An interface to the bullet physics library. More...

#include <cens_physics.h>

Inheritance diagram for cens::CENSPhysics:

Collaboration diagram for cens::CENSPhysics:

Public Member Functions
	CENSPhysics ()

virtual	~CENSPhysics ()

virtual void	initCENSPhysics ()

virtual void	cens_physics_step ()

virtual void	initObjects ()

virtual btDynamicsWorld *	getDynamicsWorld ()

virtual btCollisionDispatcher *	getDispatcher ()

virtual btRigidBody *	localCreateRigidBody (float mass, const btTransform &startTransform, btCollisionShape *shape)

virtual btSoftBody *	localCreateSoftBody (float mass, btCollisionShape *shape)

virtual void	setCollisionFilter (CENSNonCollidingTable _non_colliding_table)

virtual CENSTouchSensor *	addTouchSensor (btRigidBody *body)

btScalar	getStep ()

btScalar	getSubstep ()

Vector3f	getGravity ()

Protected Member Functions
btTransform &	getTransformFromBody (btRigidBody *body)

btTransform &	getTransformFromBody (btSoftBody *body)

Protected Attributes
btSoftRigidDynamicsWorld *	m_phDynamicsWorld

btAlignedObjectArray < btCollisionShape * >	m_phCollisionShapes

btAlignedObjectArray < CENSTouchSensor * >	m_phTouchSensors

btAlignedObjectArray < btSoftSoftCollisionAlgorithm * >	m_phSoftSoftCollisionAlgorithms

btAlignedObjectArray < btSoftRididCollisionAlgorithm * >	m_phSoftRigidCollisionAlgorithms

btSoftBodyWorldInfo	m_phSoftBodyWorldInfo

btBroadphaseInterface *	m_phBroadphase

btCollisionDispatcher *	m_phDispatcher

btConstraintSolver *	m_phSolver

btDefaultCollisionConfiguration *	m_phCollisionConfiguration

btScalar	m_phDefaultContactProcessingThreshold

Vector3f	m_phGravity

double	m_phStep

double	m_phSubstep

CENSParameterManager	m_phParameterManager

Static Protected Attributes
static CENSNonCollidingTable	m_phNonCollidingTable

Friends
void	collisionFilteringCallback (btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)

void	internalTickCallback (btDynamicsWorld *world, btScalar timestep)

Detailed Description

An interface to the bullet physics library.

The 'localCreateRigidBody' and 'localCreateSoftBody' facilitations allow to easily build bodies starting from a mass value, a collision shape and a transform

Definition at line 203 of file cens_physics.h.

Constructor & Destructor Documentation

cens::CENSPhysics::CENSPhysics ( )

Definition at line 38 of file cens_physics.cpp.

References initCENSPhysics().

cens::CENSPhysics::~CENSPhysics ( )

virtual

Definition at line 48 of file cens_physics.cpp.

References m_phBroadphase, m_phCollisionConfiguration, m_phCollisionShapes, m_phDispatcher, m_phDynamicsWorld, m_phSolver, and m_phTouchSensors.

Member Function Documentation

CENSTouchSensor * cens::CENSPhysics::addTouchSensor ( btRigidBody * body )

virtual

Create a touchSensor and add to the list

Parameters

body	the btRigidBody to become a sensor

Definition at line 281 of file cens_physics.cpp.

References m_phNonCollidingTable, and m_phTouchSensors.

Referenced by cens::CENSSerializedEngine::addTouchSensor().

void cens::CENSPhysics::cens_physics_step ( )

virtual

A single tep of the simulation. Forces are applied to bodies here

Definition at line 163 of file cens_physics.cpp.

References cens::CENSTouchSensor::body, m_phDynamicsWorld, m_phStep, m_phSubstep, and m_phTouchSensors.

Referenced by cens::CENSEngine::step().

virtual btCollisionDispatcher* cens::CENSPhysics::getDispatcher ( )

inlinevirtual

Returns: m_phDispatcher a pointer to the current btCollisionDispatcher class

Definition at line 238 of file cens_physics.h.

virtual btDynamicsWorld* cens::CENSPhysics::getDynamicsWorld ( )

inlinevirtual

Returns: m_phDynamicsWorld a pointer to the current btDynamicsWorld class

Definition at line 232 of file cens_physics.h.

Referenced by cens::CENSSerializedRobot::update().

Vector3f cens::CENSPhysics::getGravity ( )

inline

Definition at line 291 of file cens_physics.h.

Referenced by cens::CENSSerializedRobot::enableBodies().

btScalar cens::CENSPhysics::getStep ( )

inline

Definition at line 289 of file cens_physics.h.

btScalar cens::CENSPhysics::getSubstep ( )

inline

Definition at line 290 of file cens_physics.h.

btTransform & cens::CENSPhysics::getTransformFromBody ( btRigidBody * body )

protected

Returns: a reference to the transform of the body

Definition at line 250 of file cens_physics.cpp.

Referenced by cens::CENSEngine::display(), and cens::CENSEngine::syncAttachedCamera().

btTransform & cens::CENSPhysics::getTransformFromBody ( btSoftBody * body )

protected

Returns: a reference to the transform of the body

Definition at line 259 of file cens_physics.cpp.

void cens::CENSPhysics::initCENSPhysics ( )

virtual

Initialize the dynamic world

register some softbody collision algorithms on top of

use the default collision dispatcher.

the default constraint solver.

Definition at line 89 of file cens_physics.cpp.

References CENSParameterManager::addParameter(), initObjects(), CENSParameterManager::loadParameters(), m_phBroadphase, m_phCollisionConfiguration, m_phDispatcher, m_phDynamicsWorld, m_phGravity, m_phParameterManager, m_phSoftBodyWorldInfo, m_phSolver, m_phStep, m_phSubstep, and CENSParameterManager::saveParameters().

Referenced by CENSPhysics().

virtual void cens::CENSPhysics::initObjects ( )

inlinevirtual

All bodies and joints are created here. Connections of bodies to joints are stated also here

Reimplemented in cens::CENSEngine.

Definition at line 226 of file cens_physics.h.

Referenced by initCENSPhysics().

btRigidBody * cens::CENSPhysics::localCreateRigidBody	(	float	mass,
		const btTransform &	startTransform,
		btCollisionShape *	shape
	)

virtual

Create a btRigidBody from a mass, a btTransform and a btCollisionShape

Parameters

mass	the mass of the rigid body
startTransform	a transform indicating initial translation and rotation from origin
shape	the btCollisionShape indicating the shape and dimansions of the body

Definition at line 178 of file cens_physics.cpp.

References m_phDefaultContactProcessingThreshold, and m_phDynamicsWorld.

Referenced by cens::CENSEngine::localCreateRigidBody().