1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  https://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_DYNAMICS_WORLD_H
17 #define BT_DYNAMICS_WORLD_H
18 
19 #include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
20 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
21 
22 class btTypedConstraint;
23 class btActionInterface;
24 class btConstraintSolver;
25 class btDynamicsWorld;
26 
27 /// Type for the callback for each tick
28 typedef void (*btInternalTickCallback)(btDynamicsWorld* world, btScalar timeStep);
29 
30 enum btDynamicsWorldType
31 {
32 	BT_SIMPLE_DYNAMICS_WORLD = 1,
33 	BT_DISCRETE_DYNAMICS_WORLD = 2,
34 	BT_CONTINUOUS_DYNAMICS_WORLD = 3,
35 	BT_SOFT_RIGID_DYNAMICS_WORLD = 4,
36 	BT_GPU_DYNAMICS_WORLD = 5,
37 	BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6,
38     BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD = 7
39 };
40 
41 ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
42 class btDynamicsWorld : public btCollisionWorld
43 {
44 protected:
45 	btInternalTickCallback m_internalTickCallback;
46 	btInternalTickCallback m_internalPreTickCallback;
47 	void* m_worldUserInfo;
48 
49 	btContactSolverInfo m_solverInfo;
50 
51 public:
btDynamicsWorld(btDispatcher * dispatcher,btBroadphaseInterface * broadphase,btCollisionConfiguration * collisionConfiguration)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 
~btDynamicsWorld()57 	virtual ~btDynamicsWorld()
58 	{
59 	}
60 
61 	///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
62 	///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
63 	///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
64 	///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
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 
removeConstraint(btTypedConstraint * constraint)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 
96 	virtual btConstraintSolver* getConstraintSolver() = 0;
97 
getNumConstraints()98 	virtual int getNumConstraints() const { return 0; }
99 
getConstraint(int index)100 	virtual btTypedConstraint* getConstraint(int index)
101 	{
102 		(void)index;
103 		return 0;
104 	}
105 
getConstraint(int index)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 
116 	/// Set the callback for when an internal tick (simulation substep) happens, optional user info
117 	void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo = 0, bool isPreTick = false)
118 	{
119 		if (isPreTick)
120 		{
121 			m_internalPreTickCallback = cb;
122 		}
123 		else
124 		{
125 			m_internalTickCallback = cb;
126 		}
127 		m_worldUserInfo = worldUserInfo;
128 	}
129 
setWorldUserInfo(void * worldUserInfo)130 	void setWorldUserInfo(void* worldUserInfo)
131 	{
132 		m_worldUserInfo = worldUserInfo;
133 	}
134 
getWorldUserInfo()135 	void* getWorldUserInfo() const
136 	{
137 		return m_worldUserInfo;
138 	}
139 
getSolverInfo()140 	btContactSolverInfo& getSolverInfo()
141 	{
142 		return m_solverInfo;
143 	}
144 
getSolverInfo()145 	const btContactSolverInfo& getSolverInfo() const
146 	{
147 		return m_solverInfo;
148 	}
149 
150 	///obsolete, use addAction instead.
addVehicle(btActionInterface * vehicle)151 	virtual void addVehicle(btActionInterface* vehicle) { (void)vehicle; }
152 	///obsolete, use removeAction instead
removeVehicle(btActionInterface * vehicle)153 	virtual void removeVehicle(btActionInterface* vehicle) { (void)vehicle; }
154 	///obsolete, use addAction instead.
addCharacter(btActionInterface * character)155 	virtual void addCharacter(btActionInterface* character) { (void)character; }
156 	///obsolete, use removeAction instead
removeCharacter(btActionInterface * character)157 	virtual void removeCharacter(btActionInterface* character) { (void)character; }
158 };
159 
160 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
161 struct btDynamicsWorldDoubleData
162 {
163 	btContactSolverInfoDoubleData m_solverInfo;
164 	btVector3DoubleData m_gravity;
165 };
166 
167 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
168 struct btDynamicsWorldFloatData
169 {
170 	btContactSolverInfoFloatData m_solverInfo;
171 	btVector3FloatData m_gravity;
172 };
173 
174 #endif  //BT_DYNAMICS_WORLD_H
175