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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 btIDebugDraw;
#include "LinearMath/btAlignedObjectArray.h"
///btDiscreteDynamicsWorld provides discrete rigid body simulation
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btDiscreteDynamicsWorld : public btDynamicsWorld
{
protected:
btConstraintSolver* m_constraintSolver;
btSimulationIslandManager* m_islandManager;
btAlignedObjectArray<btTypedConstraint*> m_constraints;
btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
btVector3 m_gravity;
//for variable timesteps
btScalar m_localTime;
//for variable timesteps
bool m_ownsIslandManager;
bool m_ownsConstraintSolver;
bool m_synchronizeAllMotionStates;
btAlignedObjectArray<btActionInterface*> m_actions;
int m_profileTimings;
virtual void predictUnconstraintMotion(btScalar timeStep);
virtual void integrateTransforms(btScalar timeStep);
virtual void calculateSimulationIslands();
virtual void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(btScalar timeStep);
void updateActions(btScalar timeStep);
void startProfiling(btScalar timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
virtual void saveKinematicState(btScalar timeStep);
void serializeRigidBodies(btSerializer* serializer);
public:
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btDiscreteDynamicsWorld();
///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual void synchronizeMotionStates();
///this can be useful to synchronize a single rigid body -> graphics object
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,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
virtual void addRigidBody(btRigidBody* body);
virtual void addRigidBody(btRigidBody* body, short group, short mask);
virtual void removeRigidBody(btRigidBody* body);
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject* collisionObject);
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;
}
///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
virtual void clearForces();
///apply gravity, call this once per timestep
virtual void applyGravity();
virtual void setNumTasks(int numTasks)
{
(void) numTasks;
}
///obsolete, use updateActions instead
virtual void updateVehicles(btScalar timeStep)
{
updateActions(timeStep);
}
///obsolete, use addAction instead
virtual void addVehicle(btActionInterface* vehicle);
///obsolete, use removeAction instead
virtual void removeVehicle(btActionInterface* vehicle);
///obsolete, use addAction instead
virtual void addCharacter(btActionInterface* character);
///obsolete, use removeAction instead
virtual void removeCharacter(btActionInterface* character);
void setSynchronizeAllMotionStates(bool synchronizeAll)
{
m_synchronizeAllMotionStates = synchronizeAll;
}
bool getSynchronizeAllMotionStates() const
{
return m_synchronizeAllMotionStates;
}
///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
virtual void serialize(btSerializer* serializer);
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
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