5d40d90bd0
then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.
43 lines
1.5 KiB
C
43 lines
1.5 KiB
C
#ifndef RAYTRACER_SETUP_H
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#define RAYTRACER_SETUP_H
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#include "Bullet3AppSupport/CommonRigidBodySetup.h"
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struct RaytracerPhysicsSetup : public CommonPhysicsSetup
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{
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struct RaytracerInternalData* m_internalData;
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RaytracerPhysicsSetup();
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virtual ~RaytracerPhysicsSetup();
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virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
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virtual void exitPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void debugDraw(int debugDrawFlags);
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
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virtual void removePickingConstraint();
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virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge);
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///worldRaytest performs a ray versus all objects in a collision world, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
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///singleObjectRaytest performs a ray versus one collision shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
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///lowlevelRaytest performs a ray versus convex shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool lowlevelRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
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};
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#endif //RAYTRACER_SETUP_H
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