diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h | 17 |
1 files changed, 13 insertions, 4 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index e36c2f7aad..9ac46f4b64 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -17,6 +17,7 @@ subject to the following restrictions: #define BT_MULTIBODY_DYNAMICS_WORLD_H #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h" #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY @@ -47,7 +48,7 @@ protected: virtual void calculateSimulationIslands(); virtual void updateActivationState(btScalar timeStep); - virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void serializeMultiBodies(btSerializer* serializer); @@ -55,7 +56,9 @@ public: btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration); virtual ~btMultiBodyDynamicsWorld(); - + + virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter); virtual void removeMultiBody(btMultiBody* body); @@ -95,7 +98,10 @@ public: virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint); virtual void integrateTransforms(btScalar timeStep); - + void integrateMultiBodyTransforms(btScalar timeStep); + void predictMultiBodyTransforms(btScalar timeStep); + + virtual void predictUnconstraintMotion(btScalar timeStep); virtual void debugDrawWorld(); virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint); @@ -110,6 +116,9 @@ public: virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); virtual void setConstraintSolver(btConstraintSolver* solver); virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const; - + + virtual void solveExternalForces(btContactSolverInfo& solverInfo); + virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); + void buildIslands(); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H |