///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
public btSimpleDynamicsWorld(btDispatcher dispatcher
, btBroadphaseInterface pairCache
,btConstraintSolver constraintSolver
, btCollisionConfiguration collisionConfiguration)
: base( dispatcher, pairCache, collisionConfiguration )
{
m_constraintSolver = ( constraintSolver );
m_ownsConstraintSolver = ( false );
m_gravity = new btVector3( 0, 0, -9.8 );
}
internal void Initialize( btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration )
{
base.Initialize( dispatcher, pairCache, collisionConfiguration );
m_solverIslandCallback = null;
m_constraintSolver = ( constraintSolver );
m_gravity = new btVector3( 0, -10, 0 );
m_localTime = ( 0 );
m_fixedTimeStep = ( 0 );
m_synchronizeAllMotionStates = ( false );
m_applySpeculativeContactRestitution = ( false );
m_latencyMotionStateInterpolation = ( true );
if( m_constraintSolver == null )
{
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_ownsConstraintSolver = true;
}
else
{
m_ownsConstraintSolver = false;
}
m_islandManager = new btSimulationIslandManager();
m_ownsIslandManager = true;
m_solverIslandCallback = new InplaceSolverIslandCallback( m_constraintSolver, dispatcher );
}
public btDiscreteDynamicsWorld( btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration )
: base( dispatcher, pairCache, collisionConfiguration )
{
Initialize( dispatcher, pairCache, constraintSolver, collisionConfiguration );
}
internal InplaceSolverIslandCallback(
btConstraintSolver solver,
btDispatcher dispatcher )
{
m_solverInfo = null;
m_solver = ( solver );
m_sortedConstraints = null;
m_numConstraints = ( 0 );
m_debugDrawer = null;
m_dispatcher = ( dispatcher );
}
internal void setConstraintSolver( btConstraintSolver solver )
{
if( m_ownsConstraintSolver )
{
m_constraintSolver = null;
}
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
m_solverIslandCallback.m_solver = solver;
}
public virtual void setConstraintSolver( btConstraintSolver* solver )
{
if( m_ownsConstraintSolver )
{
btAlignedFree( m_constraintSolver );
}
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
}