diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp | 52 |
1 files changed, 42 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp index 4ebcb8e7517..3be04d1a4ad 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp @@ -27,16 +27,19 @@ subject to the following restrictions: can be used by probes that are checking whether the library is actually installed. */ -extern "C" void btBulletDynamicsProbe () {} +extern "C" +{ + void btBulletDynamicsProbe (); + void btBulletDynamicsProbe () {} +} -btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver) -:btDynamicsWorld(dispatcher,pairCache), +btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration) +:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration), m_constraintSolver(constraintSolver), m_ownsConstraintSolver(false), -m_debugDrawer(0), m_gravity(0,0,-10) { @@ -46,7 +49,7 @@ m_gravity(0,0,-10) btSimpleDynamicsWorld::~btSimpleDynamicsWorld() { if (m_ownsConstraintSolver) - delete m_constraintSolver; + btAlignedFree( m_constraintSolver); } int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep) @@ -74,8 +77,9 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b btContactSolverInfo infoGlobal; infoGlobal.m_timeStep = timeStep; - - m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc); + m_constraintSolver->prepareSolve(0,numManifolds); + m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1); + m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc); } ///integrate transforms @@ -85,10 +89,27 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b synchronizeMotionStates(); + clearForces(); + return 1; } +void btSimpleDynamicsWorld::clearForces() +{ + //todo: iterate over awake simulation islands! + for ( int i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + + btRigidBody* body = btRigidBody::upcast(colObj); + if (body) + { + body->clearForces(); + } + } +} + void btSimpleDynamicsWorld::setGravity(const btVector3& gravity) { @@ -104,6 +125,11 @@ void btSimpleDynamicsWorld::setGravity(const btVector3& gravity) } } +btVector3 btSimpleDynamicsWorld::getGravity () const +{ + return m_gravity; +} + void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body) { removeCollisionObject(body); @@ -133,7 +159,7 @@ void btSimpleDynamicsWorld::updateAabbs() btPoint3 minAabb,maxAabb; colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); btBroadphaseInterface* bp = getBroadphase(); - bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb); + bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1); } } } @@ -171,8 +197,9 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { if (body->isActive()) { - body->applyForces( timeStep); + body->applyGravity(); body->integrateVelocities( timeStep); + body->applyDamping(timeStep); body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); } } @@ -204,8 +231,13 @@ void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) { if (m_ownsConstraintSolver) { - delete m_constraintSolver; + btAlignedFree(m_constraintSolver); } m_ownsConstraintSolver = false; m_constraintSolver = solver; } + +btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver() +{ + return m_constraintSolver; +} |