Bullet Collision Detection & Physics Library
btDiscreteDynamicsWorld.h
Go to the documentation of this file.
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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"
20class btDispatcher;
27class btIDebugDraw;
28
30
33
38{
39protected:
42
44
46
48
50
52
53 //for variable timesteps
56 //for variable timesteps
57
62
64
66
68
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
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
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
98
99public:
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 solveConstraints(btContactSolverInfo & solverInfo);
111
112 virtual void synchronizeMotionStates();
113
116
117 virtual void addConstraint(btTypedConstraint * constraint, bool disableCollisionsBetweenLinkedBodies = false);
118
119 virtual void removeConstraint(btTypedConstraint * constraint);
120
121 virtual void addAction(btActionInterface*);
122
123 virtual void removeAction(btActionInterface*);
124
129
134
136 {
137 return this;
138 }
139
140 virtual void setGravity(const btVector3& gravity);
141
142 virtual btVector3 getGravity() const;
143
144 virtual void addCollisionObject(btCollisionObject * collisionObject, int collisionFilterGroup = btBroadphaseProxy::StaticFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
145
146 virtual void addRigidBody(btRigidBody * body);
147
148 virtual void addRigidBody(btRigidBody * body, int group, int mask);
149
150 virtual void removeRigidBody(btRigidBody * body);
151
153 virtual void removeCollisionObject(btCollisionObject * collisionObject);
154
155 virtual void debugDrawConstraint(btTypedConstraint * constraint);
156
157 virtual void debugDrawWorld();
158
159 virtual void setConstraintSolver(btConstraintSolver * solver);
160
161 virtual btConstraintSolver* getConstraintSolver();
162
163 virtual int getNumConstraints() const;
164
165 virtual btTypedConstraint* getConstraint(int index);
166
167 virtual const btTypedConstraint* getConstraint(int index) const;
168
170 {
172 }
173
175 virtual void clearForces();
176
178 virtual void applyGravity();
179
180 virtual void setNumTasks(int numTasks)
181 {
182 (void)numTasks;
183 }
184
186 virtual void updateVehicles(btScalar timeStep)
187 {
188 updateActions(timeStep);
189 }
190
192 virtual void addVehicle(btActionInterface * vehicle);
194 virtual void removeVehicle(btActionInterface * vehicle);
196 virtual void addCharacter(btActionInterface * character);
198 virtual void removeCharacter(btActionInterface * character);
199
200 void setSynchronizeAllMotionStates(bool synchronizeAll)
201 {
202 m_synchronizeAllMotionStates = synchronizeAll;
203 }
208
213
218
220 virtual void serialize(btSerializer * serializer);
221
224 void setLatencyMotionStateInterpolation(bool latencyInterpolation)
225 {
226 m_latencyMotionStateInterpolation = latencyInterpolation;
227 }
232
237
242};
243
244#endif //BT_DISCRETE_DYNAMICS_WORLD_H
btDynamicsWorldType
@ BT_DISCRETE_DYNAMICS_WORLD
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
btCollisionWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
for debug drawing
void updateActions(btScalar timeStep)
virtual void removeAction(btActionInterface *)
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
void integrateTransformsInternal(btRigidBody **bodies, int numBodies, btScalar timeStep)
virtual void removeConstraint(btTypedConstraint *constraint)
virtual void integrateTransforms(btScalar timeStep)
void synchronizeSingleMotionState(btRigidBody *body)
this can be useful to synchronize a single rigid body -> graphics object
void createPredictiveContactsInternal(btRigidBody **bodies, int numBodies, btScalar timeStep)
void setSynchronizeAllMotionStates(bool synchronizeAll)
void serializeRigidBodies(btSerializer *serializer)
void setLatencyMotionStateInterpolation(bool latencyInterpolation)
Interpolate motion state between previous and current transform, instead of current and next transfor...
virtual void internalSingleStepSimulation(btScalar timeStep)
void setApplySpeculativeContactRestitution(bool enable)
const btSimulationIslandManager * getSimulationIslandManager() const
virtual void setNumTasks(int numTasks)
void serializeDynamicsWorldInfo(btSerializer *serializer)
virtual void addAction(btActionInterface *)
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
virtual btDynamicsWorldType getWorldType() const
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
bool getApplySpeculativeContactRestitution() const
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual void saveKinematicState(btScalar timeStep)
virtual void addConstraint(btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
const btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies() const
InplaceSolverIslandCallback * m_solverIslandCallback
btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies()
btSimulationIslandManager * m_islandManager
virtual void createPredictiveContacts(btScalar timeStep)
btAlignedObjectArray< btTypedConstraint * > m_constraints
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
btAlignedObjectArray< btActionInterface * > m_actions
btSimulationIslandManager * getSimulationIslandManager()
virtual void updateActivationState(btScalar timeStep)
btConstraintSolver * m_constraintSolver
btCollisionWorld * getCollisionWorld()
virtual void solveConstraints(btContactSolverInfo &solverInfo)
virtual void updateVehicles(btScalar timeStep)
obsolete, use updateActions instead
virtual void predictUnconstraintMotion(btScalar timeStep)
void startProfiling(btScalar timeStep)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration)
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep becaus...
Definition btThreads.h:46
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82