diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h | 51 |
1 files changed, 47 insertions, 4 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index ad57a346dcc..03ef3335c22 100644 --- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -4,8 +4,8 @@ Copyright (c) 2013 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. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. @@ -18,6 +18,7 @@ subject to the following restrictions: #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY class btMultiBody; class btMultiBodyConstraint; @@ -38,19 +39,61 @@ protected: virtual void calculateSimulationIslands(); virtual void updateActivationState(btScalar timeStep); virtual void solveConstraints(btContactSolverInfo& solverInfo); - virtual void integrateTransforms(btScalar timeStep); + + virtual void serializeMultiBodies(btSerializer* serializer); + public: btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); - + virtual ~btMultiBodyDynamicsWorld (); virtual void addMultiBody(btMultiBody* body, short group= btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter); virtual void removeMultiBody(btMultiBody* body); + virtual int getNumMultibodies() const + { + return m_multiBodies.size(); + } + + btMultiBody* getMultiBody(int mbIndex) + { + return m_multiBodies[mbIndex]; + } + virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint); + virtual int getNumMultiBodyConstraints() const + { + return m_multiBodyConstraints.size(); + } + + virtual btMultiBodyConstraint* getMultiBodyConstraint( int constraintIndex) + { + return m_multiBodyConstraints[constraintIndex]; + } + + virtual const btMultiBodyConstraint* getMultiBodyConstraint( int constraintIndex) const + { + return m_multiBodyConstraints[constraintIndex]; + } + virtual void removeMultiBodyConstraint( btMultiBodyConstraint* constraint); + + virtual void integrateTransforms(btScalar timeStep); + + virtual void debugDrawWorld(); + + virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint); + + void forwardKinematics(); + virtual void clearForces(); + virtual void clearMultiBodyConstraintForces(); + virtual void clearMultiBodyForces(); + virtual void applyGravity(); + + virtual void serialize(btSerializer* serializer); + }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H |