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btDynamicsWorld.h

/*
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.
*/

#ifndef BT_DYNAMICS_WORLD_H
#define BT_DYNAMICS_WORLD_H

#include "../../BulletCollision/CollisionDispatch/btCollisionWorld.h"
class btTypedConstraint;
class btRaycastVehicle;
class btConstraintSolver;


///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
00026 class btDynamicsWorld : public btCollisionWorld
{
      public:
            

            btDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
            :btCollisionWorld(dispatcher,pairCache)
            {
            }

            virtual ~btDynamicsWorld()
            {
            }
            
            ///stepSimulation proceeds the simulation over timeStep units
            ///if maxSubSteps > 0, it will interpolate time steps
            virtual int       stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
                  
            virtual void      updateAabbs() = 0;
                        
            virtual void      addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};

            virtual void      removeConstraint(btTypedConstraint* constraint) {(void)constraint;};

            virtual void      addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};

            virtual void      removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};


            virtual void      setDebugDrawer(btIDebugDraw*  debugDrawer) = 0;

            virtual btIDebugDraw*   getDebugDrawer() = 0;

            //once a rigidbody is added to the dynamics world, it will get this gravity assigned
            //existing rigidbodies in the world get gravity assigned too, during this method
            virtual void      setGravity(const btVector3& gravity) = 0;

            virtual void      addRigidBody(btRigidBody* body) = 0;

            virtual void      removeRigidBody(btRigidBody* body) = 0;

            virtual void      setConstraintSolver(btConstraintSolver* solver) = 0;
            
            virtual     int         getNumConstraints() const {   return 0;         }
            
            virtual btTypedConstraint* getConstraint(int index)         {     (void)index;            return 0;         }
            
            virtual const btTypedConstraint* getConstraint(int index) const   {     (void)index;      return 0;   }

};

#endif //BT_DYNAMICS_WORLD_H


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