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Viewing changes to extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

  • Committer: Bazaar Package Importer
  • Author(s): Khashayar Naderehvandi, Khashayar Naderehvandi, Alessio Treglia
  • Date: 2009-01-22 16:53:59 UTC
  • mfrom: (14.1.1 experimental)
  • Revision ID: james.westby@ubuntu.com-20090122165359-v0996tn7fbit64ni
Tags: 2.48a+dfsg-1ubuntu1
https://launchpad.net/bugs/320045
[ Khashayar Naderehvandi ]
* Merge from debian experimental (LP: #320045), Ubuntu remaining changes:
  - Add patch correcting header file locations.
  - Add libvorbis-dev and libgsm1-dev to Build-Depends.
  - Use avcodec_decode_audio2() in source/blender/src/hddaudio.c

[ Alessio Treglia ]
* Add missing previous changelog entries.

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extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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  can be used by probes that are checking whether the
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  library is actually installed.
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*/
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extern "C" void btBulletDynamicsProbe () {}
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btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
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:btDynamicsWorld(dispatcher,pairCache),
 
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extern "C" 
 
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{
 
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        void btBulletDynamicsProbe ();
 
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        void btBulletDynamicsProbe () {}
 
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}
 
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btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
 
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:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
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m_constraintSolver(constraintSolver),
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m_ownsConstraintSolver(false),
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m_debugDrawer(0),
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m_gravity(0,0,-10)
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{
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btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
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{
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        if (m_ownsConstraintSolver)
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                delete m_constraintSolver;
 
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                btAlignedFree( m_constraintSolver);
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}
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int             btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
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                btContactSolverInfo infoGlobal;
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                infoGlobal.m_timeStep = timeStep;
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                m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc);
 
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                m_constraintSolver->prepareSolve(0,numManifolds);
 
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                m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
 
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                m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
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        }
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        ///integrate transforms
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        synchronizeMotionStates();
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        clearForces();
 
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        return 1;
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}
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void    btSimpleDynamicsWorld::clearForces()
 
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{
 
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        //todo: iterate over awake simulation islands!
 
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        for ( int i=0;i<m_collisionObjects.size();i++)
 
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        {
 
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                btCollisionObject* colObj = m_collisionObjects[i];
 
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                btRigidBody* body = btRigidBody::upcast(colObj);
 
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                if (body)
 
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                {
 
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                        body->clearForces();
 
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                }
 
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        }
 
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}       
 
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void    btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
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{
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        }
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}
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btVector3 btSimpleDynamicsWorld::getGravity () const
 
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{
 
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        return m_gravity;
 
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}
 
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void    btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
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{
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        removeCollisionObject(body);
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                                btPoint3 minAabb,maxAabb;
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                                colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
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                                btBroadphaseInterface* bp = getBroadphase();
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                                bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
 
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                                bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
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                        }
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                }
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        }
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                        {
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                                if (body->isActive())
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                                {
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                                        body->applyForces( timeStep);
 
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                                        body->applyGravity();
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                                        body->integrateVelocities( timeStep);
 
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                                        body->applyDamping(timeStep);
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                                        body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
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                                }
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                        }
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{
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        if (m_ownsConstraintSolver)
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        {
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                delete m_constraintSolver;
 
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                btAlignedFree(m_constraintSolver);
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        }
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        m_ownsConstraintSolver = false;
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        m_constraintSolver = solver;
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}
 
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btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
 
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{
 
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        return m_constraintSolver;
 
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}