btMultiBodyDynamicsWorld.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org

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_MULTIBODY_DYNAMICS_WORLD_H
#define BT_MULTIBODY_DYNAMICS_WORLD_H

#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"


class btMultiBody;
class btMultiBodyConstraint;
class btMultiBodyConstraintSolver;
struct MultiBodyInplaceSolverIslandCallback;

class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
{
protected:
        btAlignedObjectArray<btMultiBody*> m_multiBodies;
        btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
        btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
        btMultiBodyConstraintSolver*    m_multiBodyConstraintSolver;
        MultiBodyInplaceSolverIslandCallback*   m_solverMultiBodyIslandCallback;

        virtual void    calculateSimulationIslands();
        virtual void    updateActivationState(btScalar timeStep);
        virtual void    solveConstraints(btContactSolverInfo& solverInfo);
        virtual void    integrateTransforms(btScalar timeStep);
public:

        btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
        
        virtual ~btMultiBodyDynamicsWorld ();

        virtual void    addMultiBody(btMultiBody* body, short group= btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter);

        virtual void    removeMultiBody(btMultiBody* body);

        virtual void    addMultiBodyConstraint( btMultiBodyConstraint* constraint);

        virtual void    removeMultiBodyConstraint( btMultiBodyConstraint* constraint);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H