1 files changed, 67 insertions, 17 deletions

diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index 65b63fad4b5..929e24d337c 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -16,20 +16,39 @@ subject to the following restrictions:
 #ifndef BT_DYNAMICS_WORLD_H
 #define BT_DYNAMICS_WORLD_H
 
-#include "../../BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+
 class btTypedConstraint;
 class btRaycastVehicle;
 class btConstraintSolver;
+class btDynamicsWorld;
+
+/// Type for the callback for each tick
+typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
 
+enum btDynamicsWorldType
+{
+	BT_SIMPLE_DYNAMICS_WORLD=1,
+	BT_DISCRETE_DYNAMICS_WORLD=2,
+	BT_CONTINUOUS_DYNAMICS_WORLD=3
+};
 
-///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
+///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
 class btDynamicsWorld : public btCollisionWorld
 {
-	public:
+
+protected:
+		btInternalTickCallback m_internalTickCallback;
+		void*	m_worldUserInfo;
+
+		btContactSolverInfo	m_solverInfo;
+
+public:
 		
 
-		btDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
-		:btCollisionWorld(dispatcher,pairCache)
+		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
+		:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0), m_worldUserInfo(0)
 		{
 		}
 
@@ -37,34 +56,37 @@ class btDynamicsWorld : public btCollisionWorld
 		{
 		}
 		
-		///stepSimulation proceeds the simulation over timeStep units
-		///if maxSubSteps > 0, it will interpolate time steps
+		///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
+		///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
+		///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
+		///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
 		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
 			
-		virtual void	updateAabbs() = 0;
+		virtual void	debugDrawWorld() = 0;
 				
-		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
-
-		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
-
-		virtual void	addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
-
-		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
+		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) 
+		{ 
+			(void)constraint; (void)disableCollisionsBetweenLinkedBodies;
+		}
 
+		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
 
-		virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer) = 0;
+		virtual void	addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
 
-		virtual btIDebugDraw*	getDebugDrawer() = 0;
+		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
 
 		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
 		//existing rigidbodies in the world get gravity assigned too, during this method
 		virtual void	setGravity(const btVector3& gravity) = 0;
+		virtual btVector3 getGravity () const = 0;
 
 		virtual void	addRigidBody(btRigidBody* body) = 0;
 
 		virtual void	removeRigidBody(btRigidBody* body) = 0;
 
 		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
+
+		virtual btConstraintSolver* getConstraintSolver() = 0;
 		
 		virtual	int		getNumConstraints() const {	return 0;		}
 		
@@ -72,7 +94,35 @@ class btDynamicsWorld : public btCollisionWorld
 		
 		virtual const btTypedConstraint* getConstraint(int index) const	{	(void)index;	return 0;	}
 
+		virtual btDynamicsWorldType	getWorldType() const=0;
+
+		virtual void	clearForces() = 0;
+
+		/// Set the callback for when an internal tick (simulation substep) happens, optional user info
+		void setInternalTickCallback(btInternalTickCallback cb,	void* worldUserInfo=0) 
+		{ 
+			m_internalTickCallback = cb; 
+			m_worldUserInfo = worldUserInfo;
+		}
+
+		void	setWorldUserInfo(void* worldUserInfo)
+		{
+			m_worldUserInfo = worldUserInfo;
+		}
+
+		void*	getWorldUserInfo() const
+		{
+			return m_worldUserInfo;
+		}
+
+		btContactSolverInfo& getSolverInfo()
+		{
+			return m_solverInfo;
+		}
+
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H
 
+