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 
21 
22 #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
23 
24 class btMultiBody;
28 
32 {
33 protected:
39 
40  //cached data to avoid memory allocations
48 
49  virtual void calculateSimulationIslands();
50  virtual void updateActivationState(btScalar timeStep);
51 
52 
53  virtual void serializeMultiBodies(btSerializer* serializer);
54 
55 public:
56  btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
57 
58  virtual ~btMultiBodyDynamicsWorld();
59 
60  virtual void solveConstraints(btContactSolverInfo& solverInfo);
61 
63 
64  virtual void removeMultiBody(btMultiBody* body);
65 
66  virtual int getNumMultibodies() const
67  {
68  return m_multiBodies.size();
69  }
70 
71  btMultiBody* getMultiBody(int mbIndex)
72  {
73  return m_multiBodies[mbIndex];
74  }
75 
76  const btMultiBody* getMultiBody(int mbIndex) const
77  {
78  return m_multiBodies[mbIndex];
79  }
80 
81  virtual void addMultiBodyConstraint(btMultiBodyConstraint* constraint);
82 
83  virtual int getNumMultiBodyConstraints() const
84  {
86  }
87 
88  virtual btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex)
89  {
90  return m_multiBodyConstraints[constraintIndex];
91  }
92 
93  virtual const btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex) const
94  {
95  return m_multiBodyConstraints[constraintIndex];
96  }
97 
98  virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint);
99 
100  virtual void integrateTransforms(btScalar timeStep);
101  void integrateMultiBodyTransforms(btScalar timeStep);
102  void predictMultiBodyTransforms(btScalar timeStep);
103 
104  virtual void predictUnconstraintMotion(btScalar timeStep);
105  virtual void debugDrawWorld();
106 
107  virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
108 
109  void forwardKinematics();
110  virtual void clearForces();
111  virtual void clearMultiBodyConstraintForces();
112  virtual void clearMultiBodyForces();
113  virtual void applyGravity();
114 
115  virtual void serialize(btSerializer* serializer);
117  virtual void setConstraintSolver(btConstraintSolver* solver);
118  virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const;
119 
120  virtual void solveExternalForces(btContactSolverInfo& solverInfo);
121  virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
122  void buildIslands();
123 };
124 #endif //BT_MULTIBODY_DYNAMICS_WORLD_H
btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver
virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver *solver)
Definition: btMultiBodyDynamicsWorld.cpp:192
btMultiBodyDynamicsWorld::calculateSimulationIslands
virtual void calculateSimulationIslands()
Definition: btMultiBodyDynamicsWorld.cpp:42
btMultiBodyDynamicsWorld::addMultiBodyConstraint
virtual void addMultiBodyConstraint(btMultiBodyConstraint *constraint)
Definition: btMultiBodyDynamicsWorld.cpp:655
btMultiBodyDynamicsWorld::m_scratch_world_to_local
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local
Definition: btMultiBodyDynamicsWorld.h:41
btMultiBodyDynamicsWorld::solveExternalForces
virtual void solveExternalForces(btContactSolverInfo &solverInfo)
Definition: btMultiBodyDynamicsWorld.cpp:281
btContactSolverInfo
Definition: btContactSolverInfo.h:72
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btBroadphaseProxy::DefaultFilter
Definition: btBroadphaseProxy.h:92
btMultiBodyDynamicsWorld::m_scratch_local_origin1
btAlignedObjectArray< btVector3 > m_scratch_local_origin1
Definition: btMultiBodyDynamicsWorld.h:44
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:780
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:40
btMultiBodyDynamicsWorld::getNumMultiBodyConstraints
virtual int getNumMultiBodyConstraints() const
Definition: btMultiBodyDynamicsWorld.h:83
btMultiBodyDynamicsWorld::solveInternalConstraints
virtual void solveInternalConstraints(btContactSolverInfo &solverInfo)
Definition: btMultiBodyDynamicsWorld.cpp:228
btMultiBodyDynamicsWorld::m_solverMultiBodyIslandCallback
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
Definition: btMultiBodyDynamicsWorld.h:38
btMultiBodyDynamicsWorld::getMultiBodyConstraint
virtual const btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex) const
Definition: btMultiBodyDynamicsWorld.h:93
btMultiBodyDynamicsWorld::solveConstraints
virtual void solveConstraints(btContactSolverInfo &solverInfo)
Definition: btMultiBodyDynamicsWorld.cpp:216
btMultiBodyDynamicsWorld::clearForces
virtual void clearForces()
the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
Definition: btMultiBodyDynamicsWorld.cpp:816
btMultiBodyDynamicsWorld::m_scratch_r
btAlignedObjectArray< btScalar > m_scratch_r
Definition: btMultiBodyDynamicsWorld.h:45
btMultiBodyDynamicsWorld::buildIslands
void buildIslands()
Definition: btMultiBodyDynamicsWorld.cpp:223
MultiBodyInplaceSolverIslandCallback
Definition: btMultiBodyInplaceSolverIslandCallback.h:65
btMultiBodyDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btMultiBodyDynamicsWorld.cpp:670
btMultiBodyDynamicsWorld::integrateTransforms
virtual void integrateTransforms(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:568
btMultiBodyDynamicsWorld::m_multiBodies
btAlignedObjectArray< btMultiBody * > m_multiBodies
Definition: btMultiBodyDynamicsWorld.h:34
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:42
btMultiBodyDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:36
btMultiBodyDynamicsWorld::m_multiBodyConstraintSolver
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
Definition: btMultiBodyDynamicsWorld.h:37
btMultiBodyDynamicsWorld::m_sortedMultiBodyConstraints
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
Definition: btMultiBodyDynamicsWorld.h:36
btMultiBodyDynamicsWorld::removeMultiBodyConstraint
virtual void removeMultiBodyConstraint(btMultiBodyConstraint *constraint)
Definition: btMultiBodyDynamicsWorld.cpp:660
btMultiBodyDynamicsWorld::getMultiBodyConstraint
virtual btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex)
Definition: btMultiBodyDynamicsWorld.h:88
btMultiBody
Definition: btMultiBody.h:49
btMultiBodyDynamicsWorld::forwardKinematics
void forwardKinematics()
Definition: btMultiBodyDynamicsWorld.cpp:208
btMultiBodyDynamicsWorld::getMultiBody
btMultiBody * getMultiBody(int mbIndex)
Definition: btMultiBodyDynamicsWorld.h:71
btMultiBodyDynamicsWorld::m_scratch_v
btAlignedObjectArray< btVector3 > m_scratch_v
Definition: btMultiBodyDynamicsWorld.h:46
btMultiBodyDynamicsWorld::getMultiBody
const btMultiBody * getMultiBody(int mbIndex) const
Definition: btMultiBodyDynamicsWorld.h:76
btMultiBodyDynamicsWorld::predictMultiBodyTransforms
void predictMultiBodyTransforms(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:621
btMultiBodyDynamicsWorld::applyGravity
virtual void applyGravity()
apply gravity, call this once per timestep
Definition: btMultiBodyDynamicsWorld.cpp:746
btAlignedObjectArray< btMultiBody * >
btDiscreteDynamicsWorld.h
btSerializer
Definition: btSerializer.h:65
btMultiBodyDynamicsWorld::m_scratch_m
btAlignedObjectArray< btMatrix3x3 > m_scratch_m
Definition: btMultiBodyDynamicsWorld.h:47
btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld
virtual ~btMultiBodyDynamicsWorld()
Definition: btMultiBodyDynamicsWorld.cpp:187
btMultiBodyDynamicsWorld::integrateMultiBodyTransforms
void integrateMultiBodyTransforms(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:574
btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld
btMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
Definition: btMultiBodyDynamicsWorld.cpp:177
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:199
btMultiBodyDynamicsWorld::m_multiBodyConstraints
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
Definition: btMultiBodyDynamicsWorld.h:35
btMultiBodyDynamicsWorld::getNumMultibodies
virtual int getNumMultibodies() const
Definition: btMultiBodyDynamicsWorld.h:66
btMultiBodyDynamicsWorld::clearMultiBodyForces
virtual void clearMultiBodyForces()
Definition: btMultiBodyDynamicsWorld.cpp:788
btMultiBodyDynamicsWorld
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
Definition: btMultiBodyDynamicsWorld.h:31
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:125
btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint *constraint)
Definition: btMultiBodyDynamicsWorld.cpp:665
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:825
btMultiBodyDynamicsWorld::serializeMultiBodies
virtual void serializeMultiBodies(btSerializer *serializer)
Definition: btMultiBodyDynamicsWorld.cpp:842
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:26
btMultiBodyDynamicsWorld::getAnalyticsData
virtual void getAnalyticsData(btAlignedObjectArray< struct btSolverAnalyticsData > &m_islandAnalyticsData) const
Definition: btMultiBodyDynamicsWorld.cpp:172
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:43
btMultiBodyInplaceSolverIslandCallback.h
btConstraintSolver
Definition: btConstraintSolver.h:41
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btMultiBodyDynamicsWorld::addMultiBody
virtual void addMultiBody(btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter)
Definition: btMultiBodyDynamicsWorld.cpp:26