btDynamicsWorld.h

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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.
*/

#ifndef BT_DYNAMICS_WORLD_H
#define BT_DYNAMICS_WORLD_H

#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"

class btTypedConstraint;
class btActionInterface;
class btConstraintSolver;
class btDynamicsWorld;


typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);

enum btDynamicsWorldType
{
        BT_SIMPLE_DYNAMICS_WORLD=1,
        BT_DISCRETE_DYNAMICS_WORLD=2,
        BT_CONTINUOUS_DYNAMICS_WORLD=3
};

class btDynamicsWorld : public btCollisionWorld
{

protected:
                btInternalTickCallback m_internalTickCallback;
                btInternalTickCallback m_internalPreTickCallback;
                void*   m_worldUserInfo;

                btContactSolverInfo     m_solverInfo;

public:
                

                btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
                :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0)
                {
                }

                virtual ~btDynamicsWorld()
                {
                }
                
                virtual int             stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
                        
                virtual void    debugDrawWorld() = 0;
                                
                virtual void    addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) 
                { 
                        (void)constraint; (void)disableCollisionsBetweenLinkedBodies;
                }

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

                virtual void    addAction(btActionInterface* action) = 0;

                virtual void    removeAction(btActionInterface* action) = 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 btVector3 getGravity () const = 0;

                virtual void    synchronizeMotionStates() = 0;

                virtual void    addRigidBody(btRigidBody* body) = 0;

                virtual void    removeRigidBody(btRigidBody* body) = 0;

                virtual void    setConstraintSolver(btConstraintSolver* solver) = 0;

                virtual btConstraintSolver* getConstraintSolver() = 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;       }

                virtual btDynamicsWorldType     getWorldType() const=0;

                virtual void    clearForces() = 0;

                void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false) 
                { 
                        if (isPreTick)
                        {
                                m_internalPreTickCallback = cb;
                        } else
                        {
                                m_internalTickCallback = cb; 
                        }
                        m_worldUserInfo = worldUserInfo;
                }

                void    setWorldUserInfo(void* worldUserInfo)
                {
                        m_worldUserInfo = worldUserInfo;
                }

                void*   getWorldUserInfo() const
                {
                        return m_worldUserInfo;
                }

                btContactSolverInfo& getSolverInfo()
                {
                        return m_solverInfo;
                }


                virtual void    addVehicle(btActionInterface* vehicle) {(void)vehicle;}
                virtual void    removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
                virtual void    addCharacter(btActionInterface* character) {(void)character;}
                virtual void    removeCharacter(btActionInterface* character) {(void)character;}


};

#endif //BT_DYNAMICS_WORLD_H

---

bullet
Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Fri Jan 11 10:10:12 2013