Bullet Collision Detection & Physics Library
btWorldImporter.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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_WORLD_IMPORTER_H
17 #define BT_WORLD_IMPORTER_H
18 
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
22 #include "LinearMath/btHashMap.h"
23 
24 class btCollisionShape;
25 class btCollisionObject;
26 class btRigidBody;
27 class btTypedConstraint;
28 class btDynamicsWorld;
29 struct ConstraintInput;
30 class btRigidBodyColladaInfo;
35 class btGImpactMeshShape;
36 class btOptimizedBvh;
37 struct btTriangleInfoMap;
40 class btHingeConstraint;
45 class btSliderConstraint;
46 class btGearConstraint;
47 struct btContactSolverInfo;
51 
54 
55 #ifdef BT_USE_DOUBLE_PRECISION
56 #define btRigidBodyData btRigidBodyDoubleData
57 #else
58 #define btRigidBodyData btRigidBodyFloatData
59 #endif //BT_USE_DOUBLE_PRECISION
60 
62 {
63  eRESTORE_EXISTING_OBJECTS = 1, //don't create new objects
64 };
65 
67 {
68 protected:
70 
73 
81 
83 
87 
90 
93 
98 
101 
102  //methods
103 
104  static btRigidBody& getFixedBody();
105 
106  char* duplicateName(const char* name);
107 
109 
110  void convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
111  void convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
112  void convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
115 
116 public:
118 
119  virtual ~btWorldImporter();
120 
123  virtual void deleteAllData();
124 
125  void setVerboseMode(int verboseMode)
126  {
127  m_verboseMode = verboseMode;
128  }
129 
130  int getVerboseMode() const
131  {
132  return m_verboseMode;
133  }
134 
135  void setImporterFlags(int importerFlags)
136  {
137  m_importerFlags = importerFlags;
138  }
139 
140  int getImporterFlags() const
141  {
142  return m_importerFlags;
143  }
144 
145  // query for data
146  int getNumCollisionShapes() const;
148  int getNumRigidBodies() const;
149  btCollisionObject* getRigidBodyByIndex(int index) const;
150  int getNumConstraints() const;
151  btTypedConstraint* getConstraintByIndex(int index) const;
152  int getNumBvhs() const;
153  btOptimizedBvh* getBvhByIndex(int index) const;
154  int getNumTriangleInfoMaps() const;
156 
157  // queris involving named objects
158  btCollisionShape* getCollisionShapeByName(const char* name);
159  btRigidBody* getRigidBodyByName(const char* name);
160  btTypedConstraint* getConstraintByName(const char* name);
161  const char* getNameForPointer(const void* ptr) const;
162 
164 
165  virtual void setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo);
166 
167  //bodies
168  virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
169  virtual btCollisionObject* createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
170 
172 
173  virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
174  virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
176  virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
177  virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
178  virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
179 
180  virtual btCollisionShape* createCylinderShapeX(btScalar radius, btScalar height);
181  virtual btCollisionShape* createCylinderShapeY(btScalar radius, btScalar height);
182  virtual btCollisionShape* createCylinderShapeZ(btScalar radius, btScalar height);
183  virtual btCollisionShape* createConeShapeX(btScalar radius, btScalar height);
184  virtual btCollisionShape* createConeShapeY(btScalar radius, btScalar height);
185  virtual btCollisionShape* createConeShapeZ(btScalar radius, btScalar height);
191 
192  virtual class btConvexHullShape* createConvexHullShape();
193  virtual class btCompoundShape* createCompoundShape();
194  virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScalingbtBvhTriangleMeshShape);
195 
196  virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
197 
199 
200  virtual class btHeightfieldTerrainShape* createHeightfieldShape(int heightStickWidth, int heightStickLength,
201  const void* heightfieldData, btScalar heightScale,
202  btScalar minHeight, btScalar maxHeight,
203  int upAxis, int heightDataType,
204  bool flipQuadEdges);
205 
209 
211  virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB);
213  virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
214  virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false);
215  virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
217  virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
218  virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
219  virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
220  virtual btGeneric6DofSpring2Constraint* createGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, int rotateOrder);
221 
222  virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
223  virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
224  virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio);
225 };
226 
227 #endif //BT_WORLD_IMPORTER_H
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:151
btHingeConstraint
hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in lo...
Definition: btHingeConstraint.h:47
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btWorldImporter::getRigidBodyByIndex
btCollisionObject * getRigidBodyByIndex(int index) const
Definition: btWorldImporter.cpp:1953
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btWorldImporter::createConeShapeZ
virtual btCollisionShape * createConeShapeZ(btScalar radius, btScalar height)
Definition: btWorldImporter.cpp:1704
btWorldImporter::getConstraintByName
btTypedConstraint * getConstraintByName(const char *name)
Definition: btWorldImporter.cpp:1930
btWorldImporter::createStridingMeshInterfaceData
virtual btStridingMeshInterfaceData * createStridingMeshInterfaceData(btStridingMeshInterfaceData *interfaceData)
Definition: btWorldImporter.cpp:1500
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btWorldImporter::getNumRigidBodies
int getNumRigidBodies() const
Definition: btWorldImporter.cpp:1948
btWorldImporter::getVerboseMode
int getVerboseMode() const
Definition: btWorldImporter.h:130
btWorldImporter::createBoxShape
virtual btCollisionShape * createBoxShape(const btVector3 &halfExtents)
Definition: btWorldImporter.cpp:1635
btWorldImporter::m_bodyMap
btHashMap< btHashPtr, btCollisionObject * > m_bodyMap
Definition: btWorldImporter.h:100
btOptimizedBvh
The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes,...
Definition: btOptimizedBvh.h:26
btWorldImporter::createSphereShape
virtual btCollisionShape * createSphereShape(btScalar radius)
Definition: btWorldImporter.cpp:1641
btContactSolverInfo
Definition: btContactSolverInfo.h:72
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btWorldImporter::m_objectNameMap
btHashMap< btHashPtr, const char * > m_objectNameMap
Definition: btWorldImporter.h:97
btWorldImporter::getNumConstraints
int getNumConstraints() const
Definition: btWorldImporter.cpp:1957
btWorldImporter::convertRigidBodyDouble
void convertRigidBodyDouble(btRigidBodyDoubleData *colObjData)
Definition: btWorldImporter.cpp:2036
btWorldImporter::createGeneric6DofSpring2Constraint
virtual btGeneric6DofSpring2Constraint * createGeneric6DofSpring2Constraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, int rotateOrder)
Definition: btWorldImporter.cpp:1864
btWorldImporter::~btWorldImporter
virtual ~btWorldImporter()
Definition: btWorldImporter.cpp:29
btBvhTriangleMeshShape
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
Definition: btBvhTriangleMeshShape.h:34
btWorldImporter::createSliderConstraint
virtual btSliderConstraint * createSliderConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
Definition: btWorldImporter.cpp:1878
btGeneric6DofSpring2Constraint
Definition: btGeneric6DofSpring2Constraint.h:271
btWorldImporter::createHeightfieldShape
virtual class btHeightfieldTerrainShape * createHeightfieldShape(int heightStickWidth, int heightStickLength, const void *heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, int heightDataType, bool flipQuadEdges)
Definition: btWorldImporter.cpp:1788
btWorldImporter::m_allocatedNames
btAlignedObjectArray< char * > m_allocatedNames
Definition: btWorldImporter.h:82
btWorldImporter
Definition: btWorldImporter.h:66
btWorldImporter::createMultiSphereShape
virtual class btMultiSphereShape * createMultiSphereShape(const btVector3 *positions, const btScalar *radi, int numSpheres)
Definition: btWorldImporter.cpp:1781
btWorldImporter::getCollisionShapeByName
btCollisionShape * getCollisionShapeByName(const char *name)
Definition: btWorldImporter.cpp:1910
btWorldImporter::m_indexArrays
btAlignedObjectArray< int * > m_indexArrays
Definition: btWorldImporter.h:84
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
Definition: btDynamicsWorld.h:42
btHeightfieldTerrainShape
btHeightfieldTerrainShape simulates a 2D heightfield terrain
Definition: btHeightfieldTerrainShape.h:72
btWorldImporterFlags
btWorldImporterFlags
Definition: btWorldImporter.h:61
btGImpactMeshShape
This class manages a mesh supplied by the btStridingMeshInterface interface.
Definition: btGImpactShape.h:842
btGeneric6DofConstraint
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
Definition: btGeneric6DofConstraint.h:266
btWorldImporter::getNameForPointer
const char * getNameForPointer(const void *ptr) const
Definition: btWorldImporter.cpp:1940
btWorldImporter::createGearConstraint
virtual btGearConstraint * createGearConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &axisInA, const btVector3 &axisInB, btScalar ratio)
Definition: btWorldImporter.cpp:1892
btWorldImporter::m_verboseMode
int m_verboseMode
Definition: btWorldImporter.h:71
btWorldImporter::m_nameShapeMap
btHashMap< btHashString, btCollisionShape * > m_nameShapeMap
Definition: btWorldImporter.h:94
btWorldImporter::getFixedBody
static btRigidBody & getFixedBody()
Definition: btWorldImporter.cpp:1801
btWorldImporter::convertConstraintFloat
void convertConstraintFloat(btTypedConstraintFloatData *constraintData, btRigidBody *rbA, btRigidBody *rbB, int fileVersion)
Definition: btWorldImporter.cpp:729
btWorldImporter::createHingeConstraint
virtual btHingeConstraint * createHingeConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)
Definition: btWorldImporter.cpp:1822
btStridingMeshInterface
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
Definition: btStridingMeshInterface.h:26
btWorldImporter::createTriangleMeshContainer
virtual class btTriangleIndexVertexArray * createTriangleMeshContainer()
Definition: btWorldImporter.cpp:1711
btPoint2PointConstraint
point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocke...
Definition: btPoint2PointConstraint.h:52
btWorldImporter::deleteAllData
virtual void deleteAllData()
delete all memory collision shapes, rigid bodies, constraints etc.
Definition: btWorldImporter.cpp:33
btWorldImporter::duplicateName
char * duplicateName(const char *name)
Definition: btWorldImporter.cpp:492
btVector3.h
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:26
btHashMap< btHashPtr, btOptimizedBvh * >
btWorldImporter::getNumBvhs
int getNumBvhs() const
Definition: btWorldImporter.cpp:1967
btMultiSphereShape
The btMultiSphereShape represents the convex hull of a collection of spheres.
Definition: btMultiSphereShape.h:26
btWorldImporter::m_dynamicsWorld
btDynamicsWorld * m_dynamicsWorld
Definition: btWorldImporter.h:69
btGeneric6DofSpringConstraint
Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.
Definition: btGeneric6DofSpringConstraint.h:41
btWorldImporter::setVerboseMode
void setVerboseMode(int verboseMode)
Definition: btWorldImporter.h:125
btWorldImporter::m_nameBodyMap
btHashMap< btHashString, btRigidBody * > m_nameBodyMap
Definition: btWorldImporter.h:95
btWorldImporter::m_timMap
btHashMap< btHashPtr, btTriangleInfoMap * > m_timMap
Definition: btWorldImporter.h:92
btTriangleInfoMap
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
Definition: btTriangleInfoMap.h:53
btWorldImporter::createConeShapeX
virtual btCollisionShape * createConeShapeX(btScalar radius, btScalar height)
Definition: btWorldImporter.cpp:1690
btWorldImporter::getCollisionShapeByIndex
btCollisionShape * getCollisionShapeByIndex(int index)
Definition: btWorldImporter.cpp:1905
btWorldImporter::createGeneric6DofConstraint
virtual btGeneric6DofConstraint * createGeneric6DofConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
Definition: btWorldImporter.cpp:1850
btWorldImporter::convertRigidBodyFloat
void convertRigidBodyFloat(btRigidBodyFloatData *colObjData)
Definition: btWorldImporter.cpp:1986
btWorldImporter::createBvhTriangleMeshShape
virtual btBvhTriangleMeshShape * createBvhTriangleMeshShape(btStridingMeshInterface *trimesh, btOptimizedBvh *bvh)
Definition: btWorldImporter.cpp:1732
btGearConstraint
The btGeatConstraint will couple the angular velocity for two bodies around given local axis and rati...
Definition: btGearConstraint.h:31
btConeTwistConstraint
btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
Definition: btConeTwistConstraint.h:57
btTransform.h
btWorldImporter::setImporterFlags
void setImporterFlags(int importerFlags)
Definition: btWorldImporter.h:135
btWorldImporter::createMeshInterface
virtual btTriangleIndexVertexArray * createMeshInterface(btStridingMeshInterfaceData &meshData)
Definition: btWorldImporter.cpp:1383
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btWorldImporter::m_allocatedConstraints
btAlignedObjectArray< btTypedConstraint * > m_allocatedConstraints
Definition: btWorldImporter.h:76
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btWorldImporter::createScaledTrangleMeshShape
virtual class btScaledBvhTriangleMeshShape * createScaledTrangleMeshShape(btBvhTriangleMeshShape *meshShape, const btVector3 &localScalingbtBvhTriangleMeshShape)
Definition: btWorldImporter.cpp:1774
btWorldImporter::convertConstraintDouble
void convertConstraintDouble(btTypedConstraintDoubleData *constraintData, btRigidBody *rbA, btRigidBody *rbB, int fileVersion)
Definition: btWorldImporter.cpp:1054
btWorldImporter::m_floatVertexArrays
btAlignedObjectArray< btVector3FloatData * > m_floatVertexArrays
Definition: btWorldImporter.h:88
btRigidBodyDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btRigidBody.h:614
btWorldImporter::btWorldImporter
btWorldImporter(btDynamicsWorld *world)
Definition: btWorldImporter.cpp:22
btRigidBodyFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btRigidBody.h:588
btWorldImporter::createCapsuleShapeZ
virtual btCollisionShape * createCapsuleShapeZ(btScalar radius, btScalar height)
Definition: btWorldImporter.cpp:1662
btWorldImporter::m_allocatedBvhs
btAlignedObjectArray< btOptimizedBvh * > m_allocatedBvhs
Definition: btWorldImporter.h:77
btWorldImporter::m_charIndexArrays
btAlignedObjectArray< unsigned char * > m_charIndexArrays
Definition: btWorldImporter.h:86
btWorldImporter::m_importerFlags
int m_importerFlags
Definition: btWorldImporter.h:72
btWorldImporter::createConvexHullShape
virtual class btConvexHullShape * createConvexHullShape()
Definition: btWorldImporter.cpp:1760
btAlignedObjectArray< btCollisionShape * >
btWorldImporter::getNumCollisionShapes
int getNumCollisionShapes() const
Definition: btWorldImporter.cpp:1900
btWorldImporter::createCylinderShapeZ
virtual btCollisionShape * createCylinderShapeZ(btScalar radius, btScalar height)
Definition: btWorldImporter.cpp:1683
btWorldImporter::createCompoundShape
virtual class btCompoundShape * createCompoundShape()
Definition: btWorldImporter.cpp:1767
btWorldImporter::createCollisionObject
virtual btCollisionObject * createCollisionObject(const btTransform &startTransform, btCollisionShape *shape, const char *bodyName)
Definition: btWorldImporter.cpp:1591
btHashMap.h
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:55
btWorldImporter::createConeShapeY
virtual btCollisionShape * createConeShapeY(btScalar radius, btScalar height)
Definition: btWorldImporter.cpp:1697
btWorldImporter::m_shapeMap
btHashMap< btHashPtr, btCollisionShape * > m_shapeMap
Definition: btWorldImporter.h:99
btWorldImporter::m_allocatedCollisionShapes
btAlignedObjectArray< btCollisionShape * > m_allocatedCollisionShapes
Definition: btWorldImporter.h:74
btConvexHullShape
The btConvexHullShape implements an implicit convex hull of an array of vertices.
Definition: btConvexHullShape.h:25
btWorldImporter::getNumTriangleInfoMaps
int getNumTriangleInfoMaps() const
Definition: btWorldImporter.cpp:1976
btWorldImporter::m_allocatedbtStridingMeshInterfaceDatas
btAlignedObjectArray< btStridingMeshInterfaceData * > m_allocatedbtStridingMeshInterfaceDatas
Definition: btWorldImporter.h:80
btWorldImporter::getConstraintByIndex
btTypedConstraint * getConstraintByIndex(int index) const
Definition: btWorldImporter.cpp:1962
btWorldImporter::m_allocatedTriangleIndexArrays
btAlignedObjectArray< btTriangleIndexVertexArray * > m_allocatedTriangleIndexArrays
Definition: btWorldImporter.h:79
btWorldImporter::createCylinderShapeY
virtual btCollisionShape * createCylinderShapeY(btScalar radius, btScalar height)
Definition: btWorldImporter.cpp:1676
btTypedConstraintData
this structure is not used, except for loading pre-2.82 .bullet files
Definition: btTypedConstraint.h:387
btWorldImporter::getBvhByIndex
btOptimizedBvh * getBvhByIndex(int index) const
Definition: btWorldImporter.cpp:1971
btWorldImporter::m_bvhMap
btHashMap< btHashPtr, btOptimizedBvh * > m_bvhMap
Definition: btWorldImporter.h:91
btWorldImporter::createOptimizedBvh
virtual btOptimizedBvh * createOptimizedBvh()
acceleration and connectivity structures
Definition: btWorldImporter.cpp:1718
btWorldImporter::convertConstraintBackwardsCompatible281
void convertConstraintBackwardsCompatible281(btTypedConstraintData *constraintData, btRigidBody *rbA, btRigidBody *rbB, int fileVersion)
Definition: btWorldImporter.cpp:506
btTypedConstraintFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btTypedConstraint.h:358
btWorldImporter::convertCollisionShape
btCollisionShape * convertCollisionShape(btCollisionShapeData *shapeData)
Definition: btWorldImporter.cpp:142
btWorldImporter::createPoint2PointConstraint
virtual btPoint2PointConstraint * createPoint2PointConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
constraints
Definition: btWorldImporter.cpp:1808
btWorldImporter::m_nameConstraintMap
btHashMap< btHashString, btTypedConstraint * > m_nameConstraintMap
Definition: btWorldImporter.h:96
btAlignedObjectArray.h
btWorldImporter::getImporterFlags
int getImporterFlags() const
Definition: btWorldImporter.h:140
eRESTORE_EXISTING_OBJECTS
Definition: btWorldImporter.h:63
btStridingMeshInterfaceData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btStridingMeshInterface.h:138
btWorldImporter::createGimpactShape
virtual btGImpactMeshShape * createGimpactShape(btStridingMeshInterface *trimesh)
Definition: btWorldImporter.cpp:1750
btTriangleIndexVertexArray
The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing t...
Definition: btTriangleIndexVertexArray.h:65
btWorldImporter::createRigidBody
virtual btRigidBody * createRigidBody(bool isDynamic, btScalar mass, const btTransform &startTransform, btCollisionShape *shape, const char *bodyName)
Definition: btWorldImporter.cpp:1605
btWorldImporter::createConvexTriangleMeshShape
virtual btCollisionShape * createConvexTriangleMeshShape(btStridingMeshInterface *trimesh)
Definition: btWorldImporter.cpp:1746
btWorldImporter::getTriangleInfoMapByIndex
btTriangleInfoMap * getTriangleInfoMapByIndex(int index) const
Definition: btWorldImporter.cpp:1981
btWorldImporter::createCapsuleShapeX
virtual btCollisionShape * createCapsuleShapeX(btScalar radius, btScalar height)
Definition: btWorldImporter.cpp:1648
btWorldImporter::getRigidBodyByName
btRigidBody * getRigidBodyByName(const char *name)
Definition: btWorldImporter.cpp:1920
btWorldImporter::setDynamicsWorldInfo
virtual void setDynamicsWorldInfo(const btVector3 &gravity, const btContactSolverInfo &solverInfo)
those virtuals are called by load and can be overridden by the user
Definition: btWorldImporter.cpp:1596
btWorldImporter::m_shortIndexArrays
btAlignedObjectArray< short int * > m_shortIndexArrays
Definition: btWorldImporter.h:85
btScaledBvhTriangleMeshShape
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
Definition: btScaledBvhTriangleMeshShape.h:23
btWorldImporter::m_allocatedRigidBodies
btAlignedObjectArray< btCollisionObject * > m_allocatedRigidBodies
Definition: btWorldImporter.h:75
btWorldImporter::createCapsuleShapeY
virtual btCollisionShape * createCapsuleShapeY(btScalar radius, btScalar height)
Definition: btWorldImporter.cpp:1655
btSliderConstraint
Definition: btSliderConstraint.h:65
btWorldImporter::m_doubleVertexArrays
btAlignedObjectArray< btVector3DoubleData * > m_doubleVertexArrays
Definition: btWorldImporter.h:89
btWorldImporter::createTriangleInfoMap
virtual btTriangleInfoMap * createTriangleInfoMap()
Definition: btWorldImporter.cpp:1725
btWorldImporter::createCylinderShapeX
virtual btCollisionShape * createCylinderShapeX(btScalar radius, btScalar height)
Definition: btWorldImporter.cpp:1669
btWorldImporter::createConeTwistConstraint
virtual btConeTwistConstraint * createConeTwistConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame)
Definition: btWorldImporter.cpp:1836
btWorldImporter::createPlaneShape
virtual btCollisionShape * createPlaneShape(const btVector3 &planeNormal, btScalar planeConstant)
shapes
Definition: btWorldImporter.cpp:1629
btWorldImporter::createGeneric6DofSpringConstraint
virtual btGeneric6DofSpringConstraint * createGeneric6DofSpringConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
Definition: btWorldImporter.cpp:1871
btWorldImporter::m_allocatedTriangleInfoMaps
btAlignedObjectArray< btTriangleInfoMap * > m_allocatedTriangleInfoMaps
Definition: btWorldImporter.h:78
btTypedConstraintDoubleData
Definition: btTypedConstraint.h:410