diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h | 37 |
1 files changed, 27 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index d9e2652aaf6..34d4e6b353f 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -26,6 +26,7 @@ class btTypedConstraint; class btRaycastVehicle; +class btCharacterControllerInterface; class btIDebugDraw; #include "LinearMath/btAlignedObjectArray.h" @@ -42,7 +43,6 @@ protected: btAlignedObjectArray<btTypedConstraint*> m_constraints; - btVector3 m_gravity; //for variable timesteps @@ -54,6 +54,9 @@ protected: btAlignedObjectArray<btRaycastVehicle*> m_vehicles; + + btAlignedObjectArray<btCharacterControllerInterface*> m_characters; + int m_profileTimings; @@ -61,24 +64,26 @@ protected: virtual void integrateTransforms(btScalar timeStep); - void calculateSimulationIslands(); + virtual void calculateSimulationIslands(); - void solveConstraints(btContactSolverInfo& solverInfo); + virtual void solveConstraints(btContactSolverInfo& solverInfo); void updateActivationState(btScalar timeStep); void updateVehicles(btScalar timeStep); + void updateCharacters(btScalar timeStep); + void startProfiling(btScalar timeStep); virtual void internalSingleStepSimulation( btScalar timeStep); - void synchronizeMotionStates(); - void saveKinematicState(btScalar timeStep); + virtual void saveKinematicState(btScalar timeStep); void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color); + public: @@ -91,13 +96,23 @@ public: virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)); - void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false); + virtual void synchronizeMotionStates(); + + ///this can be useful to synchronize a single rigid body -> graphics object + void synchronizeSingleMotionState(btRigidBody* body); - void removeConstraint(btTypedConstraint* constraint); + virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false); - void addVehicle(btRaycastVehicle* vehicle); + virtual void removeConstraint(btTypedConstraint* constraint); - void removeVehicle(btRaycastVehicle* vehicle); + virtual void addVehicle(btRaycastVehicle* vehicle); + + virtual void removeVehicle(btRaycastVehicle* vehicle); + + virtual void addCharacter(btCharacterControllerInterface* character); + + virtual void removeCharacter(btCharacterControllerInterface* character); + btSimulationIslandManager* getSimulationIslandManager() { @@ -114,7 +129,6 @@ public: return this; } - virtual void setGravity(const btVector3& gravity); virtual btVector3 getGravity () const; @@ -126,6 +140,8 @@ public: void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color); + void debugDrawConstraint(btTypedConstraint* constraint); + virtual void debugDrawWorld(); virtual void setConstraintSolver(btConstraintSolver* solver); @@ -152,6 +168,7 @@ public: virtual void setNumTasks(int numTasks) { + (void) numTasks; } }; |