Bullet physics engine
Contents
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3. free 3D Game Multiphysics Library ProjeciHome Downloads lasues Search Cumentdewnioads for Summary Labels v Bullet 2 79 Physics SOK 12440 rescued Bullet 2 r3 Pryce SOK Uns iie endinga oy CEDEC Fracture presentation c6 b remain IE Dese di Dumas Face Pec FI hae I ms Pern B vos O haier Tr bee 5 ES men DA M i iria ee Cay LEG She Hares bmm dem me Fe aj LU Soe E T RET d Bullet 2 79 Physics SDK Manual lade Er GE tht im Co MI Hapi Fr oa 11 22 2011 J codegoeglecom LET nesar ig a pokemon her J0 Game Limay bullet Downloads Source Search Cumenidewninads far Download Bullet 2 78 Physics SOK svn r2440 4 people stamed Esa download Uploaded Dn engin co orm Seba ent 2011 Fila Wobei 15 2011 Nein SHAT Checker Tess TER Te TS Bee Ta anon ee a lye Bari i 4 lar mm ME 3 E en pu Bei Ben Denim Be or rem im Peer B e AUTHOR WE Bak emen iX EB Deen iri ll numm bear TE ra ops IE LI y THT http bulletphysics com a D Uam Detecta amp Phileas Library Bellet Desarrol Bullet Documentation J Li Eiers Lisi Cav
4. Hiner ey Clase Firm bann in y Ersan Library Ten Lire m pes opaca aedi ree Qepa laua Hoe he AE rr Los ni Coiialas Debido Parga doaia Paias quM Haeuewpars Prisa np fame bn pri File Lind Direc berry Haran bey B rer Gel Pagan Gees lees D se eer Initraductsan Puri Eos Sete tie k Pye VIDE Pa resin dog trap ies in is vu bra arr ies Pham pee far on Phare oy Ihe disp Conlon File fj cam bordo thee Pallet Php ce Lovers hom Cus Google Coda reposin Bullet Ana emori i t gruen Then Ti 5 Fassa ee its li a en riil ii eed gad ety re kk Colin Deere te me b Lire Lee rappel os tha Gi bet ishon T where Lam T 4 radar recia 11 22 2011 Adding Bullet Physics to Your Code ED CS Add these Projects to your Solution ing 72 Demet Pu Budd Sedobon FI Poda Chis An Fi Olean Solution Batch Budd BulletCollisron voxproJ Cotton Menag Ade F hira Project LinearMath vcxproj de genen rae Further Wink Sata BulletDynamics vcxproj Krane 1 LU 17 Open Fokin in Window Epio Hes Souto folie d p E _ Adding Bullet Physics to your Code z Viaua 54 Projects UE fromba Add the include path Bullet 2 79 src pS E e Add the library path Bullet 2 79 lib 2 Ramen Place de
5. Intro to Bullet Physics lan Parberry o PHYSICS LIBRARY Main Features e Open source C code under Zlib license and free for any commercial use on all platforms including PLAYSTATION 3 XBox 360 Wii PC Linux Mac OSX and iPhone Discrete and continuous collision detection including ray and convex sweep test Collision shapes include concave and convex meshes and all basic primitives Where is it Used 11 22 2011 From the User Manual Bullet Physics is a professional open source collision detection rigid body and soft body dynamics library The library is free for commercial use under the ZLib license Main Features Fast and stable rigid body dynamics constraint solver vehicle dynamica character controller and slider hinge generic 6DOF and cone twist constraint for ragdolls Soft Body dynamics for cloth rope and deformable volumes with two way interaction with rigid bodies including constraint support Maya Dynamica plugin Blender integration COLLADA physics import export support heto let ony si cs 0rg S bulletphysies org oi Game BULLET PHY ICS LIBRARY NWS naive chen Bullet supports Native Client runs full sp runs in Chrome 13 The C version of Bullet can be build using E web browser without plugin Just check your Download the Zip File C O codegooglecom bullet BULLET Bullet is professional
6. a given a mass Computation involved in moving bodies around is only done for bodies Daa that have moved in ne SU to be Een You don t just have to do render stuff in them They could be effective which means it should contain no scaling shear etc for notifying network code that a body has moved and needs to be If the collision shape is not aligned with the center of updated across the network Interpolation is usually only meaningful in the context of something mass transform it can be shifted to match with a visible on screen Bullet manages body interpolation through btCompoundShape using the child transform to MotionStates shift the child collision shape MotionState btDefaultMotionState MotionStates are used in two places in Bullet Although recommended it is not necessary to 1 When the body is first created Bullet Grabs the initial position of the body from the MotionState derive your own Mot ionState from when the body enters the simulation btMotionState interface Calls getWorldTrans form with a reference to the variable it wants you to fill with transform information e Bullet provides a default Mot ionState that Calls getWorldTransform on kinematic bodies 2 Afterthe first update during simulation Bullet calls the you can use for this Simply construct it with MotionState for a body to move it around the default transform of your body Bullet calls setWorldTrans form with the tr
7. ansform of the body for you to update your object appropriately btDefaultMotionState ms e To implement one simply inherit bt Mot ionState and override getWorldTransform and btDefaultMotionState setWorldTransform Render Frames and Physics Frames By default Bullet physics simulation runs at an internal fixed frame rate of 60 Hertz Your render loop will have a different or even variable frame rate To decouple the render frame rate from the simulation frame rate an automatic interpolation method is built into stepSimulation Ifthe application delta time is smaller then the internal fixed time step Bullet will interpolate the world transform and send it to the bt Mot ionState without performing physics simulation If the application time step is larger than 60Hz one or more simulation steps can be performed during each stepSimulation call The user can limit the maximum number of simulation steps by passing a maximum value as second argument gt Toggle fell screen Toggle EEF 13 Fira rii Some Bullet Physics Demos Cloth DirectX 11 Cloth OpenCL Spiders Forklift Ragdoll Press Fl for halip 11 22 2011 11 22 2011 ll 15
8. ape new btSphereShape btScalar 1 colShape gt calculateLocallnertia mass locallnertia 11 22 2011 Adding Objects Create abtRigidBody and add itto the btDynamicsWorld To construct a btRigidBody orbtCollisionObject you need to provide Mass positive for dynamic moving objects and zero for static objects CollisionShape like a Box Sphere Cone Convex HullorTriangle Mesh Material properties like friction and restitution mass localInertia and C myMotionState btScalar mass 1 f btVector3 locallnertia 0 0 0 btTransform startTransform startTransform setIdentity startTransform setOrigin btvector3 2 10 btDefaultMotionState myMotionState new btDefaultMotionState startlIranaiorm Frame Update Once a frame call stepSimulation on the dynamics world The btDiscreteDynamicsWorld automatically takes into account variable timestep by performing interpolation instead of simulation for small timesteps It uses an internal fixed timestep of 60 Hertz stepSimulation will perform collision detection and physics simulation It updates the world transform for active objects by calling the btMotionState s setWorldTransform 11 22 2011 Rigid Body Dynamics Object Types Rigid body dynamics is implemented on top of the collision detection There are 3 different types of objects in Bullet module It adds forces mass inertia velocity and constraints 1 Dynamic
9. h level interface that manages your physics objects and constraints and implements the update of all objects each frame btDiscreteDynamicsWorld dynamicsWorld new btDiscreteDynamicsWorld dispatcher overlappingPairCache solver collisionConfiguration Next How the parameters were created 11 22 2011 Software Design Bullet has been designed to be customizable and modular The developer can for example use only the collision detection component use the rigid body dynamics component without soft body dynamics component use only small parts of a the library and extend the library in many ways Rigid Body Physics Pipeline Collision Data Dynamics Data Uer a atl Harig fm T T ARANAN ms collisionConfiguration C and dispatcher d btDefaultCollisionConfiguration collisionConfiguration new btDefaultCollisionConfiguration brcollistonDispatoher dispatcher new btCollisionDispatcher collisionConfiguration overlappingPairCache and C solver btBroadphaselnterface overlappingPairCache btDbvtBroadphase btSequentiallmpulseConstraintSolver solver new btSequentiallmpulseConstraintSolver Adding a Rigid Body body Crt btRigidBody btRigidBodyConstructionInfo rbInfo mass myMotionState colShape locallnertia btRigidBody body new btRigidBody rbInfo dynamicsWorld gt addRigidBody body colShape btCollisionShape colSh
10. moving rigid bodies btRigidBody is the main rigid body object D Moving objects have non zero mass and inertia POSILINE M btRigidBody is derived from btCollisionObject so it every simulation frame it will update its world transform inherits its world transform friction and restitution and adds linear 2 Static rigid bodies and angular velocity gt Zero mass btTypedConstraint is the base class for rigid body constraints including cannot move but can collide btHingeConstraint 3 Kinematic rigid bodies btPoint2PointConstraint e zero mass btConeTwistConstraint btSliderConstraint and btGeneric DOFconstraint can be animated by the user but there will be only one way interaction dynamic objects will be pushed away but there is no influence from them Center of Mass Mot Ttonsteat The world transform of a rigid body is in Bullet always MotionStates are a way for Bullet to get the world transform of equal to its center of mass and its basis also defines its cojecte ueindsimulstedinto the rendering part of your game local frame for inertia Your game loop will iterate through all the objects before each frame render For each object update the position of the render The local inertia tensor depends on the shape and the object from the physics body using Mot ionStates btCollisionShape class provides a method to Other benefits of Mot ionStates calculate the local inerti
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