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 #ifndef BT_DYNAMICS_WORLD_H 17 #define BT_DYNAMICS_WORLD_H 18 19 #include "BulletCollision/CollisionDispatch/btCollisionWorld.h" 20 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" 21 22 class btTypedConstraint; 23 class btActionInterface; 24 class btConstraintSolver; 25 class btDynamicsWorld; 26 27 28 /// Type for the callback for each tick 29 typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep); 30 31 enum btDynamicsWorldType 32 { 33 BT_SIMPLE_DYNAMICS_WORLD=1, 34 BT_DISCRETE_DYNAMICS_WORLD=2, 35 BT_CONTINUOUS_DYNAMICS_WORLD=3, 36 BT_SOFT_RIGID_DYNAMICS_WORLD=4, 37 BT_GPU_DYNAMICS_WORLD=5 38 }; 39 40 ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. 41 class btDynamicsWorld : public btCollisionWorld 42 { 43 44 protected: 45 btInternalTickCallback m_internalTickCallback; 46 btInternalTickCallback m_internalPreTickCallback; 47 void* m_worldUserInfo; 48 49 btContactSolverInfo m_solverInfo; 50 51 public: 52 53 54 btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration) 55 :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0) 56 { 57 } 58 59 virtual ~btDynamicsWorld() 60 { 61 } 62 63 ///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. 64 ///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'. 65 ///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'. 66 ///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant. 67 virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0; 68 69 virtual void debugDrawWorld() = 0; 70 71 virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) 72 { 73 (void)constraint; (void)disableCollisionsBetweenLinkedBodies; 74 } 75 76 virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;} 77 78 virtual void addAction(btActionInterface* action) = 0; 79 80 virtual void removeAction(btActionInterface* action) = 0; 81 82 //once a rigidbody is added to the dynamics world, it will get this gravity assigned 83 //existing rigidbodies in the world get gravity assigned too, during this method 84 virtual void setGravity(const btVector3& gravity) = 0; 85 virtual btVector3 getGravity () const = 0; 86 87 virtual void synchronizeMotionStates() = 0; 88 89 virtual void addRigidBody(btRigidBody* body) = 0; 90 91 virtual void addRigidBody(btRigidBody* body, short group, short mask) = 0; 92 93 virtual void removeRigidBody(btRigidBody* body) = 0; 94 95 virtual void setConstraintSolver(btConstraintSolver* solver) = 0; 96 97 virtual btConstraintSolver* getConstraintSolver() = 0; 98 99 virtual int getNumConstraints() const { return 0; } 100 101 virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; } 102 103 virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; } 104 105 virtual btDynamicsWorldType getWorldType() const=0; 106 107 virtual void clearForces() = 0; 108 109 /// Set the callback for when an internal tick (simulation substep) happens, optional user info 110 void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false) 111 { 112 if (isPreTick) 113 { 114 m_internalPreTickCallback = cb; 115 } else 116 { 117 m_internalTickCallback = cb; 118 } 119 m_worldUserInfo = worldUserInfo; 120 } 121 122 void setWorldUserInfo(void* worldUserInfo) 123 { 124 m_worldUserInfo = worldUserInfo; 125 } 126 127 void* getWorldUserInfo() const 128 { 129 return m_worldUserInfo; 130 } 131 132 btContactSolverInfo& getSolverInfo() 133 { 134 return m_solverInfo; 135 } 136 137 138 ///obsolete, use addAction instead. 139 virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;} 140 ///obsolete, use removeAction instead 141 virtual void removeVehicle(btActionInterface* vehicle) {(void)vehicle;} 142 ///obsolete, use addAction instead. 143 virtual void addCharacter(btActionInterface* character) {(void)character;} 144 ///obsolete, use removeAction instead 145 virtual void removeCharacter(btActionInterface* character) {(void)character;} 146 147 148 }; 149 150 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 151 struct btDynamicsWorldDoubleData 152 { 153 btContactSolverInfoDoubleData m_solverInfo; 154 btVector3DoubleData m_gravity; 155 }; 156 157 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 158 struct btDynamicsWorldFloatData 159 { 160 btContactSolverInfoFloatData m_solverInfo; 161 btVector3FloatData m_gravity; 162 }; 163 164 165 #endif //BT_DYNAMICS_WORLD_H 166 167 168
