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 class btDispatcher;
22 class btConstraintSolver;
24 class btTypedConstraint;
25 class btActionInterface;
27 class btIDebugDraw;
28 
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 
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 solveConstraints(btContactSolverInfo & solverInfo);
111 
112  virtual void synchronizeMotionStates();
113 
115  void synchronizeSingleMotionState(btRigidBody * body);
116 
117  virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false);
118 
119  virtual void removeConstraint(btTypedConstraint * constraint);
120 
121  virtual void addAction(btActionInterface*);
122 
123  virtual void removeAction(btActionInterface*);
124 
126  {
127  return m_islandManager;
128  }
129 
131  {
132  return m_islandManager;
133  }
134 
136  {
137  return this;
138  }
139 
140  virtual void setGravity(const btVector3& gravity);
141 
142  virtual btVector3 getGravity() const;
143 
144  virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
145 
146  virtual void addRigidBody(btRigidBody * body);
147 
148  virtual void addRigidBody(btRigidBody * body, int group, int mask);
149 
150  virtual void removeRigidBody(btRigidBody * body);
151 
153  virtual void removeCollisionObject(btCollisionObject * collisionObject);
154 
155  virtual void debugDrawConstraint(btTypedConstraint * constraint);
156 
157  virtual void debugDrawWorld();
158 
159  virtual void setConstraintSolver(btConstraintSolver * solver);
160 
161  virtual btConstraintSolver* getConstraintSolver();
162 
163  virtual int getNumConstraints() const;
164 
165  virtual btTypedConstraint* getConstraint(int index);
166 
167  virtual const btTypedConstraint* getConstraint(int index) const;
168 
170  {
172  }
173 
175  virtual void clearForces();
176 
178  virtual void applyGravity();
179 
180  virtual void setNumTasks(int numTasks)
181  {
182  (void)numTasks;
183  }
184 
186  virtual void updateVehicles(btScalar timeStep)
187  {
188  updateActions(timeStep);
189  }
190 
192  virtual void addVehicle(btActionInterface * vehicle);
194  virtual void removeVehicle(btActionInterface * vehicle);
196  virtual void addCharacter(btActionInterface * character);
198  virtual void removeCharacter(btActionInterface * character);
199 
200  void setSynchronizeAllMotionStates(bool synchronizeAll)
201  {
202  m_synchronizeAllMotionStates = synchronizeAll;
203  }
205  {
206  return m_synchronizeAllMotionStates;
207  }
208 
210  {
211  m_applySpeculativeContactRestitution = enable;
212  }
213 
215  {
216  return m_applySpeculativeContactRestitution;
217  }
218 
220  virtual void serialize(btSerializer * serializer);
221 
224  void setLatencyMotionStateInterpolation(bool latencyInterpolation)
225  {
226  m_latencyMotionStateInterpolation = latencyInterpolation;
227  }
229  {
230  return m_latencyMotionStateInterpolation;
231  }
232 
234  {
235  return m_nonStaticRigidBodies;
236  }
237 
239  {
240  return m_nonStaticRigidBodies;
241  }
242 };
243 
244 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
btDiscreteDynamicsWorld::m_constraints
btAlignedObjectArray< btTypedConstraint * > m_constraints
Definition: btDiscreteDynamicsWorld.h:47
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btDiscreteDynamicsWorld::m_localTime
btScalar m_localTime
Definition: btDiscreteDynamicsWorld.h:54
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btDiscreteDynamicsWorld::m_nonStaticRigidBodies
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
Definition: btDiscreteDynamicsWorld.h:49
btDiscreteDynamicsWorld::getNonStaticRigidBodies
const btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies() const
Definition: btDiscreteDynamicsWorld.h:238
btContactSolverInfo
Definition: btContactSolverInfo.h:72
btDiscreteDynamicsWorld::m_sortedConstraints
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
Definition: btDiscreteDynamicsWorld.h:40
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btDiscreteDynamicsWorld::m_islandManager
btSimulationIslandManager * m_islandManager
Definition: btDiscreteDynamicsWorld.h:45
btDiscreteDynamicsWorld::setSynchronizeAllMotionStates
void setSynchronizeAllMotionStates(bool synchronizeAll)
Definition: btDiscreteDynamicsWorld.h:200
BT_DISCRETE_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:33
btThreads.h
btDiscreteDynamicsWorld::updateVehicles
virtual void updateVehicles(btScalar timeStep)
obsolete, use updateActions instead
Definition: btDiscreteDynamicsWorld.h:186
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
Definition: btDynamicsWorld.h:42
btDiscreteDynamicsWorld::m_actions
btAlignedObjectArray< btActionInterface * > m_actions
Definition: btDiscreteDynamicsWorld.h:63
btDiscreteDynamicsWorld::getSimulationIslandManager
btSimulationIslandManager * getSimulationIslandManager()
Definition: btDiscreteDynamicsWorld.h:125
btDiscreteDynamicsWorld::m_ownsConstraintSolver
bool m_ownsConstraintSolver
Definition: btDiscreteDynamicsWorld.h:59
btDiscreteDynamicsWorld::getApplySpeculativeContactRestitution
bool getApplySpeculativeContactRestitution() const
Definition: btDiscreteDynamicsWorld.h:214
btDiscreteDynamicsWorld::getCollisionWorld
btCollisionWorld * getCollisionWorld()
Definition: btDiscreteDynamicsWorld.h:135
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btDiscreteDynamicsWorld::getNonStaticRigidBodies
btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies()
Definition: btDiscreteDynamicsWorld.h:233
btBroadphaseProxy::AllFilter
Definition: btBroadphaseProxy.h:98
btDynamicsWorldType
btDynamicsWorldType
Definition: btDynamicsWorld.h:30
btDiscreteDynamicsWorld::m_gravity
btVector3 m_gravity
Definition: btDiscreteDynamicsWorld.h:51
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:50
btDiscreteDynamicsWorld::m_fixedTimeStep
btScalar m_fixedTimeStep
Definition: btDiscreteDynamicsWorld.h:55
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
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
btDiscreteDynamicsWorld::getWorldType
virtual btDynamicsWorldType getWorldType() const
Definition: btDiscreteDynamicsWorld.h:169
btDiscreteDynamicsWorld::m_predictiveManifolds
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
Definition: btDiscreteDynamicsWorld.h:69
btDynamicsWorld.h
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btDiscreteDynamicsWorld::getLatencyMotionStateInterpolation
bool getLatencyMotionStateInterpolation() const
Definition: btDiscreteDynamicsWorld.h:228
btAlignedObjectArray< btTypedConstraint * >
btDiscreteDynamicsWorld::m_latencyMotionStateInterpolation
bool m_latencyMotionStateInterpolation
Definition: btDiscreteDynamicsWorld.h:67
btSimulationIslandManager
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
Definition: btSimulationIslandManager.h:30
btSerializer
Definition: btSerializer.h:65
btDiscreteDynamicsWorld::getSimulationIslandManager
const btSimulationIslandManager * getSimulationIslandManager() const
Definition: btDiscreteDynamicsWorld.h:130
InplaceSolverIslandCallback
Definition: btDiscreteDynamicsWorld.cpp:78
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:49
btDiscreteDynamicsWorld::setNumTasks
virtual void setNumTasks(int numTasks)
Definition: btDiscreteDynamicsWorld.h:180
btSpinMutex
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep becaus...
Definition: btThreads.h:45
btDiscreteDynamicsWorld::m_synchronizeAllMotionStates
bool m_synchronizeAllMotionStates
Definition: btDiscreteDynamicsWorld.h:60
btDiscreteDynamicsWorld::m_constraintSolver
btConstraintSolver * m_constraintSolver
Definition: btDiscreteDynamicsWorld.h:43
btDiscreteDynamicsWorld::setApplySpeculativeContactRestitution
void setApplySpeculativeContactRestitution(bool enable)
Definition: btDiscreteDynamicsWorld.h:209
btDiscreteDynamicsWorld::m_solverIslandCallback
InplaceSolverIslandCallback * m_solverIslandCallback
Definition: btDiscreteDynamicsWorld.h:41
btCollisionWorld
CollisionWorld is interface and container for the collision detection.
Definition: btCollisionWorld.h:85
btDiscreteDynamicsWorld::m_ownsIslandManager
bool m_ownsIslandManager
Definition: btDiscreteDynamicsWorld.h:58
btAlignedObjectArray.h
btDiscreteDynamicsWorld::m_predictiveManifoldsMutex
btSpinMutex m_predictiveManifoldsMutex
Definition: btDiscreteDynamicsWorld.h:70
btDiscreteDynamicsWorld::m_applySpeculativeContactRestitution
bool m_applySpeculativeContactRestitution
Definition: btDiscreteDynamicsWorld.h:61
btDiscreteDynamicsWorld::m_profileTimings
int m_profileTimings
Definition: btDiscreteDynamicsWorld.h:65
btBroadphaseProxy::StaticFilter
Definition: btBroadphaseProxy.h:93
btDiscreteDynamicsWorld
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
Definition: btDiscreteDynamicsWorld.h:36
btDiscreteDynamicsWorld::setLatencyMotionStateInterpolation
void setLatencyMotionStateInterpolation(bool latencyInterpolation)
Interpolate motion state between previous and current transform, instead of current and next transfor...
Definition: btDiscreteDynamicsWorld.h:224
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:26
btDiscreteDynamicsWorld::getSynchronizeAllMotionStates
bool getSynchronizeAllMotionStates() const
Definition: btDiscreteDynamicsWorld.h:204
btConstraintSolver
Definition: btConstraintSolver.h:41