Bullet Collision Detection & Physics Library
btDiscreteDynamicsWorld.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
22class btDispatcher;
29class btIDebugDraw;
31
34
35
39{
40protected:
41
44
46
48
50
52
54
55 //for variable timesteps
58 //for variable timesteps
59
64
66
68
70
72 btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts
73
74 virtual void predictUnconstraintMotion(btScalar timeStep);
75
76 void integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel
77 virtual void integrateTransforms(btScalar timeStep);
78
79 virtual void calculateSimulationIslands();
80
81 virtual void solveConstraints(btContactSolverInfo& solverInfo);
82
83 virtual void updateActivationState(btScalar timeStep);
84
85 void updateActions(btScalar timeStep);
86
87 void startProfiling(btScalar timeStep);
88
89 virtual void internalSingleStepSimulation( btScalar timeStep);
90
91 void releasePredictiveContacts();
92 void createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel
93 virtual void createPredictiveContacts(btScalar timeStep);
94
95 virtual void saveKinematicState(btScalar timeStep);
96
97 void serializeRigidBodies(btSerializer* serializer);
98
99 void serializeDynamicsWorldInfo(btSerializer* serializer);
100
101public:
102
103
105
107 btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
108
109 virtual ~btDiscreteDynamicsWorld();
110
112 virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
113
114
115 virtual void synchronizeMotionStates();
116
118 void synchronizeSingleMotionState(btRigidBody* body);
119
120 virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
121
122 virtual void removeConstraint(btTypedConstraint* constraint);
123
124 virtual void addAction(btActionInterface*);
125
126 virtual void removeAction(btActionInterface*);
127
129 {
130 return m_islandManager;
131 }
132
134 {
135 return m_islandManager;
136 }
137
139 {
140 return this;
141 }
142
143 virtual void setGravity(const btVector3& gravity);
144
145 virtual btVector3 getGravity () const;
146
147 virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
148
149 virtual void addRigidBody(btRigidBody* body);
150
151 virtual void addRigidBody(btRigidBody* body, int group, int mask);
152
153 virtual void removeRigidBody(btRigidBody* body);
154
156 virtual void removeCollisionObject(btCollisionObject* collisionObject);
157
158
159 virtual void debugDrawConstraint(btTypedConstraint* constraint);
160
161 virtual void debugDrawWorld();
162
163 virtual void setConstraintSolver(btConstraintSolver* solver);
164
165 virtual btConstraintSolver* getConstraintSolver();
166
167 virtual int getNumConstraints() const;
168
169 virtual btTypedConstraint* getConstraint(int index) ;
170
171 virtual const btTypedConstraint* getConstraint(int index) const;
172
173
175 {
177 }
178
180 virtual void clearForces();
181
183 virtual void applyGravity();
184
185 virtual void setNumTasks(int numTasks)
186 {
187 (void) numTasks;
188 }
189
191 virtual void updateVehicles(btScalar timeStep)
192 {
193 updateActions(timeStep);
194 }
195
197 virtual void addVehicle(btActionInterface* vehicle);
199 virtual void removeVehicle(btActionInterface* vehicle);
201 virtual void addCharacter(btActionInterface* character);
203 virtual void removeCharacter(btActionInterface* character);
204
205 void setSynchronizeAllMotionStates(bool synchronizeAll)
206 {
207 m_synchronizeAllMotionStates = synchronizeAll;
208 }
210 {
211 return m_synchronizeAllMotionStates;
212 }
213
215 {
216 m_applySpeculativeContactRestitution = enable;
217 }
218
220 {
221 return m_applySpeculativeContactRestitution;
222 }
223
225 virtual void serialize(btSerializer* serializer);
226
229 void setLatencyMotionStateInterpolation(bool latencyInterpolation )
230 {
231 m_latencyMotionStateInterpolation = latencyInterpolation;
232 }
234 {
235 return m_latencyMotionStateInterpolation;
236 }
237};
238
239#endif //BT_DISCRETE_DYNAMICS_WORLD_H
btDynamicsWorldType
@ BT_DISCRETE_DYNAMICS_WORLD
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
CollisionWorld is interface and container for the collision detection.
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
bool getLatencyMotionStateInterpolation() const
void setSynchronizeAllMotionStates(bool synchronizeAll)
void setLatencyMotionStateInterpolation(bool latencyInterpolation)
Interpolate motion state between previous and current transform, instead of current and next transfor...
void setApplySpeculativeContactRestitution(bool enable)
const btSimulationIslandManager * getSimulationIslandManager() const
virtual void setNumTasks(int numTasks)
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
virtual btDynamicsWorldType getWorldType() const
bool getApplySpeculativeContactRestitution() const
InplaceSolverIslandCallback * m_solverIslandCallback
btSimulationIslandManager * m_islandManager
btAlignedObjectArray< btTypedConstraint * > m_constraints
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
btAlignedObjectArray< btActionInterface * > m_actions
btSimulationIslandManager * getSimulationIslandManager()
btConstraintSolver * m_constraintSolver
btCollisionWorld * getCollisionWorld()
virtual void updateVehicles(btScalar timeStep)
obsolete, use updateActions instead
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:30
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:63
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep becaus...
Definition: btThreads.h:46
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84