Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -13,7 +13,6 @@ subject to the following restrictions:
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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_DISCRETE_DYNAMICS_WORLD_H
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#define BT_DISCRETE_DYNAMICS_WORLD_H
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@@ -32,159 +31,153 @@ struct InplaceSolverIslandCallback;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btThreads.h"
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///btDiscreteDynamicsWorld provides discrete rigid body simulation
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///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
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ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld
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ATTRIBUTE_ALIGNED16(class)
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btDiscreteDynamicsWorld : public btDynamicsWorld
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{
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protected:
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btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
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InplaceSolverIslandCallback* m_solverIslandCallback;
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btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
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InplaceSolverIslandCallback* m_solverIslandCallback;
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btConstraintSolver* m_constraintSolver;
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btConstraintSolver* m_constraintSolver;
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btSimulationIslandManager* m_islandManager;
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btSimulationIslandManager* m_islandManager;
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btAlignedObjectArray<btTypedConstraint*> m_constraints;
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btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
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btVector3 m_gravity;
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btVector3 m_gravity;
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//for variable timesteps
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btScalar m_localTime;
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btScalar m_fixedTimeStep;
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btScalar m_localTime;
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btScalar m_fixedTimeStep;
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//for variable timesteps
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bool m_ownsIslandManager;
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bool m_ownsConstraintSolver;
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bool m_synchronizeAllMotionStates;
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bool m_applySpeculativeContactRestitution;
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bool m_ownsIslandManager;
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bool m_ownsConstraintSolver;
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bool m_synchronizeAllMotionStates;
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bool m_applySpeculativeContactRestitution;
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btAlignedObjectArray<btActionInterface*> m_actions;
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int m_profileTimings;
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btAlignedObjectArray<btActionInterface*> m_actions;
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bool m_latencyMotionStateInterpolation;
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int m_profileTimings;
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btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
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btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts
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bool m_latencyMotionStateInterpolation;
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virtual void predictUnconstraintMotion(btScalar timeStep);
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void integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel
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virtual void integrateTransforms(btScalar timeStep);
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virtual void calculateSimulationIslands();
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btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
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btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts
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virtual void solveConstraints(btContactSolverInfo& solverInfo);
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virtual void updateActivationState(btScalar timeStep);
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virtual void predictUnconstraintMotion(btScalar timeStep);
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void updateActions(btScalar timeStep);
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void integrateTransformsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel
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virtual void integrateTransforms(btScalar timeStep);
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void startProfiling(btScalar timeStep);
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virtual void calculateSimulationIslands();
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virtual void internalSingleStepSimulation( btScalar timeStep);
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virtual void solveConstraints(btContactSolverInfo & solverInfo);
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void releasePredictiveContacts();
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void createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel
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virtual void createPredictiveContacts(btScalar timeStep);
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virtual void updateActivationState(btScalar timeStep);
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virtual void saveKinematicState(btScalar timeStep);
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void updateActions(btScalar timeStep);
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void serializeRigidBodies(btSerializer* serializer);
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void startProfiling(btScalar timeStep);
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void serializeDynamicsWorldInfo(btSerializer* serializer);
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virtual void internalSingleStepSimulation(btScalar timeStep);
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void releasePredictiveContacts();
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void createPredictiveContactsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel
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virtual void createPredictiveContacts(btScalar timeStep);
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virtual void saveKinematicState(btScalar timeStep);
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void serializeRigidBodies(btSerializer * serializer);
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void serializeDynamicsWorldInfo(btSerializer * serializer);
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
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btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
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btDiscreteDynamicsWorld(btDispatcher * dispatcher, btBroadphaseInterface * pairCache, btConstraintSolver * constraintSolver, btCollisionConfiguration * collisionConfiguration);
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virtual ~btDiscreteDynamicsWorld();
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///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
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virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
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virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
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virtual void synchronizeMotionStates();
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virtual void synchronizeMotionStates();
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///this can be useful to synchronize a single rigid body -> graphics object
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void synchronizeSingleMotionState(btRigidBody* body);
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void synchronizeSingleMotionState(btRigidBody * body);
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virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
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virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false);
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virtual void removeConstraint(btTypedConstraint* constraint);
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virtual void removeConstraint(btTypedConstraint * constraint);
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virtual void addAction(btActionInterface*);
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virtual void addAction(btActionInterface*);
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virtual void removeAction(btActionInterface*);
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btSimulationIslandManager* getSimulationIslandManager()
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virtual void removeAction(btActionInterface*);
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btSimulationIslandManager* getSimulationIslandManager()
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{
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return m_islandManager;
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}
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const btSimulationIslandManager* getSimulationIslandManager() const
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const btSimulationIslandManager* getSimulationIslandManager() const
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{
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return m_islandManager;
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}
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btCollisionWorld* getCollisionWorld()
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btCollisionWorld* getCollisionWorld()
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{
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return this;
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}
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virtual void setGravity(const btVector3& gravity);
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virtual void setGravity(const btVector3& gravity);
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virtual btVector3 getGravity () const;
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virtual btVector3 getGravity() const;
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virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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virtual void addRigidBody(btRigidBody* body);
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virtual void addRigidBody(btRigidBody * body);
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virtual void addRigidBody(btRigidBody* body, int group, int mask);
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virtual void addRigidBody(btRigidBody * body, int group, int mask);
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virtual void removeRigidBody(btRigidBody* body);
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virtual void removeRigidBody(btRigidBody * body);
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///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
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virtual void removeCollisionObject(btCollisionObject* collisionObject);
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virtual void removeCollisionObject(btCollisionObject * collisionObject);
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virtual void debugDrawConstraint(btTypedConstraint * constraint);
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virtual void debugDrawConstraint(btTypedConstraint* constraint);
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virtual void debugDrawWorld();
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virtual void debugDrawWorld();
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virtual void setConstraintSolver(btConstraintSolver* solver);
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virtual void setConstraintSolver(btConstraintSolver * solver);
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virtual btConstraintSolver* getConstraintSolver();
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virtual int getNumConstraints() const;
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virtual btTypedConstraint* getConstraint(int index) ;
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virtual int getNumConstraints() const;
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virtual btTypedConstraint* getConstraint(int index);
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virtual const btTypedConstraint* getConstraint(int index) const;
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virtual btDynamicsWorldType getWorldType() const
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virtual btDynamicsWorldType getWorldType() const
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{
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return BT_DISCRETE_DYNAMICS_WORLD;
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}
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///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
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virtual void clearForces();
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virtual void clearForces();
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///apply gravity, call this once per timestep
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virtual void applyGravity();
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virtual void applyGravity();
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virtual void setNumTasks(int numTasks)
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virtual void setNumTasks(int numTasks)
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{
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(void) numTasks;
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(void)numTasks;
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}
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///obsolete, use updateActions instead
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@@ -194,15 +187,15 @@ public:
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}
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///obsolete, use addAction instead
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virtual void addVehicle(btActionInterface* vehicle);
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virtual void addVehicle(btActionInterface * vehicle);
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///obsolete, use removeAction instead
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virtual void removeVehicle(btActionInterface* vehicle);
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virtual void removeVehicle(btActionInterface * vehicle);
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///obsolete, use addAction instead
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virtual void addCharacter(btActionInterface* character);
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virtual void addCharacter(btActionInterface * character);
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///obsolete, use removeAction instead
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virtual void removeCharacter(btActionInterface* character);
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virtual void removeCharacter(btActionInterface * character);
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void setSynchronizeAllMotionStates(bool synchronizeAll)
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void setSynchronizeAllMotionStates(bool synchronizeAll)
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{
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m_synchronizeAllMotionStates = synchronizeAll;
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}
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@@ -215,18 +208,18 @@ public:
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{
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m_applySpeculativeContactRestitution = enable;
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}
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bool getApplySpeculativeContactRestitution() const
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{
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return m_applySpeculativeContactRestitution;
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}
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///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
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virtual void serialize(btSerializer* serializer);
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virtual void serialize(btSerializer * serializer);
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///Interpolate motion state between previous and current transform, instead of current and next transform.
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///This can relieve discontinuities in the rendering, due to penetrations
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void setLatencyMotionStateInterpolation(bool latencyInterpolation )
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void setLatencyMotionStateInterpolation(bool latencyInterpolation)
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{
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m_latencyMotionStateInterpolation = latencyInterpolation;
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}
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@@ -236,4 +229,4 @@ public:
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}
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};
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#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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