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
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btDynamicsWorld::synchronizeMotionStates
virtual void synchronizeMotionStates()=0
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btDynamicsWorld::m_worldUserInfo
void * m_worldUserInfo
Definition: btDynamicsWorld.h:46
btDynamicsWorld::m_internalTickCallback
btInternalTickCallback m_internalTickCallback
Definition: btDynamicsWorld.h:44
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btContactSolverInfo.h:132
btDynamicsWorld::m_internalPreTickCallback
btInternalTickCallback m_internalPreTickCallback
Definition: btDynamicsWorld.h:45
btDynamicsWorldDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btDynamicsWorld.h:160
BT_GPU_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:36
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
BT_DISCRETE_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:33
btDynamicsWorld::getConstraint
virtual btTypedConstraint * getConstraint(int index)
Definition: btDynamicsWorld.h:99
btDynamicsWorld::removeCharacter
virtual void removeCharacter(btActionInterface *character)
obsolete, use removeAction instead
Definition: btDynamicsWorld.h:156
btDynamicsWorld::getSolverInfo
btContactSolverInfo & getSolverInfo()
Definition: btDynamicsWorld.h:139
btDynamicsWorldFloatData::m_solverInfo
btContactSolverInfoFloatData m_solverInfo
Definition: btDynamicsWorld.h:169
btDynamicsWorld::getGravity
virtual btVector3 getGravity() const =0
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
Definition: btDynamicsWorld.h:41
btDynamicsWorldFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btDynamicsWorld.h:167
btDynamicsWorld::getConstraintSolver
virtual btConstraintSolver * getConstraintSolver()=0
btVector3FloatData
Definition: btVector3.h:1281
btCollisionWorld.h
btDynamicsWorld::setWorldUserInfo
void setWorldUserInfo(void *worldUserInfo)
Definition: btDynamicsWorld.h:129
btDynamicsWorld::removeRigidBody
virtual void removeRigidBody(btRigidBody *body)=0
BT_SOFT_RIGID_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:35
btVector3DoubleData
Definition: btVector3.h:1286
btDynamicsWorld::addConstraint
virtual void addConstraint(btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
Definition: btDynamicsWorld.h:68
btDynamicsWorld::clearForces
virtual void clearForces()=0
btDynamicsWorld::addCharacter
virtual void addCharacter(btActionInterface *character)
obsolete, use addAction instead.
Definition: btDynamicsWorld.h:154
btDynamicsWorld::getNumConstraints
virtual int getNumConstraints() const
Definition: btDynamicsWorld.h:97
btDynamicsWorldType
btDynamicsWorldType
Definition: btDynamicsWorld.h:30
btDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()=0
btDynamicsWorld::setInternalTickCallback
void setInternalTickCallback(btInternalTickCallback cb, void *worldUserInfo=0, bool isPreTick=false)
Set the callback for when an internal tick (simulation substep) happens, optional user info.
Definition: btDynamicsWorld.h:116
btDynamicsWorld::getWorldUserInfo
void * getWorldUserInfo() const
Definition: btDynamicsWorld.h:134
btDynamicsWorld::addRigidBody
virtual void addRigidBody(btRigidBody *body)=0
btDynamicsWorld::getSolverInfo
const btContactSolverInfo & getSolverInfo() const
Definition: btDynamicsWorld.h:144
btActionInterface
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
Definition: btActionInterface.h:26
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btDynamicsWorld::setGravity
virtual void setGravity(const btVector3 &gravity)=0
btDynamicsWorld::~btDynamicsWorld
virtual ~btDynamicsWorld()
Definition: btDynamicsWorld.h:56
BT_CONTINUOUS_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:34
btDynamicsWorld::m_solverInfo
btContactSolverInfo m_solverInfo
Definition: btDynamicsWorld.h:48
btDynamicsWorld::btDynamicsWorld
btDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration)
Definition: btDynamicsWorld.h:51
btDynamicsWorldDoubleData::m_solverInfo
btContactSolverInfoDoubleData m_solverInfo
Definition: btDynamicsWorld.h:162
btContactSolverInfoDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btContactSolverInfo.h:105
btDynamicsWorld::removeVehicle
virtual void removeVehicle(btActionInterface *vehicle)
obsolete, use removeAction instead
Definition: btDynamicsWorld.h:152
btDynamicsWorld::removeAction
virtual void removeAction(btActionInterface *action)=0
btDynamicsWorldDoubleData::m_gravity
btVector3DoubleData m_gravity
Definition: btDynamicsWorld.h:163
btContactSolverInfo.h
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:49
btDynamicsWorld::removeConstraint
virtual void removeConstraint(btTypedConstraint *constraint)
Definition: btDynamicsWorld.h:74
btDynamicsWorld::setConstraintSolver
virtual void setConstraintSolver(btConstraintSolver *solver)=0
BT_SIMPLE_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:32
btInternalTickCallback
void(* btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep)
Type for the callback for each tick.
Definition: btDynamicsWorld.h:28
btDynamicsWorld::stepSimulation
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.
btDynamicsWorld::addVehicle
virtual void addVehicle(btActionInterface *vehicle)
obsolete, use addAction instead.
Definition: btDynamicsWorld.h:150
btDynamicsWorld::getWorldType
virtual btDynamicsWorldType getWorldType() const =0
btCollisionWorld
CollisionWorld is interface and container for the collision detection.
Definition: btCollisionWorld.h:85
btDynamicsWorld::addAction
virtual void addAction(btActionInterface *action)=0
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:26
BT_SOFT_MULTIBODY_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:37
btDynamicsWorldFloatData::m_gravity
btVector3FloatData m_gravity
Definition: btDynamicsWorld.h:170
btDynamicsWorld::getConstraint
virtual const btTypedConstraint * getConstraint(int index) const
Definition: btDynamicsWorld.h:105
btConstraintSolver
Definition: btConstraintSolver.h:40