bullet_physics_backend.h · C++ API

Vec3 offset = Vec3(0, 0, 0);

Vec3 shapeParams = Vec3(0.5f, 0.5f, 0.5f);

Entity entityA = Entity::null();

Entity entityB = Entity::null();

Vec3 axisA = Vec3(0, 1, 0);

Vec3 axisB = Vec3(0, 1, 0);

Vec3 pivotA = Vec3(0, 0, 0);

Vec3 pivotB = Vec3(0, 0, 0);

bool isValid() const

#pragma once #if defined(KUI_HAS_3D_ENGINE) && defined(KUI_HAS_3D_PHYSICS) #include <kui/engine/ecs.h> #include <kui/engine/math_types.h> #include <cstdint> #include <vector> #include <unordered_map> #include <unordered_set> #include <memory> #include <functional> class btDefaultCollisionConfiguration;

~BulletPhysicsBackend();

void applyForce(RigidbodyComponent& rb, const Vec3& force);

void applyImpulse(RigidbodyComponent& rb, const Vec3& impulse);

void applyTorque(RigidbodyComponent& rb, const Vec3& torque);

BulletPhysicsBackend();

BulletPhysicsBackend(const BulletPhysicsBackend&) = delete;

void clearCollisionCallback()

ConstraintHandle createConstraint(RigidbodyComponent& rbA, RigidbodyComponent& rbB, const ConstraintDesc& desc);

bool createRigidbody(Entity entity, RigidbodyComponent& rb, const ColliderComponent& collider, const TransformComponent& transform);

void debugDraw(DebugDrawLineCallback lineCallback);

void destroyConstraint(ConstraintHandle& handle);

void destroyRigidbody(RigidbodyComponent& rb);

Entity entityForBody(const void* bulletBody) const;

Vec3 getAngularVelocity(const RigidbodyComponent& rb) const;

Vec3 getGravity() const;

Vec3 getLinearVelocity(const RigidbodyComponent& rb) const;

bool initialize(const Vec3& gravity = Vec3(0, -9.81f, 0));

bool isDebugDrawEnabled() const

bool isInitialized() const

int numManifolds() const;

int numRigidbodies() const;

BulletPhysicsBackend& operator=(const BulletPhysicsBackend&) = delete;

void processCollisions();

RaycastHit raycast(const Vec3& from, const Vec3& to) const;

std::vector<RaycastHit> raycastAll(const Vec3& from, const Vec3& to) const;

void registerBodyEntity(void* bulletBody, Entity entity);

void setAngularVelocity(RigidbodyComponent& rb, const Vec3& velocity);

void setCollisionCallback(CollisionCallback cb)

void setDebugDrawEnabled(bool enabled)

void setGravity(const Vec3& gravity);

void setLinearVelocity(RigidbodyComponent& rb, const Vec3& velocity);

void shutdown();

void stepSimulation(float deltaTime, int maxSubSteps = 10, float fixedTimeStep = 1.0f / 60.0f);

void syncTransformFromBullet(const RigidbodyComponent& rb, TransformComponent& transform) const;

void syncTransformToBullet(const TransformComponent& transform, RigidbodyComponent& rb) const;

void unregisterBodyEntity(void* bulletBody);

Entity entity = Entity::null();

using CollisionCallback = std::function<void(const CollisionEvent&)>;

using DebugDrawLineCallback = std::function<void( const Vec3& from, const Vec3& to, const Vec3& color)>;