Bullet Collision Detection & Physics Library: btSimpleDynamicsWorld.cpp Source File

Bullet Collision Detection & Physics Library

btSimpleDynamicsWorld.cpp
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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 #include "btSimpleDynamicsWorld.h"
17 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
18 #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
19 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
20 #include "BulletDynamics/Dynamics/btRigidBody.h"
21 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
22 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
23
24
25 /*
26 Make sure this dummy function never changes so that it
27 can be used by probes that are checking whether the
28 library is actually installed.
29 */
30 extern "C"
31 {
32 void btBulletDynamicsProbe ();
33 void btBulletDynamicsProbe () {}
34 }
35
36
37
38
39 btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
40 :btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
41 m_constraintSolver(constraintSolver),
42 m_ownsConstraintSolver(false),
43 m_gravity(0,0,-10)
44 {
45
46 }
47
48
49 btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
50 {
51 if (m_ownsConstraintSolver)
52 btAlignedFree( m_constraintSolver);
53 }
54
55 int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
56 {
57 (void)fixedTimeStep;
58 (void)maxSubSteps;
59
60
62 predictUnconstraintMotion(timeStep);
63
64 btDispatcherInfo& dispatchInfo = getDispatchInfo();
65 dispatchInfo.m_timeStep = timeStep;
66 dispatchInfo.m_stepCount = 0;
67 dispatchInfo.m_debugDraw = getDebugDrawer();
68
70 performDiscreteCollisionDetection();
71
73 int numManifolds = m_dispatcher1->getNumManifolds();
74 if (numManifolds)
75 {
76 btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
77
78 btContactSolverInfo infoGlobal;
79 infoGlobal.m_timeStep = timeStep;
80 m_constraintSolver->prepareSolve(0,numManifolds);
81 m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
82 m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
83 }
84
86 integrateTransforms(timeStep);
87
88 updateAabbs();
89
90 synchronizeMotionStates();
91
92 clearForces();
93
94 return 1;
95
96 }
97
98 void btSimpleDynamicsWorld::clearForces()
99 {
101 for ( int i=0;i<m_collisionObjects.size();i++)
102 {
103 btCollisionObject* colObj = m_collisionObjects[i];
104
105 btRigidBody* body = btRigidBody::upcast(colObj);
106 if (body)
107 {
108 body->clearForces();
109 }
110 }
111 }
112
113
114 void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
115 {
116 m_gravity = gravity;
117 for ( int i=0;i<m_collisionObjects.size();i++)
118 {
119 btCollisionObject* colObj = m_collisionObjects[i];
120 btRigidBody* body = btRigidBody::upcast(colObj);
121 if (body)
122 {
123 body->setGravity(gravity);
124 }
125 }
126 }
127
128 btVector3 btSimpleDynamicsWorld::getGravity () const
129 {
130 return m_gravity;
131 }
132
133 void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
134 {
135 btCollisionWorld::removeCollisionObject(body);
136 }
137
138 void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
139 {
140 btRigidBody* body = btRigidBody::upcast(collisionObject);
141 if (body)
142 removeRigidBody(body);
143 else
144 btCollisionWorld::removeCollisionObject(collisionObject);
145 }
146
147
148 void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
149 {
150 body->setGravity(m_gravity);
151
152 if (body->getCollisionShape())
153 {
154 addCollisionObject(body);
155 }
156 }
157
158 void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
159 {
160 body->setGravity(m_gravity);
161
162 if (body->getCollisionShape())
163 {
164 addCollisionObject(body,group,mask);
165 }
166 }
167
168
169 void btSimpleDynamicsWorld::debugDrawWorld()
170 {
171
172 }
173
174 void btSimpleDynamicsWorld::addAction(btActionInterface* action)
175 {
176
177 }
178
179 void btSimpleDynamicsWorld::removeAction(btActionInterface* action)
180 {
181
182 }
183
184
185 void btSimpleDynamicsWorld::updateAabbs()
186 {
187 btTransform predictedTrans;
188 for ( int i=0;i<m_collisionObjects.size();i++)
189 {
190 btCollisionObject* colObj = m_collisionObjects[i];
191 btRigidBody* body = btRigidBody::upcast(colObj);
192 if (body)
193 {
194 if (body->isActive() && (!body->isStaticObject()))
195 {
196 btVector3 minAabb,maxAabb;
197 colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
198 btBroadphaseInterface* bp = getBroadphase();
199 bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
200 }
201 }
202 }
203 }
204
205 void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
206 {
207 btTransform predictedTrans;
208 for ( int i=0;i<m_collisionObjects.size();i++)
209 {
210 btCollisionObject* colObj = m_collisionObjects[i];
211 btRigidBody* body = btRigidBody::upcast(colObj);
212 if (body)
213 {
214 if (body->isActive() && (!body->isStaticObject()))
215 {
216 body->predictIntegratedTransform(timeStep, predictedTrans);
217 body->proceedToTransform( predictedTrans);
218 }
219 }
220 }
221 }
222
223
224
225 void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
226 {
227 for ( int i=0;i<m_collisionObjects.size();i++)
228 {
229 btCollisionObject* colObj = m_collisionObjects[i];
230 btRigidBody* body = btRigidBody::upcast(colObj);
231 if (body)
232 {
233 if (!body->isStaticObject())
234 {
235 if (body->isActive())
236 {
237 body->applyGravity();
238 body->integrateVelocities( timeStep);
239 body->applyDamping(timeStep);
240 body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
241 }
242 }
243 }
244 }
245 }
246
247
248 void btSimpleDynamicsWorld::synchronizeMotionStates()
249 {
251 for ( int i=0;i<m_collisionObjects.size();i++)
252 {
253 btCollisionObject* colObj = m_collisionObjects[i];
254 btRigidBody* body = btRigidBody::upcast(colObj);
255 if (body && body->getMotionState())
256 {
257 if (body->getActivationState() != ISLAND_SLEEPING)
258 {
259 body->getMotionState()->setWorldTransform(body->getWorldTransform());
260 }
261 }
262 }
263
264 }
265
266
267 void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
268 {
269 if (m_ownsConstraintSolver)
270 {
271 btAlignedFree(m_constraintSolver);
272 }
273 m_ownsConstraintSolver = false;
274 m_constraintSolver = solver;
275 }
276
277 btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
278 {
279 return m_constraintSolver;
280 }
btRigidBody::upcast
static const btRigidBody * upcast(const btCollisionObject *colObj)
to keep collision detection and dynamics separate we don&#39;t store a rigidbody pointer but a rigidbody ...
Definition: btRigidBody.h:203
btSimpleDynamicsWorld::stepSimulation
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
Definition: btSimpleDynamicsWorld.cpp:55
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btRigidBody::applyGravity
void applyGravity()
Definition: btRigidBody.cpp:218
btSimpleDynamicsWorld::integrateTransforms
void integrateTransforms(btScalar timeStep)
Definition: btSimpleDynamicsWorld.cpp:205
btSimpleDynamicsWorld::updateAabbs
virtual void updateAabbs()
Definition: btSimpleDynamicsWorld.cpp:185
btBulletDynamicsProbe
void btBulletDynamicsProbe()
Definition: btSimpleDynamicsWorld.cpp:33
btRigidBody::predictIntegratedTransform
void predictIntegratedTransform(btScalar step, btTransform &predictedTransform)
continuous collision detection needs prediction
Definition: btRigidBody.cpp:106
btCollisionWorld::addCollisionObject
virtual void addCollisionObject(btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition: btCollisionWorld.cpp:111
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
Definition: btDynamicsWorld.h:41
btSequentialImpulseConstraintSolver.h
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
Definition: btCollisionConfiguration.h:26
btSimpleDynamicsWorld::removeRigidBody
virtual void removeRigidBody(btRigidBody *body)
Definition: btSimpleDynamicsWorld.cpp:133
btCollisionWorld::getCollisionObjectArray
btCollisionObjectArray & getCollisionObjectArray()
Definition: btCollisionWorld.h:486
btConstraintSolver::solveGroup
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, class btIDebugDraw *debugDrawer, btDispatcher *dispatcher)=0
solve a group of constraints
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs...
Definition: btCollisionDispatcher.h:43
btActionInterface
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
Definition: btActionInterface.h:26
btCollisionObject::getActivationState
int getActivationState() const
Definition: btCollisionObject.h:277
btSimpleDynamicsWorld::getGravity
virtual btVector3 getGravity() const
Definition: btSimpleDynamicsWorld.cpp:128
btCollisionWorld::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionWorld.h:96
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btRigidBody.h
ISLAND_SLEEPING
#define ISLAND_SLEEPING
Definition: btCollisionObject.h:23
btCollisionShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t...
btCollisionWorld::getNumCollisionObjects
int getNumCollisionObjects() const
Definition: btCollisionWorld.h:438
btRigidBody::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btRigidBody.h:254
btSimpleDynamicsWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
Definition: btSimpleDynamicsWorld.cpp:138
btSimpleDynamicsWorld::synchronizeMotionStates
virtual void synchronizeMotionStates()
Definition: btSimpleDynamicsWorld.cpp:248
btSimpleDynamicsWorld::m_ownsConstraintSolver
bool m_ownsConstraintSolver
Definition: btSimpleDynamicsWorld.h:33
btRigidBody::integrateVelocities
void integrateVelocities(btScalar step)
Definition: btRigidBody.cpp:387
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:367
btCollisionObject::getBroadphaseHandle
btBroadphaseProxy * getBroadphaseHandle()
Definition: btCollisionObject.h:384
btSimpleBroadphase.h
btCollisionWorld::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition: btCollisionWorld.h:102
btSimpleDynamicsWorld::removeAction
virtual void removeAction(btActionInterface *action)
Definition: btSimpleDynamicsWorld.cpp:179
btCollisionWorld::getDebugDrawer
virtual btIDebugDraw * getDebugDrawer()
Definition: btCollisionWorld.h:162
btSimpleDynamicsWorld.h
btCollisionObject::isStaticObject
bool isStaticObject() const
Definition: btCollisionObject.h:193
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:48
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btSimpleDynamicsWorld::predictUnconstraintMotion
void predictUnconstraintMotion(btScalar timeStep)
Definition: btSimpleDynamicsWorld.cpp:225
btCollisionObject::getInterpolationWorldTransform
const btTransform & getInterpolationWorldTransform() const
Definition: btCollisionObject.h:400
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btCollisionWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
Definition: btCollisionWorld.cpp:235
btRigidBody::clearForces
void clearForces()
Definition: btRigidBody.h:346
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
Definition: btBroadphaseInterface.h:51
btRigidBody::proceedToTransform
void proceedToTransform(const btTransform &newTrans)
Definition: btRigidBody.cpp:227
btSimpleDynamicsWorld::~btSimpleDynamicsWorld
virtual ~btSimpleDynamicsWorld()
Definition: btSimpleDynamicsWorld.cpp:49
btSimpleDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btSimpleDynamicsWorld.cpp:169
btCollisionShape.h
btDispatcherInfo::m_stepCount
int m_stepCount
Definition: btDispatcher.h:54
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:155
btDispatcher::getNumManifolds
virtual int getNumManifolds() const =0
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btContactSolverInfo
Definition: btContactSolverInfo.h:65
btConstraintSolver::allSolved
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
Definition: btConstraintSolver.h:52
btRigidBody::applyDamping
void applyDamping(btScalar timeStep)
applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping ...
Definition: btRigidBody.cpp:161
btSimpleDynamicsWorld::getConstraintSolver
virtual btConstraintSolver * getConstraintSolver()
Definition: btSimpleDynamicsWorld.cpp:277
btCollisionWorld::getDispatchInfo
btDispatcherInfo & getDispatchInfo()
Definition: btCollisionWorld.h:501
btCollisionDispatcher.h
btSimpleDynamicsWorld::m_gravity
btVector3 m_gravity
Definition: btSimpleDynamicsWorld.h:39
btConstraintSolver::prepareSolve
virtual void prepareSolve(int, int)
Definition: btConstraintSolver.h:47
btSimpleDynamicsWorld::setConstraintSolver
virtual void setConstraintSolver(btConstraintSolver *solver)
Definition: btSimpleDynamicsWorld.cpp:267
btCollisionWorld::m_collisionObjects
btAlignedObjectArray< btCollisionObject * > m_collisionObjects
Definition: btCollisionWorld.h:94
btCollisionWorld::performDiscreteCollisionDetection
virtual void performDiscreteCollisionDetection()
Definition: btCollisionWorld.cpp:214
btBroadphaseInterface::setAabb
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)=0
btSimpleDynamicsWorld::setGravity
virtual void setGravity(const btVector3 &gravity)
Definition: btSimpleDynamicsWorld.cpp:114
btRigidBody::getMotionState
btMotionState * getMotionState()
Definition: btRigidBody.h:474
btCollisionObject::isActive
bool isActive() const
Definition: btCollisionObject.h:294
btSimpleDynamicsWorld::btSimpleDynamicsWorld
btSimpleDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver ...
Definition: btSimpleDynamicsWorld.cpp:39
btDispatcherInfo
Definition: btDispatcher.h:30
btDispatcherInfo::m_timeStep
btScalar m_timeStep
Definition: btDispatcher.h:53
btSimpleDynamicsWorld::clearForces
virtual void clearForces()
Definition: btSimpleDynamicsWorld.cpp:98
btSimpleDynamicsWorld::addRigidBody
virtual void addRigidBody(btRigidBody *body)
Definition: btSimpleDynamicsWorld.cpp:148
btContactSolverInfoData::m_timeStep
btScalar m_timeStep
Definition: btContactSolverInfo.h:42
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btSimpleDynamicsWorld::m_constraintSolver
btConstraintSolver * m_constraintSolver
Definition: btSimpleDynamicsWorld.h:31
btSimpleDynamicsWorld::addAction
virtual void addAction(btActionInterface *action)
Definition: btSimpleDynamicsWorld.cpp:174
btCollisionWorld::getBroadphase
const btBroadphaseInterface * getBroadphase() const
Definition: btCollisionWorld.h:122
btMotionState::setWorldTransform
virtual void setWorldTransform(const btTransform &worldTrans)=0
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObject.h:223
btContactSolverInfo.h
btRigidBody::setGravity
void setGravity(const btVector3 &acceleration)
Definition: btRigidBody.cpp:137
btConstraintSolver
Definition: btConstraintSolver.h:40