Blender  V3.3
btSimpleDynamicsWorld.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_SIMPLE_DYNAMICS_WORLD_H
17 #define BT_SIMPLE_DYNAMICS_WORLD_H
18 
19 #include "btDynamicsWorld.h"
20 
21 class btDispatcher;
23 class btConstraintSolver;
24 
28 {
29 protected:
31 
33 
34  void predictUnconstraintMotion(btScalar timeStep);
35 
36  void integrateTransforms(btScalar timeStep);
37 
39 
40 public:
42  btSimpleDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
43 
44  virtual ~btSimpleDynamicsWorld();
45 
47  virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
48 
49  virtual void setGravity(const btVector3& gravity);
50 
51  virtual btVector3 getGravity() const;
52 
53  virtual void addRigidBody(btRigidBody* body);
54 
55  virtual void addRigidBody(btRigidBody* body, int group, int mask);
56 
57  virtual void removeRigidBody(btRigidBody* body);
58 
59  virtual void debugDrawWorld();
60 
61  virtual void addAction(btActionInterface* action);
62 
63  virtual void removeAction(btActionInterface* action);
64 
66  virtual void removeCollisionObject(btCollisionObject* collisionObject);
67 
68  virtual void updateAabbs();
69 
70  virtual void synchronizeMotionStates();
71 
72  virtual void setConstraintSolver(btConstraintSolver* solver);
73 
75 
77  {
79  }
80 
81  virtual void clearForces();
82 };
83 
84 #endif //BT_SIMPLE_DYNAMICS_WORLD_H
btCollisionObject
btDynamicsWorldType
@ BT_SIMPLE_DYNAMICS_WORLD
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
btConstraintSolver * m_constraintSolver
virtual btConstraintSolver * getConstraintSolver()
btSimpleDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
virtual void addRigidBody(btRigidBody *body)
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
virtual void setConstraintSolver(btConstraintSolver *solver)
virtual void synchronizeMotionStates()
virtual void removeAction(btActionInterface *action)
void integrateTransforms(btScalar timeStep)
virtual void removeRigidBody(btRigidBody *body)
virtual btVector3 getGravity() const
void predictUnconstraintMotion(btScalar timeStep)
virtual void setGravity(const btVector3 &gravity)
virtual void addAction(btActionInterface *action)
virtual btDynamicsWorldType getWorldType() const
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld,...
ccl_device_inline float4 mask(const int4 &mask, const float4 &a)
Definition: math_float4.h:513