diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp | 30 |
1 files changed, 21 insertions, 9 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp index fe0124c041a..4ebcb8e7517 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp @@ -22,6 +22,14 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" +/* + Make sure this dummy function never changes so that it + can be used by probes that are checking whether the + library is actually installed. +*/ +extern "C" void btBulletDynamicsProbe () {} + + btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver) @@ -41,8 +49,12 @@ btSimpleDynamicsWorld::~btSimpleDynamicsWorld() delete m_constraintSolver; } -int btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, float fixedTimeStep) +int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep) { + (void)fixedTimeStep; + (void)maxSubSteps; + + ///apply gravity, predict motion predictUnconstraintMotion(timeStep); @@ -63,7 +75,7 @@ int btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, floa btContactSolverInfo infoGlobal; infoGlobal.m_timeStep = timeStep; - m_constraintSolver->solveGroup(manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer); + m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc); } ///integrate transforms @@ -81,7 +93,7 @@ int btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, floa void btSimpleDynamicsWorld::setGravity(const btVector3& gravity) { m_gravity = gravity; - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); @@ -110,7 +122,7 @@ void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body) void btSimpleDynamicsWorld::updateAabbs() { btTransform predictedTrans; - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); @@ -127,10 +139,10 @@ void btSimpleDynamicsWorld::updateAabbs() } } -void btSimpleDynamicsWorld::integrateTransforms(float timeStep) +void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep) { btTransform predictedTrans; - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); @@ -147,9 +159,9 @@ void btSimpleDynamicsWorld::integrateTransforms(float timeStep) -void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep) +void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); @@ -172,7 +184,7 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep) void btSimpleDynamicsWorld::synchronizeMotionStates() { //todo: iterate over awake simulation islands! - for (unsigned int i=0;i<m_collisionObjects.size();i++) + for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; btRigidBody* body = btRigidBody::upcast(colObj); |