btDiscreteDynamicsWorld

type btDiscreteDynamicsWorld = class(btDynamicsWorld)

protected

  m_constraintSolver: btConstraintSolver;

  m_islandManager: btSimulationIslandManager;

  m_constraints: btTypedConstraintArray;

  m_nonStaticRigidBodies: btRigidBodyArray;

  m_gravity: btVector3;

  m_localTime: btScalar;

  m_ownsIslandManager: Boolean;

  m_ownsConstraintSolver: Boolean;

  m_synchronizeAllMotionStates: Boolean;

  m_actions: btActionInterfaceArray;

  m_profileTimings: Integer;

  procedure predictUnconstraintMotion(); overload;

  procedure integrateTransforms(); overload;

  procedure calculateSimulationIslands; overload;

  procedure solveConstraints(); virtual;

  procedure updateActivationState();

  procedure updateActions();

  procedure startProfiling();

  procedure internalSingleStepSimulation(); virtual;

  procedure saveKinematicState(); virtual;

public

  constructor create();

  destructor destroy; override;

  function stepSimulation(); override;

  procedure synchronizeMotionStates; override;

  procedure synchronizeSingleMotionState();

  procedure addConstraint(); override;

  procedure removeConstraint(); override;

  procedure addAction(); override;

  procedure removeAction(); override;

  procedure setGravity(); override;

  function getGravity; override;

  procedure addCollisionObject(); virtual;

  procedure addRigidBody();

  procedure removeRigidBody(); override;

  procedure removeCollisionObject(); override;

  procedure debugDrawConstraint();

  procedure debugDrawWorld; override;

  procedure setConstraintSolver(); override;

  function getConstraintSolver; override;

  function getNumConstraints; virtual;

  function getConstraint(); override;

  function getWorldType; override;

  procedure clearForces; override;

  procedure applyGravity; virtual;

  procedure setNumTasks(); virtual;

  procedure setSynchronizeAllMotionStates();

  function getSynchronizeAllMotionStates;

end;

btDiscreteDynamicsWorld

btDynamicsWorld

btCollisionWorld

TObject