Bullet Collision Detection & Physics Library
btDiscreteDynamicsWorld.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_DISCRETE_DYNAMICS_WORLD_H
17 #define BT_DISCRETE_DYNAMICS_WORLD_H
18 
19 #include "btDynamicsWorld.h"
20 class btDispatcher;
22 class btConstraintSolver;
24 class btTypedConstraint;
25 class btActionInterface;
27 class btIDebugDraw;
28 
30 
32 #include "LinearMath/btThreads.h"
33 
38 {
39 protected:
42 
44 
46 
48 
50 
52 
53  //for variable timesteps
56  //for variable timesteps
57 
62 
64 
66 
68 
70  btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts
71 
72  virtual void predictUnconstraintMotion(btScalar timeStep);
73 
74  void integrateTransformsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel
75  virtual void integrateTransforms(btScalar timeStep);
76 
77  virtual void calculateSimulationIslands();
78 
79 
80 
81  virtual void updateActivationState(btScalar timeStep);
82 
83  void updateActions(btScalar timeStep);
84 
85  void startProfiling(btScalar timeStep);
86 
87  virtual void internalSingleStepSimulation(btScalar timeStep);
88 
89  void releasePredictiveContacts();
90  void createPredictiveContactsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel
91  virtual void createPredictiveContacts(btScalar timeStep);
92 
93  virtual void saveKinematicState(btScalar timeStep);
94 
95  void serializeRigidBodies(btSerializer * serializer);
96 
97  void serializeDynamicsWorldInfo(btSerializer * serializer);
98 
99 public:
101 
103  btDiscreteDynamicsWorld(btDispatcher * dispatcher, btBroadphaseInterface * pairCache, btConstraintSolver * constraintSolver, btCollisionConfiguration * collisionConfiguration);
104 
105  virtual ~btDiscreteDynamicsWorld();
106 
108  virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
109 
110  virtual void solveConstraints(btContactSolverInfo & solverInfo);
111 
112  virtual void synchronizeMotionStates();
113 
115  void synchronizeSingleMotionState(btRigidBody * body);
116 
117  virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false);
118 
119  virtual void removeConstraint(btTypedConstraint * constraint);
120 
121  virtual void addAction(btActionInterface*);
122 
123  virtual void removeAction(btActionInterface*);
124 
126  {
127  return m_islandManager;
128  }
129 
131  {
132  return m_islandManager;
133  }
134 
136  {
137  return this;
138  }
139 
140  virtual void setGravity(const btVector3& gravity);
141 
142  virtual btVector3 getGravity() const;
143 
144  virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
145 
146  virtual void addRigidBody(btRigidBody * body);
147 
148  virtual void addRigidBody(btRigidBody * body, int group, int mask);
149 
150  virtual void removeRigidBody(btRigidBody * body);
151 
153  virtual void removeCollisionObject(btCollisionObject * collisionObject);
154 
155  virtual void debugDrawConstraint(btTypedConstraint * constraint);
156 
157  virtual void debugDrawWorld();
158 
159  virtual void setConstraintSolver(btConstraintSolver * solver);
160 
161  virtual btConstraintSolver* getConstraintSolver();
162 
163  virtual int getNumConstraints() const;
164 
165  virtual btTypedConstraint* getConstraint(int index);
166 
167  virtual const btTypedConstraint* getConstraint(int index) const;
168 
170  {
172  }
173 
175  virtual void clearForces();
176 
178  virtual void applyGravity();
179 
180  virtual void setNumTasks(int numTasks)
181  {
182  (void)numTasks;
183  }
184 
186  virtual void updateVehicles(btScalar timeStep)
187  {
188  updateActions(timeStep);
189  }
190 
192  virtual void addVehicle(btActionInterface * vehicle);
194  virtual void removeVehicle(btActionInterface * vehicle);
196  virtual void addCharacter(btActionInterface * character);
198  virtual void removeCharacter(btActionInterface * character);
199 
200  void setSynchronizeAllMotionStates(bool synchronizeAll)
201  {
202  m_synchronizeAllMotionStates = synchronizeAll;
203  }
205  {
206  return m_synchronizeAllMotionStates;
207  }
208 
210  {
211  m_applySpeculativeContactRestitution = enable;
212  }
213 
215  {
216  return m_applySpeculativeContactRestitution;
217  }
218 
220  virtual void serialize(btSerializer * serializer);
221 
224  void setLatencyMotionStateInterpolation(bool latencyInterpolation)
225  {
226  m_latencyMotionStateInterpolation = latencyInterpolation;
227  }
229  {
230  return m_latencyMotionStateInterpolation;
231  }
232 
234  {
235  return m_nonStaticRigidBodies;
236  }
237 
239  {
240  return m_nonStaticRigidBodies;
241  }
242 };
243 
244 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
btDynamicsWorldType
@ BT_DISCRETE_DYNAMICS_WORLD
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
CollisionWorld is interface and container for the collision detection.
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
bool getLatencyMotionStateInterpolation() const
btSimulationIslandManager * getSimulationIslandManager()
void setSynchronizeAllMotionStates(bool synchronizeAll)
void setLatencyMotionStateInterpolation(bool latencyInterpolation)
Interpolate motion state between previous and current transform, instead of current and next transfor...
void setApplySpeculativeContactRestitution(bool enable)
virtual void setNumTasks(int numTasks)
btCollisionWorld * getCollisionWorld()
btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies()
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
virtual btDynamicsWorldType getWorldType() const
bool getApplySpeculativeContactRestitution() const
InplaceSolverIslandCallback * m_solverIslandCallback
btSimulationIslandManager * m_islandManager
btAlignedObjectArray< btTypedConstraint * > m_constraints
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
btAlignedObjectArray< btActionInterface * > m_actions
const btSimulationIslandManager * getSimulationIslandManager() const
btConstraintSolver * m_constraintSolver
virtual void updateVehicles(btScalar timeStep)
obsolete, use updateActions instead
const btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies() const
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep becaus...
Definition: btThreads.h:46
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82