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
17 #ifndef BT_DISCRETE_DYNAMICS_WORLD_H
18 #define BT_DISCRETE_DYNAMICS_WORLD_H
19
20 #include "btDynamicsWorld.h"
21
22 class btDispatcher;
23 class btOverlappingPairCache;
24 class btConstraintSolver;
25 class btSimulationIslandManager;
26 class btTypedConstraint;
27 class btActionInterface;
28 class btPersistentManifold;
29 class btIDebugDraw;
30 struct InplaceSolverIslandCallback;
31
32 #include "LinearMath/btAlignedObjectArray.h"
33
34
35 ///btDiscreteDynamicsWorld provides discrete rigid body simulation
36 ///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
ATTRIBUTE_ALIGNED16(class)37 ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld
38 {
39 protected:
40
41 btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
42 InplaceSolverIslandCallback* m_solverIslandCallback;
43
44 btConstraintSolver* m_constraintSolver;
45
46 btSimulationIslandManager* m_islandManager;
47
48 btAlignedObjectArray<btTypedConstraint*> m_constraints;
49
50 btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
51
52 btVector3 m_gravity;
53
54 //for variable timesteps
55 btScalar m_localTime;
56 btScalar m_fixedTimeStep;
57 //for variable timesteps
58
59 bool m_ownsIslandManager;
60 bool m_ownsConstraintSolver;
61 bool m_synchronizeAllMotionStates;
62 bool m_applySpeculativeContactRestitution;
63
64 btAlignedObjectArray<btActionInterface*> m_actions;
65
66 int m_profileTimings;
67
68 bool m_latencyMotionStateInterpolation;
69
70 btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
71
72 virtual void predictUnconstraintMotion(btScalar timeStep);
73
74 virtual void integrateTransforms(btScalar timeStep);
75
76 virtual void calculateSimulationIslands();
77
78 virtual void solveConstraints(btContactSolverInfo& solverInfo);
79
80 virtual void updateActivationState(btScalar timeStep);
81
82 void updateActions(btScalar timeStep);
83
84 void startProfiling(btScalar timeStep);
85
86 virtual void internalSingleStepSimulation( btScalar timeStep);
87
88 void createPredictiveContacts(btScalar timeStep);
89
90 virtual void saveKinematicState(btScalar timeStep);
91
92 void serializeRigidBodies(btSerializer* serializer);
93
94 void serializeDynamicsWorldInfo(btSerializer* serializer);
95
96 public:
97
98
99 BT_DECLARE_ALIGNED_ALLOCATOR();
100
101 ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
102 btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
103
104 virtual ~btDiscreteDynamicsWorld();
105
106 ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
107 virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
108
109
110 virtual void synchronizeMotionStates();
111
112 ///this can be useful to synchronize a single rigid body -> graphics object
113 void synchronizeSingleMotionState(btRigidBody* body);
114
115 virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
116
117 virtual void removeConstraint(btTypedConstraint* constraint);
118
119 virtual void addAction(btActionInterface*);
120
121 virtual void removeAction(btActionInterface*);
122
123 btSimulationIslandManager* getSimulationIslandManager()
124 {
125 return m_islandManager;
126 }
127
128 const btSimulationIslandManager* getSimulationIslandManager() const
129 {
130 return m_islandManager;
131 }
132
133 btCollisionWorld* getCollisionWorld()
134 {
135 return this;
136 }
137
138 virtual void setGravity(const btVector3& gravity);
139
140 virtual btVector3 getGravity () const;
141
142 virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
143
144 virtual void addRigidBody(btRigidBody* body);
145
146 virtual void addRigidBody(btRigidBody* body, short group, short mask);
147
148 virtual void removeRigidBody(btRigidBody* body);
149
150 ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
151 virtual void removeCollisionObject(btCollisionObject* collisionObject);
152
153
154 virtual void debugDrawConstraint(btTypedConstraint* constraint);
155
156 virtual void debugDrawWorld();
157
158 virtual void setConstraintSolver(btConstraintSolver* solver);
159
160 virtual btConstraintSolver* getConstraintSolver();
161
162 virtual int getNumConstraints() const;
163
164 virtual btTypedConstraint* getConstraint(int index) ;
165
166 virtual const btTypedConstraint* getConstraint(int index) const;
167
168
169 virtual btDynamicsWorldType getWorldType() const
170 {
171 return BT_DISCRETE_DYNAMICS_WORLD;
172 }
173
174 ///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
175 virtual void clearForces();
176
177 ///apply gravity, call this once per timestep
178 virtual void applyGravity();
179
180 virtual void setNumTasks(int numTasks)
181 {
182 (void) numTasks;
183 }
184
185 ///obsolete, use updateActions instead
186 virtual void updateVehicles(btScalar timeStep)
187 {
188 updateActions(timeStep);
189 }
190
191 ///obsolete, use addAction instead
192 virtual void addVehicle(btActionInterface* vehicle);
193 ///obsolete, use removeAction instead
194 virtual void removeVehicle(btActionInterface* vehicle);
195 ///obsolete, use addAction instead
196 virtual void addCharacter(btActionInterface* character);
197 ///obsolete, use removeAction instead
198 virtual void removeCharacter(btActionInterface* character);
199
200 void setSynchronizeAllMotionStates(bool synchronizeAll)
201 {
202 m_synchronizeAllMotionStates = synchronizeAll;
203 }
204 bool getSynchronizeAllMotionStates() const
205 {
206 return m_synchronizeAllMotionStates;
207 }
208
209 void setApplySpeculativeContactRestitution(bool enable)
210 {
211 m_applySpeculativeContactRestitution = enable;
212 }
213
214 bool getApplySpeculativeContactRestitution() const
215 {
216 return m_applySpeculativeContactRestitution;
217 }
218
219 ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
220 virtual void serialize(btSerializer* serializer);
221
222 ///Interpolate motion state between previous and current transform, instead of current and next transform.
223 ///This can relieve discontinuities in the rendering, due to penetrations
224 void setLatencyMotionStateInterpolation(bool latencyInterpolation )
225 {
226 m_latencyMotionStateInterpolation = latencyInterpolation;
227 }
228 bool getLatencyMotionStateInterpolation() const
229 {
230 return m_latencyMotionStateInterpolation;
231 }
232 };
233
234 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
235