1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 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_MULTIBODY_DYNAMICS_WORLD_H
17 #define BT_MULTIBODY_DYNAMICS_WORLD_H
18 
19 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
20 #include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h"
21 
22 #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
23 
24 class btMultiBody;
25 class btMultiBodyConstraint;
26 class btMultiBodyConstraintSolver;
27 struct MultiBodyInplaceSolverIslandCallback;
28 
29 ///The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet
30 ///This implementation is still preliminary/experimental.
31 class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
32 {
33 protected:
34 	btAlignedObjectArray<btMultiBody*> m_multiBodies;
35 	btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
36 	btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
37 	btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
38 	MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback;
39 
40 	//cached data to avoid memory allocations
41 	btAlignedObjectArray<btQuaternion> m_scratch_world_to_local;
42 	btAlignedObjectArray<btVector3> m_scratch_local_origin;
43 	btAlignedObjectArray<btQuaternion> m_scratch_world_to_local1;
44 	btAlignedObjectArray<btVector3> m_scratch_local_origin1;
45 	btAlignedObjectArray<btScalar> m_scratch_r;
46 	btAlignedObjectArray<btVector3> m_scratch_v;
47 	btAlignedObjectArray<btMatrix3x3> m_scratch_m;
48 
49 	virtual void calculateSimulationIslands();
50 	virtual void updateActivationState(btScalar timeStep);
51 
52 
53 	virtual void serializeMultiBodies(btSerializer* serializer);
54 
55 public:
56 	btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
57 
58 	virtual ~btMultiBodyDynamicsWorld();
59 
60     virtual void solveConstraints(btContactSolverInfo& solverInfo);
61 
62 	virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
63 
64 	virtual void removeMultiBody(btMultiBody* body);
65 
getNumMultibodies()66 	virtual int getNumMultibodies() const
67 	{
68 		return m_multiBodies.size();
69 	}
70 
getMultiBody(int mbIndex)71 	btMultiBody* getMultiBody(int mbIndex)
72 	{
73 		return m_multiBodies[mbIndex];
74 	}
75 
getMultiBody(int mbIndex)76 	const btMultiBody* getMultiBody(int mbIndex) const
77 	{
78 		return m_multiBodies[mbIndex];
79 	}
80 
81 	virtual void addMultiBodyConstraint(btMultiBodyConstraint* constraint);
82 
getNumMultiBodyConstraints()83 	virtual int getNumMultiBodyConstraints() const
84 	{
85 		return m_multiBodyConstraints.size();
86 	}
87 
getMultiBodyConstraint(int constraintIndex)88 	virtual btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex)
89 	{
90 		return m_multiBodyConstraints[constraintIndex];
91 	}
92 
getMultiBodyConstraint(int constraintIndex)93 	virtual const btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex) const
94 	{
95 		return m_multiBodyConstraints[constraintIndex];
96 	}
97 
98 	virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint);
99 
100 	virtual void integrateTransforms(btScalar timeStep);
101     void integrateMultiBodyTransforms(btScalar timeStep);
102     void predictMultiBodyTransforms(btScalar timeStep);
103 
104     virtual void predictUnconstraintMotion(btScalar timeStep);
105 	virtual void debugDrawWorld();
106 
107 	virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
108 
109 	void forwardKinematics();
110 	virtual void clearForces();
111 	virtual void clearMultiBodyConstraintForces();
112 	virtual void clearMultiBodyForces();
113 	virtual void applyGravity();
114 
115 	virtual void serialize(btSerializer* serializer);
116 	virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver);
117 	virtual void setConstraintSolver(btConstraintSolver* solver);
118 	virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const;
119 
120     virtual void solveExternalForces(btContactSolverInfo& solverInfo);
121     virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
122     void buildIslands();
123 };
124 #endif  //BT_MULTIBODY_DYNAMICS_WORLD_H
125