BulletEngine Class Reference

Encapsulates the details of creating a bullet simulation. More...

Public Member Functions
Construction
	BulletEngine (MPProblem *const _problem)
	~BulletEngine ()
Simulation Interface
void	Step (const btScalar _timestep)
Transform Access
glutils::transform	GetObjectTransform (MultiBody *const _m, const size_t _j=0) const
Modifiers
BulletModel *	AddRobot (Robot *const _robot)
BulletModel *	AddMultiBody (MultiBody *const _m)
void	SetGravity (const btVector3 &_gravityVec)
void	RebuildObject (MultiBody *const _m)

Detailed Description

Encapsulates the details of creating a bullet simulation.

Member Function Documentation

Step()

void BulletEngine::Step

(

const btScalar

_timestep

)

Step the simulation forward.

Parameters

_timestep

The total length of time to advance the simulation.

GetObjectTransform()

glutils::transform BulletEngine::GetObjectTransform	(	MultiBody *const	_m,
		const size_t	_j = 0
	)		const

Get the current transform for a given object.

Parameters

_m	The object pointer.
_j	The component index (0 for base by default).

Returns

An OpenGL transform matrix describing object _i's current position and orientation.

AddRobot()

BulletModel * BulletEngine::AddRobot

(

Robot *const

_robot

)

Add a robot to the simulation.

Parameters

_robot

The robot to add.

Returns

The bullet representation of _robot.

Todo:

We need a way to set initial velocities for the robot.

AddMultiBody()

BulletModel * BulletEngine::AddMultiBody

(

MultiBody *const

_m

)

Add a non-robot multibody to the simulation.

Parameters

_m	The multibody to add.

Returns

The bullet representation of _m.

SetGravity()

void BulletEngine::SetGravity

(

const btVector3 &

_gravityVec

)

Set the gravity in the world (this will also set it for all bodies)

Parameters

_gravityVec

Is simply the 3-vector representing (x,y,z) gravity

RebuildObject()

void BulletEngine::RebuildObject

(

MultiBody *const

_m

)

Request that the physics model of an object be rebuilt. The rebuild will occur on the next call to Step.

Parameters

_m	The object to rebuild.

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

• BulletEngine.h
• BulletEngine.cpp