com.bulletphysics.dynamics
Class DynamicsWorld

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

Direct Known Subclasses:

DiscreteDynamicsWorld, SimpleDynamicsWorld

public abstract class DynamicsWorld
extends CollisionWorld

DynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.

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

DynamicsWorld(Dispatcher dispatcher, BroadphaseInterface broadphasePairCache, CollisionConfiguration collisionConfiguration)

Method Summary

void	addAction(ActionInterface action)
void	addConstraint(TypedConstraint constraint)
void	addConstraint(TypedConstraint constraint, boolean disableCollisionsBetweenLinkedBodies)
abstract void	addRigidBody(RigidBody body)
void	addVehicle(RaycastVehicle vehicle)
abstract void	clearForces()
abstract void	debugDrawWorld()
ActionInterface	getAction(int index)
TypedConstraint	getConstraint(int index)
abstract ConstraintSolver	getConstraintSolver()
abstract Vector3f	getGravity(Vector3f out)
int	getNumActions()
int	getNumConstraints()
ContactSolverInfo	getSolverInfo()
abstract DynamicsWorldType	getWorldType()
Object	getWorldUserInfo()
void	removeAction(ActionInterface action)
void	removeConstraint(TypedConstraint constraint)
abstract void	removeRigidBody(RigidBody body)
void	removeVehicle(RaycastVehicle vehicle)
abstract void	setConstraintSolver(ConstraintSolver solver)
abstract void	setGravity(Vector3f gravity) Once a rigidbody is added to the dynamics world, it will get this gravity assigned.
void	setInternalTickCallback(InternalTickCallback cb, Object worldUserInfo) Set the callback for when an internal tick (simulation substep) happens, optional user info.
void	setWorldUserInfo(Object worldUserInfo)
int	stepSimulation(float timeStep)
int	stepSimulation(float timeStep, int maxSubSteps)
abstract int	stepSimulation(float timeStep, int maxSubSteps, float fixedTimeStep) Proceeds the simulation over 'timeStep', units in preferably in seconds.

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

DynamicsWorld

public DynamicsWorld(Dispatcher dispatcher,
                     BroadphaseInterface broadphasePairCache,
                     CollisionConfiguration collisionConfiguration)

Method Detail

stepSimulation

public final int stepSimulation(float timeStep)

stepSimulation

public final int stepSimulation(float timeStep,
                                int maxSubSteps)

stepSimulation

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

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.

debugDrawWorld

public abstract void debugDrawWorld()

addConstraint

public final void addConstraint(TypedConstraint constraint)

addConstraint

public void addConstraint(TypedConstraint constraint,
                          boolean disableCollisionsBetweenLinkedBodies)

removeConstraint

public void removeConstraint(TypedConstraint constraint)

addAction

public void addAction(ActionInterface action)

removeAction

public void removeAction(ActionInterface action)

addVehicle

public void addVehicle(RaycastVehicle vehicle)

removeVehicle

public void removeVehicle(RaycastVehicle vehicle)

setGravity

public abstract void setGravity(Vector3f gravity)

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.

getGravity

public abstract Vector3f getGravity(Vector3f out)

addRigidBody

public abstract void addRigidBody(RigidBody body)

removeRigidBody

public abstract void removeRigidBody(RigidBody body)

setConstraintSolver

public abstract void setConstraintSolver(ConstraintSolver solver)

getConstraintSolver

public abstract ConstraintSolver getConstraintSolver()

getNumConstraints

public int getNumConstraints()

getConstraint

public TypedConstraint getConstraint(int index)

getNumActions

public int getNumActions()

getAction

public ActionInterface getAction(int index)

getWorldType

public abstract DynamicsWorldType getWorldType()

clearForces

public abstract void clearForces()

setInternalTickCallback

public void setInternalTickCallback(InternalTickCallback cb,
                                    Object worldUserInfo)

Set the callback for when an internal tick (simulation substep) happens, optional user info.

setWorldUserInfo

public void setWorldUserInfo(Object worldUserInfo)

getWorldUserInfo

public Object getWorldUserInfo()

getSolverInfo

public ContactSolverInfo getSolverInfo()