esp::physics::BulletBase class

#include <esp/physics/bullet/BulletBase.h>

Derived classes

class BulletRigidObject

An individual rigid object instance implementing an interface with Bullet physics to enable dynamic objects. See btRigidBody for RigidObjectType::OBJECT.

class BulletRigidScene

An individual rigid scene instance implementing an interface with Bullet physics to enable dynamics. See btCollisionObject.

Constructors, destructors, conversion operators

BulletBase(std::shared_ptr<btMultiBodyDynamicsWorld> bWorld, std::shared_ptr<std::map<const btCollisionObject*, int>> collisionObjToObjIds)

~BulletBase() virtual

Destructor cleans up simulation structures for the object.

Public functions

auto getMargin() const -> double virtual

Get the scalar collision margin of an object. Retun 0.0 for a RigidObjectType::SCENE. See btCompoundShape::getMargin.

void setMargin(CORRADE_UNUSED const double margin) virtual

Set the scalar collision margin of an object. Does not affect RigidObjectType::SCENE. See btCompoundShape::setMargin.

auto getCollisionShapeAabb() const -> const Magnum::Range3D pure virtual

Query the Aabb from bullet physics for the root compound shape of the rigid body in its local space. See btCompoundShape::getAabb.

Protected variables

std::shared_ptr<btMultiBodyDynamicsWorld> bWorld_

A pointer to the Bullet world to which this object belongs. See btMultiBodyDynamicsWorld.

std::vector<std::unique_ptr<btCollisionObject>> bStaticCollisionObjects_

Static data: All components of a RigidObjectType::SCENE are stored here. See btCollisionObject. Also, all objects set to STATIC are stored here.

std::shared_ptr<std::map<const btCollisionObject*, int>> collisionObjToObjIds_

Function documentation

Variable documentation