org.bytedeco.bullet.BulletDynamics

Class btDiscreteDynamicsWorld

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletCollision.btCollisionWorld

org.bytedeco.bullet.BulletDynamics.btDynamicsWorld

org.bytedeco.bullet.BulletDynamics.btDiscreteDynamicsWorld

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

btDiscreteDynamicsWorldMt, btMultiBodyDynamicsWorld, btSoftRigidDynamicsWorld

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btDiscreteDynamicsWorld
extends btDynamicsWorld

btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.bullet.BulletCollision.btCollisionWorld

btCollisionWorld.AllHitsRayResultCallback, btCollisionWorld.ClosestConvexResultCallback, btCollisionWorld.ClosestRayResultCallback, btCollisionWorld.ContactResultCallback, btCollisionWorld.ConvexResultCallback, btCollisionWorld.LocalConvexResult, btCollisionWorld.LocalRayResult, btCollisionWorld.LocalShapeInfo, btCollisionWorld.RayResultCallback

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
btDiscreteDynamicsWorld(btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration) this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
btDiscreteDynamicsWorld(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	addAction(btActionInterface arg0)
void	addCharacter(btActionInterface character) obsolete, use addAction instead
void	addCollisionObject(btCollisionObject collisionObject)
void	addCollisionObject(btCollisionObject collisionObject, int collisionFilterGroup, int collisionFilterMask)
void	addConstraint(btTypedConstraint constraint)
void	addConstraint(btTypedConstraint constraint, boolean disableCollisionsBetweenLinkedBodies)
void	addRigidBody(btRigidBody body)
void	addRigidBody(btRigidBody body, int group, int mask)
void	addVehicle(btActionInterface vehicle) obsolete, use addAction instead
void	applyGravity() apply gravity, call this once per timestep
void	clearForces() the forces on each rigidbody is accumulating together with gravity.
void	debugDrawConstraint(btTypedConstraint constraint)
void	debugDrawWorld()
boolean	getApplySpeculativeContactRestitution()
btCollisionWorld	getCollisionWorld()
btTypedConstraint	getConstraint(int index)
btConstraintSolver	getConstraintSolver()
btVector3	getGravity()
boolean	getLatencyMotionStateInterpolation()
btRigidBodyArray	getNonStaticRigidBodies()
int	getNumConstraints()
btSimulationIslandManager	getSimulationIslandManager()
boolean	getSynchronizeAllMotionStates()
int	getWorldType()
void	removeAction(btActionInterface arg0)
void	removeCharacter(btActionInterface character) obsolete, use removeAction instead
void	removeCollisionObject(btCollisionObject collisionObject) removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
void	removeConstraint(btTypedConstraint constraint)
void	removeRigidBody(btRigidBody body)
void	removeVehicle(btActionInterface vehicle) obsolete, use removeAction instead
void	serialize(btSerializer serializer) Preliminary serialization test for Bullet 2.76.
void	setApplySpeculativeContactRestitution(boolean enable)
void	setConstraintSolver(btConstraintSolver solver)
void	setGravity(btVector3 gravity)
void	setLatencyMotionStateInterpolation(boolean latencyInterpolation) Interpolate motion state between previous and current transform, instead of current and next transform.
void	setNumTasks(int numTasks)
void	setSynchronizeAllMotionStates(boolean synchronizeAll)
void	solveConstraints(btContactSolverInfo solverInfo)
int	stepSimulation(double timeStep)
int	stepSimulation(double timeStep, int maxSubSteps, double fixedTimeStep) if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
void	synchronizeMotionStates()
void	synchronizeSingleMotionState(btRigidBody body) this can be useful to synchronize a single rigid body -> graphics object
void	updateVehicles(double timeStep) obsolete, use updateActions instead

Methods inherited from class org.bytedeco.bullet.BulletDynamics.btDynamicsWorld

getSolverInfo, getWorldUserInfo, setInternalTickCallback, setInternalTickCallback, setWorldUserInfo

Methods inherited from class org.bytedeco.bullet.BulletCollision.btCollisionWorld

computeOverlappingPairs, contactPairTest, contactTest, convexSweepTest, convexSweepTest, debugDrawObject, getBroadphase, getCollisionObjectArray, getDebugDrawer, getDispatcher, getDispatchInfo, getForceUpdateAllAabbs, getNumCollisionObjects, getPairCache, objectQuerySingle, objectQuerySingleInternal, performDiscreteCollisionDetection, rayTest, rayTestSingle, rayTestSingleInternal, refreshBroadphaseProxy, setBroadphase, setDebugDrawer, setForceUpdateAllAabbs, updateAabbs, updateSingleAabb

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btDiscreteDynamicsWorld

public btDiscreteDynamicsWorld(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btDiscreteDynamicsWorld

public btDiscreteDynamicsWorld(btDispatcher dispatcher,
                               btBroadphaseInterface pairCache,
                               btConstraintSolver constraintSolver,
                               btCollisionConfiguration collisionConfiguration)

this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those

Method Detail

stepSimulation

public int stepSimulation(@Cast(value="btScalar")
                          double timeStep,
                          int maxSubSteps,
                          @Cast(value="btScalar")
                          double fixedTimeStep)

if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's

Overrides:

stepSimulation in class btDynamicsWorld

stepSimulation

public int stepSimulation(@Cast(value="btScalar")
                          double timeStep)

Overrides:

stepSimulation in class btDynamicsWorld

solveConstraints

public void solveConstraints(@ByRef
                             btContactSolverInfo solverInfo)

synchronizeMotionStates

public void synchronizeMotionStates()

Overrides:

synchronizeMotionStates in class btDynamicsWorld

synchronizeSingleMotionState

public void synchronizeSingleMotionState(btRigidBody body)

this can be useful to synchronize a single rigid body -> graphics object

addConstraint

public void addConstraint(btTypedConstraint constraint,
                          @Cast(value="bool")
                          boolean disableCollisionsBetweenLinkedBodies)

Overrides:

addConstraint in class btDynamicsWorld

addConstraint

public void addConstraint(btTypedConstraint constraint)

Overrides:

addConstraint in class btDynamicsWorld

removeConstraint

public void removeConstraint(btTypedConstraint constraint)

Overrides:

removeConstraint in class btDynamicsWorld

addAction

public void addAction(btActionInterface arg0)

Overrides:

addAction in class btDynamicsWorld

removeAction

public void removeAction(btActionInterface arg0)

Overrides:

removeAction in class btDynamicsWorld

getSimulationIslandManager

public btSimulationIslandManager getSimulationIslandManager()

getCollisionWorld

public btCollisionWorld getCollisionWorld()

setGravity

public void setGravity(@Const @ByRef
                       btVector3 gravity)

Overrides:

setGravity in class btDynamicsWorld

getGravity

@ByVal
public btVector3 getGravity()

Overrides:

getGravity in class btDynamicsWorld

addCollisionObject

public void addCollisionObject(btCollisionObject collisionObject,
                               int collisionFilterGroup,
                               int collisionFilterMask)

Overrides:

addCollisionObject in class btCollisionWorld

addCollisionObject

public void addCollisionObject(btCollisionObject collisionObject)

Overrides:

addCollisionObject in class btCollisionWorld

addRigidBody

public void addRigidBody(btRigidBody body)

Overrides:

addRigidBody in class btDynamicsWorld

addRigidBody

public void addRigidBody(btRigidBody body,
                         int group,
                         int mask)

Overrides:

addRigidBody in class btDynamicsWorld

removeRigidBody

public void removeRigidBody(btRigidBody body)

Overrides:

removeRigidBody in class btDynamicsWorld

removeCollisionObject

public void removeCollisionObject(btCollisionObject collisionObject)

removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject

Overrides:

removeCollisionObject in class btCollisionWorld

debugDrawConstraint

public void debugDrawConstraint(btTypedConstraint constraint)

debugDrawWorld

public void debugDrawWorld()

Overrides:

debugDrawWorld in class btDynamicsWorld

setConstraintSolver

public void setConstraintSolver(btConstraintSolver solver)

Overrides:

setConstraintSolver in class btDynamicsWorld

getConstraintSolver

public btConstraintSolver getConstraintSolver()

Overrides:

getConstraintSolver in class btDynamicsWorld

getNumConstraints

public int getNumConstraints()

Overrides:

getNumConstraints in class btDynamicsWorld

getConstraint

public btTypedConstraint getConstraint(int index)

Overrides:

getConstraint in class btDynamicsWorld

getWorldType

@Cast(value="btDynamicsWorldType")
public int getWorldType()

Overrides:

getWorldType in class btDynamicsWorld

clearForces

public void clearForces()

the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.

Overrides:

clearForces in class btDynamicsWorld

applyGravity

public void applyGravity()

apply gravity, call this once per timestep

setNumTasks

public void setNumTasks(int numTasks)

updateVehicles

public void updateVehicles(@Cast(value="btScalar")
                           double timeStep)

obsolete, use updateActions instead

addVehicle

public void addVehicle(btActionInterface vehicle)

obsolete, use addAction instead

Overrides:

addVehicle in class btDynamicsWorld

removeVehicle

public void removeVehicle(btActionInterface vehicle)

obsolete, use removeAction instead

Overrides:

removeVehicle in class btDynamicsWorld

addCharacter

public void addCharacter(btActionInterface character)

obsolete, use addAction instead

Overrides:

addCharacter in class btDynamicsWorld

removeCharacter

public void removeCharacter(btActionInterface character)

obsolete, use removeAction instead

Overrides:

removeCharacter in class btDynamicsWorld

setSynchronizeAllMotionStates

public void setSynchronizeAllMotionStates(@Cast(value="bool")
                                          boolean synchronizeAll)

getSynchronizeAllMotionStates

@Cast(value="bool")
public boolean getSynchronizeAllMotionStates()

setApplySpeculativeContactRestitution

public void setApplySpeculativeContactRestitution(@Cast(value="bool")
                                                  boolean enable)

getApplySpeculativeContactRestitution

@Cast(value="bool")
public boolean getApplySpeculativeContactRestitution()

serialize

public void serialize(btSerializer serializer)

Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)

Overrides:

serialize in class btCollisionWorld

setLatencyMotionStateInterpolation

public void setLatencyMotionStateInterpolation(@Cast(value="bool")
                                               boolean latencyInterpolation)

Interpolate motion state between previous and current transform, instead of current and next transform. This can relieve discontinuities in the rendering, due to penetrations

getLatencyMotionStateInterpolation

@Cast(value="bool")
public boolean getLatencyMotionStateInterpolation()

getNonStaticRigidBodies

@ByRef
public btRigidBodyArray getNonStaticRigidBodies()