Blender  V3.3
btMultiBodyDynamicsWorld.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 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_MULTIBODY_DYNAMICS_WORLD_H
17 #define BT_MULTIBODY_DYNAMICS_WORLD_H
18 
21 
22 #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
23 
24 class btMultiBody;
26 class btMultiBodyConstraintSolver;
28 
32 {
33 protected:
37  btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
39 
40  //cached data to avoid memory allocations
48 
49  virtual void calculateSimulationIslands();
50  virtual void updateActivationState(btScalar timeStep);
51 
52 
53  virtual void serializeMultiBodies(btSerializer* serializer);
54 
55 public:
56  btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
57 
58  virtual ~btMultiBodyDynamicsWorld();
59 
60  virtual void solveConstraints(btContactSolverInfo& solverInfo);
61 
63 
64  virtual void removeMultiBody(btMultiBody* body);
65 
66  virtual int getNumMultibodies() const
67  {
68  return m_multiBodies.size();
69  }
70 
71  btMultiBody* getMultiBody(int mbIndex)
72  {
73  return m_multiBodies[mbIndex];
74  }
75 
76  const btMultiBody* getMultiBody(int mbIndex) const
77  {
78  return m_multiBodies[mbIndex];
79  }
80 
81  virtual void addMultiBodyConstraint(btMultiBodyConstraint* constraint);
82 
83  virtual int getNumMultiBodyConstraints() const
84  {
86  }
87 
88  virtual btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex)
89  {
90  return m_multiBodyConstraints[constraintIndex];
91  }
92 
93  virtual const btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex) const
94  {
95  return m_multiBodyConstraints[constraintIndex];
96  }
97 
98  virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint);
99 
100  virtual void integrateTransforms(btScalar timeStep);
101  void integrateMultiBodyTransforms(btScalar timeStep);
102  void predictMultiBodyTransforms(btScalar timeStep);
103 
104  virtual void predictUnconstraintMotion(btScalar timeStep);
105  virtual void debugDrawWorld();
106 
107  virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
108 
109  void forwardKinematics();
110  virtual void clearForces();
111  virtual void clearMultiBodyConstraintForces();
112  virtual void clearMultiBodyForces();
113  virtual void applyGravity();
114 
115  virtual void serialize(btSerializer* serializer);
116  virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver);
117  virtual void setConstraintSolver(btConstraintSolver* solver);
118  virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const;
119 
120  virtual void solveExternalForces(btContactSolverInfo& solverInfo);
121  virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
122  void buildIslands();
123 };
124 #endif //BT_MULTIBODY_DYNAMICS_WORLD_H
@ AllFilter
@ DefaultFilter
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
btMultiBodyConstraint
btMultiBody
Definition: btMultiBody.h:51
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_FORCE_INLINE int size() const
return the number of elements in the array
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
virtual void solveInternalConstraints(btContactSolverInfo &solverInfo)
virtual void updateActivationState(btScalar timeStep)
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local
btMultiBody * getMultiBody(int mbIndex)
virtual btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex)
const btMultiBody * getMultiBody(int mbIndex) const
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local1
btAlignedObjectArray< btMatrix3x3 > m_scratch_m
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
virtual void serialize(btSerializer *serializer)
btAlignedObjectArray< btVector3 > m_scratch_local_origin1
virtual void serializeMultiBodies(btSerializer *serializer)
virtual void addMultiBodyConstraint(btMultiBodyConstraint *constraint)
btAlignedObjectArray< btVector3 > m_scratch_v
virtual void predictUnconstraintMotion(btScalar timeStep)
virtual void removeMultiBodyConstraint(btMultiBodyConstraint *constraint)
void predictMultiBodyTransforms(btScalar timeStep)
virtual void integrateTransforms(btScalar timeStep)
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
btAlignedObjectArray< btMultiBody * > m_multiBodies
virtual void getAnalyticsData(btAlignedObjectArray< struct btSolverAnalyticsData > &m_islandAnalyticsData) const
virtual void solveConstraints(btContactSolverInfo &solverInfo)
void integrateMultiBodyTransforms(btScalar timeStep)
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint *constraint)
virtual int getNumMultibodies() const
virtual void solveExternalForces(btContactSolverInfo &solverInfo)
virtual void setConstraintSolver(btConstraintSolver *solver)
btAlignedObjectArray< btVector3 > m_scratch_local_origin
virtual int getNumMultiBodyConstraints() const
btAlignedObjectArray< btScalar > m_scratch_r
virtual void removeMultiBody(btMultiBody *body)
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
virtual void addMultiBody(btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter)
btMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
virtual const btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex) const
virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver *solver)
ccl_device_inline float4 mask(const int4 &mask, const float4 &a)
Definition: math_float4.h:513