Bullet Collision Detection & Physics Library
btDynamicsWorld.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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_DYNAMICS_WORLD_H
17 #define BT_DYNAMICS_WORLD_H
18 
21 
22 class btTypedConstraint;
23 class btActionInterface;
24 class btConstraintSolver;
25 class btDynamicsWorld;
26 
28 typedef void (*btInternalTickCallback)(btDynamicsWorld* world, btScalar timeStep);
29 
31 {
38 };
39 
42 {
43 protected:
47 
49 
50 public:
51  btDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphase, btCollisionConfiguration* collisionConfiguration)
52  : btCollisionWorld(dispatcher, broadphase, collisionConfiguration), m_internalTickCallback(0), m_internalPreTickCallback(0), m_worldUserInfo(0)
53  {
54  }
55 
56  virtual ~btDynamicsWorld()
57  {
58  }
59 
64  virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)) = 0;
65 
66  virtual void debugDrawWorld() = 0;
67 
68  virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies = false)
69  {
70  (void)constraint;
71  (void)disableCollisionsBetweenLinkedBodies;
72  }
73 
74  virtual void removeConstraint(btTypedConstraint* constraint) { (void)constraint; }
75 
76  virtual void addAction(btActionInterface* action) = 0;
77 
78  virtual void removeAction(btActionInterface* action) = 0;
79 
80  //once a rigidbody is added to the dynamics world, it will get this gravity assigned
81  //existing rigidbodies in the world get gravity assigned too, during this method
82  virtual void setGravity(const btVector3& gravity) = 0;
83  virtual btVector3 getGravity() const = 0;
84 
85  virtual void synchronizeMotionStates() = 0;
86 
87  virtual void addRigidBody(btRigidBody* body) = 0;
88 
89  virtual void addRigidBody(btRigidBody* body, int group, int mask) = 0;
90 
91  virtual void removeRigidBody(btRigidBody* body) = 0;
92 
93  virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
94 
96 
97  virtual int getNumConstraints() const { return 0; }
98 
99  virtual btTypedConstraint* getConstraint(int index)
100  {
101  (void)index;
102  return 0;
103  }
104 
105  virtual const btTypedConstraint* getConstraint(int index) const
106  {
107  (void)index;
108  return 0;
109  }
110 
111  virtual btDynamicsWorldType getWorldType() const = 0;
112 
113  virtual void clearForces() = 0;
114 
116  void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo = 0, bool isPreTick = false)
117  {
118  if (isPreTick)
119  {
121  }
122  else
123  {
125  }
126  m_worldUserInfo = worldUserInfo;
127  }
128 
129  void setWorldUserInfo(void* worldUserInfo)
130  {
131  m_worldUserInfo = worldUserInfo;
132  }
133 
134  void* getWorldUserInfo() const
135  {
136  return m_worldUserInfo;
137  }
138 
140  {
141  return m_solverInfo;
142  }
143 
145  {
146  return m_solverInfo;
147  }
148 
150  virtual void addVehicle(btActionInterface* vehicle) { (void)vehicle; }
152  virtual void removeVehicle(btActionInterface* vehicle) { (void)vehicle; }
154  virtual void addCharacter(btActionInterface* character) { (void)character; }
156  virtual void removeCharacter(btActionInterface* character) { (void)character; }
157 };
158 
161 {
164 };
165 
168 {
171 };
172 
173 #endif //BT_DYNAMICS_WORLD_H
btVector3DoubleData m_gravity
void setWorldUserInfo(void *worldUserInfo)
virtual const btTypedConstraint * getConstraint(int index) const
virtual void removeCharacter(btActionInterface *character)
obsolete, use removeAction instead
virtual void addVehicle(btActionInterface *vehicle)
obsolete, use addAction instead.
virtual void clearForces()=0
virtual btDynamicsWorldType getWorldType() const =0
virtual void addCharacter(btActionInterface *character)
obsolete, use addAction instead.
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
virtual void synchronizeMotionStates()=0
void setInternalTickCallback(btInternalTickCallback cb, void *worldUserInfo=0, bool isPreTick=false)
Set the callback for when an internal tick (simulation substep) happens, optional user info...
btInternalTickCallback m_internalTickCallback
The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
virtual void setGravity(const btVector3 &gravity)=0
btVector3FloatData m_gravity
btContactSolverInfo m_solverInfo
virtual btVector3 getGravity() const =0
virtual void removeAction(btActionInterface *action)=0
virtual void addRigidBody(btRigidBody *body)=0
btContactSolverInfoFloatData m_solverInfo
btInternalTickCallback m_internalPreTickCallback
virtual void removeConstraint(btTypedConstraint *constraint)
virtual void setConstraintSolver(btConstraintSolver *solver)=0
void(* btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep)
Type for the callback for each tick.
virtual ~btDynamicsWorld()
virtual void removeRigidBody(btRigidBody *body)=0
virtual btTypedConstraint * getConstraint(int index)
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
virtual int getNumConstraints() const
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
btContactSolverInfoDoubleData m_solverInfo
void * getWorldUserInfo() const
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
const btContactSolverInfo & getSolverInfo() const
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0
stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
CollisionWorld is interface and container for the collision detection.
TypedConstraint is the baseclass for Bullet constraints and vehicles.
virtual void addConstraint(btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
btDynamicsWorldType
virtual void debugDrawWorld()=0
btDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btContactSolverInfo & getSolverInfo()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
virtual void addAction(btActionInterface *action)=0
virtual void removeVehicle(btActionInterface *vehicle)
obsolete, use removeAction instead
virtual btConstraintSolver * getConstraintSolver()=0