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 /// 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