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 BT_GPU_DYNAMICS_WORLD=5, 38 BT_SOFT_MULTIBODY_DYNAMICS_WORLD=6 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 45 protected: 46 btInternalTickCallback m_internalTickCallback; 47 btInternalTickCallback m_internalPreTickCallback; 48 void* m_worldUserInfo; 49 50 btContactSolverInfo m_solverInfo; 51 52 public: 53 54 btDynamicsWorld(btDispatcher * dispatcher,btBroadphaseInterface * broadphase,btCollisionConfiguration * collisionConfiguration)55 btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration) 56 :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0) 57 { 58 } 59 ~btDynamicsWorld()60 virtual ~btDynamicsWorld() 61 { 62 } 63 64 ///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. 65 ///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'. 66 ///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'. 67 ///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. 68 virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0; 69 70 virtual void debugDrawWorld() = 0; 71 72 virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) 73 { 74 (void)constraint; (void)disableCollisionsBetweenLinkedBodies; 75 } 76 removeConstraint(btTypedConstraint * constraint)77 virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;} 78 79 virtual void addAction(btActionInterface* action) = 0; 80 81 virtual void removeAction(btActionInterface* action) = 0; 82 83 //once a rigidbody is added to the dynamics world, it will get this gravity assigned 84 //existing rigidbodies in the world get gravity assigned too, during this method 85 virtual void setGravity(const btVector3& gravity) = 0; 86 virtual btVector3 getGravity () const = 0; 87 88 virtual void synchronizeMotionStates() = 0; 89 90 virtual void addRigidBody(btRigidBody* body) = 0; 91 92 virtual void addRigidBody(btRigidBody* body, int group, int mask) = 0; 93 94 virtual void removeRigidBody(btRigidBody* body) = 0; 95 96 virtual void setConstraintSolver(btConstraintSolver* solver) = 0; 97 98 virtual btConstraintSolver* getConstraintSolver() = 0; 99 getNumConstraints()100 virtual int getNumConstraints() const { return 0; } 101 getConstraint(int index)102 virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; } 103 getConstraint(int index)104 virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; } 105 106 virtual btDynamicsWorldType getWorldType() const=0; 107 108 virtual void clearForces() = 0; 109 110 /// Set the callback for when an internal tick (simulation substep) happens, optional user info 111 void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false) 112 { 113 if (isPreTick) 114 { 115 m_internalPreTickCallback = cb; 116 } else 117 { 118 m_internalTickCallback = cb; 119 } 120 m_worldUserInfo = worldUserInfo; 121 } 122 setWorldUserInfo(void * worldUserInfo)123 void setWorldUserInfo(void* worldUserInfo) 124 { 125 m_worldUserInfo = worldUserInfo; 126 } 127 getWorldUserInfo()128 void* getWorldUserInfo() const 129 { 130 return m_worldUserInfo; 131 } 132 getSolverInfo()133 btContactSolverInfo& getSolverInfo() 134 { 135 return m_solverInfo; 136 } 137 138 139 ///obsolete, use addAction instead. addVehicle(btActionInterface * vehicle)140 virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;} 141 ///obsolete, use removeAction instead removeVehicle(btActionInterface * vehicle)142 virtual void removeVehicle(btActionInterface* vehicle) {(void)vehicle;} 143 ///obsolete, use addAction instead. addCharacter(btActionInterface * character)144 virtual void addCharacter(btActionInterface* character) {(void)character;} 145 ///obsolete, use removeAction instead removeCharacter(btActionInterface * character)146 virtual void removeCharacter(btActionInterface* character) {(void)character;} 147 148 149 }; 150 151 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 152 struct btDynamicsWorldDoubleData 153 { 154 btContactSolverInfoDoubleData m_solverInfo; 155 btVector3DoubleData m_gravity; 156 }; 157 158 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 159 struct btDynamicsWorldFloatData 160 { 161 btContactSolverInfoFloatData m_solverInfo; 162 btVector3FloatData m_gravity; 163 }; 164 165 166 #endif //BT_DYNAMICS_WORLD_H 167 168 169