110 lines
2.1 KiB
C++
110 lines
2.1 KiB
C++
#ifndef BT_GPU_DYNAMICS_WORLD_H
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#define BT_GPU_DYNAMICS_WORLD_H
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class btVector3;
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class btRigidBody;
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class btCollisionObject;
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struct btGpuInternalData;//use this struct to avoid 'leaking' all OpenCL headers into clients code base
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class CLPhysicsDemo;
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#include "BulletCommon/btAlignedObjectArray.h"
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//#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
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class btGpuDynamicsWorld //: public btDynamicsWorld
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{
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btAlignedObjectArray<const class btCollisionShape*> m_uniqueShapes;
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btAlignedObjectArray<int> m_uniqueShapeMapping;
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CLPhysicsDemo* m_gpuPhysics;
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btVector3 m_gravity;
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bool m_once;
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bool initOpenCL(int preferredDeviceIndex, int preferredPlatformIndex, bool useInterop);
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void exitOpenCL();
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int findOrRegisterCollisionShape(const btCollisionShape* colShape);
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public:
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btGpuDynamicsWorld(int preferredOpenCLPlatformIndex,int preferredOpenCLDeviceIndex);
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virtual ~btGpuDynamicsWorld();
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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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{
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btAssert(0);
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}
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void debugDrawWorld() {}
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void setGravity(const btVector3& gravity);
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void addRigidBody(btRigidBody* body);
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void removeCollisionObject(btCollisionObject* colObj);
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btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray();
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const btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray() const;
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virtual void addAction(btActionInterface* action)
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{
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btAssert(0);
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}
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virtual void removeAction(btActionInterface* action)
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{
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btAssert(0);
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}
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btVector3 getGravity () const
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{
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return m_gravity;
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}
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virtual void addRigidBody(btRigidBody* body, short group, short mask)
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{
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addRigidBody(body);
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}
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virtual void removeRigidBody(btRigidBody* body)
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{
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btAssert(0);
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}
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virtual void setConstraintSolver(btConstraintSolver* solver)
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{
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btAssert(0);
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}
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virtual btConstraintSolver* getConstraintSolver()
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{
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btAssert(0);
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return 0;
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}
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virtual btDynamicsWorldType getWorldType() const
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{
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return BT_GPU_PHYSICS_WORLD;
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}
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virtual void clearForces()
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{
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btAssert(0);
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}
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};
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#endif //BT_GPU_DYNAMICS_WORLD_H
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