85 lines
3.0 KiB
C++
85 lines
3.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SIMPLE_DYNAMICS_WORLD_H
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#define BT_SIMPLE_DYNAMICS_WORLD_H
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#include "btDynamicsWorld.h"
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class btDispatcher;
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class btOverlappingPairCache;
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class btConstraintSolver;
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///btSimpleDynamicsWorld demonstrates very basic usage of Bullet rigid body dynamics
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///It can be used for basic simulations, and as a starting point for porting Bullet
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///btSimpleDynamicsWorld lacks object deactivation, island management and other concepts.
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///For more complicated simulations, btDiscreteDynamicsWorld and btContinuousDynamicsWorld are recommended
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///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
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class btSimpleDynamicsWorld : public btDynamicsWorld
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{
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protected:
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btConstraintSolver* m_constraintSolver;
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bool m_ownsConstraintSolver;
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btIDebugDraw* m_debugDrawer;
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void predictUnconstraintMotion(btScalar timeStep);
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void integrateTransforms(btScalar timeStep);
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btVector3 m_gravity;
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public:
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///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
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btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
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virtual ~btSimpleDynamicsWorld();
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///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
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virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
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{
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m_debugDrawer = debugDrawer;
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};
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virtual btIDebugDraw* getDebugDrawer()
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{
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return m_debugDrawer;
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}
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virtual void setGravity(const btVector3& gravity);
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virtual void addRigidBody(btRigidBody* body);
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virtual void removeRigidBody(btRigidBody* body);
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virtual void updateAabbs();
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void synchronizeMotionStates();
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virtual void setConstraintSolver(btConstraintSolver* solver);
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virtual btConstraintSolver* getConstraintSolver();
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};
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#endif //BT_SIMPLE_DYNAMICS_WORLD_H
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