/* * Bullet Continuous Collision Detection and Physics Library * Copyright (c) 2003-2009 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. * * Copied and modified from btDiscreteDynamicsWorld.h by AndrewMeadows on 2014.11.12. * */ #ifndef hifi_ThreadSafeDynamicsWorld_h#define hifi_ThreadSafeDynamicsWorld_h #include <BulletDynamics/Dynamics/btRigidBody.h>#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h> #include "ObjectMotionState.h" #include <functional> using SubStepCallback = std::function<void()>; ATTRIBUTE_ALIGNED16(class) ThreadSafeDynamicsWorld : public btDiscreteDynamicsWorld {public:    BT_DECLARE_ALIGNED_ALLOCATOR();     ThreadSafeDynamicsWorld(            btDispatcher* dispatcher,            btBroadphaseInterface* pairCache,            btConstraintSolver* constraintSolver,            btCollisionConfiguration* collisionConfiguration);     int getNumSubsteps() const { return _numSubsteps; }    int stepSimulationWithSubstepCallback(btScalar timeStep, int maxSubSteps = 1,                                          btScalar fixedTimeStep = btScalar(1.)/btScalar(60.),                                          SubStepCallback onSubStep = []() { });    virtual void synchronizeMotionStates() override;    virtual void saveKinematicState(btScalar timeStep) override;     // btDiscreteDynamicsWorld::m_localTime is the portion of real-time that has not yet been simulated    // but is used for MotionState::setWorldTransform() extrapolation (a feature that Bullet uses to provide    // smoother rendering of objects when the physics simulation loop is ansynchronous to the render loop).    float getLocalTimeAccumulation() const { return m_localTime; }     const VectorOfMotionStates& getChangedMotionStates() const { return _changedMotionStates; }    const VectorOfMotionStates& getDeactivatedMotionStates() const { return _deactivatedStates; }     void addChangedMotionState(ObjectMotionState* motionState) { _changedMotionStates.push_back(motionState); }    virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color) override; private:    // call this instead of non-virtual btDiscreteDynamicsWorld::synchronizeSingleMotionState()    void synchronizeMotionState(btRigidBody* body);    void drawConnectedSpheres(btIDebugDraw* drawer, btScalar radius1, btScalar radius2, const btVector3& position1,                               const btVector3& position2, const btVector3& color);     VectorOfMotionStates _changedMotionStates;    VectorOfMotionStates _deactivatedStates;    SetOfMotionStates _activeStates;    SetOfMotionStates _lastActiveStates;    int _numSubsteps { 0 };}; #endif // hifi_ThreadSafeDynamicsWorld_h