btMultiBodyDynamicsWorld.h

Go to the documentation of this file.

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 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_MULTIBODY_DYNAMICS_WORLD_H
#define BT_MULTIBODY_DYNAMICS_WORLD_H

#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"

#define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY

class btMultiBody;
class btMultiBodyConstraint;
class btMultiBodyConstraintSolver;
struct MultiBodyInplaceSolverIslandCallback;

class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
{
protected:
        btAlignedObjectArray<btMultiBody*> m_multiBodies;
        btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
        btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
        btMultiBodyConstraintSolver*    m_multiBodyConstraintSolver;
        MultiBodyInplaceSolverIslandCallback*   m_solverMultiBodyIslandCallback;

        //cached data to avoid memory allocations
        btAlignedObjectArray<btQuaternion> m_scratch_world_to_local;
        btAlignedObjectArray<btVector3> m_scratch_local_origin;
        btAlignedObjectArray<btQuaternion> m_scratch_world_to_local1;
        btAlignedObjectArray<btVector3> m_scratch_local_origin1;
        btAlignedObjectArray<btScalar> m_scratch_r;
        btAlignedObjectArray<btVector3> m_scratch_v;
        btAlignedObjectArray<btMatrix3x3> m_scratch_m;

        
        virtual void    calculateSimulationIslands();
        virtual void    updateActivationState(btScalar timeStep);
        virtual void    solveConstraints(btContactSolverInfo& solverInfo);
        
        virtual void    serializeMultiBodies(btSerializer* serializer);

public:

        btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);

        virtual ~btMultiBodyDynamicsWorld ();

        virtual void    addMultiBody(btMultiBody* body, int group= btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter);

        virtual void    removeMultiBody(btMultiBody* body);

        virtual int             getNumMultibodies() const
        {
                return m_multiBodies.size();
        }

        btMultiBody*    getMultiBody(int mbIndex)
        {
                return m_multiBodies[mbIndex];
        }

        const btMultiBody*      getMultiBody(int mbIndex) const
        {
                return m_multiBodies[mbIndex];
        }

        virtual void    addMultiBodyConstraint( btMultiBodyConstraint* constraint);

        virtual int     getNumMultiBodyConstraints() const
        {
        return m_multiBodyConstraints.size();
        }

        virtual btMultiBodyConstraint*  getMultiBodyConstraint( int constraintIndex)
        {
        return m_multiBodyConstraints[constraintIndex];
        }

        virtual const btMultiBodyConstraint*    getMultiBodyConstraint( int constraintIndex) const
        {
        return m_multiBodyConstraints[constraintIndex];
        }

        virtual void    removeMultiBodyConstraint( btMultiBodyConstraint* constraint);

        virtual void    integrateTransforms(btScalar timeStep);

        virtual void    debugDrawWorld();

        virtual void    debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
        
        void    forwardKinematics();
        virtual void clearForces();
        virtual void clearMultiBodyConstraintForces();
        virtual void clearMultiBodyForces();
        virtual void applyGravity();
        
        virtual void    serialize(btSerializer* serializer);
        virtual void    setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver);
    virtual void    setConstraintSolver(btConstraintSolver* solver);

};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H