#include "btDynamicsWorld.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btThreads.h"

Functions
virtual void	predictUnconstraintMotion (btScalar timeStep)
void	integrateTransformsInternal (btRigidBody **bodies, int numBodies, btScalar timeStep)
virtual void	integrateTransforms (btScalar timeStep)
virtual void	calculateSimulationIslands ()
virtual void	updateActivationState (btScalar timeStep)
void	updateActions (btScalar timeStep)
void	startProfiling (btScalar timeStep)
virtual void	internalSingleStepSimulation (btScalar timeStep)
void	releasePredictiveContacts ()
void	createPredictiveContactsInternal (btRigidBody **bodies, int numBodies, btScalar timeStep)
virtual void	createPredictiveContacts (btScalar timeStep)
virtual void	saveKinematicState (btScalar timeStep)
void	serializeRigidBodies (btSerializer *serializer)
void	serializeDynamicsWorldInfo (btSerializer *serializer)
	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
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
virtual void	solveConstraints (btContactSolverInfo &solverInfo)
virtual void	synchronizeMotionStates ()
void	synchronizeSingleMotionState (btRigidBody *body)
	this can be useful to synchronize a single rigid body -> graphics object
virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
virtual void	removeConstraint (btTypedConstraint *constraint)
virtual void	addAction (btActionInterface *)
virtual void	removeAction (btActionInterface *)
btSimulationIslandManager *	getSimulationIslandManager ()
btCollisionWorld *	getCollisionWorld ()
virtual void	setGravity (const btVector3 &gravity)
virtual btVector3	getGravity () const
virtual void	addCollisionObject (btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter)
virtual void	addRigidBody (btRigidBody *body)
virtual void	addRigidBody (btRigidBody *body, int group, int 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
virtual 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 btDynamicsWorldType	getWorldType () const
virtual void	clearForces ()
	the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
virtual void	applyGravity ()
	apply gravity, call this once per timestep
virtual void	setNumTasks (int numTasks)
virtual void	updateVehicles (btScalar timeStep)
	obsolete, use updateActions instead
virtual void	addVehicle (btActionInterface *vehicle)
	obsolete, use addAction instead
virtual void	removeVehicle (btActionInterface *vehicle)
	obsolete, use removeAction instead
virtual void	addCharacter (btActionInterface *character)
	obsolete, use addAction instead
virtual void	removeCharacter (btActionInterface *character)
	obsolete, use removeAction instead
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).
void	setLatencyMotionStateInterpolation (bool latencyInterpolation)
bool	getLatencyMotionStateInterpolation () const
btAlignedObjectArray< btRigidBody * > &	getNonStaticRigidBodies ()

Function Documentation

◆ addAction()

virtual void addAction ( btActionInterface * )

virtual

References addAction().

Referenced by addAction().

◆ addCharacter()

virtual void addCharacter ( btActionInterface * character )

virtual

obsolete, use addAction instead

References addCharacter().

Referenced by addCharacter().

◆ addCollisionObject()

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

virtual

References addCollisionObject(), and btCollisionObject.

Referenced by addCollisionObject().

◆ addConstraint()

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

virtual

References addConstraint(), and btTypedConstraint().

Referenced by addConstraint().

◆ addRigidBody() [1/2]

virtual void addRigidBody ( btRigidBody * body )

virtual

References addRigidBody().

Referenced by addRigidBody(), and addRigidBody().

◆ addRigidBody() [2/2]

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

virtual

References addRigidBody(), and mask().

◆ addVehicle()

virtual void addVehicle ( btActionInterface * vehicle )

virtual

obsolete, use addAction instead

References addVehicle().

Referenced by addVehicle().

◆ applyGravity()

virtual void applyGravity ( )

virtual

apply gravity, call this once per timestep

References applyGravity().

Referenced by applyGravity().

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR ( )

References BT_DECLARE_ALIGNED_ALLOCATOR, and btDiscreteDynamicsWorld().

◆ btDiscreteDynamicsWorld()

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

this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those

Definition at line 191 of file btDiscreteDynamicsWorld.cpp.

References btAlignedAlloc, btSequentialImpulseConstraintSolver(), btSimulationIslandManager::btSimulationIslandManager(), false, InplaceSolverIslandCallback::InplaceSolverIslandCallback(), m_applySpeculativeContactRestitution, m_constraintSolver, m_fixedTimeStep, m_gravity, m_islandManager, m_latencyMotionStateInterpolation, m_localTime, m_ownsConstraintSolver, m_ownsIslandManager, m_profileTimings, m_solverIslandCallback, m_synchronizeAllMotionStates, and true.

Referenced by BT_DECLARE_ALIGNED_ALLOCATOR(), btDiscreteDynamicsWorldMt(), btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(), btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(), and RB_dworld_new().

◆ calculateSimulationIslands()

virtual void calculateSimulationIslands ( )

virtual

References calculateSimulationIslands().

Referenced by calculateSimulationIslands().

◆ clearForces()

virtual void clearForces ( )

virtual

the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.

References clearForces().

Referenced by clearForces().

◆ createPredictiveContacts()

void btDiscreteDynamicsWorldMt::createPredictiveContacts ( btScalar timeStep )

virtual

Definition at line 941 of file btDiscreteDynamicsWorld.cpp.

References BT_PROFILE, createPredictiveContactsInternal(), m_nonStaticRigidBodies, and releasePredictiveContacts().

Referenced by createPredictiveContacts(), and internalSingleStepSimulation().

◆ createPredictiveContactsInternal()

void btDiscreteDynamicsWorld::createPredictiveContactsInternal	(	btRigidBody **	bodies,
		int	numBodies,
		btScalar	timeStep )

Definition at line 849 of file btDiscreteDynamicsWorld.cpp.

References BT_PROFILE, btBroadphaseProxy, btClosestNotMeConvexResultCallback::btClosestNotMeConvexResultCallback(), btCollisionObject, btMutexLock(), btMutexUnlock(), btPersistentManifold(), btSphereShape(), btTransform, btVector3, convexSweepTest(), distance(), gCalculateCombinedFrictionCallback, btRigidBody::getBroadphaseProxy(), btRigidBody::getCollisionShape(), gNumClampedCcdMotions, i, btManifoldPoint::m_combinedFriction, btManifoldPoint::m_combinedRestitution, btManifoldPoint::m_positionWorldOnA, btManifoldPoint::m_positionWorldOnB, m_predictiveManifolds, m_predictiveManifoldsMutex, btClosestNotMeConvexResultCallback::needsCollision(), needsCollision(), numBodies, btRigidBody::predictIntegratedTransform(), and btAlignedObjectArray< T >::push_back().

Referenced by createPredictiveContacts(), and internalSingleStepSimulation().

◆ debugDrawConstraint()

void btDiscreteDynamicsWorld::debugDrawConstraint ( btTypedConstraint * constraint )

virtual

note: the code for D6_SPRING_2_CONSTRAINT_TYPE is identical to D6_CONSTRAINT_TYPE, the D6_CONSTRAINT_TYPE+D6_SPRING_CONSTRAINT_TYPE will likely become obsolete/deprecated at some stage

Definition at line 1117 of file btDiscreteDynamicsWorld.cpp.

References btConeTwistConstraint(), btCos(), btGeneric6DofConstraint(), btGeneric6DofSpring2Constraint(), btHingeConstraint(), btPoint2PointConstraint(), btSin(), btSliderConstraint(), btTransform, btTypedConstraint(), btVector3, CONETWIST_CONSTRAINT_TYPE, D6_CONSTRAINT_TYPE, D6_SPRING_2_CONSTRAINT_TYPE, D6_SPRING_CONSTRAINT_TYPE, btIDebugDraw::DBG_DrawConstraintLimits, btIDebugDraw::DBG_DrawConstraints, HINGE_CONSTRAINT_TYPE, i, length(), POINT2POINT_CONSTRAINT_TYPE, SIMD_2_PI, SIMD_PI, and SLIDER_CONSTRAINT_TYPE.

Referenced by removeCollisionObject().

◆ debugDrawWorld()

virtual void debugDrawWorld ( )

virtual

References debugDrawWorld().

Referenced by debugDrawWorld().

◆ getApplySpeculativeContactRestitution()

bool getApplySpeculativeContactRestitution ( ) const

Definition at line 214 of file btDiscreteDynamicsWorld.h.

References getApplySpeculativeContactRestitution(), and m_applySpeculativeContactRestitution.

Referenced by getApplySpeculativeContactRestitution().

◆ getCollisionWorld()

btCollisionWorld * getCollisionWorld ( )

Definition at line 135 of file btDiscreteDynamicsWorld.h.

References getCollisionWorld().

Referenced by btMultiBodyDynamicsWorld::buildIslands(), btMultiBodyDynamicsWorld::calculateSimulationIslands(), getCollisionWorld(), btDeformableMultiBodyDynamicsWorld::setupConstraints(), btDeformableMultiBodyDynamicsWorld::solveContactConstraints(), and btMultiBodyDynamicsWorld::solveExternalForces().

◆ getConstraint()

const btTypedConstraint * getConstraint ( int index )

virtual

References btTypedConstraint(), and getConstraint().

Referenced by getConstraint().

◆ getConstraintSolver()

virtual btConstraintSolver * getConstraintSolver ( )

virtual

References getConstraintSolver().

Referenced by getConstraintSolver().

◆ getGravity()

virtual btVector3 getGravity ( ) const

virtual

References btVector3, and getGravity().

◆ getLatencyMotionStateInterpolation()

bool getLatencyMotionStateInterpolation ( ) const

Definition at line 228 of file btDiscreteDynamicsWorld.h.

References getLatencyMotionStateInterpolation(), and m_latencyMotionStateInterpolation.

Referenced by getLatencyMotionStateInterpolation().

◆ getNonStaticRigidBodies()

const btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies ( )

Definition at line 233 of file btDiscreteDynamicsWorld.h.

References getNonStaticRigidBodies(), and m_nonStaticRigidBodies.

Referenced by getNonStaticRigidBodies().

◆ getNumConstraints()

virtual int getNumConstraints ( ) const

virtual

References getNumConstraints().

Referenced by getNumConstraints(), btDeformableMultiBodyDynamicsWorld::setupConstraints(), btMultiBodyDynamicsWorld::solveExternalForces(), and btDeformableMultiBodyDynamicsWorld::sortConstraints().

◆ getSimulationIslandManager()

const btSimulationIslandManager * getSimulationIslandManager ( )

Definition at line 125 of file btDiscreteDynamicsWorld.h.

References getSimulationIslandManager(), and m_islandManager.

Referenced by btMultiBodyDynamicsWorld::calculateSimulationIslands(), and getSimulationIslandManager().

◆ getSynchronizeAllMotionStates()

bool getSynchronizeAllMotionStates ( ) const

Definition at line 204 of file btDiscreteDynamicsWorld.h.

References getSynchronizeAllMotionStates(), and m_synchronizeAllMotionStates.

Referenced by getSynchronizeAllMotionStates().

◆ getWorldType()

virtual btDynamicsWorldType getWorldType ( ) const

virtual

Definition at line 169 of file btDiscreteDynamicsWorld.h.

References BT_DISCRETE_DYNAMICS_WORLD, and getWorldType().

Referenced by getWorldType().

◆ integrateTransforms()

virtual void integrateTransforms ( btScalar timeStep )

virtual

References integrateTransforms().

Referenced by integrateTransforms(), and integrateTransforms().

◆ integrateTransformsInternal()

void btDiscreteDynamicsWorld::integrateTransformsInternal	(	btRigidBody **	bodies,
		int	numBodies,
		btScalar	timeStep )

◆ internalSingleStepSimulation()

virtual void internalSingleStepSimulation ( btScalar timeStep )

virtual

References createPredictiveContacts(), createPredictiveContactsInternal(), internalSingleStepSimulation(), numBodies, and releasePredictiveContacts().

Referenced by internalSingleStepSimulation().

◆ predictUnconstraintMotion()

virtual void predictUnconstraintMotion ( btScalar timeStep )

virtual

References integrateTransformsInternal(), numBodies, and predictUnconstraintMotion().

Referenced by predictUnconstraintMotion(), and predictUnconstraintMotion().

◆ releasePredictiveContacts()

void btDiscreteDynamicsWorld::releasePredictiveContacts ( )

Definition at line 929 of file btDiscreteDynamicsWorld.cpp.

References BT_PROFILE, btPersistentManifold(), btAlignedObjectArray< T >::clear(), i, m_predictiveManifolds, and btAlignedObjectArray< T >::size().

Referenced by createPredictiveContacts(), and internalSingleStepSimulation().

◆ removeAction()

virtual void removeAction ( btActionInterface * )

virtual

References removeAction().

Referenced by removeAction().

◆ removeCharacter()

virtual void removeCharacter ( btActionInterface * character )

virtual

obsolete, use removeAction instead

References removeCharacter().

Referenced by removeCharacter().

◆ removeCollisionObject()

virtual void removeCollisionObject ( btCollisionObject * collisionObject )

virtual

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

References btCollisionObject, btTypedConstraint(), debugDrawConstraint(), and removeCollisionObject().

Referenced by removeCollisionObject().

◆ removeConstraint()

virtual void removeConstraint ( btTypedConstraint * constraint )

virtual

References btTypedConstraint(), and removeConstraint().

Referenced by removeConstraint().

◆ removeRigidBody()

virtual void removeRigidBody ( btRigidBody * body )

virtual

References removeRigidBody().

Referenced by removeRigidBody().

◆ removeVehicle()

virtual void removeVehicle ( btActionInterface * vehicle )

virtual

obsolete, use removeAction instead

References removeVehicle().

Referenced by removeVehicle().

◆ saveKinematicState()

virtual void saveKinematicState ( btScalar timeStep )

virtual

References saveKinematicState(), serializeDynamicsWorldInfo(), and serializeRigidBodies().

Referenced by saveKinematicState(), and btDeformableMultiBodyDynamicsWorld::stepSimulation().

◆ serialize()

virtual void serialize ( btSerializer * serializer )

virtual

Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo).

References serialize().

◆ serializeDynamicsWorldInfo()

void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo ( btSerializer * serializer )

Definition at line 1405 of file btDiscreteDynamicsWorld.cpp.

Referenced by saveKinematicState(), btMultiBodyDynamicsWorld::serialize(), btSoftMultiBodyDynamicsWorld::serialize(), and btSoftRigidDynamicsWorld::serialize().

◆ serializeRigidBodies()

void btDiscreteDynamicsWorld::serializeRigidBodies ( btSerializer * serializer )

Definition at line 1379 of file btDiscreteDynamicsWorld.cpp.

References btSerializer::allocate(), BT_CONSTRAINT_CODE, BT_RIGIDBODY_CODE, btCollisionObject, btTypedConstraint(), btSerializer::finalizeChunk(), i, len(), m_constraints, btChunk::m_oldPtr, btAlignedObjectArray< T >::size(), and size().

Referenced by saveKinematicState(), btMultiBodyDynamicsWorld::serialize(), btSoftMultiBodyDynamicsWorld::serialize(), and btSoftRigidDynamicsWorld::serialize().

◆ setApplySpeculativeContactRestitution()

void setApplySpeculativeContactRestitution ( bool enable )

Definition at line 209 of file btDiscreteDynamicsWorld.h.

References m_applySpeculativeContactRestitution, and setApplySpeculativeContactRestitution().

Referenced by setApplySpeculativeContactRestitution().

◆ setConstraintSolver()

virtual void setConstraintSolver ( btConstraintSolver * solver )

virtual

References setConstraintSolver().

Referenced by setConstraintSolver().

◆ setGravity()

virtual void setGravity ( const btVector3 & gravity )

virtual

References btVector3, and setGravity().

◆ setLatencyMotionStateInterpolation()

void setLatencyMotionStateInterpolation ( bool latencyInterpolation )

Interpolate motion state between previous and current transform, instead of current and next transform. This can relieve discontinuities in the rendering, due to penetrations

Definition at line 224 of file btDiscreteDynamicsWorld.h.

References m_latencyMotionStateInterpolation, and setLatencyMotionStateInterpolation().

Referenced by setLatencyMotionStateInterpolation().

◆ setNumTasks()

virtual void setNumTasks ( int numTasks )

virtual

Definition at line 180 of file btDiscreteDynamicsWorld.h.

References setNumTasks().

Referenced by setNumTasks().

◆ setSynchronizeAllMotionStates()

void setSynchronizeAllMotionStates ( bool synchronizeAll )

Definition at line 200 of file btDiscreteDynamicsWorld.h.

References m_synchronizeAllMotionStates, and setSynchronizeAllMotionStates().

Referenced by setSynchronizeAllMotionStates().

◆ solveConstraints()

virtual void solveConstraints ( btContactSolverInfo & solverInfo )

virtual

References solveConstraints().

Referenced by solveConstraints(), and solveConstraints().

◆ startProfiling()

void btDiscreteDynamicsWorld::startProfiling ( btScalar timeStep )

Definition at line 1108 of file btDiscreteDynamicsWorld.cpp.

Referenced by btDeformableMultiBodyDynamicsWorld::stepSimulation(), and updateActivationState().

◆ stepSimulation()

virtual int stepSimulation	(	btScalar	timeStep,
		int	maxSubSteps = 1,
		btScalar	fixedTimeStep = btScalar(1.)/btScalar(60.) )

virtual

if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's

References stepSimulation().

Referenced by stepSimulation(), and stepSimulation().

◆ synchronizeMotionStates()

virtual void synchronizeMotionStates ( )

virtual

References synchronizeMotionStates(), and synchronizeSingleMotionState().

Referenced by btDeformableMultiBodyDynamicsWorld::stepSimulation(), and synchronizeMotionStates().

◆ synchronizeSingleMotionState()

void btDiscreteDynamicsWorld::synchronizeSingleMotionState ( btRigidBody * body )

this can be useful to synchronize a single rigid body -> graphics object

Todo: : add 'dirty' flag

Definition at line 335 of file btDiscreteDynamicsWorld.cpp.

References btAssert, btTransform, btRigidBody::getMotionState(), btTransformUtil::integrateTransform(), m_fixedTimeStep, m_latencyMotionStateInterpolation, m_localTime, and btMotionState::setWorldTransform().

Referenced by synchronizeMotionStates().

◆ updateActions()

void btDiscreteDynamicsWorld::updateActions ( btScalar timeStep )

Definition at line 584 of file btDiscreteDynamicsWorld.cpp.

References BT_PROFILE, i, and m_actions.

Referenced by updateActivationState(), and updateVehicles().

◆ updateActivationState()

virtual void updateActivationState ( btScalar timeStep )

virtual

References startProfiling(), updateActions(), and updateActivationState().

Referenced by updateActivationState().

◆ updateVehicles()

virtual void updateVehicles ( btScalar timeStep )

virtual

obsolete, use updateActions instead

Definition at line 186 of file btDiscreteDynamicsWorld.h.

References updateActions(), and updateVehicles().

Referenced by updateVehicles().

◆ ~btDiscreteDynamicsWorld()

btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld ( )

virtual

Definition at line 229 of file btDiscreteDynamicsWorld.cpp.

References btAlignedFree, m_constraintSolver, m_islandManager, m_ownsConstraintSolver, m_ownsIslandManager, m_solverIslandCallback, btConstraintSolver::~btConstraintSolver(), and btSimulationIslandManager::~btSimulationIslandManager().

Variable Documentation

◆ pad0

btDiscreteDynamicsWorld __pad0__

btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController

Definition at line 37 of file btDiscreteDynamicsWorld.h.

◆ m_actions

btAlignedObjectArray<btActionInterface*> m_actions

Definition at line 63 of file btDiscreteDynamicsWorld.h.

Referenced by updateActions().

◆ m_applySpeculativeContactRestitution

bool m_applySpeculativeContactRestitution

Definition at line 61 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), getApplySpeculativeContactRestitution(), and setApplySpeculativeContactRestitution().

◆ m_constraints

btAlignedObjectArray<btTypedConstraint*> m_constraints

Definition at line 47 of file btDiscreteDynamicsWorld.h.

Referenced by btMultiBodyDynamicsWorld::calculateSimulationIslands(), serializeRigidBodies(), btMultiBodyDynamicsWorld::solveExternalForces(), and btDeformableMultiBodyDynamicsWorld::sortConstraints().

◆ m_constraintSolver

btConstraintSolver* m_constraintSolver

Definition at line 43 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), btDeformableMultiBodyDynamicsWorld::solveContactConstraints(), btMultiBodyDynamicsWorld::solveExternalForces(), btMultiBodyDynamicsWorld::solveInternalConstraints(), and ~btDiscreteDynamicsWorld().

◆ m_fixedTimeStep

btScalar m_fixedTimeStep

Definition at line 55 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), btDeformableMultiBodyDynamicsWorld::stepSimulation(), and synchronizeSingleMotionState().

◆ m_gravity

btVector3 m_gravity

Definition at line 51 of file btDiscreteDynamicsWorld.h.

◆ m_islandManager

btSimulationIslandManager* m_islandManager

Definition at line 45 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), btDiscreteDynamicsWorldMt(), btMultiBodyDynamicsWorld::buildIslands(), getSimulationIslandManager(), btDeformableMultiBodyDynamicsWorld::setupConstraints(), btDeformableMultiBodyDynamicsWorld::solveContactConstraints(), and ~btDiscreteDynamicsWorld().

◆ m_latencyMotionStateInterpolation

bool m_latencyMotionStateInterpolation

Definition at line 67 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), getLatencyMotionStateInterpolation(), setLatencyMotionStateInterpolation(), btDeformableMultiBodyDynamicsWorld::stepSimulation(), and synchronizeSingleMotionState().

◆ m_localTime

btScalar m_localTime

Definition at line 54 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), btDeformableMultiBodyDynamicsWorld::stepSimulation(), and synchronizeSingleMotionState().

◆ m_nonStaticRigidBodies

btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies

Definition at line 49 of file btDiscreteDynamicsWorld.h.

Referenced by btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(), btDeformableMultiBodyDynamicsWorld::clearGravity(), createPredictiveContacts(), getNonStaticRigidBodies(), and btDeformableMultiBodyDynamicsWorld::positionCorrection().

◆ m_ownsConstraintSolver

bool m_ownsConstraintSolver

Definition at line 59 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), and ~btDiscreteDynamicsWorld().

◆ m_ownsIslandManager

bool m_ownsIslandManager

Definition at line 58 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), btDiscreteDynamicsWorldMt(), and ~btDiscreteDynamicsWorld().

◆ m_predictiveManifolds

btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds

Definition at line 69 of file btDiscreteDynamicsWorld.h.

Referenced by btMultiBodyDynamicsWorld::calculateSimulationIslands(), createPredictiveContactsInternal(), and releasePredictiveContacts().

◆ m_predictiveManifoldsMutex

btSpinMutex m_predictiveManifoldsMutex

Definition at line 70 of file btDiscreteDynamicsWorld.h.

Referenced by createPredictiveContactsInternal().

◆ m_profileTimings

int m_profileTimings

Definition at line 65 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld().

◆ m_solverIslandCallback

InplaceSolverIslandCallback* m_solverIslandCallback

Definition at line 41 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), and ~btDiscreteDynamicsWorld().

◆ m_synchronizeAllMotionStates

bool m_synchronizeAllMotionStates

Definition at line 60 of file btDiscreteDynamicsWorld.h.

Referenced by btDiscreteDynamicsWorld(), getSynchronizeAllMotionStates(), and setSynchronizeAllMotionStates().

Variables
btDiscreteDynamicsWorld	__pad0__
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
btSpinMutex	m_predictiveManifoldsMutex

Functions

Variables

Function Documentation

◆ addAction()

◆ addCharacter()

◆ addCollisionObject()

◆ addConstraint()

◆ addRigidBody() [1/2]

◆ addRigidBody() [2/2]

◆ addVehicle()

◆ applyGravity()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ btDiscreteDynamicsWorld()

◆ calculateSimulationIslands()

◆ clearForces()

◆ createPredictiveContacts()

◆ createPredictiveContactsInternal()

◆ debugDrawConstraint()

◆ debugDrawWorld()

◆ getApplySpeculativeContactRestitution()

◆ getCollisionWorld()

◆ getConstraint()

◆ getConstraintSolver()

◆ getGravity()

◆ getLatencyMotionStateInterpolation()

◆ getNonStaticRigidBodies()

◆ getNumConstraints()

◆ getSimulationIslandManager()

◆ getSynchronizeAllMotionStates()

◆ getWorldType()

◆ integrateTransforms()

◆ integrateTransformsInternal()

◆ internalSingleStepSimulation()

◆ predictUnconstraintMotion()

◆ releasePredictiveContacts()

◆ removeAction()

◆ removeCharacter()

◆ removeCollisionObject()

◆ removeConstraint()

◆ removeRigidBody()

◆ removeVehicle()

◆ saveKinematicState()

◆ serialize()

◆ serializeDynamicsWorldInfo()

◆ serializeRigidBodies()

◆ setApplySpeculativeContactRestitution()

◆ setConstraintSolver()

◆ setGravity()

◆ setLatencyMotionStateInterpolation()

◆ setNumTasks()

◆ setSynchronizeAllMotionStates()

◆ solveConstraints()

◆ startProfiling()

◆ stepSimulation()

◆ synchronizeMotionStates()

◆ synchronizeSingleMotionState()

◆ updateActions()

◆ updateActivationState()

◆ updateVehicles()

◆ ~btDiscreteDynamicsWorld()

Variable Documentation

◆ __pad0__

◆ m_actions

◆ m_applySpeculativeContactRestitution

◆ m_constraints

◆ m_constraintSolver

◆ m_fixedTimeStep

◆ m_gravity

◆ m_islandManager

◆ m_latencyMotionStateInterpolation

◆ m_localTime

◆ m_nonStaticRigidBodies

◆ m_ownsConstraintSolver

◆ m_ownsIslandManager

◆ m_predictiveManifolds

◆ m_predictiveManifoldsMutex

◆ m_profileTimings

◆ m_solverIslandCallback

◆ m_synchronizeAllMotionStates

◆ pad0