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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;

///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
00030 class btSimpleDynamicsWorld : public btDynamicsWorld

      btConstraintSolver*     m_constraintSolver;

      bool  m_ownsConstraintSolver;

      btIDebugDraw*     m_debugDrawer;

      void  predictUnconstraintMotion(float timeStep);
      void  integrateTransforms(float timeStep);
      btVector3   m_gravity;

      ///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
      btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);

      virtual ~btSimpleDynamicsWorld();
      ///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
      virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f);

      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);
      virtual void      updateAabbs();

      void  synchronizeMotionStates();

      virtual void      setConstraintSolver(btConstraintSolver* solver);



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