summaryrefslogtreecommitdiff
path: root/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp')
-rw-r--r--thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp114
1 files changed, 47 insertions, 67 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
index 6f63b87c80..8103390fb1 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -21,47 +21,40 @@ subject to the following restrictions:
#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"
+extern "C"
{
- void btBulletDynamicsProbe ();
- void btBulletDynamicsProbe () {}
+ 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(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);
+ btAlignedFree(m_constraintSolver);
}
-int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
+int btSimpleDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
{
(void)fixedTimeStep;
(void)maxSubSteps;
-
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
- btDispatcherInfo& dispatchInfo = getDispatchInfo();
+ btDispatcherInfo& dispatchInfo = getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = getDebugDrawer();
@@ -74,17 +67,17 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
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);
+ 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();
@@ -92,29 +85,27 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
clearForces();
return 1;
-
}
-void btSimpleDynamicsWorld::clearForces()
+void btSimpleDynamicsWorld::clearForces()
{
///@todo: iterate over awake simulation islands!
- for ( int i=0;i<m_collisionObjects.size();i++)
+ 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)
+void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
{
m_gravity = gravity;
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for (int i = 0; i < m_collisionObjects.size(); i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -125,17 +116,17 @@ void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
}
}
-btVector3 btSimpleDynamicsWorld::getGravity () const
+btVector3 btSimpleDynamicsWorld::getGravity() const
{
return m_gravity;
}
-void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
+void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
{
btCollisionWorld::removeCollisionObject(body);
}
-void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
+void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
{
btRigidBody* body = btRigidBody::upcast(collisionObject);
if (body)
@@ -144,8 +135,7 @@ void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionOb
btCollisionWorld::removeCollisionObject(collisionObject);
}
-
-void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
+void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
{
body->setGravity(m_gravity);
@@ -155,37 +145,32 @@ void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
}
}
-void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
+void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
{
body->setGravity(m_gravity);
if (body->getCollisionShape())
{
- addCollisionObject(body,group,mask);
+ addCollisionObject(body, group, mask);
}
}
-
-void btSimpleDynamicsWorld::debugDrawWorld()
+void btSimpleDynamicsWorld::debugDrawWorld()
{
-
}
-
-void btSimpleDynamicsWorld::addAction(btActionInterface* action)
-{
+void btSimpleDynamicsWorld::addAction(btActionInterface* action)
+{
}
-void btSimpleDynamicsWorld::removeAction(btActionInterface* action)
+void btSimpleDynamicsWorld::removeAction(btActionInterface* action)
{
-
}
-
-void btSimpleDynamicsWorld::updateAabbs()
+void btSimpleDynamicsWorld::updateAabbs()
{
btTransform predictedTrans;
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for (int i = 0; i < m_collisionObjects.size(); i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -193,19 +178,19 @@ void btSimpleDynamicsWorld::updateAabbs()
{
if (body->isActive() && (!body->isStaticObject()))
{
- btVector3 minAabb,maxAabb;
- colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+ btVector3 minAabb, maxAabb;
+ colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
btBroadphaseInterface* bp = getBroadphase();
- bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
+ bp->setAabb(body->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
}
}
}
}
-void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
+void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
{
btTransform predictedTrans;
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for (int i = 0; i < m_collisionObjects.size(); i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -214,17 +199,15 @@ void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
if (body->isActive() && (!body->isStaticObject()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
- body->proceedToTransform( predictedTrans);
+ body->proceedToTransform(predictedTrans);
}
}
}
}
-
-
-void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
+void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for (int i = 0; i < m_collisionObjects.size(); i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -235,20 +218,19 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
if (body->isActive())
{
body->applyGravity();
- body->integrateVelocities( timeStep);
+ body->integrateVelocities(timeStep);
body->applyDamping(timeStep);
- body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
+ body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
}
}
}
}
}
-
-void btSimpleDynamicsWorld::synchronizeMotionStates()
+void btSimpleDynamicsWorld::synchronizeMotionStates()
{
///@todo: iterate over awake simulation islands!
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for (int i = 0; i < m_collisionObjects.size(); i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -260,11 +242,9 @@ void btSimpleDynamicsWorld::synchronizeMotionStates()
}
}
}
-
}
-
-void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
+void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
{
if (m_ownsConstraintSolver)
{
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-08 00:37:04 +0000