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71 lines
3.5 KiB
C++
71 lines
3.5 KiB
C++
/*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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*
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* This software is provided 'as-is', without any express or implied warranty.
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* In no event will the authors be held liable for any damages arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it freely,
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* subject to the following restrictions:
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*
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* 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.
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* 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*
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* Copied and modified from btDiscreteDynamicsWorld.h by AndrewMeadows on 2014.11.12.
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* */
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#ifndef hifi_ThreadSafeDynamicsWorld_h
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#define hifi_ThreadSafeDynamicsWorld_h
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#include <BulletDynamics/Dynamics/btRigidBody.h>
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#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
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#include "ObjectMotionState.h"
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#include <functional>
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using SubStepCallback = std::function<void()>;
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ATTRIBUTE_ALIGNED16(class) ThreadSafeDynamicsWorld : public btDiscreteDynamicsWorld {
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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ThreadSafeDynamicsWorld(
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btDispatcher* dispatcher,
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btBroadphaseInterface* pairCache,
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btConstraintSolver* constraintSolver,
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btCollisionConfiguration* collisionConfiguration);
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int getNumSubsteps() const { return _numSubsteps; }
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int stepSimulationWithSubstepCallback(btScalar timeStep, int maxSubSteps = 1,
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btScalar fixedTimeStep = btScalar(1.)/btScalar(60.),
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SubStepCallback onSubStep = []() { });
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virtual void synchronizeMotionStates() override;
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virtual void saveKinematicState(btScalar timeStep) override;
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// btDiscreteDynamicsWorld::m_localTime is the portion of real-time that has not yet been simulated
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// but is used for MotionState::setWorldTransform() extrapolation (a feature that Bullet uses to provide
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// smoother rendering of objects when the physics simulation loop is ansynchronous to the render loop).
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float getLocalTimeAccumulation() const { return m_localTime; }
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const VectorOfMotionStates& getChangedMotionStates() const { return _changedMotionStates; }
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const VectorOfMotionStates& getDeactivatedMotionStates() const { return _deactivatedStates; }
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void addChangedMotionState(ObjectMotionState* motionState) { _changedMotionStates.push_back(motionState); }
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virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color) override;
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private:
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// call this instead of non-virtual btDiscreteDynamicsWorld::synchronizeSingleMotionState()
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void synchronizeMotionState(btRigidBody* body);
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void drawConnectedSpheres(btIDebugDraw* drawer, btScalar radius1, btScalar radius2, const btVector3& position1,
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const btVector3& position2, const btVector3& color);
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VectorOfMotionStates _changedMotionStates;
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VectorOfMotionStates _deactivatedStates;
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SetOfMotionStates _activeStates;
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SetOfMotionStates _lastActiveStates;
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int _numSubsteps { 0 };
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};
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#endif // hifi_ThreadSafeDynamicsWorld_h
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