Bullet Collision Detection & Physics Library: btDiscreteDynamicsWorld.h Source File

Bullet Collision Detection & Physics Library

btDiscreteDynamicsWorld.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 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_DISCRETE_DYNAMICS_WORLD_H
17 #define BT_DISCRETE_DYNAMICS_WORLD_H
18
19 #include "btDynamicsWorld.h"
20
21 class btDispatcher;
22 class btOverlappingPairCache;
23 class btConstraintSolver;
24 class btSimulationIslandManager;
25 class btTypedConstraint;
26 class btActionInterface;
27 class btPersistentManifold;
28 class btIDebugDraw;
29 struct InplaceSolverIslandCallback;
30
31 #include "LinearMath/btAlignedObjectArray.h"
32 #include "LinearMath/btThreads.h"
33
36 ATTRIBUTE_ALIGNED16(class)
37 btDiscreteDynamicsWorld : public btDynamicsWorld
38 {
39 protected:
40 btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints;
41 InplaceSolverIslandCallback* m_solverIslandCallback;
42
43 btConstraintSolver* m_constraintSolver;
44
45 btSimulationIslandManager* m_islandManager;
46
47 btAlignedObjectArray<btTypedConstraint*> m_constraints;
48
49 btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
50
51 btVector3 m_gravity;
52
53 //for variable timesteps
54 btScalar m_localTime;
55 btScalar m_fixedTimeStep;
56 //for variable timesteps
57
58 bool m_ownsIslandManager;
59 bool m_ownsConstraintSolver;
60 bool m_synchronizeAllMotionStates;
61 bool m_applySpeculativeContactRestitution;
62
63 btAlignedObjectArray<btActionInterface*> m_actions;
64
65 int m_profileTimings;
66
67 bool m_latencyMotionStateInterpolation;
68
69 btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
70 btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts
71
72 virtual void predictUnconstraintMotion(btScalar timeStep);
73
74 void integrateTransformsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel
75 virtual void integrateTransforms(btScalar timeStep);
76
77 virtual void calculateSimulationIslands();
78
79 virtual void solveConstraints(btContactSolverInfo & solverInfo);
80
81 virtual void updateActivationState(btScalar timeStep);
82
83 void updateActions(btScalar timeStep);
84
85 void startProfiling(btScalar timeStep);
86
87 virtual void internalSingleStepSimulation(btScalar timeStep);
88
89 void releasePredictiveContacts();
90 void createPredictiveContactsInternal(btRigidBody * *bodies, int numBodies, btScalar timeStep); // can be called in parallel
91 virtual void createPredictiveContacts(btScalar timeStep);
92
93 virtual void saveKinematicState(btScalar timeStep);
94
95 void serializeRigidBodies(btSerializer * serializer);
96
97 void serializeDynamicsWorldInfo(btSerializer * serializer);
98
99 public:
100 BT_DECLARE_ALIGNED_ALLOCATOR();
101
103 btDiscreteDynamicsWorld(btDispatcher * dispatcher, btBroadphaseInterface * pairCache, btConstraintSolver * constraintSolver, btCollisionConfiguration * collisionConfiguration);
104
105 virtual ~btDiscreteDynamicsWorld();
106
108 virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
109
110 virtual void synchronizeMotionStates();
111
113 void synchronizeSingleMotionState(btRigidBody * body);
114
115 virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false);
116
117 virtual void removeConstraint(btTypedConstraint * constraint);
118
119 virtual void addAction(btActionInterface*);
120
121 virtual void removeAction(btActionInterface*);
122
123 btSimulationIslandManager* getSimulationIslandManager()
124 {
125 return m_islandManager;
126 }
127
128 const btSimulationIslandManager* getSimulationIslandManager() const
129 {
130 return m_islandManager;
131 }
132
133 btCollisionWorld* getCollisionWorld()
134 {
135 return this;
136 }
137
138 virtual void setGravity(const btVector3& gravity);
139
140 virtual btVector3 getGravity() const;
141
142 virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
143
144 virtual void addRigidBody(btRigidBody * body);
145
146 virtual void addRigidBody(btRigidBody * body, int group, int mask);
147
148 virtual void removeRigidBody(btRigidBody * body);
149
151 virtual void removeCollisionObject(btCollisionObject * collisionObject);
152
153 virtual void debugDrawConstraint(btTypedConstraint * constraint);
154
155 virtual void debugDrawWorld();
156
157 virtual void setConstraintSolver(btConstraintSolver * solver);
158
159 virtual btConstraintSolver* getConstraintSolver();
160
161 virtual int getNumConstraints() const;
162
163 virtual btTypedConstraint* getConstraint(int index);
164
165 virtual const btTypedConstraint* getConstraint(int index) const;
166
167 virtual btDynamicsWorldType getWorldType() const
168 {
169 return BT_DISCRETE_DYNAMICS_WORLD;
170 }
171
173 virtual void clearForces();
174
176 virtual void applyGravity();
177
178 virtual void setNumTasks(int numTasks)
179 {
180 (void)numTasks;
181 }
182
184 virtual void updateVehicles(btScalar timeStep)
185 {
186 updateActions(timeStep);
187 }
188
190 virtual void addVehicle(btActionInterface * vehicle);
192 virtual void removeVehicle(btActionInterface * vehicle);
194 virtual void addCharacter(btActionInterface * character);
196 virtual void removeCharacter(btActionInterface * character);
197
198 void setSynchronizeAllMotionStates(bool synchronizeAll)
199 {
200 m_synchronizeAllMotionStates = synchronizeAll;
201 }
202 bool getSynchronizeAllMotionStates() const
203 {
204 return m_synchronizeAllMotionStates;
205 }
206
207 void setApplySpeculativeContactRestitution(bool enable)
208 {
209 m_applySpeculativeContactRestitution = enable;
210 }
211
212 bool getApplySpeculativeContactRestitution() const
213 {
214 return m_applySpeculativeContactRestitution;
215 }
216
218 virtual void serialize(btSerializer * serializer);
219
222 void setLatencyMotionStateInterpolation(bool latencyInterpolation)
223 {
224 m_latencyMotionStateInterpolation = latencyInterpolation;
225 }
226 bool getLatencyMotionStateInterpolation() const
227 {
228 return m_latencyMotionStateInterpolation;
229 }
230 };
231
232 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btDiscreteDynamicsWorld::m_localTime
btScalar m_localTime
Definition: btDiscreteDynamicsWorld.h:54
btDiscreteDynamicsWorld::m_islandManager
btSimulationIslandManager * m_islandManager
Definition: btDiscreteDynamicsWorld.h:45
btDiscreteDynamicsWorld::m_nonStaticRigidBodies
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
Definition: btDiscreteDynamicsWorld.h:49
InplaceSolverIslandCallback
Definition: btDiscreteDynamicsWorld.cpp:78
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:52
btDiscreteDynamicsWorld::setSynchronizeAllMotionStates
void setSynchronizeAllMotionStates(bool synchronizeAll)
Definition: btDiscreteDynamicsWorld.h:198
btDiscreteDynamicsWorld::m_sortedConstraints
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
Definition: btDiscreteDynamicsWorld.h:40
btDiscreteDynamicsWorld
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
Definition: btDiscreteDynamicsWorld.h:36
btSimulationIslandManager
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
Definition: btSimulationIslandManager.h:30
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
Definition: btDynamicsWorld.h:41
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
Definition: btCollisionConfiguration.h:26
btDiscreteDynamicsWorld::m_actions
btAlignedObjectArray< btActionInterface * > m_actions
Definition: btDiscreteDynamicsWorld.h:63
btDiscreteDynamicsWorld::getSimulationIslandManager
btSimulationIslandManager * getSimulationIslandManager()
Definition: btDiscreteDynamicsWorld.h:123
btDiscreteDynamicsWorld::updateVehicles
virtual void updateVehicles(btScalar timeStep)
obsolete, use updateActions instead
Definition: btDiscreteDynamicsWorld.h:184
btSpinMutex
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep beca...
Definition: btThreads.h:45
btDiscreteDynamicsWorld::m_ownsConstraintSolver
bool m_ownsConstraintSolver
Definition: btDiscreteDynamicsWorld.h:59
btActionInterface
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
Definition: btActionInterface.h:26
btDynamicsWorld.h
btSerializer
Definition: btSerializer.h:65
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
Definition: btOverlappingPairCache.h:50
btDiscreteDynamicsWorld::getCollisionWorld
btCollisionWorld * getCollisionWorld()
Definition: btDiscreteDynamicsWorld.h:133
btDiscreteDynamicsWorld::getApplySpeculativeContactRestitution
bool getApplySpeculativeContactRestitution() const
Definition: btDiscreteDynamicsWorld.h:212
btBroadphaseProxy::StaticFilter
Definition: btBroadphaseProxy.h:93
btDiscreteDynamicsWorld::m_gravity
btVector3 m_gravity
Definition: btDiscreteDynamicsWorld.h:51
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:26
btDiscreteDynamicsWorld::getWorldType
virtual btDynamicsWorldType getWorldType() const
Definition: btDiscreteDynamicsWorld.h:167
btDiscreteDynamicsWorld::m_predictiveManifolds
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
Definition: btDiscreteDynamicsWorld.h:69
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
Definition: btBroadphaseInterface.h:49
btDiscreteDynamicsWorld::m_fixedTimeStep
btScalar m_fixedTimeStep
Definition: btDiscreteDynamicsWorld.h:55
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btCollisionWorld
CollisionWorld is interface and container for the collision detection.
Definition: btCollisionWorld.h:85
btDiscreteDynamicsWorld::getLatencyMotionStateInterpolation
bool getLatencyMotionStateInterpolation() const
Definition: btDiscreteDynamicsWorld.h:226
btDiscreteDynamicsWorld::m_latencyMotionStateInterpolation
bool m_latencyMotionStateInterpolation
Definition: btDiscreteDynamicsWorld.h:67
btDiscreteDynamicsWorld::getSimulationIslandManager
const btSimulationIslandManager * getSimulationIslandManager() const
Definition: btDiscreteDynamicsWorld.h:128
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btThreads.h
btDiscreteDynamicsWorld::m_synchronizeAllMotionStates
bool m_synchronizeAllMotionStates
Definition: btDiscreteDynamicsWorld.h:60
btDiscreteDynamicsWorld::setNumTasks
virtual void setNumTasks(int numTasks)
Definition: btDiscreteDynamicsWorld.h:178
BT_DISCRETE_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:33
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
btDynamicsWorldType
btDynamicsWorldType
Definition: btDynamicsWorld.h:30
btDiscreteDynamicsWorld::m_solverIslandCallback
InplaceSolverIslandCallback * m_solverIslandCallback
Definition: btDiscreteDynamicsWorld.h:41
btAlignedObjectArray.h
btDiscreteDynamicsWorld::m_predictiveManifoldsMutex
btSpinMutex m_predictiveManifoldsMutex
Definition: btDiscreteDynamicsWorld.h:70
btDiscreteDynamicsWorld::m_applySpeculativeContactRestitution
bool m_applySpeculativeContactRestitution
Definition: btDiscreteDynamicsWorld.h:61
btBroadphaseProxy::AllFilter
Definition: btBroadphaseProxy.h:98
btDiscreteDynamicsWorld::m_constraintSolver
btConstraintSolver * m_constraintSolver
Definition: btDiscreteDynamicsWorld.h:43
btDiscreteDynamicsWorld::m_ownsIslandManager
bool m_ownsIslandManager
Definition: btDiscreteDynamicsWorld.h:58
btDiscreteDynamicsWorld::setApplySpeculativeContactRestitution
void setApplySpeculativeContactRestitution(bool enable)
Definition: btDiscreteDynamicsWorld.h:207
btDiscreteDynamicsWorld::m_profileTimings
int m_profileTimings
Definition: btDiscreteDynamicsWorld.h:65
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btDiscreteDynamicsWorld::setLatencyMotionStateInterpolation
void setLatencyMotionStateInterpolation(bool latencyInterpolation)
Interpolate motion state between previous and current transform, instead of current and next transfor...
Definition: btDiscreteDynamicsWorld.h:222
btDiscreteDynamicsWorld::getSynchronizeAllMotionStates
bool getSynchronizeAllMotionStates() const
Definition: btDiscreteDynamicsWorld.h:202
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btDiscreteDynamicsWorld::m_constraints
btAlignedObjectArray< btTypedConstraint * > m_constraints
Definition: btDiscreteDynamicsWorld.h:47
btConstraintSolver
Definition: btConstraintSolver.h:40