Back to index

supertuxkart  0.5+dfsg1
btSimpleDynamicsWorld.h
Go to the documentation of this file.
00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef BT_SIMPLE_DYNAMICS_WORLD_H
00017 #define BT_SIMPLE_DYNAMICS_WORLD_H
00018 
00019 #include "btDynamicsWorld.h"
00020 
00021 class btDispatcher;
00022 class btOverlappingPairCache;
00023 class btConstraintSolver;
00024 
00027 class btSimpleDynamicsWorld : public btDynamicsWorld
00028 {
00029 protected:
00030 
00031        btConstraintSolver*  m_constraintSolver;
00032 
00033        bool   m_ownsConstraintSolver;
00034 
00035        void   predictUnconstraintMotion(btScalar timeStep);
00036        
00037        void   integrateTransforms(btScalar timeStep);
00038               
00039        btVector3     m_gravity;
00040        
00041 public:
00042 
00043 
00044 
00046        btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
00047 
00048        virtual ~btSimpleDynamicsWorld();
00049               
00051        virtual int   stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
00052 
00053        virtual void  setGravity(const btVector3& gravity);
00054 
00055        virtual btVector3 getGravity () const;
00056 
00057        virtual void  addRigidBody(btRigidBody* body);
00058 
00059        virtual void  removeRigidBody(btRigidBody* body);
00060        
00061        virtual void  updateAabbs();
00062 
00063        void   synchronizeMotionStates();
00064 
00065        virtual void  setConstraintSolver(btConstraintSolver* solver);
00066 
00067        virtual btConstraintSolver* getConstraintSolver();
00068 
00069        virtual btDynamicsWorldType getWorldType() const
00070        {
00071               return BT_SIMPLE_DYNAMICS_WORLD;
00072        }
00073 
00074        virtual void  clearForces();
00075 
00076 };
00077 
00078 #endif //BT_SIMPLE_DYNAMICS_WORLD_H