16 #ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H
17 #define BT_DISCRETE_DYNAMICS_WORLD_MT_H
58 const static size_t kCacheLineSize = 128;
63 char _cachelinePadding[kCacheLineSize -
sizeof(
btSpinMutex) -
sizeof(
void*)];
68 ThreadSolver* getAndLockThreadSolver();
btConstraintSolverType
btConstraintSolver provides solver interface
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual void solveConstraints(btContactSolverInfo &solverInfo) BT_OVERRIDE
virtual void createPredictiveContacts(btScalar timeStep) BT_OVERRIDE
btDiscreteDynamicsWorldMt(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolverPoolMt *solverPool, btConstraintSolver *constraintSolverMt, btCollisionConfiguration *collisionConfiguration)
virtual void predictUnconstraintMotion(btScalar timeStep) BT_OVERRIDE
virtual void integrateTransforms(btScalar timeStep) BT_OVERRIDE
virtual int stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) BT_OVERRIDE
virtual ~btDiscreteDynamicsWorldMt()
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint ** constraints
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo btIDebugDraw *debugDrawer BT_OVERRIDE
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int numConstraints
btSequentialImpulseConstraintSolverMt int numBodies
btSequentialImpulseConstraintSolverMt int btPersistentManifold int numManifolds
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
virtual void reset() BT_OVERRIDE
clear internal cached data and reset random seed
virtual ~btConstraintSolverPoolMt()
virtual btConstraintSolverType getSolverType() const BT_OVERRIDE
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifolds, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher) BT_OVERRIDE
solve a group of constraints
btConstraintSolverPoolMt(int numSolvers)