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bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

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+/*
+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_DISCRETE_DYNAMICS_WORLD_H
+#define BT_DISCRETE_DYNAMICS_WORLD_H
+
+#include "btDynamicsWorld.h"
+
+class btDispatcher;
+class btOverlappingPairCache;
+class btConstraintSolver;
+class btSimulationIslandManager;
+class btTypedConstraint;
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+
+class btRaycastVehicle;
+class btIDebugDraw;
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+///btDiscreteDynamicsWorld provides discrete rigid body simulation
+///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
+class btDiscreteDynamicsWorld : public btDynamicsWorld
+{
+protected:
+
+	btConstraintSolver*	m_constraintSolver;
+
+	btSimulationIslandManager*	m_islandManager;
+
+	btAlignedObjectArray<btTypedConstraint*> m_constraints;
+
+	btIDebugDraw*	m_debugDrawer;
+
+	btVector3	m_gravity;
+
+	//for variable timesteps
+	btScalar	m_localTime;
+	//for variable timesteps
+
+	bool	m_ownsIslandManager;
+	bool	m_ownsConstraintSolver;
+
+	btContactSolverInfo	m_solverInfo;
+
+
+	btAlignedObjectArray<btRaycastVehicle*>	m_vehicles;
+
+	int	m_profileTimings;
+
+	void	predictUnconstraintMotion(btScalar timeStep);
+	
+	void	integrateTransforms(btScalar timeStep);
+		
+	void	calculateSimulationIslands();
+
+	void	solveConstraints(btContactSolverInfo& solverInfo);
+	
+	void	updateActivationState(btScalar timeStep);
+
+	void	updateVehicles(btScalar timeStep);
+
+	void	startProfiling(btScalar timeStep);
+
+	virtual void	internalSingleStepSimulation( btScalar timeStep);
+
+	void	synchronizeMotionStates();
+
+	void	saveKinematicState(btScalar timeStep);
+
+	void	debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
+
+public:
+
+
+	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
+	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
+
+	virtual ~btDiscreteDynamicsWorld();
+
+	///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
+	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
+
+	virtual void	updateAabbs();
+
+	void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
+
+	void	removeConstraint(btTypedConstraint* constraint);
+
+	void	addVehicle(btRaycastVehicle* vehicle);
+
+	void	removeVehicle(btRaycastVehicle* vehicle);
+
+	btSimulationIslandManager*	getSimulationIslandManager()
+	{
+		return m_islandManager;
+	}
+
+	const btSimulationIslandManager*	getSimulationIslandManager() const 
+	{
+		return m_islandManager;
+	}
+
+	btCollisionWorld*	getCollisionWorld()
+	{
+		return this;
+	}
+
+	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
+	{
+			m_debugDrawer = debugDrawer;
+	}
+
+	virtual btIDebugDraw*	getDebugDrawer()
+	{
+		return m_debugDrawer;
+	}
+
+	virtual void	setGravity(const btVector3& gravity);
+
+	virtual void	addRigidBody(btRigidBody* body);
+
+	virtual void	addRigidBody(btRigidBody* body, short group, short mask);
+
+	virtual void	removeRigidBody(btRigidBody* body);
+
+	void	debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
+
+	virtual void	setConstraintSolver(btConstraintSolver* solver);
+
+	virtual btConstraintSolver* getConstraintSolver();
+	
+	virtual	int		getNumConstraints() const;
+
+	virtual btTypedConstraint* getConstraint(int index)	;
+
+	virtual const btTypedConstraint* getConstraint(int index) const;
+
+	btContactSolverInfo& getSolverInfo()
+	{
+		return m_solverInfo;
+	}
+
+
+};
+
+#endif //BT_DISCRETE_DYNAMICS_WORLD_H