dali-physics/third-party/bullet3/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h

   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
  19 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
  20 #include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h"
  21
  22 #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
  23
  24 class btMultiBody;
  25 class btMultiBodyConstraint;
  26 class btMultiBodyConstraintSolver;
  27 struct MultiBodyInplaceSolverIslandCallback;
  28
  29 ///The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet
  30 ///This implementation is still preliminary/experimental.
  31 class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
  32 {
  33 protected:
  34         btAlignedObjectArray<btMultiBody*> m_multiBodies;
  35         btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
  36         btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
  37         btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
  38         MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback;
  39
  40         //cached data to avoid memory allocations
  41         btAlignedObjectArray<btQuaternion> m_scratch_world_to_local;
  42         btAlignedObjectArray<btVector3> m_scratch_local_origin;
  43         btAlignedObjectArray<btQuaternion> m_scratch_world_to_local1;
  44         btAlignedObjectArray<btVector3> m_scratch_local_origin1;
  45         btAlignedObjectArray<btScalar> m_scratch_r;
  46         btAlignedObjectArray<btVector3> m_scratch_v;
  47         btAlignedObjectArray<btMatrix3x3> m_scratch_m;
  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
  62         virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
  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         {
  85                 return m_multiBodyConstraints.size();
  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         virtual void saveKinematicState(btScalar timeStep);
 125 };
 126 #endif  //BT_MULTIBODY_DYNAMICS_WORLD_H