com.bulletphysics.dynamics
Class DiscreteDynamicsWorld

java.lang.Object
  com.bulletphysics.collision.dispatch.CollisionWorld
      com.bulletphysics.dynamics.DynamicsWorld
          com.bulletphysics.dynamics.DiscreteDynamicsWorld

public class DiscreteDynamicsWorld
extends DynamicsWorld

DiscreteDynamicsWorld provides discrete rigid body simulation.

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

Constructor Summary

DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)

Method Summary

void	addAction(ActionInterface action)
void	addConstraint(TypedConstraint constraint, boolean disableCollisionsBetweenLinkedBodies)
void	addRigidBody(RigidBody body)
void	addRigidBody(RigidBody body, short group, short mask)
void	addVehicle(RaycastVehicle vehicle)
void	applyGravity() Apply gravity, call this once per timestep.
void	clearForces()
void	debugDrawObject(Transform worldTransform, CollisionShape shape, Vector3f color)
void	debugDrawWorld()
ActionInterface	getAction(int index)
CollisionWorld	getCollisionWorld()
TypedConstraint	getConstraint(int index)
ConstraintSolver	getConstraintSolver()
Vector3f	getGravity(Vector3f out)
int	getNumActions()
int	getNumConstraints()
SimulationIslandManager	getSimulationIslandManager()
DynamicsWorldType	getWorldType()
void	removeAction(ActionInterface action)
void	removeConstraint(TypedConstraint constraint)
void	removeRigidBody(RigidBody body)
void	removeVehicle(RaycastVehicle vehicle)
void	setConstraintSolver(ConstraintSolver solver)
void	setGravity(Vector3f gravity) Once a rigidbody is added to the dynamics world, it will get this gravity assigned.
void	setNumTasks(int numTasks)
int	stepSimulation(float timeStep, int maxSubSteps, float fixedTimeStep) Proceeds the simulation over 'timeStep', units in preferably in seconds.
void	updateActions(float timeStep)

Methods inherited from class com.bulletphysics.dynamics.DynamicsWorld

addConstraint, getSolverInfo, getWorldUserInfo, setInternalTickCallback, setWorldUserInfo, stepSimulation, stepSimulation

Methods inherited from class com.bulletphysics.collision.dispatch.CollisionWorld

addCollisionObject, addCollisionObject, convexSweepTest, destroy, getBroadphase, getCollisionObjectArray, getDebugDrawer, getDispatcher, getDispatchInfo, getNumCollisionObjects, getPairCache, objectQuerySingle, performDiscreteCollisionDetection, rayTest, rayTestSingle, removeCollisionObject, setBroadphase, setDebugDrawer, updateAabbs, updateSingleAabb

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DiscreteDynamicsWorld

public DiscreteDynamicsWorld(Dispatcher dispatcher,
                             BroadphaseInterface pairCache,
                             ConstraintSolver constraintSolver,
                             CollisionConfiguration collisionConfiguration)

Method Detail

debugDrawWorld

public void debugDrawWorld()

Specified by:

debugDrawWorld in class DynamicsWorld

clearForces

public void clearForces()

Specified by:

clearForces in class DynamicsWorld

applyGravity

public void applyGravity()

Apply gravity, call this once per timestep.

stepSimulation

public int stepSimulation(float timeStep,
                          int maxSubSteps,
                          float fixedTimeStep)

Description copied from class: DynamicsWorld

Proceeds the simulation over 'timeStep', units in preferably in seconds.

By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.

In order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.

You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.

Specified by:

stepSimulation in class DynamicsWorld

setGravity

public void setGravity(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 Vector3f getGravity(Vector3f out)

Specified by:

getGravity in class DynamicsWorld

removeRigidBody

public void removeRigidBody(RigidBody body)

Specified by:

removeRigidBody in class DynamicsWorld

addRigidBody

public void addRigidBody(RigidBody body)

Specified by:

addRigidBody in class DynamicsWorld

addRigidBody

public void addRigidBody(RigidBody body,
                         short group,
                         short mask)

updateActions

public void updateActions(float timeStep)

addConstraint

public void addConstraint(TypedConstraint constraint,
                          boolean disableCollisionsBetweenLinkedBodies)

Overrides:

addConstraint in class DynamicsWorld

removeConstraint

public void removeConstraint(TypedConstraint constraint)

Overrides:

removeConstraint in class DynamicsWorld

addAction

public void addAction(ActionInterface action)

Overrides:

addAction in class DynamicsWorld

removeAction

public void removeAction(ActionInterface action)

Overrides:

removeAction in class DynamicsWorld

addVehicle

public void addVehicle(RaycastVehicle vehicle)

Overrides:

addVehicle in class DynamicsWorld

removeVehicle

public void removeVehicle(RaycastVehicle vehicle)

Overrides:

removeVehicle in class DynamicsWorld

debugDrawObject

public void debugDrawObject(Transform worldTransform,
                            CollisionShape shape,
                            Vector3f color)

setConstraintSolver

public void setConstraintSolver(ConstraintSolver solver)

Specified by:

setConstraintSolver in class DynamicsWorld

getConstraintSolver

public ConstraintSolver getConstraintSolver()

Specified by:

getConstraintSolver in class DynamicsWorld

getNumConstraints

public int getNumConstraints()

Overrides:

getNumConstraints in class DynamicsWorld

getConstraint

public TypedConstraint getConstraint(int index)

Overrides:

getConstraint in class DynamicsWorld

getNumActions

public int getNumActions()

Overrides:

getNumActions in class DynamicsWorld

getAction

public ActionInterface getAction(int index)

Overrides:

getAction in class DynamicsWorld

getSimulationIslandManager

public SimulationIslandManager getSimulationIslandManager()

getCollisionWorld

public CollisionWorld getCollisionWorld()

getWorldType

public DynamicsWorldType getWorldType()

Specified by:

getWorldType in class DynamicsWorld

setNumTasks

public void setNumTasks(int numTasks)