irrDynamics.h

#include <map>
#include <irrlicht.h>

class irrDynamics
{
    public:
    static irrDynamics* getInstance();
    static void simStep(const irr::u32& curTimeStamp);
    static void shutdown();
    static void addTerrain(irr::scene::ITerrainSceneNode* terrain, irr::u32 lodLevel = 2);

    static class btRigidBody* addSphericalObject(irr::scene::ISceneNode* node, irr::f32 radius, irr::f32 mass);

    static class btRigidBody* addBoxObject(irr::scene::ISceneNode* node, irr::f32 mass);

    static class btRigidBody* addFloor(const irr::core::vector3df& normal = irr::core::vector3df(0.f, 1.f, 0.f), const irr::core::vector3df& offset = irr::core::vector3df(0.f, 0.f, 0.f));

    static bool createHingeConstraint(irr::scene::ISceneNode* nodeA, irr::scene::ISceneNode* nodeB, const irr::core::vector3df& pivotInA, const irr::core::vector3df& pivotInB, const irr::core::vector3df& axisInA, const irr::core::vector3df& axisInB);

    static bool createPoint2PointConstraint(irr::scene::ISceneNode* nodeA, irr::scene::ISceneNode* nodeB, const irr::core::vector3df& pivotInA, const irr::core::vector3df& pivotInB);

    static void removeObject(irr::scene::ISceneNode* node);

    static void applyCentralForce(irr::scene::ISceneNode* node, const irr::core::vector3df& force);
    static void setDamping(irr::scene::ISceneNode* node, irr::f32 linearDamping, irr::f32 angularDamping);
    static void setPosition(irr::scene::ISceneNode* node, const irr::core::vector3df& newPos);
//    static IRigidBody* createRigidBodyByBB(scene::ISceneNode* node, f32 mass);
    static void debugDraw();


    private:
    irrDynamics();
    irrDynamics(const irrDynamics& other);
    std::map<irr::scene::ISceneNode*, class btRigidBody*> objects;
    void updateObjects();
    ~irrDynamics();
    static irrDynamics* instance;
    void clearObjects();

    //bt-related stuff
    class btDefaultCollisionConfiguration *collisionConfiguration;
    class btBroadphaseInterface *broadPhase;
    class btCollisionDispatcher *dispatcher;
    class btSequentialImpulseConstraintSolver *solver;
    class btDiscreteDynamicsWorld* world;

//    irrBulletWorld* bWorld;
    irr::u32 lastStep;
};