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
btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver
virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver *solver)
Definition: btMultiBodyDynamicsWorld.cpp:379
btMultiBodyDynamicsWorld::calculateSimulationIslands
virtual void calculateSimulationIslands()
Definition: btMultiBodyDynamicsWorld.cpp:36
btMultiBodyDynamicsWorld::addMultiBodyConstraint
virtual void addMultiBodyConstraint(btMultiBodyConstraint *constraint)
Definition: btMultiBodyDynamicsWorld.cpp:794
btMultiBodyDynamicsWorld::m_scratch_world_to_local
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local
Definition: btMultiBodyDynamicsWorld.h:40
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btBroadphaseProxy::DefaultFilter
Definition: btBroadphaseProxy.h:92
btMultiBodyDynamicsWorld::m_scratch_local_origin1
btAlignedObjectArray< btVector3 > m_scratch_local_origin1
Definition: btMultiBodyDynamicsWorld.h:43
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces
virtual void clearMultiBodyConstraintForces()
Definition: btMultiBodyDynamicsWorld.cpp:919
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:40
btMultiBodyDynamicsWorld::getNumMultiBodyConstraints
virtual int getNumMultiBodyConstraints() const
Definition: btMultiBodyDynamicsWorld.h:80
btMultiBodyDynamicsWorld::m_solverMultiBodyIslandCallback
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
Definition: btMultiBodyDynamicsWorld.h:37
btMultiBodyDynamicsWorld::getMultiBodyConstraint
virtual const btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex) const
Definition: btMultiBodyDynamicsWorld.h:90
btMultiBodyDynamicsWorld::solveConstraints
virtual void solveConstraints(btContactSolverInfo &solverInfo)
Definition: btMultiBodyDynamicsWorld.cpp:403
btMultiBodyDynamicsWorld::clearForces
virtual void clearForces()
the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
Definition: btMultiBodyDynamicsWorld.cpp:955
btMultiBodyDynamicsWorld::m_scratch_r
btAlignedObjectArray< btScalar > m_scratch_r
Definition: btMultiBodyDynamicsWorld.h:44
MultiBodyInplaceSolverIslandCallback
Definition: btMultiBodyDynamicsWorld.cpp:210
btMultiBodyDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btMultiBodyDynamicsWorld.cpp:809
btMultiBodyDynamicsWorld::integrateTransforms
virtual void integrateTransforms(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:740
btMultiBodyDynamicsWorld::m_multiBodies
btAlignedObjectArray< btMultiBody * > m_multiBodies
Definition: btMultiBodyDynamicsWorld.h:33
btBroadphaseProxy::AllFilter
Definition: btBroadphaseProxy.h:98
btMultiBodyConstraintSolver
Definition: btMultiBodyConstraintSolver.h:28
btMultiBodyDynamicsWorld::m_scratch_local_origin
btAlignedObjectArray< btVector3 > m_scratch_local_origin
Definition: btMultiBodyDynamicsWorld.h:41
btMultiBodyDynamicsWorld::m_multiBodyConstraintSolver
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
Definition: btMultiBodyDynamicsWorld.h:36
btMultiBodyDynamicsWorld::m_sortedMultiBodyConstraints
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
Definition: btMultiBodyDynamicsWorld.h:35
btMultiBodyDynamicsWorld::removeMultiBodyConstraint
virtual void removeMultiBodyConstraint(btMultiBodyConstraint *constraint)
Definition: btMultiBodyDynamicsWorld.cpp:799
btMultiBodyDynamicsWorld::getMultiBodyConstraint
virtual btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex)
Definition: btMultiBodyDynamicsWorld.h:85
btMultiBody
Definition: btMultiBody.h:49
btMultiBodyDynamicsWorld::forwardKinematics
void forwardKinematics()
Definition: btMultiBodyDynamicsWorld.cpp:395
btMultiBodyDynamicsWorld::getMultiBody
btMultiBody * getMultiBody(int mbIndex)
Definition: btMultiBodyDynamicsWorld.h:68
btMultiBodyDynamicsWorld::m_scratch_v
btAlignedObjectArray< btVector3 > m_scratch_v
Definition: btMultiBodyDynamicsWorld.h:45
btMultiBodyDynamicsWorld::getMultiBody
const btMultiBody * getMultiBody(int mbIndex) const
Definition: btMultiBodyDynamicsWorld.h:73
btMultiBodyDynamicsWorld::applyGravity
virtual void applyGravity()
apply gravity, call this once per timestep
Definition: btMultiBodyDynamicsWorld.cpp:885
btAlignedObjectArray< btMultiBody * >
btDiscreteDynamicsWorld.h
btSerializer
Definition: btSerializer.h:65
btMultiBodyDynamicsWorld::m_scratch_m
btAlignedObjectArray< btMatrix3x3 > m_scratch_m
Definition: btMultiBodyDynamicsWorld.h:46
btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld
virtual ~btMultiBodyDynamicsWorld()
Definition: btMultiBodyDynamicsWorld.cpp:374
btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld
btMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
Definition: btMultiBodyDynamicsWorld.cpp:364
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:49
btMultiBodyDynamicsWorld::setConstraintSolver
virtual void setConstraintSolver(btConstraintSolver *solver)
Definition: btMultiBodyDynamicsWorld.cpp:386
btMultiBodyDynamicsWorld::m_multiBodyConstraints
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
Definition: btMultiBodyDynamicsWorld.h:34
btMultiBodyDynamicsWorld::getNumMultibodies
virtual int getNumMultibodies() const
Definition: btMultiBodyDynamicsWorld.h:63
btMultiBodyDynamicsWorld::clearMultiBodyForces
virtual void clearMultiBodyForces()
Definition: btMultiBodyDynamicsWorld.cpp:927
btMultiBodyDynamicsWorld
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
Definition: btMultiBodyDynamicsWorld.h:30
btDiscreteDynamicsWorld
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
Definition: btDiscreteDynamicsWorld.h:36
btMultiBodyDynamicsWorld::updateActivationState
virtual void updateActivationState(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:119
btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint *constraint)
Definition: btMultiBodyDynamicsWorld.cpp:804
btMultiBodyDynamicsWorld::serialize
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
Definition: btMultiBodyDynamicsWorld.cpp:964
btMultiBodyDynamicsWorld::serializeMultiBodies
virtual void serializeMultiBodies(btSerializer *serializer)
Definition: btMultiBodyDynamicsWorld.cpp:981
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:26
btMultiBodyDynamicsWorld::removeMultiBody
virtual void removeMultiBody(btMultiBody *body)
Definition: btMultiBodyDynamicsWorld.cpp:31
btMultiBodyDynamicsWorld::m_scratch_world_to_local1
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local1
Definition: btMultiBodyDynamicsWorld.h:42
btConstraintSolver
Definition: btConstraintSolver.h:40
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:149
btMultiBodyDynamicsWorld::addMultiBody
virtual void addMultiBody(btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter)
Definition: btMultiBodyDynamicsWorld.cpp:26