Bullet Collision Detection & Physics Library
btMultiBodyDynamicsWorld.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 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_MULTIBODY_DYNAMICS_WORLD_H
17 #define BT_MULTIBODY_DYNAMICS_WORLD_H
18 
20 
21 #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
22 
23 class btMultiBody;
27 
31 {
32 protected:
38 
39  //cached data to avoid memory allocations
47 
48  virtual void calculateSimulationIslands();
49  virtual void updateActivationState(btScalar timeStep);
50  virtual void solveConstraints(btContactSolverInfo& solverInfo);
51 
52  virtual void serializeMultiBodies(btSerializer* serializer);
53 
54 public:
55  btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
56 
57  virtual ~btMultiBodyDynamicsWorld();
58 
60 
61  virtual void removeMultiBody(btMultiBody* body);
62 
63  virtual int getNumMultibodies() const
64  {
65  return m_multiBodies.size();
66  }
67 
68  btMultiBody* getMultiBody(int mbIndex)
69  {
70  return m_multiBodies[mbIndex];
71  }
72 
73  const btMultiBody* getMultiBody(int mbIndex) const
74  {
75  return m_multiBodies[mbIndex];
76  }
77 
78  virtual void addMultiBodyConstraint(btMultiBodyConstraint* constraint);
79 
80  virtual int getNumMultiBodyConstraints() const
81  {
83  }
84 
85  virtual btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex)
86  {
87  return m_multiBodyConstraints[constraintIndex];
88  }
89 
90  virtual const btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex) const
91  {
92  return m_multiBodyConstraints[constraintIndex];
93  }
94 
95  virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint);
96 
97  virtual void integrateTransforms(btScalar timeStep);
98 
99  virtual void debugDrawWorld();
100 
101  virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
102 
103  void forwardKinematics();
104  virtual void clearForces();
105  virtual void clearMultiBodyConstraintForces();
106  virtual void clearMultiBodyForces();
107  virtual void applyGravity();
108 
109  virtual void serialize(btSerializer* serializer);
111  virtual void setConstraintSolver(btConstraintSolver* solver);
112 };
113 #endif //BT_MULTIBODY_DYNAMICS_WORLD_H
virtual int getNumMultibodies() const
virtual const btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex) const
virtual void updateActivationState(btScalar timeStep)
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint *constraint)
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
virtual void clearForces()
the forces on each rigidbody is accumulating together with gravity. clear this after each timestep...
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
virtual void addMultiBody(btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter)
btAlignedObjectArray< btScalar > m_scratch_r
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
virtual void integrateTransforms(btScalar timeStep)
btAlignedObjectArray< btVector3 > m_scratch_local_origin
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
btAlignedObjectArray< btVector3 > m_scratch_v
const btMultiBody * getMultiBody(int mbIndex) const
virtual void removeMultiBodyConstraint(btMultiBodyConstraint *constraint)
btMultiBody * getMultiBody(int mbIndex)
virtual void applyGravity()
apply gravity, call this once per timestep
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
virtual void solveConstraints(btContactSolverInfo &solverInfo)
btAlignedObjectArray< btMultiBody * > m_multiBodies
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
btMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
int size() const
return the number of elements in the array
virtual void serializeMultiBodies(btSerializer *serializer)
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
virtual btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex)
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local1
virtual void removeMultiBody(btMultiBody *body)
btAlignedObjectArray< btMatrix3x3 > m_scratch_m
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local
btAlignedObjectArray< btVector3 > m_scratch_local_origin1
virtual void addMultiBodyConstraint(btMultiBodyConstraint *constraint)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver *solver)
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
virtual void setConstraintSolver(btConstraintSolver *solver)
virtual int getNumMultiBodyConstraints() const