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 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 28 /// Type for the callback for each tick 29 typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep); 30 31 enum btDynamicsWorldType 32 { 33 BT_SIMPLE_DYNAMICS_WORLD=1, 34 BT_DISCRETE_DYNAMICS_WORLD=2, 35 BT_CONTINUOUS_DYNAMICS_WORLD=3, 36 BT_SOFT_RIGID_DYNAMICS_WORLD=4 37 }; 38 39 ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. 40 class btDynamicsWorld : public btCollisionWorld 41 { 42 43 protected: 44 btInternalTickCallback m_internalTickCallback; 45 btInternalTickCallback m_internalPreTickCallback; 46 void* m_worldUserInfo; 47 48 btContactSolverInfo m_solverInfo; 49 50 public: 51 52 btDynamicsWorld(btDispatcher * dispatcher,btBroadphaseInterface * broadphase,btCollisionConfiguration * collisionConfiguration)53 btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration) 54 :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0) 55 { 56 } 57 ~btDynamicsWorld()58 virtual ~btDynamicsWorld() 59 { 60 } 61 62 ///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. 63 ///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'. 64 ///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'. 65 ///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. 66 virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0; 67 68 virtual void debugDrawWorld() = 0; 69 70 virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) 71 { 72 (void)constraint; (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, short group, short 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) { (void)index; return 0; } 101 getConstraint(int index)102 virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; } 103 104 virtual btDynamicsWorldType getWorldType() const=0; 105 106 virtual void clearForces() = 0; 107 108 /// Set the callback for when an internal tick (simulation substep) happens, optional user info 109 void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false) 110 { 111 if (isPreTick) 112 { 113 m_internalPreTickCallback = cb; 114 } else 115 { 116 m_internalTickCallback = cb; 117 } 118 m_worldUserInfo = worldUserInfo; 119 } 120 setWorldUserInfo(void * worldUserInfo)121 void setWorldUserInfo(void* worldUserInfo) 122 { 123 m_worldUserInfo = worldUserInfo; 124 } 125 getWorldUserInfo()126 void* getWorldUserInfo() const 127 { 128 return m_worldUserInfo; 129 } 130 getSolverInfo()131 btContactSolverInfo& getSolverInfo() 132 { 133 return m_solverInfo; 134 } 135 136 137 ///obsolete, use addAction instead. addVehicle(btActionInterface * vehicle)138 virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;} 139 ///obsolete, use removeAction instead removeVehicle(btActionInterface * vehicle)140 virtual void removeVehicle(btActionInterface* vehicle) {(void)vehicle;} 141 ///obsolete, use addAction instead. addCharacter(btActionInterface * character)142 virtual void addCharacter(btActionInterface* character) {(void)character;} 143 ///obsolete, use removeAction instead removeCharacter(btActionInterface * character)144 virtual void removeCharacter(btActionInterface* character) {(void)character;} 145 146 147 }; 148 149 #endif //BT_DYNAMICS_WORLD_H 150 151 152