com.bulletphysics.dynamics
Class SimpleDynamicsWorld

java.lang.Object
  extended by com.bulletphysics.collision.dispatch.CollisionWorld
      extended by com.bulletphysics.dynamics.DynamicsWorld
          extended by com.bulletphysics.dynamics.SimpleDynamicsWorld

public class SimpleDynamicsWorld
extends DynamicsWorld

SimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds. Please use DiscreteDynamicsWorld instead (or ContinuousDynamicsWorld once it is finished).


Nested Class Summary
 
Nested classes/interfaces inherited from class com.bulletphysics.collision.dispatch.CollisionWorld
CollisionWorld.ClosestConvexResultCallback, CollisionWorld.ClosestRayResultCallback, CollisionWorld.ConvexResultCallback, CollisionWorld.LocalConvexResult, CollisionWorld.LocalRayResult, CollisionWorld.LocalShapeInfo, CollisionWorld.RayResultCallback
 
Field Summary
protected  ConstraintSolver constraintSolver
           
protected  javax.vecmath.Vector3f gravity
           
protected  boolean ownsConstraintSolver
           
 
Fields inherited from class com.bulletphysics.dynamics.DynamicsWorld
internalTickCallback, solverInfo, worldUserInfo
 
Fields inherited from class com.bulletphysics.collision.dispatch.CollisionWorld
broadphasePairCache, collisionObjects, debugDrawer, dispatcher1, dispatchInfo
 
Constructor Summary
SimpleDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
           
 
Method Summary
 void addRigidBody(RigidBody body)
           
 void clearForces()
           
 void debugDrawWorld()
           
 ConstraintSolver getConstraintSolver()
           
 javax.vecmath.Vector3f getGravity(javax.vecmath.Vector3f out)
           
 DynamicsWorldType getWorldType()
           
protected  void integrateTransforms(float timeStep)
           
protected  void predictUnconstraintMotion(float timeStep)
           
 void removeRigidBody(RigidBody body)
           
 void setConstraintSolver(ConstraintSolver solver)
           
 void setGravity(javax.vecmath.Vector3f gravity)
          Once a rigidbody is added to the dynamics world, it will get this gravity assigned.
 int stepSimulation(float timeStep, int maxSubSteps, float fixedTimeStep)
          maxSubSteps/fixedTimeStep for interpolation is currently ignored for SimpleDynamicsWorld, use DiscreteDynamicsWorld instead.
 void synchronizeMotionStates()
           
 void updateAabbs()
           
 
Methods inherited from class com.bulletphysics.dynamics.DynamicsWorld
addConstraint, addConstraint, addVehicle, getConstraint, getNumConstraints, getSolverInfo, getWorldUserInfo, removeConstraint, removeVehicle, setInternalTickCallback, setWorldUserInfo, stepSimulation, stepSimulation
 
Methods inherited from class com.bulletphysics.collision.dispatch.CollisionWorld
addCollisionObject, addCollisionObject, destroy, getBroadphase, getCollisionObjectArray, getDebugDrawer, getDispatcher, getDispatchInfo, getNumCollisionObjects, getPairCache, performDiscreteCollisionDetection, rayTest, rayTestSingle, removeCollisionObject, setBroadphase, setDebugDrawer
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

constraintSolver

protected ConstraintSolver constraintSolver

ownsConstraintSolver

protected boolean ownsConstraintSolver

gravity

protected final javax.vecmath.Vector3f gravity
Constructor Detail

SimpleDynamicsWorld

public SimpleDynamicsWorld(Dispatcher dispatcher,
                           BroadphaseInterface pairCache,
                           ConstraintSolver constraintSolver,
                           CollisionConfiguration collisionConfiguration)
Method Detail

predictUnconstraintMotion

protected void predictUnconstraintMotion(float timeStep)

integrateTransforms

protected void integrateTransforms(float timeStep)

stepSimulation

public int stepSimulation(float timeStep,
                          int maxSubSteps,
                          float fixedTimeStep)
maxSubSteps/fixedTimeStep for interpolation is currently ignored for SimpleDynamicsWorld, use DiscreteDynamicsWorld instead.

Specified by:
stepSimulation in class DynamicsWorld

clearForces

public void clearForces()
Specified by:
clearForces in class DynamicsWorld

setGravity

public void setGravity(javax.vecmath.Vector3f gravity)
Description copied from class: DynamicsWorld
Once a rigidbody is added to the dynamics world, it will get this gravity assigned. Existing rigidbodies in the world get gravity assigned too, during this method.

Specified by:
setGravity in class DynamicsWorld

getGravity

public javax.vecmath.Vector3f getGravity(javax.vecmath.Vector3f out)
Specified by:
getGravity in class DynamicsWorld

addRigidBody

public void addRigidBody(RigidBody body)
Specified by:
addRigidBody in class DynamicsWorld

removeRigidBody

public void removeRigidBody(RigidBody body)
Specified by:
removeRigidBody in class DynamicsWorld

updateAabbs

public void updateAabbs()
Overrides:
updateAabbs in class CollisionWorld

synchronizeMotionStates

public void synchronizeMotionStates()

setConstraintSolver

public void setConstraintSolver(ConstraintSolver solver)
Specified by:
setConstraintSolver in class DynamicsWorld

getConstraintSolver

public ConstraintSolver getConstraintSolver()
Specified by:
getConstraintSolver in class DynamicsWorld

debugDrawWorld

public void debugDrawWorld()
Specified by:
debugDrawWorld in class DynamicsWorld

getWorldType

public DynamicsWorldType getWorldType()
Specified by:
getWorldType in class DynamicsWorld