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Added some comments for stepSimulation and fixed bug: uninitialized variable m_shapeDrawer(drawer) in DebugCastResult.h

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This commit is contained in:
erwin.coumans
2008-08-28 02:01:23 +00:00
parent dcefff0e0e
commit 5fd1a69f32
2 changed files with 10 additions and 6 deletions
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6
Demos/OpenGL/DebugCastResult.h
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@@ -44,7 +44,8 @@ struct btDebugCastResult : public btConvexCast::CastResult
:m_fromTrans(fromTrans), :m_fromTrans(fromTrans),
m_shape(shape), m_shape(shape),
m_linVel(linVel), m_linVel(linVel),
m_angVel(angVel) m_angVel(angVel),
m_shapeDrawer(drawer)
{ {
} }
@@ -78,7 +79,8 @@ struct btDebugCastResult : public btConvexCast::CastResult
btTransform hitTrans; btTransform hitTrans;
btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans); btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
hitTrans.getOpenGLMatrix(m); hitTrans.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug,worldBoundsMin,worldBoundsMax); if (m_shapeDrawer)
m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug,worldBoundsMin,worldBoundsMax);
} }
}; };

10
src/BulletDynamics/Dynamics/btDynamicsWorld.h
View File

@@ -34,7 +34,7 @@ enum btDynamicsWorldType
BT_CONTINUOUS_DYNAMICS_WORLD=3 BT_CONTINUOUS_DYNAMICS_WORLD=3
}; };
///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
class btDynamicsWorld : public btCollisionWorld class btDynamicsWorld : public btCollisionWorld
{ {
@@ -56,9 +56,11 @@ public:
{ {
} }
///stepSimulation proceeds the simulation over timeStep units ///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
///if maxSubSteps > 0, it will interpolate time steps ///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0; ///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=10, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
virtual void debugDrawWorld() = 0; virtual void debugDrawWorld() = 0;