diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h | 65 |
1 files changed, 31 insertions, 34 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index 2fbf089d81..641238f3bb 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -33,8 +33,8 @@ protected: btAlignedObjectArray<btMultiBody*> m_multiBodies; btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints; btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints; - btMultiBodyConstraintSolver* m_multiBodyConstraintSolver; - MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback; + btMultiBodyConstraintSolver* m_multiBodyConstraintSolver; + MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback; //cached data to avoid memory allocations btAlignedObjectArray<btQuaternion> m_scratch_world_to_local; @@ -45,72 +45,69 @@ protected: btAlignedObjectArray<btVector3> m_scratch_v; btAlignedObjectArray<btMatrix3x3> m_scratch_m; - - virtual void calculateSimulationIslands(); - virtual void updateActivationState(btScalar timeStep); - virtual void solveConstraints(btContactSolverInfo& solverInfo); - - virtual void serializeMultiBodies(btSerializer* serializer); + virtual void calculateSimulationIslands(); + virtual void updateActivationState(btScalar timeStep); + virtual void solveConstraints(btContactSolverInfo& solverInfo); -public: + virtual void serializeMultiBodies(btSerializer* serializer); - btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); +public: + btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration); - virtual ~btMultiBodyDynamicsWorld (); + virtual ~btMultiBodyDynamicsWorld(); - virtual void addMultiBody(btMultiBody* body, int group= btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter); + virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter); - virtual void removeMultiBody(btMultiBody* body); + virtual void removeMultiBody(btMultiBody* body); - virtual int getNumMultibodies() const + virtual int getNumMultibodies() const { return m_multiBodies.size(); } - btMultiBody* getMultiBody(int mbIndex) + btMultiBody* getMultiBody(int mbIndex) { return m_multiBodies[mbIndex]; } - const btMultiBody* getMultiBody(int mbIndex) const + const btMultiBody* getMultiBody(int mbIndex) const { return m_multiBodies[mbIndex]; } - virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint); + virtual void addMultiBodyConstraint(btMultiBodyConstraint* constraint); - virtual int getNumMultiBodyConstraints() const + virtual int getNumMultiBodyConstraints() const { - return m_multiBodyConstraints.size(); + return m_multiBodyConstraints.size(); } - virtual btMultiBodyConstraint* getMultiBodyConstraint( int constraintIndex) + virtual btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex) { - return m_multiBodyConstraints[constraintIndex]; + return m_multiBodyConstraints[constraintIndex]; } - virtual const btMultiBodyConstraint* getMultiBodyConstraint( int constraintIndex) const + virtual const btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex) const { - return m_multiBodyConstraints[constraintIndex]; + return m_multiBodyConstraints[constraintIndex]; } - virtual void removeMultiBodyConstraint( btMultiBodyConstraint* constraint); + virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint); + + virtual void integrateTransforms(btScalar timeStep); - virtual void integrateTransforms(btScalar timeStep); + virtual void debugDrawWorld(); - virtual void debugDrawWorld(); + virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint); - virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint); - - void forwardKinematics(); + void forwardKinematics(); virtual void clearForces(); virtual void clearMultiBodyConstraintForces(); virtual void clearMultiBodyForces(); virtual void applyGravity(); - - virtual void serialize(btSerializer* serializer); - virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); - virtual void setConstraintSolver(btConstraintSolver* solver); + virtual void serialize(btSerializer* serializer); + virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); + virtual void setConstraintSolver(btConstraintSolver* solver); }; -#endif //BT_MULTIBODY_DYNAMICS_WORLD_H +#endif //BT_MULTIBODY_DYNAMICS_WORLD_H |