#include <bulletworld.h>

Public Member Functions
	BulletWorld (bool usezupaxis_=false, btVector3 worldMin_=btVector3(-1000,-1000,-1000), btVector3 worldMax_=btVector3(1000, 1000, 1000))
bool	IsZupAxis ()
void	SetGravity (btVector3 gravity_)
btRigidBody *	LocalCreateRigidBody (float mass, const btTransform &startTransform, btCollisionShape *shape, bool use_motion_state=false)
btTriangleIndexVertexArray *	CreateVertexArrayFromSTL (const char *filename, btVector3 scale=btVector3(1, 1, 1))
btCollisionShape *	CreateMeshFromData (btScalar verts, int inds, int noftriangles, int nofverts)
btCollisionShape *	CreateMeshFromSTL (const char *filename, btVector3 scale=btVector3(1, 1, 1))
btCollisionShape *	CreateHeightMap (btScalar length, btScalar width, const char *data, btScalar maxHeight=100)
btCollisionShape *	CreateGroundPlane (btScalar length, btScalar width, btScalar(*heightfunc)(btScalar, btScalar)=0, int subdivisions=1)
void	Step (double dt, int substeps)
void	Reset ()
	~BulletWorld ()
Public Attributes
btDynamicsWorld *	m_dynamicsWorld
	this is the most important class It represents the Discrete Dynamics World
btScalar	m_defaultContactProcessingThreshold
	Collisions between objects are not processed until this threshold. Avoids jittering behaviour.
btAlignedObjectArray < btCollisionShape * >	m_collisionShapes
	Stores all the collision shapes in a world for drawing and cleaning.
btVector3	worldMin
	Minimum and maximum for world.
btVector3	worldMax
Protected Attributes
class btBroadphaseInterface *	m_overlappingPairCache
	Broadphase collision checker.
class btCollisionDispatcher *	m_dispatcher
	Collision checker.
class btConstraintSolver *	m_constraintSolver
	Constraint Solver.
class btDefaultCollisionConfiguration *	m_collisionConfiguration
	Default Collision configuration used from bullet demos.
bool	usezupaxis
	Used to define the coordinate system for world. Two options available (z up y forward x right OR y up z forward x to left)

Constructor & Destructor Documentation

gcop::BulletWorld::BulletWorld	(	bool	usezupaxis_ = `false`,
		btVector3	worldMin_ = `btVector3(-1000,-1000,-1000)`,
		btVector3	worldMax_ = `btVector3(1000,1000,1000)`
	)		`[inline]`

Constructor. Gravity is always acting downwards (9.81) in whatever coordinate system

Parameters:

usezupaxis_	Set the coordinate system
worldMin_	Bound on the world dimensions
worldMax_	Bound on the world dimensions

gcop::BulletWorld::~BulletWorld ( ) [inline]

Destructor for Bullet Physics Engine cleansup all the objects created by various functions above

Member Function Documentation

btCollisionShape* gcop::BulletWorld::CreateGroundPlane	(	btScalar	length,
		btScalar	width,
		btScalar(*)(btScalar, btScalar)	heightfunc = `0`,
		int	subdivisions = `1`
	)		`[inline]`

Create a ground plane with custom height function if provided. This can also be used to create custom 3D terrains with known height at each grid point

Parameters:

length	length of the plane
width	width of the plane
heightfunc	Height function which provides height given the grid coordinates. The origin of the plane for height function is situated at the left end of the plane(x: 0->length; y:0->width);
subdivisions	Number of divisions of the grid for plane. The finer the grid the more the mesh represents the true height function

btCollisionShape* gcop::BulletWorld::CreateHeightMap	(	btScalar	length,
		btScalar	width,
		const char *	data,
		btScalar	maxHeight = `100`
	)		`[inline]`

Creates a DEM Height map from height data. The local origin is at the center of the image with height = average of the max and min heights. Here minheight is 0m

Parameters:

length	length of the image grid
widhth	width of the image grid
data	Image intensities unsigned 8 bit should be valid throughout the life time of the collision shape
maxHeight	Uses the maximum height in meters to scale the image intensities accordingly

btCollisionShape* gcop::BulletWorld::CreateMeshFromData	(	btScalar *	verts,
		int *	inds,
		int	noftriangles,
		int	nofverts
	)		`[inline]`

Creates a triangular mesh from vertex data. The number of indices should be equal to 3 times the number of triangles The vertex data can be smaller than 3*noftriangles since different triangles can share vertices By default assumes each index corresponds to a vertex

Parameters:

verts	pointer to vertices
inds	indices of the verts which form a triangle
nofverts	Number of vertices sent by the pointer verts

btCollisionShape* gcop::BulletWorld::CreateMeshFromSTL	(	const char *	filename,
		btVector3	scale = `btVector3(1,1,1)`
	)		`[inline]`

Loads a mesh from Binary STL Files. Modified from LoadMeshFromSTL used by Bullet3 Demo

Parameters:

filename	Stl File name.
scale	Multiplies all the vertices with the scale thereby scaling the mesh

btTriangleIndexVertexArray* gcop::BulletWorld::CreateVertexArrayFromSTL	(	const char *	filename,
		btVector3	scale = `btVector3(1,1,1)`
	)		`[inline]`

Loads a mesh from Binary STL Files. Modified from LoadMeshFromSTL used by Bullet3 Demo

Parameters:

filename	Stl File name.
scale	Multiplies all the vertices with the scale thereby scaling the mesh

Returns:: Returns a vertex array which can be used to modify the STL file later

bool gcop::BulletWorld::IsZupAxis ( ) [inline]

Returns the type of coordinate system used

Referenced by gcop::Bulletrccar::Bulletrccar(), gcop::Bulletrccar1::Bulletrccar1(), gcop::Bulletrccar1::reset(), gcop::Bulletrccar::Reset(), gcop::Bulletrccar::setinitialstate(), gcop::Bulletrccar::Step(), and gcop::Bulletrccar1::Step1().

btRigidBody* gcop::BulletWorld::LocalCreateRigidBody	(	float	mass,
		const btTransform &	startTransform,
		btCollisionShape *	shape,
		bool	use_motion_state = `false`
	)		`[inline]`

Create a rigidbody in the world file

Parameters:

mass	Mass of the rigidbody. Static objects have 0 mass
startTransform	Initial transform of the rigidbody
shape	Each rigid body has a shape of its own which can be a mesh/cube/combination of different shapes etc
use_motion_state	Using a motion state allows bullet to interpolate between transforms when polling for rigidbody transformation for display or computation

Referenced by gcop::Bulletrccar::Bulletrccar(), gcop::Bulletrccar1::Bulletrccar1(), and gcop::Bulletrccar::Reset().

void gcop::BulletWorld::Reset ( ) [inline]

Reset Bullet Physics Engine and clear collision info and reset constraint solver

Referenced by gcop::Bulletrccar1::reset(), and gcop::Bulletrccar::Reset().

void gcop::BulletWorld::SetGravity ( btVector3 gravity_ ) [inline]

Set the gravity vector in the world

Parameters:

gravity_ gravity vector to be set

void gcop::BulletWorld::Step	(	double	dt,
		int	substeps
	)		`[inline]`

Simulates the world along with all the physical objects in it. No interpolation is used for simulation.

Parameters:

dt	Time in seconds to simulate for
substeps	Number of steps the time should be broken into for physics engine.

Member Data Documentation

class btDefaultCollisionConfiguration* gcop::BulletWorld::m_collisionConfiguration [protected]

Default Collision configuration used from bullet demos.

btAlignedObjectArray<btCollisionShape*> gcop::BulletWorld::m_collisionShapes

Stores all the collision shapes in a world for drawing and cleaning.

Referenced by gcop::Bulletrccar1::Bulletrccar1().

class btConstraintSolver* gcop::BulletWorld::m_constraintSolver [protected]

Constraint Solver.

btScalar gcop::BulletWorld::m_defaultContactProcessingThreshold

Collisions between objects are not processed until this threshold. Avoids jittering behaviour.

class btCollisionDispatcher* gcop::BulletWorld::m_dispatcher [protected]

Collision checker.

btDynamicsWorld* gcop::BulletWorld::m_dynamicsWorld

this is the most important class It represents the Discrete Dynamics World

Referenced by gcop::Bulletrccar::Bulletrccar(), gcop::Bulletrccar1::Bulletrccar1(), gcop::Bulletrccar1::reset(), gcop::Bulletrccar::Reset(), gcop::Bulletrccar::setinitialstate(), gcop::Bulletrccar::Step(), and gcop::Bulletrccar1::Step1().

class btBroadphaseInterface* gcop::BulletWorld::m_overlappingPairCache [protected]

Broadphase collision checker.

bool gcop::BulletWorld::usezupaxis [protected]

Used to define the coordinate system for world. Two options available (z up y forward x right OR y up z forward x to left)

btVector3 gcop::BulletWorld::worldMax

btVector3 gcop::BulletWorld::worldMin

Minimum and maximum for world.

The documentation for this class was generated from the following file:

lib/utils/bulletworld.h

Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation