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fixed some merging conflicts

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This commit is contained in:
ejcoumans
2006-09-27 20:58:49 +00:00
parent eb23bb5c0c
commit d0f09040e9
8 changed files with 42 additions and 655 deletions
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4
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -333,12 +333,12 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const btCollisionShape* shape, const b
glDisable(GL_DEPTH_BUFFER_BIT); glDisable(GL_DEPTH_BUFFER_BIT);
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z()); glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
if (debugMode&IDebugDraw::DBG_DrawText) if (debugMode&btIDebugDraw::DBG_DrawText)
{ {
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetName()); BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetName());
} }
if (debugMode&IDebugDraw::DBG_DrawFeaturesText) if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
{ {
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo()); BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
} }

4
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -34,8 +34,8 @@ class btCollisionShape;
struct btCollisionObject struct btCollisionObject
{ {
btTransform m_worldTransform; btTransform m_worldTransform;
BroadphaseProxy* m_broadphaseHandle; btBroadphaseProxy* m_broadphaseHandle;
CollisionShape* m_collisionShape; btCollisionShape* m_collisionShape;
//m_interpolationWorldTransform is used for CCD and interpolation //m_interpolationWorldTransform is used for CCD and interpolation
//it can be either previous or future (predicted) transform //it can be either previous or future (predicted) transform

333
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -1,327 +1,18 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
#include "btDiscreteDynamicsWorld.h" This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
//collision detection 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.
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" 3. This notice may not be removed or altered from any source distribution.
#include "BulletCollision/CollisionShapes/btCollisionShape.h" */
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
//rigidbody & constraints
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
//vehicle
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
#include "BulletDynamics/Vehicle/btWheelInfo.h"
#include <algorithm>
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
:btDynamicsWorld(new CollisionDispatcher(),new SimpleBroadphase()),
m_constraintSolver(new SequentialImpulseConstraintSolver)
{
m_islandManager = new SimulationIslandManager();
}
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(Dispatcher* dispatcher,OverlappingPairCache* pairCache,ConstraintSolver* constraintSolver)
:btDynamicsWorld(dispatcher,pairCache),
m_constraintSolver(constraintSolver)
{
m_islandManager = new SimulationIslandManager();
}
btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
{
delete m_islandManager ;
delete m_constraintSolver;
//delete the dispatcher and paircache
delete m_dispatcher1;
m_dispatcher1 = 0;
delete m_pairCache;
m_pairCache = 0;
}
void btDiscreteDynamicsWorld::stepSimulation(float timeStep)
{
///update aabbs information
updateAabbs();
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
///perform collision detection
PerformDiscreteCollisionDetection();
calculateSimulationIslands();
ContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
///solve non-contact constraints
solveNoncontactConstraints(infoGlobal);
///solve contact constraints
solveContactConstraints(infoGlobal);
///update vehicle simulation
updateVehicles(timeStep);
///CallbackTriggers();
///integrate transforms
integrateTransforms(timeStep);
updateActivationState( timeStep );
}
void btDiscreteDynamicsWorld::updateVehicles(float timeStep)
{
for (int i=0;i<m_vehicles.size();i++)
{
RaycastVehicle* vehicle = m_vehicles[i];
vehicle->UpdateVehicle( timeStep);
}
}
void btDiscreteDynamicsWorld::updateActivationState(float timeStep)
{
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
body->updateDeactivation(timeStep);
if (body->wantsSleeping())
{
if (body->GetActivationState() == ACTIVE_TAG)
body->SetActivationState( WANTS_DEACTIVATION );
} else
{
if (body->GetActivationState() != DISABLE_DEACTIVATION)
body->SetActivationState( ACTIVE_TAG );
}
}
}
}
void btDiscreteDynamicsWorld::addConstraint(TypedConstraint* constraint)
{
m_constraints.push_back(constraint);
}
void btDiscreteDynamicsWorld::removeConstraint(TypedConstraint* constraint)
{
std::vector<TypedConstraint*>::iterator cit = std::find(m_constraints.begin(),m_constraints.end(),constraint);
if (!(cit==m_constraints.end()))
{
m_constraints.erase(cit);
}
}
void btDiscreteDynamicsWorld::addVehicle(RaycastVehicle* vehicle)
{
m_vehicles.push_back(vehicle);
}
void btDiscreteDynamicsWorld::removeVehicle(RaycastVehicle* vehicle)
{
std::vector<RaycastVehicle*>::iterator vit = std::find(m_vehicles.begin(),m_vehicles.end(),vehicle);
if (!(vit==m_vehicles.end()))
{
m_vehicles.erase(vit);
}
}
void btDiscreteDynamicsWorld::solveContactConstraints(ContactSolverInfo& solverInfo)
{
struct InplaceSolverIslandCallback : public SimulationIslandManager::IslandCallback
{
ContactSolverInfo& m_solverInfo;
ConstraintSolver* m_solver;
IDebugDraw* m_debugDrawer;
InplaceSolverIslandCallback(
ContactSolverInfo& solverInfo,
ConstraintSolver* solver,
IDebugDraw* debugDrawer)
:m_solverInfo(solverInfo),
m_solver(solver),
m_debugDrawer(debugDrawer)
{
}
virtual void ProcessIsland(PersistentManifold** manifolds,int numManifolds)
{
m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
}
};
IDebugDraw* debugDraw = 0;
InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, debugDraw);
/// solve all the contact points and contact friction
m_islandManager->BuildAndProcessIslands(GetCollisionWorld()->GetDispatcher(),GetCollisionWorld()->GetCollisionObjectArray(),&solverCallback);
}
void btDiscreteDynamicsWorld::solveNoncontactConstraints(ContactSolverInfo& solverInfo)
{
#ifdef USE_QUICKPROF
Profiler::beginBlock("SolveConstraint");
#endif //USE_QUICKPROF
int i;
int numConstraints = m_constraints.size();
///constraint preparation: building jacobians
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
constraint->BuildJacobian();
}
//solve the regular non-contact constraints (point 2 point, hinge, generic d6)
for (int g=0;g<solverInfo.m_numIterations;g++)
{
//
// constraint solving
//
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
constraint->SolveConstraint( solverInfo.m_timeStep );
}
}
#ifdef USE_QUICKPROF
Profiler::endBlock("SolveConstraint");
#endif //USE_QUICKPROF
}
void btDiscreteDynamicsWorld::calculateSimulationIslands()
{
#ifdef USE_QUICKPROF
Profiler::beginBlock("IslandUnionFind");
#endif //USE_QUICKPROF
GetSimulationIslandManager()->UpdateActivationState(GetCollisionWorld(),GetCollisionWorld()->GetDispatcher());
{
int i;
int numConstraints = m_constraints.size();
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
const RigidBody* colObj0 = &constraint->GetRigidBodyA();
const RigidBody* colObj1 = &constraint->GetRigidBodyB();
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
if (colObj0->IsActive() || colObj1->IsActive())
{
GetSimulationIslandManager()->GetUnionFind().unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}
}
//Store the island id in each body
GetSimulationIslandManager()->StoreIslandActivationState(GetCollisionWorld());
#ifdef USE_QUICKPROF
Profiler::endBlock("IslandUnionFind");
#endif //USE_QUICKPROF
}
void btDiscreteDynamicsWorld::updateAabbs()
{
SimdTransform predictedTrans;
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
{
SimdPoint3 minAabb,maxAabb;
colObj->m_collisionShape->GetAabb(colObj->m_worldTransform, minAabb,maxAabb);
SimpleBroadphase* bp = (SimpleBroadphase*)m_pairCache;
bp->SetAabb(body->m_broadphaseHandle,minAabb,maxAabb);
}
}
}
}
void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
{
SimdTransform predictedTrans;
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
body->proceedToTransform( predictedTrans);
}
}
}
}
void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
{
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
if (body->IsActive() && (!body->IsStatic()))
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
}
}
}
}=======
#include "btDiscreteDynamicsWorld.h" #include "btDiscreteDynamicsWorld.h"

97
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -18,103 +18,6 @@ subject to the following restrictions:
#include "btDynamicsWorld.h" #include "btDynamicsWorld.h"
class Dispatcher;
class OverlappingPairCache;
class ConstraintSolver;
class SimulationIslandManager;
class TypedConstraint;
struct ContactSolverInfo;
class RaycastVehicle;
#include <vector>
///btDiscreteDynamicsWorld provides discrete rigid body simulation
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btDiscreteDynamicsWorld : public btDynamicsWorld
{
protected:
ConstraintSolver* m_constraintSolver;
SimulationIslandManager* m_islandManager;
std::vector<TypedConstraint*> m_constraints;
std::vector<RaycastVehicle*> m_vehicles;
void predictUnconstraintMotion(float timeStep);
void integrateTransforms(float timeStep);
void updateAabbs();
void calculateSimulationIslands();
void solveNoncontactConstraints(ContactSolverInfo& solverInfo);
void solveContactConstraints(ContactSolverInfo& solverInfo);
void updateActivationState(float timeStep);
void updateVehicles(float timeStep);
public:
btDiscreteDynamicsWorld(Dispatcher* dispatcher,OverlappingPairCache* pairCache,ConstraintSolver* constraintSolver);
btDiscreteDynamicsWorld();
virtual ~btDiscreteDynamicsWorld();
virtual void stepSimulation( float timeStep);
void addConstraint(TypedConstraint* constraint);
void removeConstraint(TypedConstraint* constraint);
void addVehicle(RaycastVehicle* vehicle);
void removeVehicle(RaycastVehicle* vehicle);
SimulationIslandManager* GetSimulationIslandManager()
{
return m_islandManager;
}
const SimulationIslandManager* GetSimulationIslandManager() const
{
return m_islandManager;
}
CollisionWorld* GetCollisionWorld()
{
return this;
}
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H=======
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
#define BT_DISCRETE_DYNAMICS_WORLD_H
#include "btDynamicsWorld.h"
class btDispatcher; class btDispatcher;
class btOverlappingPairCache; class btOverlappingPairCache;
class btConstraintSolver; class btConstraintSolver;

50
src/BulletDynamics/Dynamics/btDynamicsWorld.h
View File

@@ -1,50 +1,3 @@
<<<<<<< .working
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_DYNAMICS_WORLD_H
#define BT_DYNAMICS_WORLD_H
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
class TypedConstraint;
///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
class btDynamicsWorld : public CollisionWorld
{
public:
btDynamicsWorld(Dispatcher* dispatcher,OverlappingPairCache* pairCache)
:CollisionWorld(dispatcher,pairCache)
{
}
virtual ~btDynamicsWorld()
{
}
///stepSimulation proceeds the simulation over timeStep units
virtual void stepSimulation( float timeStep) = 0;
virtual void addConstraint(TypedConstraint* constraint) {};
virtual void removeConstraint(TypedConstraint* constraint) {};
};
#endif //BT_DYNAMICS_WORLD_H=======
/* /*
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
@@ -90,4 +43,5 @@ class btDynamicsWorld : public btCollisionWorld
}; };
#endif //BT_DYNAMICS_WORLD_H>>>>>>> .merge-right.r324 #endif //BT_DYNAMICS_WORLD_H

24
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -42,22 +42,22 @@ extern float gAngularSleepingTreshold;
class btRigidBody : public btCollisionObject class btRigidBody : public btCollisionObject
{ {
SimdMatrix3x3 m_invInertiaTensorWorld; btMatrix3x3 m_invInertiaTensorWorld;
SimdVector3 m_linearVelocity; btVector3 m_linearVelocity;
SimdVector3 m_angularVelocity; btVector3 m_angularVelocity;
SimdScalar m_inverseMass; btScalar m_inverseMass;
SimdVector3 m_gravity; btVector3 m_gravity;
SimdVector3 m_invInertiaLocal; btVector3 m_invInertiaLocal;
SimdVector3 m_totalForce; btVector3 m_totalForce;
SimdVector3 m_totalTorque; btVector3 m_totalTorque;
SimdScalar m_linearDamping; btScalar m_linearDamping;
SimdScalar m_angularDamping; btScalar m_angularDamping;
SimdScalar m_kinematicTimeStep; btScalar m_kinematicTimeStep;
BroadphaseProxy* m_broadphaseProxy; btBroadphaseProxy* m_broadphaseProxy;
public: public:

130
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -1,123 +1,17 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
#include "btSimpleDynamicsWorld.h" This software is provided 'as-is', without any express or implied warranty.
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" In no event will the authors be held liable for any damages arising from the use of this software.
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" Permission is granted to anyone to use this software for any purpose,
#include "BulletCollision/CollisionShapes/btCollisionShape.h" including commercial applications, and to alter it and redistribute it freely,
#include "BulletDynamics/Dynamics/btRigidBody.h" subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
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.
btSimpleDynamicsWorld::btSimpleDynamicsWorld() 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
:btDynamicsWorld(new CollisionDispatcher(),new SimpleBroadphase()), 3. This notice may not be removed or altered from any source distribution.
m_constraintSolver(new SequentialImpulseConstraintSolver) */
{
}
btSimpleDynamicsWorld::btSimpleDynamicsWorld(Dispatcher* dispatcher,OverlappingPairCache* pairCache,ConstraintSolver* constraintSolver)
:btDynamicsWorld(dispatcher,pairCache),
m_constraintSolver(constraintSolver)
{
}
btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
{
delete m_constraintSolver;
//delete the dispatcher and paircache
delete m_dispatcher1;
m_dispatcher1 = 0;
delete m_pairCache;
m_pairCache = 0;
}
void btSimpleDynamicsWorld::stepSimulation(float timeStep)
{
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
///perform collision detection
PerformDiscreteCollisionDetection();
///solve contact constraints
PersistentManifold** manifoldPtr = ((CollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
int numManifolds = m_dispatcher1->GetNumManifolds();
ContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
IDebugDraw* debugDrawer=0;
m_constraintSolver->SolveGroup(manifoldPtr, numManifolds,infoGlobal,debugDrawer);
///integrate transforms
integrateTransforms(timeStep);
updateAabbs();
}
void btSimpleDynamicsWorld::updateAabbs()
{
SimdTransform predictedTrans;
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
{
SimdPoint3 minAabb,maxAabb;
colObj->m_collisionShape->GetAabb(colObj->m_worldTransform, minAabb,maxAabb);
SimpleBroadphase* bp = (SimpleBroadphase*)m_pairCache;
bp->SetAabb(body->m_broadphaseHandle,minAabb,maxAabb);
}
}
}
}
void btSimpleDynamicsWorld::integrateTransforms(float timeStep)
{
SimdTransform predictedTrans;
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
if (body->IsActive() && (!body->IsStatic()))
{
body->predictIntegratedTransform(timeStep, predictedTrans);
body->proceedToTransform( predictedTrans);
}
}
}
}
void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
{
for (int i=0;i<m_collisionObjects.size();i++)
{
CollisionObject* colObj = m_collisionObjects[i];
if (colObj->m_internalOwner)
{
RigidBody* body = (RigidBody*)colObj->m_internalOwner;
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
if (body->IsActive() && (!body->IsStatic()))
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
}
}
}
}=======
#include "btSimpleDynamicsWorld.h" #include "btSimpleDynamicsWorld.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"

55
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
View File

@@ -18,61 +18,6 @@ subject to the following restrictions:
#include "btDynamicsWorld.h" #include "btDynamicsWorld.h"
class Dispatcher;
class OverlappingPairCache;
class ConstraintSolver;
///btSimpleDynamicsWorld demonstrates very basic usage of Bullet rigid body dynamics
///It can be used for basic simulations, and as a starting point for porting Bullet
///btSimpleDynamicsWorld lacks object deactivation, island management and other concepts.
///For more complicated simulations, btDiscreteDynamicsWorld and btContinuousDynamicsWorld are recommended
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btSimpleDynamicsWorld : public btDynamicsWorld
{
protected:
ConstraintSolver* m_constraintSolver;
void predictUnconstraintMotion(float timeStep);
void integrateTransforms(float timeStep);
void updateAabbs();
public:
btSimpleDynamicsWorld(Dispatcher* dispatcher,OverlappingPairCache* pairCache,ConstraintSolver* constraintSolver);
btSimpleDynamicsWorld();
virtual ~btSimpleDynamicsWorld();
virtual void stepSimulation( float timeStep);
};
#endif //BT_SIMPLE_DYNAMICS_WORLD_H=======
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_SIMPLE_DYNAMICS_WORLD_H
#define BT_SIMPLE_DYNAMICS_WORLD_H
#include "btDynamicsWorld.h"
class btDispatcher; class btDispatcher;
class btOverlappingPairCache; class btOverlappingPairCache;
class btConstraintSolver; class btConstraintSolver;