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 
21 class btDispatcher;
23 class btConstraintSolver;
25 class btTypedConstraint;
26 class btActionInterface;
28 class btIDebugDraw;
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  virtual void solveConstraints(btContactSolverInfo & solverInfo);
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 synchronizeMotionStates();
111 
113  void synchronizeSingleMotionState(btRigidBody * body);
114 
115  virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false);
116 
117  virtual void removeConstraint(btTypedConstraint * constraint);
118 
119  virtual void addAction(btActionInterface*);
120 
121  virtual void removeAction(btActionInterface*);
122 
124  {
125  return m_islandManager;
126  }
127 
129  {
130  return m_islandManager;
131  }
132 
134  {
135  return this;
136  }
137 
138  virtual void setGravity(const btVector3& gravity);
139 
140  virtual btVector3 getGravity() const;
141 
142  virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
143 
144  virtual void addRigidBody(btRigidBody * body);
145 
146  virtual void addRigidBody(btRigidBody * body, int group, int mask);
147 
148  virtual void removeRigidBody(btRigidBody * body);
149 
151  virtual void removeCollisionObject(btCollisionObject * collisionObject);
152 
153  virtual void debugDrawConstraint(btTypedConstraint * constraint);
154 
155  virtual void debugDrawWorld();
156 
157  virtual void setConstraintSolver(btConstraintSolver * solver);
158 
159  virtual btConstraintSolver* getConstraintSolver();
160 
161  virtual int getNumConstraints() const;
162 
163  virtual btTypedConstraint* getConstraint(int index);
164 
165  virtual const btTypedConstraint* getConstraint(int index) const;
166 
168  {
170  }
171 
173  virtual void clearForces();
174 
176  virtual void applyGravity();
177 
178  virtual void setNumTasks(int numTasks)
179  {
180  (void)numTasks;
181  }
182 
184  virtual void updateVehicles(btScalar timeStep)
185  {
186  updateActions(timeStep);
187  }
188 
190  virtual void addVehicle(btActionInterface * vehicle);
192  virtual void removeVehicle(btActionInterface * vehicle);
194  virtual void addCharacter(btActionInterface * character);
196  virtual void removeCharacter(btActionInterface * character);
197 
198  void setSynchronizeAllMotionStates(bool synchronizeAll)
199  {
200  m_synchronizeAllMotionStates = synchronizeAll;
201  }
203  {
204  return m_synchronizeAllMotionStates;
205  }
206 
208  {
209  m_applySpeculativeContactRestitution = enable;
210  }
211 
213  {
214  return m_applySpeculativeContactRestitution;
215  }
216 
218  virtual void serialize(btSerializer * serializer);
219 
222  void setLatencyMotionStateInterpolation(bool latencyInterpolation)
223  {
224  m_latencyMotionStateInterpolation = latencyInterpolation;
225  }
227  {
228  return m_latencyMotionStateInterpolation;
229  }
230 };
231 
232 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
btSimulationIslandManager * m_islandManager
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
void setSynchronizeAllMotionStates(bool synchronizeAll)
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
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...
btAlignedObjectArray< btActionInterface * > m_actions
btSimulationIslandManager * getSimulationIslandManager()
virtual void updateVehicles(btScalar timeStep)
obsolete, use updateActions instead
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep becau...
Definition: btThreads.h:45
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
btCollisionWorld * getCollisionWorld()
bool getApplySpeculativeContactRestitution() const
btCollisionObject can be used to manage collision detection objects.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:26
virtual btDynamicsWorldType getWorldType() const
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
CollisionWorld is interface and container for the collision detection.
bool getLatencyMotionStateInterpolation() const
const btSimulationIslandManager * getSimulationIslandManager() const
TypedConstraint is the baseclass for Bullet constraints and vehicles.
virtual void setNumTasks(int numTasks)
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
btDynamicsWorldType
InplaceSolverIslandCallback * m_solverIslandCallback
btConstraintSolver * m_constraintSolver
void setApplySpeculativeContactRestitution(bool enable)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
void setLatencyMotionStateInterpolation(bool latencyInterpolation)
Interpolate motion state between previous and current transform, instead of current and next transfor...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btAlignedObjectArray< btTypedConstraint * > m_constraints