| /* |
| 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. |
| */ |
| |
| #ifndef BT_SIMPLE_DYNAMICS_WORLD_H |
| #define BT_SIMPLE_DYNAMICS_WORLD_H |
| |
| #include "btDynamicsWorld.h" |
| |
| class btDispatcher; |
| class btOverlappingPairCache; |
| class btConstraintSolver; |
| |
| ///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds. |
| ///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished). |
| class btSimpleDynamicsWorld : public btDynamicsWorld |
| { |
| protected: |
| |
| btConstraintSolver* m_constraintSolver; |
| |
| bool m_ownsConstraintSolver; |
| |
| 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); |
| |
| 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 void setGravity(const btVector3& gravity); |
| |
| virtual btVector3 getGravity () const; |
| |
| virtual void addRigidBody(btRigidBody* body); |
| |
| virtual void removeRigidBody(btRigidBody* body); |
| |
| ///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 synchronizeMotionStates(); |
| |
| virtual void setConstraintSolver(btConstraintSolver* solver); |
| |
| virtual btConstraintSolver* getConstraintSolver(); |
| |
| virtual btDynamicsWorldType getWorldType() const |
| { |
| return BT_SIMPLE_DYNAMICS_WORLD; |
| } |
| |
| virtual void clearForces(); |
| |
| }; |
| |
| #endif //BT_SIMPLE_DYNAMICS_WORLD_H |