Bullet Collision Detection & Physics Library
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16 #ifndef BT_MULTIBODY_DYNAMICS_WORLD_H
17 #define BT_MULTIBODY_DYNAMICS_WORLD_H
22 #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
124 #endif //BT_MULTIBODY_DYNAMICS_WORLD_H
virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver *solver)
virtual void calculateSimulationIslands()
virtual void addMultiBodyConstraint(btMultiBodyConstraint *constraint)
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local
virtual void solveExternalForces(btContactSolverInfo &solverInfo)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btAlignedObjectArray< btVector3 > m_scratch_local_origin1
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
virtual void clearMultiBodyConstraintForces()
virtual int getNumMultiBodyConstraints() const
virtual void solveInternalConstraints(btContactSolverInfo &solverInfo)
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
virtual const btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex) const
virtual void solveConstraints(btContactSolverInfo &solverInfo)
virtual void clearForces()
the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
btAlignedObjectArray< btScalar > m_scratch_r
virtual void debugDrawWorld()
virtual void integrateTransforms(btScalar timeStep)
btAlignedObjectArray< btMultiBody * > m_multiBodies
btAlignedObjectArray< btVector3 > m_scratch_local_origin
virtual void predictUnconstraintMotion(btScalar timeStep)
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
virtual void removeMultiBodyConstraint(btMultiBodyConstraint *constraint)
virtual btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex)
btMultiBody * getMultiBody(int mbIndex)
btAlignedObjectArray< btVector3 > m_scratch_v
const btMultiBody * getMultiBody(int mbIndex) const
void predictMultiBodyTransforms(btScalar timeStep)
virtual void applyGravity()
apply gravity, call this once per timestep
btAlignedObjectArray< btMatrix3x3 > m_scratch_m
virtual ~btMultiBodyDynamicsWorld()
void integrateMultiBodyTransforms(btScalar timeStep)
btMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
virtual void setConstraintSolver(btConstraintSolver *solver)
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
virtual int getNumMultibodies() const
virtual void clearMultiBodyForces()
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
virtual void updateActivationState(btScalar timeStep)
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint *constraint)
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
virtual void serializeMultiBodies(btSerializer *serializer)
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
virtual void getAnalyticsData(btAlignedObjectArray< struct btSolverAnalyticsData > &m_islandAnalyticsData) const
virtual void removeMultiBody(btMultiBody *body)
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local1
int size() const
return the number of elements in the array
virtual void addMultiBody(btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter)