17a214a2b3
This was harder using default arguments. Thanks Vangelis Kokkevis for pointing this out. - Fixed memoryleak in the ConstraintDemo and Raytracer demo. - fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation. Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780 - Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this. - Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this). User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
162 lines
4.7 KiB
C++
162 lines
4.7 KiB
C++
/*
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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_DISCRETE_DYNAMICS_WORLD_H
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#define BT_DISCRETE_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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class btSimulationIslandManager;
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class btTypedConstraint;
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#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
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class btRaycastVehicle;
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class btIDebugDraw;
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#include "LinearMath/btAlignedObjectArray.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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class btDiscreteDynamicsWorld : public btDynamicsWorld
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{
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protected:
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btConstraintSolver* m_constraintSolver;
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btSimulationIslandManager* m_islandManager;
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btAlignedObjectArray<btTypedConstraint*> m_constraints;
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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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//for variable timesteps
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bool m_ownsIslandManager;
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bool m_ownsConstraintSolver;
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btContactSolverInfo m_solverInfo;
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btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
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int m_profileTimings;
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virtual void predictUnconstraintMotion(btScalar timeStep);
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void integrateTransforms(btScalar timeStep);
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void calculateSimulationIslands();
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void solveConstraints(btContactSolverInfo& solverInfo);
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void updateActivationState(btScalar timeStep);
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void updateVehicles(btScalar timeStep);
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void startProfiling(btScalar timeStep);
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virtual void internalSingleStepSimulation( btScalar timeStep);
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void synchronizeMotionStates();
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void saveKinematicState(btScalar timeStep);
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void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
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public:
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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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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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void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
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void removeConstraint(btTypedConstraint* constraint);
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void addVehicle(btRaycastVehicle* vehicle);
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void removeVehicle(btRaycastVehicle* vehicle);
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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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{
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return m_islandManager;
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}
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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 addRigidBody(btRigidBody* body);
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virtual void addRigidBody(btRigidBody* body, short group, short mask);
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virtual void removeRigidBody(btRigidBody* body);
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void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
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virtual void debugDrawWorld();
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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 const btTypedConstraint* getConstraint(int index) const;
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btContactSolverInfo& getSolverInfo()
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{
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return m_solverInfo;
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}
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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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///apply gravity, call this once per timestep
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virtual void applyGravity();
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};
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#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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