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;
23 class btConstraintSolver;
24 
28 {
29 protected:
31 
33 
34  void predictUnconstraintMotion(btScalar timeStep);
35 
36  void integrateTransforms(btScalar timeStep);
37 
39 
40 public:
42  btSimpleDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
43 
44  virtual ~btSimpleDynamicsWorld();
45 
47  virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
48 
49  virtual void setGravity(const btVector3& gravity);
50 
51  virtual btVector3 getGravity() const;
52 
53  virtual void addRigidBody(btRigidBody* body);
54 
55  virtual void addRigidBody(btRigidBody* body, int group, int mask);
56 
57  virtual void removeRigidBody(btRigidBody* body);
58 
59  virtual void debugDrawWorld();
60 
61  virtual void addAction(btActionInterface* action);
62 
63  virtual void removeAction(btActionInterface* action);
64 
66  virtual void removeCollisionObject(btCollisionObject* collisionObject);
67 
68  virtual void updateAabbs();
69 
70  virtual void synchronizeMotionStates();
71 
72  virtual void setConstraintSolver(btConstraintSolver* solver);
73 
75 
77  {
79  }
80 
81  virtual void clearForces();
82 };
83 
84 #endif //BT_SIMPLE_DYNAMICS_WORLD_H
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
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,...
Definition: btSimpleDynamicsWorld.cpp:49
btSimpleDynamicsWorld::getGravity
virtual btVector3 getGravity() const
Definition: btSimpleDynamicsWorld.cpp:119
btSimpleDynamicsWorld::addAction
virtual void addAction(btActionInterface *action)
Definition: btSimpleDynamicsWorld.cpp:162
btSimpleDynamicsWorld::m_constraintSolver
btConstraintSolver * m_constraintSolver
Definition: btSimpleDynamicsWorld.h:30
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btSimpleDynamicsWorld::getWorldType
virtual btDynamicsWorldType getWorldType() const
Definition: btSimpleDynamicsWorld.h:76
btSimpleDynamicsWorld::~btSimpleDynamicsWorld
virtual ~btSimpleDynamicsWorld()
Definition: btSimpleDynamicsWorld.cpp:43
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
Definition: btDynamicsWorld.h:41
btSimpleDynamicsWorld::updateAabbs
virtual void updateAabbs()
Definition: btSimpleDynamicsWorld.cpp:170
btSimpleDynamicsWorld::addRigidBody
virtual void addRigidBody(btRigidBody *body)
Definition: btSimpleDynamicsWorld.cpp:138
btSimpleDynamicsWorld::getConstraintSolver
virtual btConstraintSolver * getConstraintSolver()
Definition: btSimpleDynamicsWorld.cpp:257
btSimpleDynamicsWorld::m_gravity
btVector3 m_gravity
Definition: btSimpleDynamicsWorld.h:38
btSimpleDynamicsWorld::integrateTransforms
void integrateTransforms(btScalar timeStep)
Definition: btSimpleDynamicsWorld.cpp:190
btDynamicsWorldType
btDynamicsWorldType
Definition: btDynamicsWorld.h:30
btSimpleDynamicsWorld::removeRigidBody
virtual void removeRigidBody(btRigidBody *body)
Definition: btSimpleDynamicsWorld.cpp:124
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:50
btSimpleDynamicsWorld::m_ownsConstraintSolver
bool m_ownsConstraintSolver
Definition: btSimpleDynamicsWorld.h:32
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:129
btSimpleDynamicsWorld::setConstraintSolver
virtual void setConstraintSolver(btConstraintSolver *solver)
Definition: btSimpleDynamicsWorld.cpp:247
btActionInterface
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
Definition: btActionInterface.h:26
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btDynamicsWorld.h
btSimpleDynamicsWorld::btSimpleDynamicsWorld
btSimpleDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
Definition: btSimpleDynamicsWorld.cpp:35
btSimpleDynamicsWorld::clearForces
virtual void clearForces()
Definition: btSimpleDynamicsWorld.cpp:90
btSimpleDynamicsWorld
The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics w...
Definition: btSimpleDynamicsWorld.h:27
btSimpleDynamicsWorld::synchronizeMotionStates
virtual void synchronizeMotionStates()
Definition: btSimpleDynamicsWorld.cpp:230
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:49
BT_SIMPLE_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:32
btSimpleDynamicsWorld::removeAction
virtual void removeAction(btActionInterface *action)
Definition: btSimpleDynamicsWorld.cpp:166
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:26
btSimpleDynamicsWorld::predictUnconstraintMotion
void predictUnconstraintMotion(btScalar timeStep)
Definition: btSimpleDynamicsWorld.cpp:208
btSimpleDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btSimpleDynamicsWorld.cpp:158
btSimpleDynamicsWorld::setGravity
virtual void setGravity(const btVector3 &gravity)
Definition: btSimpleDynamicsWorld.cpp:105
btConstraintSolver
Definition: btConstraintSolver.h:40