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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h | 174 |
1 files changed, 0 insertions, 174 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h deleted file mode 100644 index 3c55234a8a..0000000000 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h +++ /dev/null @@ -1,174 +0,0 @@ -/* -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_DYNAMICS_WORLD_H -#define BT_DYNAMICS_WORLD_H - -#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" -#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" - -class btTypedConstraint; -class btActionInterface; -class btConstraintSolver; -class btDynamicsWorld; - -/// Type for the callback for each tick -typedef void (*btInternalTickCallback)(btDynamicsWorld* world, btScalar timeStep); - -enum btDynamicsWorldType -{ - BT_SIMPLE_DYNAMICS_WORLD = 1, - BT_DISCRETE_DYNAMICS_WORLD = 2, - BT_CONTINUOUS_DYNAMICS_WORLD = 3, - BT_SOFT_RIGID_DYNAMICS_WORLD = 4, - BT_GPU_DYNAMICS_WORLD = 5, - BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6, - BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD = 7 -}; - -///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. -class btDynamicsWorld : public btCollisionWorld -{ -protected: - btInternalTickCallback m_internalTickCallback; - btInternalTickCallback m_internalPreTickCallback; - void* m_worldUserInfo; - - btContactSolverInfo m_solverInfo; - -public: - btDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphase, btCollisionConfiguration* collisionConfiguration) - : btCollisionWorld(dispatcher, broadphase, collisionConfiguration), m_internalTickCallback(0), m_internalPreTickCallback(0), m_worldUserInfo(0) - { - } - - virtual ~btDynamicsWorld() - { - } - - ///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. - ///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'. - ///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'. - ///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant. - virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)) = 0; - - virtual void debugDrawWorld() = 0; - - virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies = false) - { - (void)constraint; - (void)disableCollisionsBetweenLinkedBodies; - } - - virtual void removeConstraint(btTypedConstraint* constraint) { (void)constraint; } - - virtual void addAction(btActionInterface* action) = 0; - - virtual void removeAction(btActionInterface* action) = 0; - - //once a rigidbody is added to the dynamics world, it will get this gravity assigned - //existing rigidbodies in the world get gravity assigned too, during this method - virtual void setGravity(const btVector3& gravity) = 0; - virtual btVector3 getGravity() const = 0; - - virtual void synchronizeMotionStates() = 0; - - virtual void addRigidBody(btRigidBody* body) = 0; - - virtual void addRigidBody(btRigidBody* body, int group, int mask) = 0; - - virtual void removeRigidBody(btRigidBody* body) = 0; - - virtual void setConstraintSolver(btConstraintSolver* solver) = 0; - - virtual btConstraintSolver* getConstraintSolver() = 0; - - virtual int getNumConstraints() const { return 0; } - - virtual btTypedConstraint* getConstraint(int index) - { - (void)index; - return 0; - } - - virtual const btTypedConstraint* getConstraint(int index) const - { - (void)index; - return 0; - } - - virtual btDynamicsWorldType getWorldType() const = 0; - - virtual void clearForces() = 0; - - /// Set the callback for when an internal tick (simulation substep) happens, optional user info - void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo = 0, bool isPreTick = false) - { - if (isPreTick) - { - m_internalPreTickCallback = cb; - } - else - { - m_internalTickCallback = cb; - } - m_worldUserInfo = worldUserInfo; - } - - void setWorldUserInfo(void* worldUserInfo) - { - m_worldUserInfo = worldUserInfo; - } - - void* getWorldUserInfo() const - { - return m_worldUserInfo; - } - - btContactSolverInfo& getSolverInfo() - { - return m_solverInfo; - } - - const btContactSolverInfo& getSolverInfo() const - { - return m_solverInfo; - } - - ///obsolete, use addAction instead. - virtual void addVehicle(btActionInterface* vehicle) { (void)vehicle; } - ///obsolete, use removeAction instead - virtual void removeVehicle(btActionInterface* vehicle) { (void)vehicle; } - ///obsolete, use addAction instead. - virtual void addCharacter(btActionInterface* character) { (void)character; } - ///obsolete, use removeAction instead - virtual void removeCharacter(btActionInterface* character) { (void)character; } -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btDynamicsWorldDoubleData -{ - btContactSolverInfoDoubleData m_solverInfo; - btVector3DoubleData m_gravity; -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btDynamicsWorldFloatData -{ - btContactSolverInfoFloatData m_solverInfo; - btVector3FloatData m_gravity; -}; - -#endif //BT_DYNAMICS_WORLD_H |