The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is still preliminary/experimental. More...

#include <btMultiBodyDynamicsWorld.h>

Inheritance diagram for btMultiBodyDynamicsWorld:

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Collaboration diagram for btMultiBodyDynamicsWorld:

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Public Member Functions
	btMultiBodyDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btMultiBodyConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)

virtual	~btMultiBodyDynamicsWorld ()

virtual void	addMultiBody (btMultiBody *body, short group=btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter)

virtual void	removeMultiBody (btMultiBody *body)

virtual void	addMultiBodyConstraint (btMultiBodyConstraint *constraint)

virtual void	removeMultiBodyConstraint (btMultiBodyConstraint *constraint)

Public Member Functions inherited from btDiscreteDynamicsWorld
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btDiscreteDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)
	this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those More...

virtual	~btDiscreteDynamicsWorld ()

virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
	if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's More...

virtual void	synchronizeMotionStates ()

void	synchronizeSingleMotionState (btRigidBody *body)
	this can be useful to synchronize a single rigid body -> graphics object More...

virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)

virtual void	removeConstraint (btTypedConstraint *constraint)

virtual void	addAction (btActionInterface *)

virtual void	removeAction (btActionInterface *)

btSimulationIslandManager *	getSimulationIslandManager ()

const btSimulationIslandManager *	getSimulationIslandManager () const

btCollisionWorld *	getCollisionWorld ()

virtual void	setGravity (const btVector3 &gravity)

virtual btVector3	getGravity () const

virtual void	addCollisionObject (btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::StaticFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter^btBroadphaseProxy::StaticFilter)

virtual void	addRigidBody (btRigidBody *body)

virtual void	addRigidBody (btRigidBody *body, short group, short mask)

virtual void	removeRigidBody (btRigidBody *body)

virtual void	removeCollisionObject (btCollisionObject *collisionObject)
	removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject More...

void	debugDrawConstraint (btTypedConstraint *constraint)

virtual void	debugDrawWorld ()

virtual void	setConstraintSolver (btConstraintSolver *solver)

virtual btConstraintSolver *	getConstraintSolver ()

virtual int	getNumConstraints () const

virtual btTypedConstraint *	getConstraint (int index)

virtual const btTypedConstraint *	getConstraint (int index) const

virtual btDynamicsWorldType	getWorldType () const

virtual void	clearForces ()
	the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. More...

virtual void	applyGravity ()
	apply gravity, call this once per timestep More...

virtual void	setNumTasks (int numTasks)

virtual void	updateVehicles (btScalar timeStep)
	obsolete, use updateActions instead More...

virtual void	addVehicle (btActionInterface *vehicle)
	obsolete, use addAction instead More...

virtual void	removeVehicle (btActionInterface *vehicle)
	obsolete, use removeAction instead More...

virtual void	addCharacter (btActionInterface *character)
	obsolete, use addAction instead More...

virtual void	removeCharacter (btActionInterface *character)
	obsolete, use removeAction instead More...

void	setSynchronizeAllMotionStates (bool synchronizeAll)

bool	getSynchronizeAllMotionStates () const

void	setApplySpeculativeContactRestitution (bool enable)

bool	getApplySpeculativeContactRestitution () const

virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo) More...

void	setLatencyMotionStateInterpolation (bool latencyInterpolation)
	Interpolate motion state between previous and current transform, instead of current and next transform. More...

bool	getLatencyMotionStateInterpolation () const

Public Member Functions inherited from btDynamicsWorld
	btDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface broadphase, btCollisionConfiguration *collisionConfiguration)

virtual	~btDynamicsWorld ()

void	setInternalTickCallback (btInternalTickCallback cb, void *worldUserInfo=0, bool isPreTick=false)
	Set the callback for when an internal tick (simulation substep) happens, optional user info. More...

void	setWorldUserInfo (void *worldUserInfo)

void *	getWorldUserInfo () const

btContactSolverInfo &	getSolverInfo ()

Public Member Functions inherited from btCollisionWorld
	btCollisionWorld (btDispatcher dispatcher, btBroadphaseInterface broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
	for debug drawing More...

virtual	~btCollisionWorld ()

void	setBroadphase (btBroadphaseInterface *pairCache)

const btBroadphaseInterface *	getBroadphase () const

btBroadphaseInterface *	getBroadphase ()

btOverlappingPairCache *	getPairCache ()

btDispatcher *	getDispatcher ()

const btDispatcher *	getDispatcher () const

void	updateSingleAabb (btCollisionObject *colObj)

virtual void	updateAabbs ()

virtual void	computeOverlappingPairs ()
	the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation More...

virtual void	setDebugDrawer (btIDebugDraw *debugDrawer)

virtual btIDebugDraw *	getDebugDrawer ()

virtual void	debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)

int	getNumCollisionObjects () const

virtual void	rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
	rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. More...

void	convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
	convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. More...

void	contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
	contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. More...

void	contactPairTest (btCollisionObject colObjA, btCollisionObject colObjB, ContactResultCallback &resultCallback)
	contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. More...

btCollisionObjectArray &	getCollisionObjectArray ()

const btCollisionObjectArray &	getCollisionObjectArray () const

virtual void	performDiscreteCollisionDetection ()

btDispatcherInfo &	getDispatchInfo ()

const btDispatcherInfo &	getDispatchInfo () const

bool	getForceUpdateAllAabbs () const

void	setForceUpdateAllAabbs (bool forceUpdateAllAabbs)

Protected Member Functions
virtual void	calculateSimulationIslands ()

virtual void	updateActivationState (btScalar timeStep)

virtual void	solveConstraints (btContactSolverInfo &solverInfo)

virtual void	integrateTransforms (btScalar timeStep)

Protected Member Functions inherited from btDiscreteDynamicsWorld
virtual void	predictUnconstraintMotion (btScalar timeStep)

void	updateActions (btScalar timeStep)

void	startProfiling (btScalar timeStep)

virtual void	internalSingleStepSimulation (btScalar timeStep)

void	createPredictiveContacts (btScalar timeStep)

virtual void	saveKinematicState (btScalar timeStep)

void	serializeRigidBodies (btSerializer *serializer)

void	serializeDynamicsWorldInfo (btSerializer *serializer)

Protected Member Functions inherited from btCollisionWorld
void	serializeCollisionObjects (btSerializer *serializer)

Protected Attributes
btAlignedObjectArray < btMultiBody * >	m_multiBodies

btAlignedObjectArray < btMultiBodyConstraint * >	m_multiBodyConstraints

btAlignedObjectArray < btMultiBodyConstraint * >	m_sortedMultiBodyConstraints

btMultiBodyConstraintSolver *	m_multiBodyConstraintSolver

MultiBodyInplaceSolverIslandCallback *	m_solverMultiBodyIslandCallback

Protected Attributes inherited from btDiscreteDynamicsWorld
btAlignedObjectArray < btTypedConstraint * >	m_sortedConstraints

InplaceSolverIslandCallback *	m_solverIslandCallback

btConstraintSolver *	m_constraintSolver

btSimulationIslandManager *	m_islandManager

btAlignedObjectArray < btTypedConstraint * >	m_constraints

btAlignedObjectArray < btRigidBody * >	m_nonStaticRigidBodies

btVector3	m_gravity

btScalar	m_localTime

btScalar	m_fixedTimeStep

bool	m_ownsIslandManager

bool	m_ownsConstraintSolver

bool	m_synchronizeAllMotionStates

bool	m_applySpeculativeContactRestitution

btAlignedObjectArray < btActionInterface * >	m_actions

int	m_profileTimings

bool	m_latencyMotionStateInterpolation

btAlignedObjectArray < btPersistentManifold * >	m_predictiveManifolds

Protected Attributes inherited from btDynamicsWorld
btInternalTickCallback	m_internalTickCallback

btInternalTickCallback	m_internalPreTickCallback

void *	m_worldUserInfo

btContactSolverInfo	m_solverInfo

Protected Attributes inherited from btCollisionWorld
btAlignedObjectArray < btCollisionObject * >	m_collisionObjects

btDispatcher *	m_dispatcher1

btDispatcherInfo	m_dispatchInfo

btBroadphaseInterface *	m_broadphasePairCache

btIDebugDraw *	m_debugDrawer

bool	m_forceUpdateAllAabbs
	m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB) More...

Additional Inherited Members
Static Public Member Functions inherited from btCollisionWorld
static void	rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject collisionObject, const btCollisionShape collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
	rayTestSingle performs a raycast call and calls the resultCallback. More...

static void	rayTestSingleInternal (const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)

static void	objectQuerySingle (const btConvexShape castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
	objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. More...

static void	objectQuerySingleInternal (const btConvexShape castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)

Detailed Description

The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is still preliminary/experimental.

Definition at line 29 of file btMultiBodyDynamicsWorld.h.

Constructor & Destructor Documentation

btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	pairCache,
		btMultiBodyConstraintSolver *	constraintSolver,
		btCollisionConfiguration *	collisionConfiguration
	)

Definition at line 380 of file btMultiBodyDynamicsWorld.cpp.

btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld ( )

virtual

Definition at line 390 of file btMultiBodyDynamicsWorld.cpp.

Member Function Documentation

void btMultiBodyDynamicsWorld::addMultiBody	(	btMultiBody *	body,
		short	group = `btBroadphaseProxy::DefaultFilter`,
		short	mask = `btBroadphaseProxy::AllFilter`
	)