diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h | 27 |
1 files changed, 23 insertions, 4 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index 4662cf5052a..df47c29044f 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org 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. @@ -13,6 +13,7 @@ subject to the following restrictions: 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 @@ -41,6 +42,8 @@ protected: btAlignedObjectArray<btTypedConstraint*> m_constraints; + btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies; + btVector3 m_gravity; //for variable timesteps @@ -49,6 +52,7 @@ protected: bool m_ownsIslandManager; bool m_ownsConstraintSolver; + bool m_synchronizeAllMotionStates; btAlignedObjectArray<btActionInterface*> m_actions; @@ -73,8 +77,7 @@ protected: virtual void saveKinematicState(btScalar timeStep); - void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color); - + void serializeRigidBodies(btSerializer* serializer); public: @@ -120,13 +123,17 @@ public: virtual btVector3 getGravity () const; + virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); + virtual void addRigidBody(btRigidBody* body); virtual void addRigidBody(btRigidBody* body, short group, short mask); virtual void removeRigidBody(btRigidBody* body); - void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color); + ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject + virtual void removeCollisionObject(btCollisionObject* collisionObject); + void debugDrawConstraint(btTypedConstraint* constraint); @@ -174,6 +181,18 @@ public: ///obsolete, use removeAction instead virtual void removeCharacter(btActionInterface* character); + void setSynchronizeAllMotionStates(bool synchronizeAll) + { + m_synchronizeAllMotionStates = synchronizeAll; + } + bool getSynchronizeAllMotionStates() const + { + return m_synchronizeAllMotionStates; + } + + ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo) + virtual void serialize(btSerializer* serializer); + }; #endif //BT_DISCRETE_DYNAMICS_WORLD_H |