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Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h | 142 |
1 files changed, 142 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h new file mode 100644 index 00000000000..77e4ada645c --- /dev/null +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -0,0 +1,142 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_DISCRETE_DYNAMICS_WORLD_H +#define BT_DISCRETE_DYNAMICS_WORLD_H + +#include "btDynamicsWorld.h" + +class btDispatcher; +class btOverlappingPairCache; +class btConstraintSolver; +class btSimulationIslandManager; +class btTypedConstraint; +struct btContactSolverInfo; +class btRaycastVehicle; +class btIDebugDraw; + +#include <vector> + +///btDiscreteDynamicsWorld provides discrete rigid body simulation +///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController +class btDiscreteDynamicsWorld : public btDynamicsWorld +{ +protected: + + btConstraintSolver* m_constraintSolver; + + btSimulationIslandManager* m_islandManager; + + std::vector<btTypedConstraint*> m_constraints; + + btIDebugDraw* m_debugDrawer; + + btVector3 m_gravity; + + //for variable timesteps + float m_localTime; + //for variable timesteps + + bool m_ownsIslandManager; + bool m_ownsConstraintSolver; + + std::vector<btRaycastVehicle*> m_vehicles; + + int m_profileTimings; + + void predictUnconstraintMotion(float timeStep); + + void integrateTransforms(float timeStep); + + void calculateSimulationIslands(); + + void solveNoncontactConstraints(btContactSolverInfo& solverInfo); + + void solveContactConstraints(btContactSolverInfo& solverInfo); + + void updateActivationState(float timeStep); + + void updateVehicles(float timeStep); + + void startProfiling(float timeStep); + + virtual void internalSingleStepSimulation( float timeStep); + + void synchronizeMotionStates(); + + void saveKinematicState(float timeStep); + + +public: + + + ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those + btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver=0); + + ///this btDiscreteDynamicsWorld will create and own dispatcher, pairCache and constraintSolver, and deletes it in the destructor. + btDiscreteDynamicsWorld(); + + virtual ~btDiscreteDynamicsWorld(); + + ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's + virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f); + + virtual void updateAabbs(); + + void addConstraint(btTypedConstraint* constraint); + + void removeConstraint(btTypedConstraint* constraint); + + void addVehicle(btRaycastVehicle* vehicle); + + void removeVehicle(btRaycastVehicle* vehicle); + + btSimulationIslandManager* getSimulationIslandManager() + { + return m_islandManager; + } + + const btSimulationIslandManager* getSimulationIslandManager() const + { + return m_islandManager; + } + + btCollisionWorld* getCollisionWorld() + { + return this; + } + + virtual void setDebugDrawer(btIDebugDraw* debugDrawer) + { + m_debugDrawer = debugDrawer; + } + + virtual btIDebugDraw* getDebugDrawer() + { + return m_debugDrawer; + } + + virtual void setGravity(const btVector3& gravity); + + virtual void addRigidBody(btRigidBody* body); + + virtual void removeRigidBody(btRigidBody* body); + + void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color); + + +}; + +#endif //BT_DISCRETE_DYNAMICS_WORLD_H |