diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h | 57 |
1 files changed, 26 insertions, 31 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h index 44b7e7fb34..12be231c7f 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h @@ -27,63 +27,58 @@ class btConstraintSolver; class btSimpleDynamicsWorld : public btDynamicsWorld { protected: + btConstraintSolver* m_constraintSolver; - btConstraintSolver* m_constraintSolver; + bool m_ownsConstraintSolver; - bool m_ownsConstraintSolver; - - void predictUnconstraintMotion(btScalar timeStep); - - void integrateTransforms(btScalar timeStep); - - btVector3 m_gravity; - -public: + void predictUnconstraintMotion(btScalar timeStep); + void integrateTransforms(btScalar timeStep); + btVector3 m_gravity; +public: ///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver - btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + btSimpleDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration); virtual ~btSimpleDynamicsWorld(); - + ///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead - virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)); + virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); - virtual void setGravity(const btVector3& gravity); + virtual void setGravity(const btVector3& gravity); - virtual btVector3 getGravity () const; + virtual btVector3 getGravity() const; - virtual void addRigidBody(btRigidBody* body); + virtual void addRigidBody(btRigidBody* body); - virtual void addRigidBody(btRigidBody* body, int group, int mask); + virtual void addRigidBody(btRigidBody* body, int group, int mask); - virtual void removeRigidBody(btRigidBody* body); + virtual void removeRigidBody(btRigidBody* body); - virtual void debugDrawWorld(); - - virtual void addAction(btActionInterface* action); + virtual void debugDrawWorld(); - virtual void removeAction(btActionInterface* action); + virtual void addAction(btActionInterface* action); + + virtual void removeAction(btActionInterface* action); ///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 updateAabbs(); + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + virtual void updateAabbs(); - virtual void synchronizeMotionStates(); + virtual void synchronizeMotionStates(); - virtual void setConstraintSolver(btConstraintSolver* solver); + virtual void setConstraintSolver(btConstraintSolver* solver); virtual btConstraintSolver* getConstraintSolver(); - virtual btDynamicsWorldType getWorldType() const + virtual btDynamicsWorldType getWorldType() const { return BT_SIMPLE_DYNAMICS_WORLD; } - virtual void clearForces(); - + virtual void clearForces(); }; -#endif //BT_SIMPLE_DYNAMICS_WORLD_H +#endif //BT_SIMPLE_DYNAMICS_WORLD_H |