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