Bullet Collision Detection & Physics Library
btDynamicsWorld.h
Go to the documentation of this file.
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 {
39 };
40 
43 {
44 protected:
48 
50 
51 public:
52  btDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphase, btCollisionConfiguration* collisionConfiguration)
53  : btCollisionWorld(dispatcher, broadphase, collisionConfiguration), m_internalTickCallback(0), m_internalPreTickCallback(0), m_worldUserInfo(0)
54  {
55  }
56 
57  virtual ~btDynamicsWorld()
58  {
59  }
60 
65  virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)) = 0;
66 
67  virtual void debugDrawWorld() = 0;
68 
69  virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies = false)
70  {
71  (void)constraint;
72  (void)disableCollisionsBetweenLinkedBodies;
73  }
74 
75  virtual void removeConstraint(btTypedConstraint* constraint) { (void)constraint; }
76 
77  virtual void addAction(btActionInterface* action) = 0;
78 
79  virtual void removeAction(btActionInterface* action) = 0;
80 
81  //once a rigidbody is added to the dynamics world, it will get this gravity assigned
82  //existing rigidbodies in the world get gravity assigned too, during this method
83  virtual void setGravity(const btVector3& gravity) = 0;
84  virtual btVector3 getGravity() const = 0;
85 
86  virtual void synchronizeMotionStates() = 0;
87 
88  virtual void addRigidBody(btRigidBody* body) = 0;
89 
90  virtual void addRigidBody(btRigidBody* body, int group, int mask) = 0;
91 
92  virtual void removeRigidBody(btRigidBody* body) = 0;
93 
94  virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
95 
97 
98  virtual int getNumConstraints() const { return 0; }
99 
100  virtual btTypedConstraint* getConstraint(int index)
101  {
102  (void)index;
103  return 0;
104  }
105 
106  virtual const btTypedConstraint* getConstraint(int index) const
107  {
108  (void)index;
109  return 0;
110  }
111 
112  virtual btDynamicsWorldType getWorldType() const = 0;
113 
114  virtual void clearForces() = 0;
115 
117  void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo = 0, bool isPreTick = false)
118  {
119  if (isPreTick)
120  {
122  }
123  else
124  {
126  }
127  m_worldUserInfo = worldUserInfo;
128  }
129 
130  void setWorldUserInfo(void* worldUserInfo)
131  {
132  m_worldUserInfo = worldUserInfo;
133  }
134 
135  void* getWorldUserInfo() const
136  {
137  return m_worldUserInfo;
138  }
139 
141  {
142  return m_solverInfo;
143  }
144 
146  {
147  return m_solverInfo;
148  }
149 
151  virtual void addVehicle(btActionInterface* vehicle) { (void)vehicle; }
153  virtual void removeVehicle(btActionInterface* vehicle) { (void)vehicle; }
155  virtual void addCharacter(btActionInterface* character) { (void)character; }
157  virtual void removeCharacter(btActionInterface* character) { (void)character; }
158 };
159 
162 {
165 };
166 
169 {
172 };
173 
174 #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:47
btDynamicsWorld::m_internalTickCallback
btInternalTickCallback m_internalTickCallback
Definition: btDynamicsWorld.h:45
btContactSolverInfo
Definition: btContactSolverInfo.h:72
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btContactSolverInfo.h:139
btDynamicsWorld::m_internalPreTickCallback
btInternalTickCallback m_internalPreTickCallback
Definition: btDynamicsWorld.h:46
btDynamicsWorldDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btDynamicsWorld.h:161
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:314
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:100
btDynamicsWorld::removeCharacter
virtual void removeCharacter(btActionInterface *character)
obsolete, use removeAction instead
Definition: btDynamicsWorld.h:157
btDynamicsWorld::getSolverInfo
btContactSolverInfo & getSolverInfo()
Definition: btDynamicsWorld.h:140
btDynamicsWorldFloatData::m_solverInfo
btContactSolverInfoFloatData m_solverInfo
Definition: btDynamicsWorld.h:170
btDynamicsWorld::getGravity
virtual btVector3 getGravity() const =0
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
Definition: btDynamicsWorld.h:42
BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:38
btDynamicsWorldFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btDynamicsWorld.h:168
btDynamicsWorld::getConstraintSolver
virtual btConstraintSolver * getConstraintSolver()=0
btVector3FloatData
Definition: btVector3.h:1281
btCollisionWorld.h
btDynamicsWorld::setWorldUserInfo
void setWorldUserInfo(void *worldUserInfo)
Definition: btDynamicsWorld.h:130
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:69
btDynamicsWorld::clearForces
virtual void clearForces()=0
btDynamicsWorld::addCharacter
virtual void addCharacter(btActionInterface *character)
obsolete, use addAction instead.
Definition: btDynamicsWorld.h:155
btDynamicsWorld::getNumConstraints
virtual int getNumConstraints() const
Definition: btDynamicsWorld.h:98
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:117
btDynamicsWorld::getWorldUserInfo
void * getWorldUserInfo() const
Definition: btDynamicsWorld.h:135
btDynamicsWorld::addRigidBody
virtual void addRigidBody(btRigidBody *body)=0
btDynamicsWorld::getSolverInfo
const btContactSolverInfo & getSolverInfo() const
Definition: btDynamicsWorld.h:145
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:57
BT_CONTINUOUS_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:34
btDynamicsWorld::m_solverInfo
btContactSolverInfo m_solverInfo
Definition: btDynamicsWorld.h:49
btDynamicsWorld::btDynamicsWorld
btDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration)
Definition: btDynamicsWorld.h:52
btDynamicsWorldDoubleData::m_solverInfo
btContactSolverInfoDoubleData m_solverInfo
Definition: btDynamicsWorld.h:163
btContactSolverInfoDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btContactSolverInfo.h:111
btDynamicsWorld::removeVehicle
virtual void removeVehicle(btActionInterface *vehicle)
obsolete, use removeAction instead
Definition: btDynamicsWorld.h:153
btDynamicsWorld::removeAction
virtual void removeAction(btActionInterface *action)=0
btDynamicsWorldDoubleData::m_gravity
btVector3DoubleData m_gravity
Definition: btDynamicsWorld.h:164
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:75
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:151
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:171
btDynamicsWorld::getConstraint
virtual const btTypedConstraint * getConstraint(int index) const
Definition: btDynamicsWorld.h:106
btConstraintSolver
Definition: btConstraintSolver.h:41