Bullet Collision Detection & Physics Library
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
btDiscreteDynamicsWorld Class Reference

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

#include <btDiscreteDynamicsWorld.h>

Inheritance diagram for btDiscreteDynamicsWorld:
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Collaboration diagram for btDiscreteDynamicsWorld:
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Public Member Functions

 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 *)
 
btSimulationIslandManagergetSimulationIslandManager ()
 
const btSimulationIslandManagergetSimulationIslandManager () const
 
btCollisionWorldgetCollisionWorld ()
 
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...
 
virtual void debugDrawConstraint (btTypedConstraint *constraint)
 
virtual void debugDrawWorld ()
 
virtual void setConstraintSolver (btConstraintSolver *solver)
 
virtual btConstraintSolvergetConstraintSolver ()
 
virtual int getNumConstraints () const
 
virtual btTypedConstraintgetConstraint (int index)
 
virtual const btTypedConstraintgetConstraint (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
 
btContactSolverInfogetSolverInfo ()
 
- Public Member Functions inherited from btCollisionWorld
 btCollisionWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
 for debug drawing More...
 
virtual ~btCollisionWorld ()
 
void setBroadphase (btBroadphaseInterface *pairCache)
 
const btBroadphaseInterfacegetBroadphase () const
 
btBroadphaseInterfacegetBroadphase ()
 
btOverlappingPairCachegetPairCache ()
 
btDispatchergetDispatcher ()
 
const btDispatchergetDispatcher () 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 btIDebugDrawgetDebugDrawer ()
 
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...
 
btCollisionObjectArraygetCollisionObjectArray ()
 
const btCollisionObjectArraygetCollisionObjectArray () const
 
virtual void performDiscreteCollisionDetection ()
 
btDispatcherInfogetDispatchInfo ()
 
const btDispatcherInfogetDispatchInfo () const
 
bool getForceUpdateAllAabbs () const
 
void setForceUpdateAllAabbs (bool forceUpdateAllAabbs)
 

Protected Member Functions

virtual void predictUnconstraintMotion (btScalar timeStep)
 
virtual void integrateTransforms (btScalar timeStep)
 
virtual void calculateSimulationIslands ()
 
virtual void solveConstraints (btContactSolverInfo &solverInfo)
 
virtual void updateActivationState (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< btTypedConstraint * > m_sortedConstraints
 
InplaceSolverIslandCallbackm_solverIslandCallback
 
btConstraintSolverm_constraintSolver
 
btSimulationIslandManagerm_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
 
btDispatcherm_dispatcher1
 
btDispatcherInfo m_dispatchInfo
 
btBroadphaseInterfacem_broadphasePairCache
 
btIDebugDrawm_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

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

Definition at line 37 of file btDiscreteDynamicsWorld.h.

Constructor & Destructor Documentation

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 203 of file btDiscreteDynamicsWorld.cpp.

btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld ( )
virtual

Definition at line 241 of file btDiscreteDynamicsWorld.cpp.

Member Function Documentation

void btDiscreteDynamicsWorld::addAction ( btActionInterface action)
virtual

Implements btDynamicsWorld.

Definition at line 677 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addCharacter ( btActionInterface character)
virtual

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 698 of file btDiscreteDynamicsWorld.cpp.

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

Reimplemented from btCollisionWorld.

Definition at line 542 of file btDiscreteDynamicsWorld.cpp.

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

Reimplemented from btDynamicsWorld.

Definition at line 657 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addRigidBody ( btRigidBody body)
virtual

Implements btDynamicsWorld.

Definition at line 563 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addRigidBody ( btRigidBody body,
short  group,
short  mask 
)
virtual

Implements btDynamicsWorld.

Definition at line 588 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::addVehicle ( btActionInterface vehicle)
virtual

obsolete, use addAction instead

Reimplemented from btDynamicsWorld.

Definition at line 688 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::applyGravity ( )
virtual

apply gravity, call this once per timestep

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 339 of file btDiscreteDynamicsWorld.cpp.

btDiscreteDynamicsWorld::BT_DECLARE_ALIGNED_ALLOCATOR ( )
void btDiscreteDynamicsWorld::calculateSimulationIslands ( )
protectedvirtual

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 742 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::clearForces ( )
virtual

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

Implements btDynamicsWorld.

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 326 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::createPredictiveContacts ( btScalar  timeStep)
protected

Definition at line 881 of file btDiscreteDynamicsWorld.cpp.

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 1158 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::debugDrawWorld ( )
virtual

Implements btDynamicsWorld.

Reimplemented in btMultiBodyDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 283 of file btDiscreteDynamicsWorld.cpp.

bool btDiscreteDynamicsWorld::getApplySpeculativeContactRestitution ( ) const
inline

Definition at line 214 of file btDiscreteDynamicsWorld.h.

btCollisionWorld* btDiscreteDynamicsWorld::getCollisionWorld ( )
inline

Definition at line 133 of file btDiscreteDynamicsWorld.h.

btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int  index)
virtual

Reimplemented from btDynamicsWorld.

Definition at line 1414 of file btDiscreteDynamicsWorld.cpp.

const btTypedConstraint * btDiscreteDynamicsWorld::getConstraint ( int  index) const
virtual

Reimplemented from btDynamicsWorld.

Definition at line 1418 of file btDiscreteDynamicsWorld.cpp.

btConstraintSolver * btDiscreteDynamicsWorld::getConstraintSolver ( )
virtual

Implements btDynamicsWorld.

Definition at line 1404 of file btDiscreteDynamicsWorld.cpp.

btVector3 btDiscreteDynamicsWorld::getGravity ( ) const
virtual

Implements btDynamicsWorld.

Definition at line 537 of file btDiscreteDynamicsWorld.cpp.

bool btDiscreteDynamicsWorld::getLatencyMotionStateInterpolation ( ) const
inline

Definition at line 228 of file btDiscreteDynamicsWorld.h.

int btDiscreteDynamicsWorld::getNumConstraints ( ) const
virtual

Reimplemented from btDynamicsWorld.

Definition at line 1410 of file btDiscreteDynamicsWorld.cpp.

btSimulationIslandManager* btDiscreteDynamicsWorld::getSimulationIslandManager ( )
inline

Definition at line 123 of file btDiscreteDynamicsWorld.h.

const btSimulationIslandManager* btDiscreteDynamicsWorld::getSimulationIslandManager ( ) const
inline

Definition at line 128 of file btDiscreteDynamicsWorld.h.

bool btDiscreteDynamicsWorld::getSynchronizeAllMotionStates ( ) const
inline

Definition at line 204 of file btDiscreteDynamicsWorld.h.

virtual btDynamicsWorldType btDiscreteDynamicsWorld::getWorldType ( ) const
inlinevirtual

Implements btDynamicsWorld.

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 169 of file btDiscreteDynamicsWorld.h.

void btDiscreteDynamicsWorld::integrateTransforms ( btScalar  timeStep)
protectedvirtual

this should probably be switched on by default, but it is not well tested yet

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 977 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::internalSingleStepSimulation ( btScalar  timeStep)
protectedvirtual

apply gravity, predict motion

perform collision detection

solve contact and other joint constraints

CallbackTriggers();

integrate transforms

update vehicle simulation

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 474 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::predictUnconstraintMotion ( btScalar  timeStep)
protectedvirtual

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 1125 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeAction ( btActionInterface action)
virtual

Implements btDynamicsWorld.

Definition at line 682 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeCharacter ( btActionInterface character)
virtual

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 703 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::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.

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 547 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeConstraint ( btTypedConstraint constraint)
virtual

Reimplemented from btDynamicsWorld.

Definition at line 670 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeRigidBody ( btRigidBody body)
virtual

Implements btDynamicsWorld.

Definition at line 556 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::removeVehicle ( btActionInterface vehicle)
virtual

obsolete, use removeAction instead

Reimplemented from btDynamicsWorld.

Definition at line 693 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::saveKinematicState ( btScalar  timeStep)
protectedvirtual

would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows to switch status after adding kinematic objects to the world fix it for Bullet 3.x release

Definition at line 262 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::serialize ( btSerializer serializer)
virtual

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

Reimplemented from btCollisionWorld.

Reimplemented in btSoftRigidDynamicsWorld, and btMultiBodyDynamicsWorld.

Definition at line 1504 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo ( btSerializer serializer)
protected

Definition at line 1454 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::serializeRigidBodies ( btSerializer serializer)
protected

Definition at line 1425 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::setApplySpeculativeContactRestitution ( bool  enable)
inline

Definition at line 209 of file btDiscreteDynamicsWorld.h.

void btDiscreteDynamicsWorld::setConstraintSolver ( btConstraintSolver solver)
virtual

Implements btDynamicsWorld.

Definition at line 1393 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::setGravity ( const btVector3 gravity)
virtual

Implements btDynamicsWorld.

Definition at line 524 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::setLatencyMotionStateInterpolation ( bool  latencyInterpolation)
inline

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.

virtual void btDiscreteDynamicsWorld::setNumTasks ( int  numTasks)
inlinevirtual

Definition at line 180 of file btDiscreteDynamicsWorld.h.

void btDiscreteDynamicsWorld::setSynchronizeAllMotionStates ( bool  synchronizeAll)
inline

Definition at line 200 of file btDiscreteDynamicsWorld.h.

void btDiscreteDynamicsWorld::solveConstraints ( btContactSolverInfo solverInfo)
protectedvirtual

solve all the constraints for this island

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 711 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::startProfiling ( btScalar  timeStep)
protected

Definition at line 1143 of file btDiscreteDynamicsWorld.cpp.

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

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

Implements btDynamicsWorld.

Definition at line 401 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::synchronizeMotionStates ( )
virtual

Implements btDynamicsWorld.

Definition at line 375 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::synchronizeSingleMotionState ( btRigidBody body)

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

Definition at line 353 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::updateActions ( btScalar  timeStep)
protected

Definition at line 610 of file btDiscreteDynamicsWorld.cpp.

void btDiscreteDynamicsWorld::updateActivationState ( btScalar  timeStep)
protectedvirtual

Reimplemented in btMultiBodyDynamicsWorld.

Definition at line 621 of file btDiscreteDynamicsWorld.cpp.

virtual void btDiscreteDynamicsWorld::updateVehicles ( btScalar  timeStep)
inlinevirtual

obsolete, use updateActions instead

Definition at line 186 of file btDiscreteDynamicsWorld.h.

Member Data Documentation

btAlignedObjectArray<btActionInterface*> btDiscreteDynamicsWorld::m_actions
protected

Definition at line 64 of file btDiscreteDynamicsWorld.h.

bool btDiscreteDynamicsWorld::m_applySpeculativeContactRestitution
protected

Definition at line 62 of file btDiscreteDynamicsWorld.h.

btAlignedObjectArray<btTypedConstraint*> btDiscreteDynamicsWorld::m_constraints
protected

Definition at line 48 of file btDiscreteDynamicsWorld.h.

btConstraintSolver* btDiscreteDynamicsWorld::m_constraintSolver
protected

Definition at line 44 of file btDiscreteDynamicsWorld.h.

btScalar btDiscreteDynamicsWorld::m_fixedTimeStep
protected

Definition at line 56 of file btDiscreteDynamicsWorld.h.

btVector3 btDiscreteDynamicsWorld::m_gravity
protected

Definition at line 52 of file btDiscreteDynamicsWorld.h.

btSimulationIslandManager* btDiscreteDynamicsWorld::m_islandManager
protected

Definition at line 46 of file btDiscreteDynamicsWorld.h.

bool btDiscreteDynamicsWorld::m_latencyMotionStateInterpolation
protected

Definition at line 68 of file btDiscreteDynamicsWorld.h.

btScalar btDiscreteDynamicsWorld::m_localTime
protected

Definition at line 55 of file btDiscreteDynamicsWorld.h.

btAlignedObjectArray<btRigidBody*> btDiscreteDynamicsWorld::m_nonStaticRigidBodies
protected

Definition at line 50 of file btDiscreteDynamicsWorld.h.

bool btDiscreteDynamicsWorld::m_ownsConstraintSolver
protected

Definition at line 60 of file btDiscreteDynamicsWorld.h.

bool btDiscreteDynamicsWorld::m_ownsIslandManager
protected

Definition at line 59 of file btDiscreteDynamicsWorld.h.

btAlignedObjectArray<btPersistentManifold*> btDiscreteDynamicsWorld::m_predictiveManifolds
protected

Definition at line 70 of file btDiscreteDynamicsWorld.h.

int btDiscreteDynamicsWorld::m_profileTimings
protected

Definition at line 66 of file btDiscreteDynamicsWorld.h.

InplaceSolverIslandCallback* btDiscreteDynamicsWorld::m_solverIslandCallback
protected

Definition at line 42 of file btDiscreteDynamicsWorld.h.

btAlignedObjectArray<btTypedConstraint*> btDiscreteDynamicsWorld::m_sortedConstraints
protected

Definition at line 41 of file btDiscreteDynamicsWorld.h.

bool btDiscreteDynamicsWorld::m_synchronizeAllMotionStates
protected

Definition at line 61 of file btDiscreteDynamicsWorld.h.


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