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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.


#include "btDynamicsWorld.h"

class btDispatcher;
class btOverlappingPairCache;
class btConstraintSolver;
class btSimulationIslandManager;
class btTypedConstraint;
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"

class btRaycastVehicle;
class btIDebugDraw;

#include <vector>

///btDiscreteDynamicsWorld provides discrete rigid body simulation
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
00035 class btDiscreteDynamicsWorld : public btDynamicsWorld

      btConstraintSolver*     m_constraintSolver;

      btSimulationIslandManager*    m_islandManager;

      std::vector<btTypedConstraint*> m_constraints;

      btIDebugDraw*     m_debugDrawer;

      btVector3   m_gravity;

      //for variable timesteps
      float m_localTime;
      //for variable timesteps

      bool  m_ownsIslandManager;
      bool  m_ownsConstraintSolver;

      btContactSolverInfo     m_solverInfo;

      std::vector<btRaycastVehicle*>      m_vehicles;

      int   m_profileTimings;

      void  predictUnconstraintMotion(float timeStep);
      void  integrateTransforms(float timeStep);
      void  calculateSimulationIslands();

      void  solveConstraints(btContactSolverInfo& solverInfo);
      void  updateActivationState(float timeStep);

      void  updateVehicles(float timeStep);

      void  startProfiling(float timeStep);

      virtual void      internalSingleStepSimulation( float timeStep);

      void  synchronizeMotionStates();

      void  saveKinematicState(float timeStep);


      ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
      btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);

      virtual ~btDiscreteDynamicsWorld();

      ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
      virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f);

      virtual void      updateAabbs();

      void  addConstraint(btTypedConstraint* constraint);

      void  removeConstraint(btTypedConstraint* constraint);

      void  addVehicle(btRaycastVehicle* vehicle);

      void  removeVehicle(btRaycastVehicle* vehicle);

      btSimulationIslandManager*    getSimulationIslandManager()
            return m_islandManager;

      const btSimulationIslandManager*    getSimulationIslandManager() const 
            return m_islandManager;

      btCollisionWorld* getCollisionWorld()
            return this;

      virtual void      setDebugDrawer(btIDebugDraw*  debugDrawer)
                  m_debugDrawer = debugDrawer;

      virtual btIDebugDraw*   getDebugDrawer()
            return m_debugDrawer;

      virtual void      setGravity(const btVector3& gravity);

      virtual void      addRigidBody(btRigidBody* body);

      virtual void      removeRigidBody(btRigidBody* body);

      void  debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);

      virtual void      setConstraintSolver(btConstraintSolver* solver);
      virtual     int         getNumConstraints() const;

      virtual btTypedConstraint* getConstraint(int index)   ;

      virtual const btTypedConstraint* getConstraint(int index) const;

      btContactSolverInfo& getSolverInfo()
            return m_solverInfo;



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