make sure aligned structures/classes use the btAlignedAlloc/btAlignedFree, by overriding the operator new/delete for that struct/class.
integrated some contributions from IBM Germany for libspe2
This commit is contained in:
ejcoumans
@@ -1,80 +1,80 @@
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/*
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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_DYNAMICS_WORLD_H
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#define BT_DYNAMICS_WORLD_H
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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class btTypedConstraint;
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class btRaycastVehicle;
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class btConstraintSolver;
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///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
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class btDynamicsWorld : public btCollisionWorld
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{
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public:
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btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase)
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:btCollisionWorld(dispatcher,broadphase)
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{
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}
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virtual ~btDynamicsWorld()
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{
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}
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///stepSimulation proceeds the simulation over timeStep units
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///if maxSubSteps > 0, it will interpolate time steps
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
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virtual void updateAabbs() = 0;
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virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
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virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
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virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
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virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
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virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0;
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virtual btIDebugDraw* getDebugDrawer() = 0;
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//once a rigidbody is added to the dynamics world, it will get this gravity assigned
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//existing rigidbodies in the world get gravity assigned too, during this method
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virtual void setGravity(const btVector3& gravity) = 0;
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virtual void addRigidBody(btRigidBody* body) = 0;
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virtual void removeRigidBody(btRigidBody* body) = 0;
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virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
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virtual btConstraintSolver* getConstraintSolver() = 0;
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virtual int getNumConstraints() const { return 0; }
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virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; }
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virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; }
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};
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#endif //BT_DYNAMICS_WORLD_H
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/*
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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_DYNAMICS_WORLD_H
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#define BT_DYNAMICS_WORLD_H
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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class btTypedConstraint;
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class btRaycastVehicle;
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class btConstraintSolver;
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///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
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class btDynamicsWorld : public btCollisionWorld
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{
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public:
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btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase)
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:btCollisionWorld(dispatcher,broadphase)
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{
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}
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virtual ~btDynamicsWorld()
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{
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}
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///stepSimulation proceeds the simulation over timeStep units
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///if maxSubSteps > 0, it will interpolate time steps
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
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virtual void updateAabbs() = 0;
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virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
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virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
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virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
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virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
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virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0;
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virtual btIDebugDraw* getDebugDrawer() = 0;
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//once a rigidbody is added to the dynamics world, it will get this gravity assigned
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//existing rigidbodies in the world get gravity assigned too, during this method
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virtual void setGravity(const btVector3& gravity) = 0;
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virtual void addRigidBody(btRigidBody* body) = 0;
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virtual void removeRigidBody(btRigidBody* body) = 0;
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virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
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virtual btConstraintSolver* getConstraintSolver() = 0;
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virtual int getNumConstraints() const { return 0; }
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virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; }
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virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; }
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};
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#endif //BT_DYNAMICS_WORLD_H
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@@ -347,4 +347,4 @@ void btRigidBody::removeConstraintRef(btTypedConstraint* c)
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{
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m_constraintRefs.remove(c);
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m_checkCollideWith = m_constraintRefs.size() > 0;
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}
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}
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@@ -1,84 +1,84 @@
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/*
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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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/*
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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.
|
||||
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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};
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#endif //BT_SIMPLE_DYNAMICS_WORLD_H
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Reference in New Issue
Block a user