#include <world.h>
Inheritance diagram for oxygen::World:
Public Member Functions | |
World () | |
virtual | ~World () |
dWorldID | GetODEWorld () const |
returns the ID of the managed ODE world | |
void | SetGravity (const salt::Vector3f &gravity) |
sets the gravity vector of this vorld | |
void | SetERP (float erp) |
sets the Error Reduction Parameter of this world. | |
float | GetERP () const |
returns the Error Reduction Parameter of this World. | |
void | SetCFM (float cfm) |
sets the Constraint Force mixing (CFM) value. | |
float | GetCFM () const |
returns the Constraint Force mixing (CFM) value. | |
void | Step (float deltaTime) |
steps the world deltatime forward, i.e. | |
Protected Member Functions | |
virtual bool | ConstructInternal () |
creates them managed ODE world | |
Private Attributes | |
dWorldID | mODEWorld |
the dynamics world represented by this object |
It is a container for rigid bodies and joints. Objects in different worlds can not interact, for example rigid bodies from two different worlds can not collide. All the objects in a world exist at the same point in time, thus one reason to use separate worlds is to simulate systems at different rates.
Definition at line 37 of file world.h.
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Definition at line 31 of file world.cpp. References mODEWorld. |
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creates them managed ODE world
Reimplemented from zeitgeist::Object. Definition at line 80 of file world.cpp. References mODEWorld. |
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returns the Constraint Force mixing (CFM) value.
Definition at line 70 of file world.cpp. References mODEWorld. |
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returns the Error Reduction Parameter of this World.
Definition at line 60 of file world.cpp. References mODEWorld. |
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returns the ID of the managed ODE world
Definition at line 41 of file world.cpp. References mODEWorld. |
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sets the Constraint Force mixing (CFM) value. If CFM is set to zero, the constraint will be hard. If CFM is set to a positive value, it will be possible to violate the constraint by `pushing on it' (for example, for contact constraints by forcing the two contacting objects together). In other words the constraint will be soft, and the softness will increase as CFM increases. Note that setting CFM to a negative value can have undesirable bad effects, such as instability. Definition at line 65 of file world.cpp. References mODEWorld. |
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sets the Error Reduction Parameter of this world. The ERP specifies what proportion of a joint error will be fixed during the next simulation step. if ERP=0 then no correcting force is applied and the bodies will eventually drift apart as the simulation proceeds. If ERP=1 then the simulation will attempt to fix all joint error during the next time step. However, setting ERP=1 is not recommended, as the joint error will not be completely fixed due to various internal approximations. A value of ERP=0.1 to 0.8 is recommended (0.2 is the default). Definition at line 55 of file world.cpp. References mODEWorld. |
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sets the gravity vector of this vorld
Definition at line 46 of file world.cpp. References mODEWorld, salt::TVector3< DATATYPE, TYPE >::x(), salt::TVector3< DATATYPE, TYPE >::y(), and salt::TVector3< DATATYPE, TYPE >::z(). Here is the call graph for this function: ![]() |
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steps the world deltatime forward, i.e. performs physics simulation for a deltaTime seconds interval. Definition at line 75 of file world.cpp. References mODEWorld. |
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the dynamics world represented by this object
Definition at line 97 of file world.h. Referenced by ConstructInternal(), GetCFM(), GetERP(), GetODEWorld(), SetCFM(), SetERP(), SetGravity(), Step(), and ~World(). |