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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp | 260 |
1 files changed, 0 insertions, 260 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp deleted file mode 100644 index 8103390fb1..0000000000 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp +++ /dev/null @@ -1,260 +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. -*/ - -#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; -} |