com.bulletphysics.dynamics

Class SimpleDynamicsWorld

java.lang.Object

com.bulletphysics.collision.dispatch.CollisionWorld

com.bulletphysics.dynamics.DynamicsWorld

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).

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 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

Constructors

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

Method Summary

Methods

Modifier and Type	Method and Description
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

addAction, addConstraint, addConstraint, addVehicle, getAction, getConstraint, getNumActions, getNumConstraints, getSolverInfo, getWorldUserInfo, removeAction, removeConstraint, removeVehicle, 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, 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

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