Bullet Collision Detection & Physics Library
|
Go to the documentation of this file.
16 #ifndef BT_SIMPLE_DYNAMICS_WORLD_H
17 #define BT_SIMPLE_DYNAMICS_WORLD_H
84 #endif //BT_SIMPLE_DYNAMICS_WORLD_H
btCollisionObject can be used to manage collision detection objects.
The btRigidBody is the main class for rigid body objects.
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld,...
virtual btVector3 getGravity() const
virtual void addAction(btActionInterface *action)
btConstraintSolver * m_constraintSolver
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
virtual btDynamicsWorldType getWorldType() const
virtual ~btSimpleDynamicsWorld()
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
virtual void updateAabbs()
virtual void addRigidBody(btRigidBody *body)
virtual btConstraintSolver * getConstraintSolver()
void integrateTransforms(btScalar timeStep)
virtual void removeRigidBody(btRigidBody *body)
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
bool m_ownsConstraintSolver
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
virtual void setConstraintSolver(btConstraintSolver *solver)
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
btVector3 can be used to represent 3D points and vectors.
btSimpleDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
virtual void clearForces()
The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics w...
virtual void synchronizeMotionStates()
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
virtual void removeAction(btActionInterface *action)
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
void predictUnconstraintMotion(btScalar timeStep)
virtual void debugDrawWorld()
virtual void setGravity(const btVector3 &gravity)