16 #ifndef BT_MULTIBODY_DYNAMICS_WORLD_H
17 #define BT_MULTIBODY_DYNAMICS_WORLD_H
22 #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
26 class btMultiBodyConstraintSolver;
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
SIMD_FORCE_INLINE int size() const
return the number of elements in the array
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
virtual void clearForces()
virtual void solveInternalConstraints(btContactSolverInfo &solverInfo)
virtual void updateActivationState(btScalar timeStep)
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local
btMultiBody * getMultiBody(int mbIndex)
virtual btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex)
const btMultiBody * getMultiBody(int mbIndex) const
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local1
btAlignedObjectArray< btMatrix3x3 > m_scratch_m
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
virtual void serialize(btSerializer *serializer)
virtual ~btMultiBodyDynamicsWorld()
btAlignedObjectArray< btVector3 > m_scratch_local_origin1
virtual void serializeMultiBodies(btSerializer *serializer)
virtual void addMultiBodyConstraint(btMultiBodyConstraint *constraint)
btAlignedObjectArray< btVector3 > m_scratch_v
virtual void predictUnconstraintMotion(btScalar timeStep)
virtual void calculateSimulationIslands()
virtual void removeMultiBodyConstraint(btMultiBodyConstraint *constraint)
void predictMultiBodyTransforms(btScalar timeStep)
virtual void integrateTransforms(btScalar timeStep)
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
btAlignedObjectArray< btMultiBody * > m_multiBodies
virtual void getAnalyticsData(btAlignedObjectArray< struct btSolverAnalyticsData > &m_islandAnalyticsData) const
virtual void solveConstraints(btContactSolverInfo &solverInfo)
void integrateMultiBodyTransforms(btScalar timeStep)
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint *constraint)
virtual int getNumMultibodies() const
virtual void solveExternalForces(btContactSolverInfo &solverInfo)
virtual void setConstraintSolver(btConstraintSolver *solver)
btAlignedObjectArray< btVector3 > m_scratch_local_origin
virtual void clearMultiBodyForces()
virtual int getNumMultiBodyConstraints() const
btAlignedObjectArray< btScalar > m_scratch_r
virtual void removeMultiBody(btMultiBody *body)
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
virtual void addMultiBody(btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter)
btMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
virtual void clearMultiBodyConstraintForces()
virtual const btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex) const
virtual void applyGravity()
virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver *solver)
virtual void debugDrawWorld()
ccl_device_inline float4 mask(const int4 &mask, const float4 &a)