1 files changed, 280 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
new file mode 100644
index 0000000000..6f63b87c80
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -0,0 +1,280 @@
+/*
+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.
+*/
+
+#include "btSimpleDynamicsWorld.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+
+
+/*
+  Make sure this dummy function never changes so that it
+  can be used by probes that are checking whether the
+  library is actually installed.
+*/
+extern "C" 
+{
+	void btBulletDynamicsProbe ();
+	void btBulletDynamicsProbe () {}
+}
+
+
+
+
+btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
+:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
+m_constraintSolver(constraintSolver),
+m_ownsConstraintSolver(false),
+m_gravity(0,0,-10)
+{
+
+}
+
+
+btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
+{
+	if (m_ownsConstraintSolver)
+		btAlignedFree( m_constraintSolver);
+}
+
+int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
+{
+	(void)fixedTimeStep;
+	(void)maxSubSteps;
+
+
+	///apply gravity, predict motion
+	predictUnconstraintMotion(timeStep);
+
+	btDispatcherInfo&	dispatchInfo = getDispatchInfo();
+	dispatchInfo.m_timeStep = timeStep;
+	dispatchInfo.m_stepCount = 0;
+	dispatchInfo.m_debugDraw = getDebugDrawer();
+
+	///perform collision detection
+	performDiscreteCollisionDetection();
+
+	///solve contact constraints
+	int numManifolds = m_dispatcher1->getNumManifolds();
+	if (numManifolds)
+	{
+		btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
+		
+		btContactSolverInfo infoGlobal;
+		infoGlobal.m_timeStep = timeStep;
+		m_constraintSolver->prepareSolve(0,numManifolds);
+		m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
+		m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
+	}
+
+	///integrate transforms
+	integrateTransforms(timeStep);
+		
+	updateAabbs();
+
+	synchronizeMotionStates();
+
+	clearForces();
+
+	return 1;
+
+}
+
+void	btSimpleDynamicsWorld::clearForces()
+{
+	///@todo: iterate over awake simulation islands!
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			body->clearForces();
+		}
+	}
+}	
+
+
+void	btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
+{
+	m_gravity = gravity;
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			body->setGravity(gravity);
+		}
+	}
+}
+
+btVector3 btSimpleDynamicsWorld::getGravity () const
+{
+	return m_gravity;
+}
+
+void	btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
+{
+	btCollisionWorld::removeCollisionObject(body);
+}
+
+void	btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
+{
+	btRigidBody* body = btRigidBody::upcast(collisionObject);
+	if (body)
+		removeRigidBody(body);
+	else
+		btCollisionWorld::removeCollisionObject(collisionObject);
+}
+
+
+void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
+{
+	body->setGravity(m_gravity);
+
+	if (body->getCollisionShape())
+	{
+		addCollisionObject(body);
+	}
+}
+
+void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
+{
+	body->setGravity(m_gravity);
+
+	if (body->getCollisionShape())
+	{
+		addCollisionObject(body,group,mask);
+	}
+}
+
+
+void	btSimpleDynamicsWorld::debugDrawWorld()
+{
+
+}
+				
+void	btSimpleDynamicsWorld::addAction(btActionInterface* action)
+{
+
+}
+
+void	btSimpleDynamicsWorld::removeAction(btActionInterface* action)
+{
+
+}
+
+
+void	btSimpleDynamicsWorld::updateAabbs()
+{
+	btTransform predictedTrans;
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			if (body->isActive() && (!body->isStaticObject()))
+			{
+				btVector3 minAabb,maxAabb;
+				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+				btBroadphaseInterface* bp = getBroadphase();
+				bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
+			}
+		}
+	}
+}
+
+void	btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
+{
+	btTransform predictedTrans;
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			if (body->isActive() && (!body->isStaticObject()))
+			{
+				body->predictIntegratedTransform(timeStep, predictedTrans);
+				body->proceedToTransform( predictedTrans);
+			}
+		}
+	}
+}
+
+
+
+void	btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
+{
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body)
+		{
+			if (!body->isStaticObject())
+			{
+				if (body->isActive())
+				{
+					body->applyGravity();
+					body->integrateVelocities( timeStep);
+					body->applyDamping(timeStep);
+					body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
+				}
+			}
+		}
+	}
+}
+
+
+void	btSimpleDynamicsWorld::synchronizeMotionStates()
+{
+	///@todo: iterate over awake simulation islands!
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* body = btRigidBody::upcast(colObj);
+		if (body && body->getMotionState())
+		{
+			if (body->getActivationState() != ISLAND_SLEEPING)
+			{
+				body->getMotionState()->setWorldTransform(body->getWorldTransform());
+			}
+		}
+	}
+
+}
+
+
+void	btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
+{
+	if (m_ownsConstraintSolver)
+	{
+		btAlignedFree(m_constraintSolver);
+	}
+	m_ownsConstraintSolver = false;
+	m_constraintSolver = solver;
+}
+
+btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
+{
+	return m_constraintSolver;
+}