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/*
Bullet Continuous Collision Detection and Physics Library
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,
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MULTIBODY_DYNAMICS_WORLD_H
#define BT_MULTIBODY_DYNAMICS_WORLD_H
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
class btMultiBody;
class btMultiBodyConstraint;
class btMultiBodyConstraintSolver;
struct MultiBodyInplaceSolverIslandCallback;
///The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet
///This implementation is still preliminary/experimental.
class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
{
protected:
btAlignedObjectArray<btMultiBody*> m_multiBodies;
btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback;
virtual void calculateSimulationIslands();
virtual void updateActivationState(btScalar timeStep);
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void integrateTransforms(btScalar timeStep);
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 void addMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual void removeMultiBodyConstraint( btMultiBodyConstraint* constraint);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H
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