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.

Author:

jezek2

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

Fields

Modifier and Type	Field and Description
protected ObjectArrayList<ActionInterface>	actions
protected ObjectArrayList<TypedConstraint>	constraints
protected ConstraintSolver	constraintSolver
protected javax.vecmath.Vector3f	gravity
protected SimulationIslandManager	islandManager
protected float	localTime
protected boolean	ownsConstraintSolver
protected boolean	ownsIslandManager
protected int	profileTimings
protected ObjectArrayList<RaycastVehicle>	vehicles

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

Constructors

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

Method Summary

Methods

Modifier and Type	Method and Description
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.
protected void	calculateSimulationIslands()
void	clearForces()
void	debugDrawObject(Transform worldTransform, CollisionShape shape, javax.vecmath.Vector3f color)
protected void	debugDrawSphere(float radius, Transform transform, javax.vecmath.Vector3f color)
void	debugDrawWorld()
ActionInterface	getAction(int index)
CollisionWorld	getCollisionWorld()
TypedConstraint	getConstraint(int index)
ConstraintSolver	getConstraintSolver()
javax.vecmath.Vector3f	getGravity(javax.vecmath.Vector3f out)
int	getNumActions()
int	getNumConstraints()
SimulationIslandManager	getSimulationIslandManager()
DynamicsWorldType	getWorldType()
protected void	integrateTransforms(float timeStep)
protected void	internalSingleStepSimulation(float timeStep)
protected void	predictUnconstraintMotion(float timeStep)
void	removeAction(ActionInterface action)
void	removeConstraint(TypedConstraint constraint)
void	removeRigidBody(RigidBody body)
void	removeVehicle(RaycastVehicle vehicle)
protected void	saveKinematicState(float timeStep)
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.
void	setNumTasks(int numTasks)
protected void	solveConstraints(ContactSolverInfo solverInfo)
protected void	startProfiling(float timeStep)
int	stepSimulation(float timeStep, int maxSubSteps, float fixedTimeStep) Proceeds the simulation over 'timeStep', units in preferably in seconds.
protected void	synchronizeMotionStates()
void	updateActions(float timeStep)
protected void	updateActivationState(float timeStep)
protected void	updateVehicles(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

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

Field Detail

constraintSolver

protected ConstraintSolver constraintSolver

islandManager

protected SimulationIslandManager islandManager

constraints

protected final ObjectArrayList<TypedConstraint> constraints

gravity

protected final javax.vecmath.Vector3f gravity

localTime

protected float localTime

ownsIslandManager

protected boolean ownsIslandManager

ownsConstraintSolver

protected boolean ownsConstraintSolver

vehicles

protected ObjectArrayList<RaycastVehicle> vehicles

actions

protected ObjectArrayList<ActionInterface> actions

profileTimings

protected int profileTimings

Constructor Detail

DiscreteDynamicsWorld

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

Method Detail

saveKinematicState

protected void saveKinematicState(float timeStep)

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.

synchronizeMotionStates

protected void synchronizeMotionStates()

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

internalSingleStepSimulation

protected void internalSingleStepSimulation(float timeStep)

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

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)

updateVehicles

protected void updateVehicles(float timeStep)

updateActivationState

protected void updateActivationState(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

solveConstraints

protected void solveConstraints(ContactSolverInfo solverInfo)

calculateSimulationIslands

protected void calculateSimulationIslands()

integrateTransforms

protected void integrateTransforms(float timeStep)

predictUnconstraintMotion

protected void predictUnconstraintMotion(float timeStep)

startProfiling

protected void startProfiling(float timeStep)

debugDrawSphere

protected void debugDrawSphere(float radius,
                   Transform transform,
                   javax.vecmath.Vector3f color)

debugDrawObject

public void debugDrawObject(Transform worldTransform,
                   CollisionShape shape,
                   javax.vecmath.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)