWorld::addAction
virtual void addAction(btActionInterface *action)
Definition: btSimpleDynamicsWorld.cpp:174
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btConstraintSolver
Definition: btConstraintSolver.h:40