16#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
17#define BT_DISCRETE_DYNAMICS_WORLD_H
140 virtual void setGravity(
const btVector3& gravity);
148 virtual void addRigidBody(
btRigidBody * body,
int group,
int mask);
157 virtual void debugDrawWorld();
163 virtual int getNumConstraints()
const;
175 virtual void clearForces();
178 virtual void applyGravity();
@ BT_DISCRETE_DYNAMICS_WORLD
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
btCollisionWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
for debug drawing
void updateActions(btScalar timeStep)
virtual void removeAction(btActionInterface *)
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
void integrateTransformsInternal(btRigidBody **bodies, int numBodies, btScalar timeStep)
bool getLatencyMotionStateInterpolation() const
virtual void calculateSimulationIslands()
virtual void removeConstraint(btTypedConstraint *constraint)
virtual void integrateTransforms(btScalar timeStep)
void synchronizeSingleMotionState(btRigidBody *body)
this can be useful to synchronize a single rigid body -> graphics object
bool m_latencyMotionStateInterpolation
void createPredictiveContactsInternal(btRigidBody **bodies, int numBodies, btScalar timeStep)
void setSynchronizeAllMotionStates(bool synchronizeAll)
void serializeRigidBodies(btSerializer *serializer)
void setLatencyMotionStateInterpolation(bool latencyInterpolation)
Interpolate motion state between previous and current transform, instead of current and next transfor...
virtual void internalSingleStepSimulation(btScalar timeStep)
void setApplySpeculativeContactRestitution(bool enable)
const btSimulationIslandManager * getSimulationIslandManager() const
virtual void setNumTasks(int numTasks)
void serializeDynamicsWorldInfo(btSerializer *serializer)
bool m_applySpeculativeContactRestitution
virtual void addAction(btActionInterface *)
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
virtual btDynamicsWorldType getWorldType() const
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
BT_DECLARE_ALIGNED_ALLOCATOR()
bool getApplySpeculativeContactRestitution() const
virtual void synchronizeMotionStates()
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 saveKinematicState(btScalar timeStep)
virtual void addConstraint(btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
const btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies() const
InplaceSolverIslandCallback * m_solverIslandCallback
btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies()
bool getSynchronizeAllMotionStates() const
btSimulationIslandManager * m_islandManager
virtual void createPredictiveContacts(btScalar timeStep)
btAlignedObjectArray< btTypedConstraint * > m_constraints
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
btAlignedObjectArray< btActionInterface * > m_actions
bool m_ownsConstraintSolver
btSimulationIslandManager * getSimulationIslandManager()
btSpinMutex m_predictiveManifoldsMutex
virtual void updateActivationState(btScalar timeStep)
btConstraintSolver * m_constraintSolver
btCollisionWorld * getCollisionWorld()
bool m_synchronizeAllMotionStates
virtual void solveConstraints(btContactSolverInfo &solverInfo)
virtual void updateVehicles(btScalar timeStep)
obsolete, use updateActions instead
virtual void predictUnconstraintMotion(btScalar timeStep)
void releasePredictiveContacts()
void startProfiling(btScalar timeStep)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration)
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btRigidBody is the main class for rigid body objects.
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep becaus...
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btVector3 can be used to represent 3D points and vectors.