90 lines
3.0 KiB
C
90 lines
3.0 KiB
C
|
/*
|
||
|
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||
|
|
|
||
|
|
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_SIMPLE_DYNAMICS_WORLD_H
|
||
|
|
#define BT_SIMPLE_DYNAMICS_WORLD_H
|
||
|
|
|
||
|
|
#include "btDynamicsWorld.h"
|
||
|
|
|
||
|
|
class btDispatcher;
|
||
|
|
class btOverlappingPairCache;
|
||
|
|
class btConstraintSolver;
|
||
|
|
|
||
|
|
///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
|
||
|
|
///Please use btDiscreteDynamicsWorld instead
|
||
|
|
class btSimpleDynamicsWorld : public btDynamicsWorld
|
||
|
|
{
|
||
|
|
protected:
|
||
|
|
|
||
|
|
btConstraintSolver* m_constraintSolver;
|
||
|
|
|
||
|
|
bool m_ownsConstraintSolver;
|
||
|
|
|
||
|
|
void predictUnconstraintMotion(btScalar timeStep);
|
||
|
|
|
||
|
|
void integrateTransforms(btScalar timeStep);
|
||
|
|
|
||
|
|
btVector3 m_gravity;
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
|
||
|
|
btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
||
|
|
|
||
|
|
virtual ~btSimpleDynamicsWorld();
|
||
|
|
|
||
|
|
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
|
||
|
|
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
|
||
|
|
|
||
|
|
virtual void setGravity(const btVector3& gravity);
|
||
|
|
|
||
|
|
virtual btVector3 getGravity () const;
|
||
|
|
|
||
|
|
virtual void addRigidBody(btRigidBody* body);
|
||
|
|
|
||
|
|
virtual void addRigidBody(btRigidBody* body, short group, short mask);
|
||
|
|
|
||
|
|
virtual void removeRigidBody(btRigidBody* body);
|
||
|
|
|
||
|
|
virtual void debugDrawWorld();
|
||
|
|
|
||
|
|
virtual void addAction(btActionInterface* action);
|
||
|
|
|
||
|
|
virtual void removeAction(btActionInterface* action);
|
||
|
|
|
||
|
|
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
|
||
|
|
virtual void removeCollisionObject(btCollisionObject* collisionObject);
|
||
|
|
|
||
|
|
virtual void updateAabbs();
|
||
|
|
|
||
|
|
virtual void synchronizeMotionStates();
|
||
|
|
|
||
|
|
virtual void setConstraintSolver(btConstraintSolver* solver);
|
||
|
|
|
||
|
|
virtual btConstraintSolver* getConstraintSolver();
|
||
|
|
|
||
|
|
virtual btDynamicsWorldType getWorldType() const
|
||
|
|
{
|
||
|
|
return BT_SIMPLE_DYNAMICS_WORLD;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void clearForces();
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //BT_SIMPLE_DYNAMICS_WORLD_H
|