Blender  V3.3
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 class btDispatcher;
22 class btConstraintSolver;
24 class btTypedConstraint;
25 class btActionInterface;
27 class btIDebugDraw;
28 
30 
32 #include "LinearMath/btThreads.h"
33 
38 {
39 protected:
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 
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 
97  void serializeDynamicsWorldInfo(btSerializer * serializer);
98 
99 public:
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 
124 
126  {
127  return m_islandManager;
128  }
129 
131  {
132  return m_islandManager;
133  }
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 
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  }
205  {
207  }
208 
210  {
212  }
213 
215  {
217  }
218 
220  virtual void serialize(btSerializer * serializer);
221 
224  void setLatencyMotionStateInterpolation(bool latencyInterpolation)
225  {
226  m_latencyMotionStateInterpolation = latencyInterpolation;
227  }
229  {
231  }
232 
234  {
235  return m_nonStaticRigidBodies;
236  }
237 
239  {
240  return m_nonStaticRigidBodies;
241  }
242 };
243 
244 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
@ AllFilter
@ StaticFilter
btCollisionObject
void updateActions(btScalar timeStep)
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual void clearForces()
the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
void integrateTransformsInternal(btRigidBody **bodies, int numBodies, btScalar timeStep)
btSimulationIslandManager * m_islandManager
virtual void saveKinematicState(btScalar timeStep)
virtual void solveConstraints(btContactSolverInfo &solverInfo)
void setApplySpeculativeContactRestitution(bool enable)
virtual btConstraintSolver * getConstraintSolver()
virtual void removeRigidBody(btRigidBody *body)
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
InplaceSolverIslandCallback * m_solverIslandCallback
btVector3 m_gravity
virtual void removeConstraint(btTypedConstraint *constraint)
bool m_applySpeculativeContactRestitution
virtual void createPredictiveContacts(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)
virtual void addRigidBody(btRigidBody *body)
virtual void removeCharacter(btActionInterface *character)
obsolete, use removeAction instead
bool m_ownsConstraintSolver
btAlignedObjectArray< btRigidBody * > & getNonStaticRigidBodies()
void serializeRigidBodies(btSerializer *serializer)
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
virtual btVector3 getGravity() const
virtual void synchronizeMotionStates()
bool m_synchronizeAllMotionStates
virtual btTypedConstraint * getConstraint(int index)
virtual void setGravity(const btVector3 &gravity)
void serializeDynamicsWorldInfo(btSerializer *serializer)
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter)
virtual void addAction(btActionInterface *)
bool getApplySpeculativeContactRestitution() const
virtual void addVehicle(btActionInterface *vehicle)
obsolete, use addAction instead
bool getSynchronizeAllMotionStates() const
virtual void updateActivationState(btScalar timeStep)
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
virtual int getNumConstraints() const
btScalar m_fixedTimeStep
virtual void addConstraint(btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
bool m_ownsIslandManager
virtual btDynamicsWorldType getWorldType() const
virtual void removeAction(btActionInterface *)
virtual void calculateSimulationIslands()
virtual void debugDrawWorld()
virtual void predictUnconstraintMotion(btScalar timeStep)
btAlignedObjectArray< btTypedConstraint * > m_constraints
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
virtual void integrateTransforms(btScalar timeStep)
virtual void setNumTasks(int numTasks)
btSimulationIslandManager * getSimulationIslandManager()
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
btCollisionWorld * getCollisionWorld()
bool getLatencyMotionStateInterpolation() const
virtual void addCharacter(btActionInterface *character)
obsolete, use addAction instead
btAlignedObjectArray< btActionInterface * > m_actions
virtual void setConstraintSolver(btConstraintSolver *solver)
bool m_latencyMotionStateInterpolation
btScalar m_localTime
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 removeVehicle(btActionInterface *vehicle)
obsolete, use removeAction instead
void setLatencyMotionStateInterpolation(bool latencyInterpolation)
virtual void debugDrawConstraint(btTypedConstraint *constraint)
int m_profileTimings
btSpinMutex m_predictiveManifoldsMutex
btConstraintSolver * m_constraintSolver
virtual ~btDiscreteDynamicsWorld()
virtual void applyGravity()
apply gravity, call this once per timestep
virtual void updateVehicles(btScalar timeStep)
obsolete, use updateActions instead
virtual void internalSingleStepSimulation(btScalar timeStep)
void setSynchronizeAllMotionStates(bool synchronizeAll)
void releasePredictiveContacts()
void startProfiling(btScalar timeStep)
btDynamicsWorldType
@ BT_DISCRETE_DYNAMICS_WORLD
btPersistentManifold()
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:285
btSequentialImpulseConstraintSolverMt int numBodies
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
CollisionWorld is interface and container for the collision detection.
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
SyclQueue void void size_t num_bytes void
ccl_device_inline float4 mask(const int4 &mask, const float4 &a)
Definition: math_float4.h:513
btTypedConstraint ** m_sortedConstraints