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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h | 244 |
1 files changed, 0 insertions, 244 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h deleted file mode 100644 index 73607c61fd..0000000000 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ /dev/null @@ -1,244 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 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_DISCRETE_DYNAMICS_WORLD_H -#define BT_DISCRETE_DYNAMICS_WORLD_H - -#include "btDynamicsWorld.h" -class btDispatcher; -class btOverlappingPairCache; -class btConstraintSolver; -class btSimulationIslandManager; -class btTypedConstraint; -class btActionInterface; -class btPersistentManifold; -class btIDebugDraw; - -struct InplaceSolverIslandCallback; - -#include "LinearMath/btAlignedObjectArray.h" -#include "LinearMath/btThreads.h" - -///btDiscreteDynamicsWorld provides discrete rigid body simulation -///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController -ATTRIBUTE_ALIGNED16(class) -btDiscreteDynamicsWorld : public btDynamicsWorld -{ -protected: - btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints; - InplaceSolverIslandCallback* m_solverIslandCallback; - - btConstraintSolver* m_constraintSolver; - - btSimulationIslandManager* m_islandManager; - - btAlignedObjectArray<btTypedConstraint*> m_constraints; - - btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies; - - btVector3 m_gravity; - - //for variable timesteps - btScalar m_localTime; - btScalar m_fixedTimeStep; - //for variable timesteps - - bool m_ownsIslandManager; - bool m_ownsConstraintSolver; - bool m_synchronizeAllMotionStates; - bool m_applySpeculativeContactRestitution; - - btAlignedObjectArray<btActionInterface*> m_actions; - - int m_profileTimings; - - bool m_latencyMotionStateInterpolation; - - btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds; - btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts - - virtual void predictUnconstraintMotion(btScalar timeStep); - - void integrateTransformsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel - virtual void integrateTransforms(btScalar timeStep); - - virtual void calculateSimulationIslands(); - - - - virtual void updateActivationState(btScalar timeStep); - - void updateActions(btScalar timeStep); - - void startProfiling(btScalar timeStep); - - virtual void internalSingleStepSimulation(btScalar timeStep); - - void releasePredictiveContacts(); - void createPredictiveContactsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel - virtual void createPredictiveContacts(btScalar timeStep); - - virtual void saveKinematicState(btScalar timeStep); - - void serializeRigidBodies(btSerializer * serializer); - - void serializeDynamicsWorldInfo(btSerializer * serializer); - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those - btDiscreteDynamicsWorld(btDispatcher * dispatcher, btBroadphaseInterface * pairCache, btConstraintSolver * constraintSolver, btCollisionConfiguration * collisionConfiguration); - - virtual ~btDiscreteDynamicsWorld(); - - ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's - virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); - - virtual void solveConstraints(btContactSolverInfo & solverInfo); - - virtual void synchronizeMotionStates(); - - ///this can be useful to synchronize a single rigid body -> graphics object - void synchronizeSingleMotionState(btRigidBody * body); - - virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false); - - virtual void removeConstraint(btTypedConstraint * constraint); - - virtual void addAction(btActionInterface*); - - virtual void removeAction(btActionInterface*); - - btSimulationIslandManager* getSimulationIslandManager() - { - return m_islandManager; - } - - const btSimulationIslandManager* getSimulationIslandManager() const - { - return m_islandManager; - } - - btCollisionWorld* getCollisionWorld() - { - return this; - } - - virtual void setGravity(const btVector3& gravity); - - virtual btVector3 getGravity() const; - - virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); - - virtual void addRigidBody(btRigidBody * body); - - virtual void addRigidBody(btRigidBody * body, int group, int mask); - - virtual void removeRigidBody(btRigidBody * body); - - ///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 debugDrawConstraint(btTypedConstraint * constraint); - - virtual void debugDrawWorld(); - - virtual void setConstraintSolver(btConstraintSolver * solver); - - virtual btConstraintSolver* getConstraintSolver(); - - virtual int getNumConstraints() const; - - virtual btTypedConstraint* getConstraint(int index); - - virtual const btTypedConstraint* getConstraint(int index) const; - - virtual btDynamicsWorldType getWorldType() const - { - return BT_DISCRETE_DYNAMICS_WORLD; - } - - ///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. - virtual void clearForces(); - - ///apply gravity, call this once per timestep - virtual void applyGravity(); - - virtual void setNumTasks(int numTasks) - { - (void)numTasks; - } - - ///obsolete, use updateActions instead - virtual void updateVehicles(btScalar timeStep) - { - updateActions(timeStep); - } - - ///obsolete, use addAction instead - virtual void addVehicle(btActionInterface * vehicle); - ///obsolete, use removeAction instead - virtual void removeVehicle(btActionInterface * vehicle); - ///obsolete, use addAction instead - virtual void addCharacter(btActionInterface * character); - ///obsolete, use removeAction instead - virtual void removeCharacter(btActionInterface * character); - - void setSynchronizeAllMotionStates(bool synchronizeAll) - { - m_synchronizeAllMotionStates = synchronizeAll; - } - bool getSynchronizeAllMotionStates() const - { - return m_synchronizeAllMotionStates; - } - - void setApplySpeculativeContactRestitution(bool enable) - { - m_applySpeculativeContactRestitution = enable; - } - - bool getApplySpeculativeContactRestitution() const - { - return m_applySpeculativeContactRestitution; - } - - ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo) - virtual void serialize(btSerializer * serializer); - - ///Interpolate motion state between previous and current transform, instead of current and next transform. - ///This can relieve discontinuities in the rendering, due to penetrations - void setLatencyMotionStateInterpolation(bool latencyInterpolation) - { - m_latencyMotionStateInterpolation = latencyInterpolation; - } - bool getLatencyMotionStateInterpolation() const - { - return m_latencyMotionStateInterpolation; - } - - btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() - { - return m_nonStaticRigidBodies; - } - - const btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() const - { - return m_nonStaticRigidBodies; - } -}; - -#endif //BT_DISCRETE_DYNAMICS_WORLD_H |