btDiscreteDynamicsWorld.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/


#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
#define BT_DISCRETE_DYNAMICS_WORLD_H

#include "btDynamicsWorld.h"

class btDispatcher;
class btOverlappingPairCache;
class btConstraintSolver;
class btSimulationIslandManager;
class btTypedConstraint;
class btActionInterface;
class btPersistentManifold;
class btIDebugDraw;
struct InplaceSolverIslandCallback;

#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btThreads.h"


ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld
{
protected:
        
    btAlignedObjectArray<btTypedConstraint*>    m_sortedConstraints;
        InplaceSolverIslandCallback*    m_solverIslandCallback;

        btConstraintSolver*     m_constraintSolver;

        btSimulationIslandManager*      m_islandManager;

        btAlignedObjectArray<btTypedConstraint*> m_constraints;

        btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;

        btVector3       m_gravity;

        //for variable timesteps
        btScalar        m_localTime;
        btScalar        m_fixedTimeStep;
        //for variable timesteps

        bool    m_ownsIslandManager;
        bool    m_ownsConstraintSolver;
        bool    m_synchronizeAllMotionStates;
        bool    m_applySpeculativeContactRestitution;

        btAlignedObjectArray<btActionInterface*>        m_actions;
        
        int     m_profileTimings;

        bool    m_latencyMotionStateInterpolation;

        btAlignedObjectArray<btPersistentManifold*>     m_predictiveManifolds;
    btSpinMutex m_predictiveManifoldsMutex;  // used to synchronize threads creating predictive contacts

        virtual void    predictUnconstraintMotion(btScalar timeStep);
        
    void integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep );  // can be called in parallel
        virtual void    integrateTransforms(btScalar timeStep);
                
        virtual void    calculateSimulationIslands();

        virtual void    solveConstraints(btContactSolverInfo& solverInfo);
        
        virtual void    updateActivationState(btScalar timeStep);

        void    updateActions(btScalar timeStep);

        void    startProfiling(btScalar timeStep);

        virtual void    internalSingleStepSimulation( btScalar timeStep);

    void releasePredictiveContacts();
    void createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep );  // can be called in parallel
        virtual void    createPredictiveContacts(btScalar timeStep);

        virtual void    saveKinematicState(btScalar timeStep);

        void    serializeRigidBodies(btSerializer* serializer);

        void    serializeDynamicsWorldInfo(btSerializer* serializer);

public:


        BT_DECLARE_ALIGNED_ALLOCATOR();

        btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);

        virtual ~btDiscreteDynamicsWorld();

        virtual int     stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));


        virtual void    synchronizeMotionStates();

        void    synchronizeSingleMotionState(btRigidBody* body);

        virtual void    addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);

        virtual void    removeConstraint(btTypedConstraint* constraint);

        virtual void    addAction(btActionInterface*);

        virtual void    removeAction(btActionInterface*);
        
        btSimulationIslandManager*      getSimulationIslandManager()
        {
                return m_islandManager;
        }

        const btSimulationIslandManager*        getSimulationIslandManager() const 
        {
                return m_islandManager;
        }

        btCollisionWorld*       getCollisionWorld()
        {
                return this;
        }

        virtual void    setGravity(const btVector3& gravity);

        virtual btVector3 getGravity () const;

        virtual void    addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

        virtual void    addRigidBody(btRigidBody* body);

        virtual void    addRigidBody(btRigidBody* body, int group, int mask);

        virtual void    removeRigidBody(btRigidBody* body);

        virtual void    removeCollisionObject(btCollisionObject* collisionObject);


        virtual void    debugDrawConstraint(btTypedConstraint* constraint);

        virtual void    debugDrawWorld();

        virtual void    setConstraintSolver(btConstraintSolver* solver);

        virtual btConstraintSolver* getConstraintSolver();
        
        virtual int             getNumConstraints() const;

        virtual btTypedConstraint* getConstraint(int index)     ;

        virtual const btTypedConstraint* getConstraint(int index) const;

        
        virtual btDynamicsWorldType     getWorldType() const
        {
                return BT_DISCRETE_DYNAMICS_WORLD;
        }
        
        virtual void    clearForces();

        virtual void    applyGravity();

        virtual void    setNumTasks(int numTasks)
        {
        (void) numTasks;
        }

        virtual void updateVehicles(btScalar timeStep)
        {
                updateActions(timeStep);
        }

        virtual void    addVehicle(btActionInterface* vehicle);
        virtual void    removeVehicle(btActionInterface* vehicle);
        virtual void    addCharacter(btActionInterface* character);
        virtual void    removeCharacter(btActionInterface* character);

        void    setSynchronizeAllMotionStates(bool synchronizeAll)
        {
                m_synchronizeAllMotionStates = synchronizeAll;
        }
        bool getSynchronizeAllMotionStates() const
        {
                return m_synchronizeAllMotionStates;
        }

        void setApplySpeculativeContactRestitution(bool enable)
        {
                m_applySpeculativeContactRestitution = enable;
        }
        
        bool getApplySpeculativeContactRestitution() const
        {
                return m_applySpeculativeContactRestitution;
        }

        virtual void    serialize(btSerializer* serializer);

        void setLatencyMotionStateInterpolation(bool latencyInterpolation )
        {
                m_latencyMotionStateInterpolation = latencyInterpolation;
        }
        bool getLatencyMotionStateInterpolation() const
        {
                return m_latencyMotionStateInterpolation;
        }
};

#endif //BT_DISCRETE_DYNAMICS_WORLD_H