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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;

class btRaycastVehicle;
class btIDebugDraw;
#include "LinearMath/btAlignedObjectArray.h"

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

      btConstraintSolver*     m_constraintSolver;

      btSimulationIslandManager*    m_islandManager;

      btAlignedObjectArray<btTypedConstraint*> m_constraints;

      btVector3   m_gravity;

      //for variable timesteps
      btScalar    m_localTime;
      //for variable timesteps

      bool  m_ownsIslandManager;
      bool  m_ownsConstraintSolver;

      btAlignedObjectArray<btRaycastVehicle*>   m_vehicles;

      int   m_profileTimings;

      virtual void      predictUnconstraintMotion(btScalar timeStep);
      virtual void      integrateTransforms(btScalar timeStep);
      void  calculateSimulationIslands();

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

      void  updateVehicles(btScalar timeStep);

      void  startProfiling(btScalar timeStep);

      virtual void      internalSingleStepSimulation( btScalar timeStep);

      void  synchronizeMotionStates();

      void  saveKinematicState(btScalar timeStep);

      void  debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);


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

      virtual ~btDiscreteDynamicsWorld();

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

      void  addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);

      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      setGravity(const btVector3& gravity);
      virtual btVector3 getGravity () const;

      virtual void      addRigidBody(btRigidBody* body);

      virtual void      addRigidBody(btRigidBody* body, short group, short mask);

      virtual void      removeRigidBody(btRigidBody* body);

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

      virtual void      debugDrawWorld();

      virtual void      setConstraintSolver(btConstraintSolver* solver);

      virtual btConstraintSolver* getConstraintSolver();
      virtual     int         getNumConstraints() const;

      virtual btTypedConstraint* getConstraint(int index)   ;

      virtual const btTypedConstraint* getConstraint(int index) const;

      virtual btDynamicsWorldType   getWorldType() const
            return BT_DISCRETE_DYNAMICS_WORLD;
      ///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
      virtual void      clearForces();

      ///apply gravity, call this once per timestep
      virtual void      applyGravity();

      virtual void      setNumTasks(int numTasks)



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