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;
21 class btOverlappingPairCache;
22 class btConstraintSolver;
23 class btSimulationIslandManager;
24 class btTypedConstraint;
25 class btActionInterface;
26 class btPersistentManifold;
27 class btIDebugDraw;
28
29 struct InplaceSolverIslandCallback;
30
31 #include "LinearMath/btAlignedObjectArray.h"
32 #include "LinearMath/btThreads.h"
33
34 ///btDiscreteDynamicsWorld provides discrete rigid body simulation
35 ///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
ATTRIBUTE_ALIGNED16(class)36 ATTRIBUTE_ALIGNED16(class)
37 btDiscreteDynamicsWorld : public btDynamicsWorld
38 {
39 protected:
40 btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
41 InplaceSolverIslandCallback* m_solverIslandCallback;
42
43 btConstraintSolver* m_constraintSolver;
44
45 btSimulationIslandManager* m_islandManager;
46
47 btAlignedObjectArray<btTypedConstraint*> m_constraints;
48
49 btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
50
51 btVector3 m_gravity;
52
53 //for variable timesteps
54 btScalar m_localTime;
55 btScalar m_fixedTimeStep;
56 //for variable timesteps
57
58 bool m_ownsIslandManager;
59 bool m_ownsConstraintSolver;
60 bool m_synchronizeAllMotionStates;
61 bool m_applySpeculativeContactRestitution;
62
63 btAlignedObjectArray<btActionInterface*> m_actions;
64
65 int m_profileTimings;
66
67 bool m_latencyMotionStateInterpolation;
68
69 btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
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:
100 BT_DECLARE_ALIGNED_ALLOCATOR();
101
102 ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
103 btDiscreteDynamicsWorld(btDispatcher * dispatcher, btBroadphaseInterface * pairCache, btConstraintSolver * constraintSolver, btCollisionConfiguration * collisionConfiguration);
104
105 virtual ~btDiscreteDynamicsWorld();
106
107 ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
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
114 ///this can be useful to synchronize a single rigid body -> graphics object
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
125 btSimulationIslandManager* getSimulationIslandManager()
126 {
127 return m_islandManager;
128 }
129
130 const btSimulationIslandManager* getSimulationIslandManager() const
131 {
132 return m_islandManager;
133 }
134
135 btCollisionWorld* getCollisionWorld()
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
152 ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
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
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 btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies()
234 {
235 return m_nonStaticRigidBodies;
236 }
237
238 const btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() const
239 {
240 return m_nonStaticRigidBodies;
241 }
242 };
243
244 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
245