| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2007 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_CONTINUOUS_DYNAMICS_WORLD_H |
| #define BT_CONTINUOUS_DYNAMICS_WORLD_H |
| |
| #include "btDiscreteDynamicsWorld.h" |
| |
| ///btContinuousDynamicsWorld adds optional (per object) continuous collision detection for fast moving objects to the btDiscreteDynamicsWorld. |
| ///This copes with fast moving objects that otherwise would tunnel/miss collisions. |
| ///Under construction, don't use yet! Please use btDiscreteDynamicsWorld instead. |
| class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld |
| { |
| |
| void updateTemporalAabbs(btScalar timeStep); |
| |
| public: |
| |
| btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); |
| virtual ~btContinuousDynamicsWorld(); |
| |
| ///time stepping with calculation of time of impact for selected fast moving objects |
| virtual void internalSingleStepSimulation( btScalar timeStep); |
| |
| virtual void calculateTimeOfImpacts(btScalar timeStep); |
| |
| virtual btDynamicsWorldType getWorldType() const |
| { |
| return BT_CONTINUOUS_DYNAMICS_WORLD; |
| } |
| |
| }; |
| |
| #endif //BT_CONTINUOUS_DYNAMICS_WORLD_H |