Bullet Collision Detection & Physics Library: btDiscreteDynamicsWorldMt.cpp Source File

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btDiscreteDynamicsWorldMt.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btDiscreteDynamicsWorldMt.h"
17
18//collision detection
19#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
20#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
21#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
22#include "BulletCollision/CollisionShapes/btCollisionShape.h"
23#include "btSimulationIslandManagerMt.h"
24#include "LinearMath/btTransformUtil.h"
25#include "LinearMath/btQuickprof.h"
26
27//rigidbody & constraints
28#include "BulletDynamics/Dynamics/btRigidBody.h"
29#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
30#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
31#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
32#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
33#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
34#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
35#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
36#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
37#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
38#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
39
40#include "LinearMath/btIDebugDraw.h"
41#include "BulletCollision/CollisionShapes/btSphereShape.h"
42
43#include "BulletDynamics/Dynamics/btActionInterface.h"
44#include "LinearMath/btQuickprof.h"
45#include "LinearMath/btMotionState.h"
46
47#include "LinearMath/btSerializer.h"
48
52
53 btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver()
54{
55 int i = 0;
56#if BT_THREADSAFE
57 i = btGetCurrentThreadIndex() % m_solvers.size();
58#endif // #if BT_THREADSAFE
59 while (true)
60 {
61 ThreadSolver& solver = m_solvers[i];
62 if (solver.mutex.tryLock())
63 {
64 return &solver;
65 }
66 // failed, try the next one
67 i = (i + 1) % m_solvers.size();
68 }
69 return NULL;
70}
71
72 void btConstraintSolverPoolMt::init(btConstraintSolver** solvers, int numSolvers)
73{
74 m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
75 m_solvers.resize(numSolvers);
76 for (int i = 0; i < numSolvers; ++i)
77 {
78 m_solvers[i].solver = solvers[i];
79 }
80 if (numSolvers > 0)
81 {
82 m_solverType = solvers[0]->getSolverType();
83 }
84}
85
86// create the solvers for me
87btConstraintSolverPoolMt::btConstraintSolverPoolMt(int numSolvers)
88{
89 btAlignedObjectArray<btConstraintSolver*> solvers;
90 solvers.reserve(numSolvers);
91 for (int i = 0; i < numSolvers; ++i)
92 {
93 btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
94 solvers.push_back(solver);
95 }
96 init(&solvers[0], numSolvers);
97}
98
99// pass in fully constructed solvers (destructor will delete them)
100 btConstraintSolverPoolMt::btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers)
101{
102 init(solvers, numSolvers);
103}
104
105btConstraintSolverPoolMt::~btConstraintSolverPoolMt()
106{
107 // delete all solvers
108 for (int i = 0; i < m_solvers.size(); ++i)
109 {
110 ThreadSolver& solver = m_solvers[i];
111 delete solver.solver;
112 solver.solver = NULL;
113 }
114}
115
117 btScalar btConstraintSolverPoolMt::solveGroup(btCollisionObject** bodies,
118 int numBodies,
119 btPersistentManifold** manifolds,
120 int numManifolds,
121 btTypedConstraint** constraints,
122 int numConstraints,
123 const btContactSolverInfo& info,
124 btIDebugDraw* debugDrawer,
125 btDispatcher* dispatcher)
126{
127 ThreadSolver* ts = getAndLockThreadSolver();
128 ts->solver->solveGroup(bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher);
129 ts->mutex.unlock();
130 return 0.0f;
131}
132
133 void btConstraintSolverPoolMt::reset()
134{
135 for (int i = 0; i < m_solvers.size(); ++i)
136 {
137 ThreadSolver& solver = m_solvers[i];
138 solver.mutex.lock();
139 solver.solver->reset();
140 solver.mutex.unlock();
141 }
142}
143
147
148btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
149 btBroadphaseInterface* pairCache,
150 btConstraintSolverPoolMt* solverPool,
151 btConstraintSolver* constraintSolverMt,
152 btCollisionConfiguration* collisionConfiguration)
153 : btDiscreteDynamicsWorld(dispatcher, pairCache, solverPool, collisionConfiguration)
154{
155 if (m_ownsIslandManager)
156 {
157 m_islandManager->~btSimulationIslandManager();
158 btAlignedFree(m_islandManager);
159 }
160 {
161 void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt), 16);
162 btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt();
163 im->setMinimumSolverBatchSize(m_solverInfo.m_minimumSolverBatchSize);
164 m_islandManager = im;
165 }
166 m_constraintSolverMt = constraintSolverMt;
167}
168
169btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
170{
171}
172
173 void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo)
174{
175 BT_PROFILE("solveConstraints");
176
177 m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
178
180 btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
181 btSimulationIslandManagerMt::SolverParams solverParams;
182 solverParams.m_solverPool = m_constraintSolver;
183 solverParams.m_solverMt = m_constraintSolverMt;
184 solverParams.m_solverInfo = &solverInfo;
185 solverParams.m_debugDrawer = m_debugDrawer;
186 solverParams.m_dispatcher = getCollisionWorld()->getDispatcher();
187 im->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams);
188
189 m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
190}
191
192 struct UpdaterUnconstrainedMotion : public btIParallelForBody
193{
194 btScalar timeStep;
195 btRigidBody** rigidBodies;
196
197 void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
198 {
199 for (int i = iBegin; i < iEnd; ++i)
200 {
201 btRigidBody* body = rigidBodies[i];
202 if (!body->isStaticOrKinematicObject())
203 {
204 //don't integrate/update velocities here, it happens in the constraint solver
205 body->applyDamping(timeStep);
206 body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
207 }
208 }
209 }
210};
211
212 void btDiscreteDynamicsWorldMt::predictUnconstraintMotion(btScalar timeStep)
213{
214 BT_PROFILE("predictUnconstraintMotion");
215 if (m_nonStaticRigidBodies.size() > 0)
216 {
217 UpdaterUnconstrainedMotion update;
218 update.timeStep = timeStep;
219 update.rigidBodies = &m_nonStaticRigidBodies[0];
220 int grainSize = 50; // num of iterations per task for task scheduler
221 btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
222 }
223}
224
225 void btDiscreteDynamicsWorldMt::createPredictiveContacts(btScalar timeStep)
226{
227 BT_PROFILE("createPredictiveContacts");
228 releasePredictiveContacts();
229 if (m_nonStaticRigidBodies.size() > 0)
230 {
231 UpdaterCreatePredictiveContacts update;
232 update.world = this;
233 update.timeStep = timeStep;
234 update.rigidBodies = &m_nonStaticRigidBodies[0];
235 int grainSize = 50; // num of iterations per task for task scheduler
236 btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
237 }
238}
239
240 void btDiscreteDynamicsWorldMt::integrateTransforms(btScalar timeStep)
241{
242 BT_PROFILE("integrateTransforms");
243 if (m_nonStaticRigidBodies.size() > 0)
244 {
245 UpdaterIntegrateTransforms update;
246 update.world = this;
247 update.timeStep = timeStep;
248 update.rigidBodies = &m_nonStaticRigidBodies[0];
249 int grainSize = 50; // num of iterations per task for task scheduler
250 btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update);
251 }
252}
253
254 int btDiscreteDynamicsWorldMt::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
255{
256 int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep);
257 if (btITaskScheduler* scheduler = btGetTaskScheduler())
258 {
259 // tell Bullet's threads to sleep, so other threads can run
260 scheduler->sleepWorkerThreadsHint();
261 }
262 return numSubSteps;
263}
btActionInterface.h
btAlignedFree
#define btAlignedFree(ptr)
Definition btAlignedAllocator.h:47
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition btAlignedAllocator.h:46
btCollisionAlgorithm.h
btCollisionDispatcher.h
btCollisionShape.h
btConeTwistConstraint.h
BT_SEQUENTIAL_IMPULSE_SOLVER
@ BT_SEQUENTIAL_IMPULSE_SOLVER
Definition btConstraintSolver.h:34
btContactConstraint.h
btContactSolverInfo.h
btDiscreteDynamicsWorldMt.h
btGeneric6DofConstraint.h
btGeneric6DofSpring2Constraint.h
btHingeConstraint.h
btIDebugDraw.h
btMotionState.h
btPoint2PointConstraint.h
btQuickprof.h
BT_PROFILE
#define BT_PROFILE(name)
Definition btQuickprof.h:198
btRigidBody.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btSequentialImpulseConstraintSolver.h
btSerializer.h
btSimpleBroadphase.h
btSimulationIslandManagerMt.h
btSliderConstraint.h
btSphereShape.h
btGetCurrentThreadIndex
unsigned int btGetCurrentThreadIndex()
Definition btThreads.cpp:290
btGetTaskScheduler
btITaskScheduler * btGetTaskScheduler()
Definition btThreads.cpp:407
btParallelFor
void btParallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody &body)
Definition btThreads.cpp:412
BT_OVERRIDE
#define BT_OVERRIDE
Definition btThreads.h:26
btTransformUtil.h
btTypedConstraint.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition btAlignedObjectArray.h:142
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition btAlignedObjectArray.h:257
btAlignedObjectArray::reserve
void reserve(int _Count)
Definition btAlignedObjectArray.h:280
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition btBroadphaseInterface.h:50
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition btCollisionConfiguration.h:27
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btCollisionObject::isStaticOrKinematicObject
bool isStaticOrKinematicObject() const
Definition btCollisionObject.h:207
btCollisionObject::getInterpolationWorldTransform
const btTransform & getInterpolationWorldTransform() const
Definition btCollisionObject.h:410
btCollisionWorld::getDispatcher
btDispatcher * getDispatcher()
Definition btCollisionWorld.h:132
btCollisionWorld::getNumCollisionObjects
int getNumCollisionObjects() const
Definition btCollisionWorld.h:427
btCollisionWorld::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition btCollisionWorld.h:96
btConstraintSolverPoolMt
btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of ...
Definition btDiscreteDynamicsWorldMt.h:33
btConstraintSolverPoolMt::getAndLockThreadSolver
ThreadSolver * getAndLockThreadSolver()
btConstraintSolverPoolMt
Definition btDiscreteDynamicsWorldMt.cpp:53
btConstraintSolverPoolMt::reset
virtual void reset() BT_OVERRIDE
clear internal cached data and reset random seed
Definition btDiscreteDynamicsWorldMt.cpp:133
btConstraintSolverPoolMt::m_solverType
btConstraintSolverType m_solverType
Definition btDiscreteDynamicsWorldMt.h:66
btConstraintSolverPoolMt::init
void init(btConstraintSolver **solvers, int numSolvers)
Definition btDiscreteDynamicsWorldMt.cpp:72
btConstraintSolverPoolMt::~btConstraintSolverPoolMt
virtual ~btConstraintSolverPoolMt()
Definition btDiscreteDynamicsWorldMt.cpp:105
btConstraintSolverPoolMt::solveGroup
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifolds, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher) BT_OVERRIDE
solve a group of constraints
Definition btDiscreteDynamicsWorldMt.cpp:117
btConstraintSolverPoolMt::btConstraintSolverPoolMt
btConstraintSolverPoolMt(int numSolvers)
Definition btDiscreteDynamicsWorldMt.cpp:87
btConstraintSolverPoolMt::m_solvers
btAlignedObjectArray< ThreadSolver > m_solvers
Definition btDiscreteDynamicsWorldMt.h:65
btConstraintSolver
Definition btConstraintSolver.h:42
btConstraintSolver::getSolverType
virtual btConstraintSolverType getSolverType() const =0
btConstraintSolver::allSolved
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
Definition btConstraintSolver.h:51
btConstraintSolver::prepareSolve
virtual void prepareSolve(int, int)
Definition btConstraintSolver.h:46
btConstraintSolver::solveGroup
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, class btIDebugDraw *debugDrawer, btDispatcher *dispatcher)=0
solve a group of constraints
btConstraintSolver::reset
virtual void reset()=0
clear internal cached data and reset random seed
btDiscreteDynamicsWorldMt::m_constraintSolverMt
btConstraintSolver * m_constraintSolverMt
Definition btDiscreteDynamicsWorldMt.h:86
btDiscreteDynamicsWorldMt::solveConstraints
virtual void solveConstraints(btContactSolverInfo &solverInfo) BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.cpp:173
btDiscreteDynamicsWorldMt::integrateTransforms
virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.cpp:240
btDiscreteDynamicsWorldMt::stepSimulation
virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
Definition btDiscreteDynamicsWorldMt.cpp:254
btDiscreteDynamicsWorldMt::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.cpp:212
btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt
btDiscreteDynamicsWorldMt(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolverPoolMt *solverPool, btConstraintSolver *constraintSolverMt, btCollisionConfiguration *collisionConfiguration)
btDiscreteDynamicsWorldMt
Definition btDiscreteDynamicsWorldMt.cpp:148
btDiscreteDynamicsWorldMt::createPredictiveContacts
virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.cpp:225
btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt
virtual ~btDiscreteDynamicsWorldMt()
Definition btDiscreteDynamicsWorldMt.cpp:169
btDiscreteDynamicsWorld
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
Definition btDiscreteDynamicsWorld.h:38
btDiscreteDynamicsWorld::stepSimulation
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
Definition btDiscreteDynamicsWorld.cpp:382
btDiscreteDynamicsWorld::m_islandManager
btSimulationIslandManager * m_islandManager
Definition btDiscreteDynamicsWorld.h:45
btDiscreteDynamicsWorld::m_constraints
btAlignedObjectArray< btTypedConstraint * > m_constraints
Definition btDiscreteDynamicsWorld.h:47
btDiscreteDynamicsWorld::m_nonStaticRigidBodies
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
Definition btDiscreteDynamicsWorld.h:49
btDiscreteDynamicsWorld::m_ownsIslandManager
bool m_ownsIslandManager
Definition btDiscreteDynamicsWorld.h:58
btDiscreteDynamicsWorld::m_constraintSolver
btConstraintSolver * m_constraintSolver
Definition btDiscreteDynamicsWorld.h:43
btDiscreteDynamicsWorld::getCollisionWorld
btCollisionWorld * getCollisionWorld()
Definition btDiscreteDynamicsWorld.h:135
btDiscreteDynamicsWorld::releasePredictiveContacts
void releasePredictiveContacts()
Definition btDiscreteDynamicsWorld.cpp:929
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition btDispatcher.h:77
btDynamicsWorld::m_solverInfo
btContactSolverInfo m_solverInfo
Definition btDynamicsWorld.h:49
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btIParallelForBody
Definition btThreads.h:102
btITaskScheduler
Definition btThreads.h:124
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
btRigidBody::applyDamping
void applyDamping(btScalar timeStep)
applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
Definition btRigidBody.cpp:149
btRigidBody::predictIntegratedTransform
void predictIntegratedTransform(btScalar step, btTransform &predictedTransform)
continuous collision detection needs prediction
Definition btRigidBody.cpp:100
btSequentialImpulseConstraintSolver
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
Definition btSequentialImpulseConstraintSolver.h:52
btSimulationIslandManagerMt
SimulationIslandManagerMt – Multithread capable version of SimulationIslandManager Splits the world u...
Definition btSimulationIslandManagerMt.h:36
btSimulationIslandManagerMt::buildAndProcessIslands
virtual void buildAndProcessIslands(btDispatcher *dispatcher, btCollisionWorld *collisionWorld, btAlignedObjectArray< btTypedConstraint * > &constraints, const SolverParams &solverParams)
Definition btSimulationIslandManagerMt.cpp:625
btSimulationIslandManagerMt::setMinimumSolverBatchSize
void setMinimumSolverBatchSize(int sz)
Definition btSimulationIslandManagerMt.h:97
btSimulationIslandManager::~btSimulationIslandManager
virtual ~btSimulationIslandManager()
Definition btSimulationIslandManager.cpp:31
btSpinMutex::lock
void lock()
Definition btThreads.cpp:196
btSpinMutex::tryLock
bool tryLock()
Definition btThreads.cpp:206
btSpinMutex::unlock
void unlock()
Definition btThreads.cpp:201
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition btTypedConstraint.h:76
UpdaterUnconstrainedMotion
Definition btDiscreteDynamicsWorldMt.cpp:193
UpdaterUnconstrainedMotion::timeStep
btScalar timeStep
Definition btDiscreteDynamicsWorldMt.cpp:194
UpdaterUnconstrainedMotion::rigidBodies
btRigidBody ** rigidBodies
Definition btDiscreteDynamicsWorldMt.cpp:195
UpdaterUnconstrainedMotion::forLoop
void forLoop(int iBegin, int iEnd) const BT_OVERRIDE
Definition btDiscreteDynamicsWorldMt.cpp:197
btConstraintSolverPoolMt::ThreadSolver
Definition btDiscreteDynamicsWorldMt.h:60
btConstraintSolverPoolMt::ThreadSolver::mutex
btSpinMutex mutex
Definition btDiscreteDynamicsWorldMt.h:62
btConstraintSolverPoolMt::ThreadSolver::solver
btConstraintSolver * solver
Definition btDiscreteDynamicsWorldMt.h:61
btContactSolverInfoData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition btContactSolverInfo.h:64
btContactSolverInfo
Definition btContactSolverInfo.h:76
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts
Definition btDiscreteDynamicsWorldMt.h:93
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::world
btDiscreteDynamicsWorldMt * world
Definition btDiscreteDynamicsWorldMt.h:96
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::timeStep
btScalar timeStep
Definition btDiscreteDynamicsWorldMt.h:94
btDiscreteDynamicsWorldMt::UpdaterCreatePredictiveContacts::rigidBodies
btRigidBody ** rigidBodies
Definition btDiscreteDynamicsWorldMt.h:95
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms
Definition btDiscreteDynamicsWorldMt.h:106
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::timeStep
btScalar timeStep
Definition btDiscreteDynamicsWorldMt.h:107
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::rigidBodies
btRigidBody ** rigidBodies
Definition btDiscreteDynamicsWorldMt.h:108
btDiscreteDynamicsWorldMt::UpdaterIntegrateTransforms::world
btDiscreteDynamicsWorldMt * world
Definition btDiscreteDynamicsWorldMt.h:109
btSimulationIslandManagerMt::SolverParams
Definition btSimulationIslandManagerMt.h:51
btSimulationIslandManagerMt::SolverParams::m_solverInfo
btContactSolverInfo * m_solverInfo
Definition btSimulationIslandManagerMt.h:54
btSimulationIslandManagerMt::SolverParams::m_dispatcher
btDispatcher * m_dispatcher
Definition btSimulationIslandManagerMt.h:56
btSimulationIslandManagerMt::SolverParams::m_solverPool
btConstraintSolver * m_solverPool
Definition btSimulationIslandManagerMt.h:52
btSimulationIslandManagerMt::SolverParams::m_solverMt
btConstraintSolver * m_solverMt
Definition btSimulationIslandManagerMt.h:53
btSimulationIslandManagerMt::SolverParams::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition btSimulationIslandManagerMt.h:55