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+ add option to set pre-tick callback, called at the beginning of each internal simulation step

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+ use real-time for soft body demo (using this pre-tick callback)
+ optimize the generation of bending constraints for the special case where the distance is 2
This commit is contained in:
erwin.coumans
2009-08-14 21:36:51 +00:00
parent e89fe1cbfa
commit 34699f6de6
5 changed files with 135 additions and 40 deletions
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13
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -41,6 +41,7 @@ class btDynamicsWorld : public btCollisionWorld
protected:
btInternalTickCallback m_internalTickCallback;
btInternalTickCallback m_internalPreTickCallback;
void* m_worldUserInfo;
btContactSolverInfo m_solverInfo;
@@ -49,7 +50,7 @@ public:
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0), m_worldUserInfo(0)
:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0)
{
}
@@ -102,9 +103,15 @@ public:
virtual void clearForces() = 0;
/// Set the callback for when an internal tick (simulation substep) happens, optional user info
void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0)
void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false)
{
m_internalTickCallback = cb;
if (isPreTick)
{
m_internalPreTickCallback = cb;
} else
{
m_internalTickCallback = cb;
}
m_worldUserInfo = worldUserInfo;
}