Public Member Functions | Protected Member Functions | Protected Attributes

btSimpleDynamicsWorld Class Reference

The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds. More...

#include <btSimpleDynamicsWorld.h>

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List of all members.

Public Member Functions

 btSimpleDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
 this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
virtual ~btSimpleDynamicsWorld ()
virtual int stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
 maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
virtual void setGravity (const btVector3 &gravity)
virtual btVector3 getGravity () const
virtual void addRigidBody (btRigidBody *body)
virtual void addRigidBody (btRigidBody *body, short group, short mask)
virtual void removeRigidBody (btRigidBody *body)
virtual void debugDrawWorld ()
virtual void addAction (btActionInterface *action)
virtual void removeAction (btActionInterface *action)
virtual void removeCollisionObject (btCollisionObject *collisionObject)
 removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
virtual void updateAabbs ()
virtual void synchronizeMotionStates ()
virtual void setConstraintSolver (btConstraintSolver *solver)
virtual btConstraintSolvergetConstraintSolver ()
virtual btDynamicsWorldType getWorldType () const
virtual void clearForces ()

Protected Member Functions

void predictUnconstraintMotion (btScalar timeStep)
void integrateTransforms (btScalar timeStep)

Protected Attributes

btConstraintSolverm_constraintSolver
bool m_ownsConstraintSolver
btVector3 m_gravity

Detailed Description

The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.

Please use btDiscreteDynamicsWorld instead

Definition at line 27 of file btSimpleDynamicsWorld.h.


Constructor & Destructor Documentation

btSimpleDynamicsWorld::btSimpleDynamicsWorld ( btDispatcher dispatcher,
btBroadphaseInterface pairCache,
btConstraintSolver constraintSolver,
btCollisionConfiguration collisionConfiguration 
)

this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver

Definition at line 39 of file btSimpleDynamicsWorld.cpp.

btSimpleDynamicsWorld::~btSimpleDynamicsWorld (  )  [virtual]

Definition at line 49 of file btSimpleDynamicsWorld.cpp.


Member Function Documentation

void btSimpleDynamicsWorld::addAction ( btActionInterface action  )  [virtual]

Implements btDynamicsWorld.

Definition at line 174 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::addRigidBody ( btRigidBody body  )  [virtual]

Implements btDynamicsWorld.

Definition at line 148 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::addRigidBody ( btRigidBody body,
short  group,
short  mask 
) [virtual]

Implements btDynamicsWorld.

Definition at line 158 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::clearForces (  )  [virtual]

Implements btDynamicsWorld.

Definition at line 98 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::debugDrawWorld (  )  [virtual]

Implements btDynamicsWorld.

Definition at line 169 of file btSimpleDynamicsWorld.cpp.

btConstraintSolver * btSimpleDynamicsWorld::getConstraintSolver (  )  [virtual]

Implements btDynamicsWorld.

Definition at line 277 of file btSimpleDynamicsWorld.cpp.

btVector3 btSimpleDynamicsWorld::getGravity (  )  const [virtual]

Implements btDynamicsWorld.

Definition at line 128 of file btSimpleDynamicsWorld.cpp.

virtual btDynamicsWorldType btSimpleDynamicsWorld::getWorldType (  )  const [inline, virtual]

Implements btDynamicsWorld.

Definition at line 80 of file btSimpleDynamicsWorld.h.

void btSimpleDynamicsWorld::integrateTransforms ( btScalar  timeStep  )  [protected]

Definition at line 205 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::predictUnconstraintMotion ( btScalar  timeStep  )  [protected]

Definition at line 225 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::removeAction ( btActionInterface action  )  [virtual]

Implements btDynamicsWorld.

Definition at line 179 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::removeCollisionObject ( btCollisionObject collisionObject  )  [virtual]

removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject

Reimplemented from btCollisionWorld.

Definition at line 138 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::removeRigidBody ( btRigidBody body  )  [virtual]

Implements btDynamicsWorld.

Definition at line 133 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::setConstraintSolver ( btConstraintSolver solver  )  [virtual]

Implements btDynamicsWorld.

Definition at line 267 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::setGravity ( const btVector3 gravity  )  [virtual]

Implements btDynamicsWorld.

Definition at line 114 of file btSimpleDynamicsWorld.cpp.

int btSimpleDynamicsWorld::stepSimulation ( btScalar  timeStep,
int  maxSubSteps = 1,
btScalar  fixedTimeStep = btScalar(1.)/btScalar(60.) 
) [virtual]

maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead

apply gravity, predict motion

perform collision detection

solve contact constraints

integrate transforms

Implements btDynamicsWorld.

Definition at line 55 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::synchronizeMotionStates (  )  [virtual]

Implements btDynamicsWorld.

Definition at line 248 of file btSimpleDynamicsWorld.cpp.

void btSimpleDynamicsWorld::updateAabbs (  )  [virtual]

Reimplemented from btCollisionWorld.

Definition at line 185 of file btSimpleDynamicsWorld.cpp.


Member Data Documentation

Definition at line 31 of file btSimpleDynamicsWorld.h.

Definition at line 39 of file btSimpleDynamicsWorld.h.

Definition at line 33 of file btSimpleDynamicsWorld.h.


The documentation for this class was generated from the following files: