/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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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
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* the use of this software.
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*
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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
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* freely, 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
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* 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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package com.bulletphysics.dynamics;
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import com.bulletphysics.collision.broadphase.BroadphaseInterface;
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import com.bulletphysics.collision.broadphase.Dispatcher;
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import com.bulletphysics.collision.dispatch.CollisionConfiguration;
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import com.bulletphysics.collision.dispatch.CollisionWorld;
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import com.bulletphysics.dynamics.constraintsolver.ConstraintSolver;
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import com.bulletphysics.dynamics.constraintsolver.ContactSolverInfo;
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import com.bulletphysics.dynamics.constraintsolver.TypedConstraint;
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import com.bulletphysics.dynamics.vehicle.RaycastVehicle;
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import javax.vecmath.Vector3f;
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/**
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* DynamicsWorld is the interface class for several dynamics implementation,
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* basic, discrete, parallel, and continuous etc.
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*
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* @author jezek2
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*/
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public abstract class DynamicsWorld extends CollisionWorld {
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protected InternalTickCallback internalTickCallback;
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protected Object worldUserInfo;
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protected final ContactSolverInfo solverInfo = new ContactSolverInfo();
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public DynamicsWorld(Dispatcher dispatcher, BroadphaseInterface broadphasePairCache, CollisionConfiguration collisionConfiguration) {
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super(dispatcher, broadphasePairCache, collisionConfiguration);
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}
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public final int stepSimulation(float timeStep) {
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return stepSimulation(timeStep, 1, 1f / 60f);
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}
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public final int stepSimulation(float timeStep, int maxSubSteps) {
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return stepSimulation(timeStep, maxSubSteps, 1f / 60f);
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}
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/**
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* Proceeds the simulation over 'timeStep', units in preferably in seconds.<p>
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*
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* By default, Bullet will subdivide the timestep in constant substeps of each
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* 'fixedTimeStep'.<p>
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*
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* In order to keep the simulation real-time, the maximum number of substeps can
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* be clamped to 'maxSubSteps'.<p>
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*
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* You can disable subdividing the timestep/substepping by passing maxSubSteps=0
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* as second argument to stepSimulation, but in that case you have to keep the
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* timeStep constant.
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*/
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public abstract int stepSimulation(float timeStep, int maxSubSteps, float fixedTimeStep);
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public abstract void debugDrawWorld();
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public final void addConstraint(TypedConstraint constraint) {
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addConstraint(constraint, false);
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}
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public void addConstraint(TypedConstraint constraint, boolean disableCollisionsBetweenLinkedBodies) {
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}
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public void removeConstraint(TypedConstraint constraint) {
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}
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public void addAction(ActionInterface action) {
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}
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public void removeAction(ActionInterface action) {
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}
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public void addVehicle(RaycastVehicle vehicle) {
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}
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public void removeVehicle(RaycastVehicle vehicle) {
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}
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/**
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* Once a rigidbody is added to the dynamics world, it will get this gravity assigned.
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* Existing rigidbodies in the world get gravity assigned too, during this method.
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*/
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public abstract void setGravity(Vector3f gravity);
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public abstract Vector3f getGravity(Vector3f out);
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public abstract void addRigidBody(RigidBody body);
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public abstract void removeRigidBody(RigidBody body);
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public abstract void setConstraintSolver(ConstraintSolver solver);
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public abstract ConstraintSolver getConstraintSolver();
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public int getNumConstraints() {
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return 0;
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}
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public TypedConstraint getConstraint(int index) {
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return null;
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}
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// JAVA NOTE: not part of the original api
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public int getNumActions() {
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return 0;
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}
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// JAVA NOTE: not part of the original api
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public ActionInterface getAction(int index) {
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return null;
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}
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public abstract DynamicsWorldType getWorldType();
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public abstract void clearForces();
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/**
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* Set the callback for when an internal tick (simulation substep) happens, optional user info.
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*/
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public void setInternalTickCallback(InternalTickCallback cb, Object worldUserInfo) {
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this.internalTickCallback = cb;
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this.worldUserInfo = worldUserInfo;
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}
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public void setWorldUserInfo(Object worldUserInfo) {
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this.worldUserInfo = worldUserInfo;
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}
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public Object getWorldUserInfo() {
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return worldUserInfo;
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}
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public ContactSolverInfo getSolverInfo() {
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return solverInfo;
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}
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}
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