Bullet Collision Detection & Physics Library: btDiscreteDynamicsWorld.cpp Source File

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btDiscreteDynamicsWorld.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btDiscreteDynamicsWorld.h"
17
18//collision detection
19#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
20#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
21#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
22#include "BulletCollision/CollisionShapes/btCollisionShape.h"
23#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
24#include "LinearMath/btTransformUtil.h"
25#include "LinearMath/btQuickprof.h"
26
27//rigidbody & constraints
28#include "BulletDynamics/Dynamics/btRigidBody.h"
29#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
30#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
31#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
32#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
33#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
34#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
35#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
36#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
37#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
38#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
39
40#include "LinearMath/btIDebugDraw.h"
41#include "BulletCollision/CollisionShapes/btSphereShape.h"
42
43#include "BulletDynamics/Dynamics/btActionInterface.h"
44#include "LinearMath/btQuickprof.h"
45#include "LinearMath/btMotionState.h"
46
47#include "LinearMath/btSerializer.h"
48
49#if 0
50 btAlignedObjectArray<btVector3> debugContacts;
51 btAlignedObjectArray<btVector3> debugNormals;
52int startHit=2;
53int firstHit=startHit;
54#endif
55
56 SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs)
57{
58 int islandId;
59
60 const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
61 const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
62 islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
63 return islandId;
64}
65
66 class btSortConstraintOnIslandPredicate
67{
68public:
69 bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const
70 {
71 int rIslandId0, lIslandId0;
72 rIslandId0 = btGetConstraintIslandId(rhs);
73 lIslandId0 = btGetConstraintIslandId(lhs);
74 return lIslandId0 < rIslandId0;
75 }
76};
77
78 struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
79{
80 btContactSolverInfo* m_solverInfo;
81 btConstraintSolver* m_solver;
82 btTypedConstraint** m_sortedConstraints;
83 int m_numConstraints;
84 btIDebugDraw* m_debugDrawer;
85 btDispatcher* m_dispatcher;
86
87 btAlignedObjectArray<btCollisionObject*> m_bodies;
88 btAlignedObjectArray<btPersistentManifold*> m_manifolds;
89 btAlignedObjectArray<btTypedConstraint*> m_constraints;
90
91 InplaceSolverIslandCallback(
92 btConstraintSolver* solver,
93 btStackAlloc* stackAlloc,
94 btDispatcher* dispatcher)
95 : m_solverInfo(NULL),
96 m_solver(solver),
97 m_sortedConstraints(NULL),
98 m_numConstraints(0),
99 m_debugDrawer(NULL),
100 m_dispatcher(dispatcher)
101 {
102 }
103
104 InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other)
105 {
106 btAssert(0);
107 (void)other;
108 return *this;
109 }
110
111 SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btIDebugDraw* debugDrawer)
112 {
113 btAssert(solverInfo);
114 m_solverInfo = solverInfo;
115 m_sortedConstraints = sortedConstraints;
116 m_numConstraints = numConstraints;
117 m_debugDrawer = debugDrawer;
118 m_bodies.resize(0);
119 m_manifolds.resize(0);
120 m_constraints.resize(0);
121 }
122
123 virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId)
124 {
125 if (islandId < 0)
126 {
128 m_solver->solveGroup(bodies, numBodies, manifolds, numManifolds, &m_sortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
129 }
130 else
131 {
132 //also add all non-contact constraints/joints for this island
133 btTypedConstraint** startConstraint = 0;
134 int numCurConstraints = 0;
135 int i;
136
137 //find the first constraint for this island
138 for (i = 0; i < m_numConstraints; i++)
139 {
140 if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
141 {
142 startConstraint = &m_sortedConstraints[i];
143 break;
144 }
145 }
146 //count the number of constraints in this island
147 for (; i < m_numConstraints; i++)
148 {
149 if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
150 {
151 numCurConstraints++;
152 }
153 }
154
155 if (m_solverInfo->m_minimumSolverBatchSize <= 1)
156 {
157 m_solver->solveGroup(bodies, numBodies, manifolds, numManifolds, startConstraint, numCurConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
158 }
159 else
160 {
161 for (i = 0; i < numBodies; i++)
162 m_bodies.push_back(bodies[i]);
163 for (i = 0; i < numManifolds; i++)
164 m_manifolds.push_back(manifolds[i]);
165 for (i = 0; i < numCurConstraints; i++)
166 m_constraints.push_back(startConstraint[i]);
167 if ((m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
168 {
169 processConstraints();
170 }
171 else
172 {
173 //printf("deferred\n");
174 }
175 }
176 }
177 }
178 void processConstraints()
179 {
180 btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
181 btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
182 btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
183
184 m_solver->solveGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
185 m_bodies.resize(0);
186 m_manifolds.resize(0);
187 m_constraints.resize(0);
188 }
189};
190
191btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
192 : btDynamicsWorld(dispatcher, pairCache, collisionConfiguration),
193 m_sortedConstraints(),
194 m_solverIslandCallback(NULL),
195 m_constraintSolver(constraintSolver),
196 m_gravity(0, -10, 0),
197 m_localTime(0),
198 m_fixedTimeStep(0),
199 m_synchronizeAllMotionStates(false),
200 m_applySpeculativeContactRestitution(false),
201 m_profileTimings(0),
202 m_latencyMotionStateInterpolation(true)
203
204{
205 if (!m_constraintSolver)
206 {
207 void* mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver), 16);
208 m_constraintSolver = new (mem) btSequentialImpulseConstraintSolver;
209 m_ownsConstraintSolver = true;
210 }
211 else
212 {
213 m_ownsConstraintSolver = false;
214 }
215
216 {
217 void* mem = btAlignedAlloc(sizeof(btSimulationIslandManager), 16);
218 m_islandManager = new (mem) btSimulationIslandManager();
219 }
220
221 m_ownsIslandManager = true;
222
223 {
224 void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback), 16);
225 m_solverIslandCallback = new (mem) InplaceSolverIslandCallback(m_constraintSolver, 0, dispatcher);
226 }
227}
228
229btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
230{
231 //only delete it when we created it
232 if (m_ownsIslandManager)
233 {
234 m_islandManager->~btSimulationIslandManager();
235 btAlignedFree(m_islandManager);
236 }
237 if (m_solverIslandCallback)
238 {
239 m_solverIslandCallback->~InplaceSolverIslandCallback();
240 btAlignedFree(m_solverIslandCallback);
241 }
242 if (m_ownsConstraintSolver)
243 {
244 m_constraintSolver->~btConstraintSolver();
245 btAlignedFree(m_constraintSolver);
246 }
247}
248
249 void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
250{
254 for (int i = 0; i < m_collisionObjects.size(); i++)
255 {
256 btCollisionObject* colObj = m_collisionObjects[i];
257 btRigidBody* body = btRigidBody::upcast(colObj);
258 if (body && body->getActivationState() != ISLAND_SLEEPING)
259 {
260 if (body->isKinematicObject())
261 {
262 //to calculate velocities next frame
263 body->saveKinematicState(timeStep);
264 }
265 }
266 }
267}
268
269 void btDiscreteDynamicsWorld::debugDrawWorld()
270{
271 BT_PROFILE("debugDrawWorld");
272
273 btCollisionWorld::debugDrawWorld();
274
275 bool drawConstraints = false;
276 if (getDebugDrawer())
277 {
278 int mode = getDebugDrawer()->getDebugMode();
279 if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
280 {
281 drawConstraints = true;
282 }
283 }
284 if (drawConstraints)
285 {
286 for (int i = getNumConstraints() - 1; i >= 0; i--)
287 {
288 btTypedConstraint* constraint = getConstraint(i);
289 debugDrawConstraint(constraint);
290 }
291 }
292
293 if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawNormals)))
294 {
295 int i;
296
297 if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
298 {
299 for (i = 0; i < m_actions.size(); i++)
300 {
301 m_actions[i]->debugDraw(m_debugDrawer);
302 }
303 }
304 }
305 if (getDebugDrawer())
306 getDebugDrawer()->flushLines();
307}
308
309 void btDiscreteDynamicsWorld::clearForces()
310{
312 for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
313 {
314 btRigidBody* body = m_nonStaticRigidBodies[i];
315 //need to check if next line is ok
316 //it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up
317 body->clearForces();
318 }
319}
320
322 void btDiscreteDynamicsWorld::applyGravity()
323{
325 for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
326 {
327 btRigidBody* body = m_nonStaticRigidBodies[i];
328 if (body->isActive())
329 {
330 body->applyGravity();
331 }
332 }
333}
334
335 void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
336{
337 btAssert(body);
338
339 if (body->getMotionState() && !body->isStaticOrKinematicObject())
340 {
341 //we need to call the update at least once, even for sleeping objects
342 //otherwise the 'graphics' transform never updates properly
344 //if (body->getActivationState() != ISLAND_SLEEPING)
345 {
346 btTransform interpolatedTransform;
347 btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
348 body->getInterpolationLinearVelocity(), body->getInterpolationAngularVelocity(),
349 (m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime * body->getHitFraction(),
350 interpolatedTransform);
351 body->getMotionState()->setWorldTransform(interpolatedTransform);
352 }
353 }
354}
355
356 void btDiscreteDynamicsWorld::synchronizeMotionStates()
357{
358 // BT_PROFILE("synchronizeMotionStates");
359 if (m_synchronizeAllMotionStates)
360 {
361 //iterate over all collision objects
362 for (int i = 0; i < m_collisionObjects.size(); i++)
363 {
364 btCollisionObject* colObj = m_collisionObjects[i];
365 btRigidBody* body = btRigidBody::upcast(colObj);
366 if (body)
367 synchronizeSingleMotionState(body);
368 }
369 }
370 else
371 {
372 //iterate over all active rigid bodies
373 for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
374 {
375 btRigidBody* body = m_nonStaticRigidBodies[i];
376 if (body->isActive())
377 synchronizeSingleMotionState(body);
378 }
379 }
380}
381
382 int btDiscreteDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
383{
384 startProfiling(timeStep);
385
386 int numSimulationSubSteps = 0;
387
388 if (maxSubSteps)
389 {
390 //fixed timestep with interpolation
391 m_fixedTimeStep = fixedTimeStep;
392 m_localTime += timeStep;
393 if (m_localTime >= fixedTimeStep)
394 {
395 numSimulationSubSteps = int(m_localTime / fixedTimeStep);
396 m_localTime -= numSimulationSubSteps * fixedTimeStep;
397 }
398 }
399 else
400 {
401 //variable timestep
402 fixedTimeStep = timeStep;
403 m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
404 m_fixedTimeStep = 0;
405 if (btFuzzyZero(timeStep))
406 {
407 numSimulationSubSteps = 0;
408 maxSubSteps = 0;
409 }
410 else
411 {
412 numSimulationSubSteps = 1;
413 maxSubSteps = 1;
414 }
415 }
416
417 //process some debugging flags
418 if (getDebugDrawer())
419 {
420 btIDebugDraw* debugDrawer = getDebugDrawer();
421 gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
422 }
423 if (numSimulationSubSteps)
424 {
425 //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
426 int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps;
427
428 saveKinematicState(fixedTimeStep * clampedSimulationSteps);
429
430 applyGravity();
431
432 for (int i = 0; i < clampedSimulationSteps; i++)
433 {
434 internalSingleStepSimulation(fixedTimeStep);
435 synchronizeMotionStates();
436 }
437 }
438 else
439 {
440 synchronizeMotionStates();
441 }
442
443 clearForces();
444
445#ifndef BT_NO_PROFILE
446 CProfileManager::Increment_Frame_Counter();
447#endif //BT_NO_PROFILE
448
449 return numSimulationSubSteps;
450}
451
452 void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
453{
454 BT_PROFILE("internalSingleStepSimulation");
455
456 if (0 != m_internalPreTickCallback)
457 {
458 (*m_internalPreTickCallback)(this, timeStep);
459 }
460
462 predictUnconstraintMotion(timeStep);
463
464 btDispatcherInfo& dispatchInfo = getDispatchInfo();
465
466 dispatchInfo.m_timeStep = timeStep;
467 dispatchInfo.m_stepCount = 0;
468 dispatchInfo.m_debugDraw = getDebugDrawer();
469
470 createPredictiveContacts(timeStep);
471
473 performDiscreteCollisionDetection();
474
475 calculateSimulationIslands();
476
477 getSolverInfo().m_timeStep = timeStep;
478
480 solveConstraints(getSolverInfo());
481
483
485
486 integrateTransforms(timeStep);
487
489 updateActions(timeStep);
490
491 updateActivationState(timeStep);
492
493 if (0 != m_internalTickCallback)
494 {
495 (*m_internalTickCallback)(this, timeStep);
496 }
497}
498
499 void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
500{
501 m_gravity = gravity;
502 for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
503 {
504 btRigidBody* body = m_nonStaticRigidBodies[i];
505 if (body->isActive() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
506 {
507 body->setGravity(gravity);
508 }
509 }
510}
511
512 btVector3 btDiscreteDynamicsWorld::getGravity() const
513{
514 return m_gravity;
515}
516
517 void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
518{
519 btCollisionWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask);
520}
521
522 void btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
523{
524 btRigidBody* body = btRigidBody::upcast(collisionObject);
525 if (body)
526 removeRigidBody(body);
527 else
528 btCollisionWorld::removeCollisionObject(collisionObject);
529}
530
531 void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
532{
533 m_nonStaticRigidBodies.remove(body);
534 btCollisionWorld::removeCollisionObject(body);
535}
536
537 void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
538{
539 if (!body->isStaticOrKinematicObject() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
540 {
541 body->setGravity(m_gravity);
542 }
543
544 if (body->getCollisionShape())
545 {
546 if (!body->isStaticObject())
547 {
548 m_nonStaticRigidBodies.push_back(body);
549 }
550 else
551 {
552 body->setActivationState(ISLAND_SLEEPING);
553 }
554
555 bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
556 int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
557 int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
558
559 addCollisionObject(body, collisionFilterGroup, collisionFilterMask);
560 }
561}
562
563 void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
564{
565 if (!body->isStaticOrKinematicObject() && !(body->getFlags() & BT_DISABLE_WORLD_GRAVITY))
566 {
567 body->setGravity(m_gravity);
568 }
569
570 if (body->getCollisionShape())
571 {
572 if (!body->isStaticObject())
573 {
574 m_nonStaticRigidBodies.push_back(body);
575 }
576 else
577 {
578 body->setActivationState(ISLAND_SLEEPING);
579 }
580 addCollisionObject(body, group, mask);
581 }
582}
583
584 void btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
585{
586 BT_PROFILE("updateActions");
587
588 for (int i = 0; i < m_actions.size(); i++)
589 {
590 m_actions[i]->updateAction(this, timeStep);
591 }
592}
593
594 void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
595{
596 BT_PROFILE("updateActivationState");
597
598 for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
599 {
600 btRigidBody* body = m_nonStaticRigidBodies[i];
601 if (body)
602 {
603 body->updateDeactivation(timeStep);
604
605 if (body->wantsSleeping())
606 {
607 if (body->isStaticOrKinematicObject())
608 {
609 body->setActivationState(ISLAND_SLEEPING);
610 }
611 else
612 {
613 if (body->getActivationState() == ACTIVE_TAG)
614 body->setActivationState(WANTS_DEACTIVATION);
615 if (body->getActivationState() == ISLAND_SLEEPING)
616 {
617 body->setAngularVelocity(btVector3(0, 0, 0));
618 body->setLinearVelocity(btVector3(0, 0, 0));
619 }
620 }
621 }
622 else
623 {
624 if (body->getActivationState() != DISABLE_DEACTIVATION)
625 body->setActivationState(ACTIVE_TAG);
626 }
627 }
628 }
629}
630
631 void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies)
632{
633 m_constraints.push_back(constraint);
634 //Make sure the two bodies of a type constraint are different (possibly add this to the btTypedConstraint constructor?)
635 btAssert(&constraint->getRigidBodyA() != &constraint->getRigidBodyB());
636
637 if (disableCollisionsBetweenLinkedBodies)
638 {
639 constraint->getRigidBodyA().addConstraintRef(constraint);
640 constraint->getRigidBodyB().addConstraintRef(constraint);
641 }
642}
643
644 void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
645{
646 m_constraints.remove(constraint);
647 constraint->getRigidBodyA().removeConstraintRef(constraint);
648 constraint->getRigidBodyB().removeConstraintRef(constraint);
649}
650
651 void btDiscreteDynamicsWorld::addAction(btActionInterface* action)
652{
653 m_actions.push_back(action);
654}
655
656 void btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
657{
658 m_actions.remove(action);
659}
660
661 void btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
662{
663 addAction(vehicle);
664}
665
666 void btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
667{
668 removeAction(vehicle);
669}
670
671 void btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
672{
673 addAction(character);
674}
675
676 void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
677{
678 removeAction(character);
679}
680
681 void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
682{
683 BT_PROFILE("solveConstraints");
684
685 m_sortedConstraints.resize(m_constraints.size());
686 int i;
687 for (i = 0; i < getNumConstraints(); i++)
688 {
689 m_sortedConstraints[i] = m_constraints[i];
690 }
691
692 // btAssert(0);
693
694 m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate());
695
696 btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
697
698 m_solverIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), getDebugDrawer());
699 m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
700
702 m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverIslandCallback);
703
704 m_solverIslandCallback->processConstraints();
705
706 m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
707}
708
709 void btDiscreteDynamicsWorld::calculateSimulationIslands()
710{
711 BT_PROFILE("calculateSimulationIslands");
712
713 getSimulationIslandManager()->updateActivationState(getCollisionWorld(), getCollisionWorld()->getDispatcher());
714
715 {
716 //merge islands based on speculative contact manifolds too
717 for (int i = 0; i < this->m_predictiveManifolds.size(); i++)
718 {
719 btPersistentManifold* manifold = m_predictiveManifolds[i];
720
721 const btCollisionObject* colObj0 = manifold->getBody0();
722 const btCollisionObject* colObj1 = manifold->getBody1();
723
724 if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
725 ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
726 {
727 getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
728 }
729 }
730 }
731
732 {
733 int i;
734 int numConstraints = int(m_constraints.size());
735 for (i = 0; i < numConstraints; i++)
736 {
737 btTypedConstraint* constraint = m_constraints[i];
738 if (constraint->isEnabled())
739 {
740 const btRigidBody* colObj0 = &constraint->getRigidBodyA();
741 const btRigidBody* colObj1 = &constraint->getRigidBodyB();
742
743 if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
744 ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
745 {
746 getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), (colObj1)->getIslandTag());
747 }
748 }
749 }
750 }
751
752 //Store the island id in each body
753 getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
754}
755
756 class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
757{
758public:
759 btCollisionObject* m_me;
760 btScalar m_allowedPenetration;
761 btOverlappingPairCache* m_pairCache;
762 btDispatcher* m_dispatcher;
763
764public:
765 btClosestNotMeConvexResultCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btCollisionWorld::ClosestConvexResultCallback(fromA, toA),
766 m_me(me),
767 m_allowedPenetration(0.0f),
768 m_pairCache(pairCache),
769 m_dispatcher(dispatcher)
770 {
771 }
772
773 virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace)
774 {
775 if (convexResult.m_hitCollisionObject == m_me)
776 return 1.0f;
777
778 //ignore result if there is no contact response
779 if (!convexResult.m_hitCollisionObject->hasContactResponse())
780 return 1.0f;
781
782 btVector3 linVelA, linVelB;
783 linVelA = m_convexToWorld - m_convexFromWorld;
784 linVelB = btVector3(0, 0, 0); //toB.getOrigin()-fromB.getOrigin();
785
786 btVector3 relativeVelocity = (linVelA - linVelB);
787 //don't report time of impact for motion away from the contact normal (or causes minor penetration)
788 if (convexResult.m_hitNormalLocal.dot(relativeVelocity) >= -m_allowedPenetration)
789 return 1.f;
790
791 return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
792 }
793
794 virtual bool needsCollision(btBroadphaseProxy* proxy0) const
795 {
796 //don't collide with itself
797 if (proxy0->m_clientObject == m_me)
798 return false;
799
801 if (!ClosestConvexResultCallback::needsCollision(proxy0))
802 return false;
803 if (m_pairCache->getOverlapFilterCallback()) {
804 btBroadphaseProxy* proxy1 = m_me->getBroadphaseHandle();
805 bool collides = m_pairCache->needsBroadphaseCollision(proxy0, proxy1);
806 if (!collides)
807 {
808 return false;
809 }
810 }
811
812 btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
813
814 if (!m_dispatcher->needsCollision(m_me, otherObj))
815 return false;
816
817 //call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
818 if (m_dispatcher->needsResponse(m_me, otherObj))
819 {
820#if 0
822 btAlignedObjectArray<btPersistentManifold*> manifoldArray;
823 btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
824 if (collisionPair)
825 {
826 if (collisionPair->m_algorithm)
827 {
828 manifoldArray.resize(0);
829 collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
830 for (int j=0;j<manifoldArray.size();j++)
831 {
832 btPersistentManifold* manifold = manifoldArray[j];
833 if (manifold->getNumContacts()>0)
834 return false;
835 }
836 }
837 }
838#endif
839 return true;
840 }
841
842 return false;
843 }
844};
845
847 int gNumClampedCcdMotions = 0;
848
849 void btDiscreteDynamicsWorld::createPredictiveContactsInternal(btRigidBody** bodies, int numBodies, btScalar timeStep)
850{
851 btTransform predictedTrans;
852 for (int i = 0; i < numBodies; i++)
853 {
854 btRigidBody* body = bodies[i];
855 body->setHitFraction(1.f);
856
857 if (body->isActive() && (!body->isStaticOrKinematicObject()))
858 {
859 body->predictIntegratedTransform(timeStep, predictedTrans);
860
861 btScalar squareMotion = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()).length2();
862
863 if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
864 {
865 BT_PROFILE("predictive convexSweepTest");
866 if (body->getCollisionShape()->isConvex())
867 {
868 gNumClampedCcdMotions++;
869#ifdef PREDICTIVE_CONTACT_USE_STATIC_ONLY
870 class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
871 {
872 public:
873 StaticOnlyCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me, fromA, toA, pairCache, dispatcher)
874 {
875 }
876
877 virtual bool needsCollision(btBroadphaseProxy* proxy0) const
878 {
879 btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
880 if (!otherObj->isStaticOrKinematicObject())
881 return false;
882 return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
883 }
884 };
885
886 StaticOnlyCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
887#else
888 btClosestNotMeConvexResultCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
889#endif
890 //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
891 btSphereShape tmpSphere(body->getCcdSweptSphereRadius()); //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
892 sweepResults.m_allowedPenetration = getDispatchInfo().m_allowedCcdPenetration;
893
894 sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
895 sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
896 btTransform modifiedPredictedTrans = predictedTrans;
897 modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
898
899 convexSweepTest(&tmpSphere, body->getWorldTransform(), modifiedPredictedTrans, sweepResults);
900 if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
901 {
902 btVector3 distVec = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()) * sweepResults.m_closestHitFraction;
903 btScalar distance = distVec.dot(-sweepResults.m_hitNormalWorld);
904
905 btMutexLock(&m_predictiveManifoldsMutex);
906 btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body, sweepResults.m_hitCollisionObject);
907 m_predictiveManifolds.push_back(manifold);
908 btMutexUnlock(&m_predictiveManifoldsMutex);
909
910 btVector3 worldPointB = body->getWorldTransform().getOrigin() + distVec;
911 btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse() * worldPointB;
912
913 btManifoldPoint newPoint(btVector3(0, 0, 0), localPointB, sweepResults.m_hitNormalWorld, distance);
914
915 bool isPredictive = true;
916 int index = manifold->addManifoldPoint(newPoint, isPredictive);
917 btManifoldPoint& pt = manifold->getContactPoint(index);
918 pt.m_combinedRestitution = 0;
919 pt.m_combinedFriction = gCalculateCombinedFrictionCallback(body, sweepResults.m_hitCollisionObject);
920 pt.m_positionWorldOnA = body->getWorldTransform().getOrigin();
921 pt.m_positionWorldOnB = worldPointB;
922 }
923 }
924 }
925 }
926 }
927}
928
929 void btDiscreteDynamicsWorld::releasePredictiveContacts()
930{
931 BT_PROFILE("release predictive contact manifolds");
932
933 for (int i = 0; i < m_predictiveManifolds.size(); i++)
934 {
935 btPersistentManifold* manifold = m_predictiveManifolds[i];
936 this->m_dispatcher1->releaseManifold(manifold);
937 }
938 m_predictiveManifolds.clear();
939}
940
941 void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
942{
943 BT_PROFILE("createPredictiveContacts");
944 releasePredictiveContacts();
945 if (m_nonStaticRigidBodies.size() > 0)
946 {
947 createPredictiveContactsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
948 }
949}
950
951 void btDiscreteDynamicsWorld::integrateTransformsInternal(btRigidBody** bodies, int numBodies, btScalar timeStep)
952{
953 btTransform predictedTrans;
954 for (int i = 0; i < numBodies; i++)
955 {
956 btRigidBody* body = bodies[i];
957 body->setHitFraction(1.f);
958
959 if (body->isActive() && (!body->isStaticOrKinematicObject()))
960 {
961 body->predictIntegratedTransform(timeStep, predictedTrans);
962
963 btScalar squareMotion = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()).length2();
964
965 if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
966 {
967 BT_PROFILE("CCD motion clamping");
968 if (body->getCollisionShape()->isConvex())
969 {
970 gNumClampedCcdMotions++;
971#ifdef USE_STATIC_ONLY
972 class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
973 {
974 public:
975 StaticOnlyCallback(btCollisionObject* me, const btVector3& fromA, const btVector3& toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me, fromA, toA, pairCache, dispatcher)
976 {
977 }
978
979 virtual bool needsCollision(btBroadphaseProxy* proxy0) const
980 {
981 btCollisionObject* otherObj = (btCollisionObject*)proxy0->m_clientObject;
982 if (!otherObj->isStaticOrKinematicObject())
983 return false;
984 return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
985 }
986 };
987
988 StaticOnlyCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
989#else
990 btClosestNotMeConvexResultCallback sweepResults(body, body->getWorldTransform().getOrigin(), predictedTrans.getOrigin(), getBroadphase()->getOverlappingPairCache(), getDispatcher());
991#endif
992 //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
993 btSphereShape tmpSphere(body->getCcdSweptSphereRadius()); //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
994 sweepResults.m_allowedPenetration = getDispatchInfo().m_allowedCcdPenetration;
995
996 sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
997 sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
998 btTransform modifiedPredictedTrans = predictedTrans;
999 modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
1000
1001 convexSweepTest(&tmpSphere, body->getWorldTransform(), modifiedPredictedTrans, sweepResults);
1002 if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
1003 {
1004 //printf("clamped integration to hit fraction = %f\n",fraction);
1005 body->setHitFraction(sweepResults.m_closestHitFraction);
1006 body->predictIntegratedTransform(timeStep * body->getHitFraction(), predictedTrans);
1007 body->setHitFraction(0.f);
1008 body->proceedToTransform(predictedTrans);
1009
1010#if 0
1011 btVector3 linVel = body->getLinearVelocity();
1012
1013 btScalar maxSpeed = body->getCcdMotionThreshold()/getSolverInfo().m_timeStep;
1014 btScalar maxSpeedSqr = maxSpeed*maxSpeed;
1015 if (linVel.length2()>maxSpeedSqr)
1016 {
1017 linVel.normalize();
1018 linVel*= maxSpeed;
1019 body->setLinearVelocity(linVel);
1020 btScalar ms2 = body->getLinearVelocity().length2();
1021 body->predictIntegratedTransform(timeStep, predictedTrans);
1022
1023 btScalar sm2 = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
1024 btScalar smt = body->getCcdSquareMotionThreshold();
1025 printf("sm2=%f\n",sm2);
1026 }
1027#else
1028
1029 //don't apply the collision response right now, it will happen next frame
1030 //if you really need to, you can uncomment next 3 lines. Note that is uses zero restitution.
1031 //btScalar appliedImpulse = 0.f;
1032 //btScalar depth = 0.f;
1033 //appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
1034
1035#endif
1036
1037 continue;
1038 }
1039 }
1040 }
1041
1042 body->proceedToTransform(predictedTrans);
1043 }
1044 }
1045}
1046
1047 void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
1048{
1049 BT_PROFILE("integrateTransforms");
1050 if (m_nonStaticRigidBodies.size() > 0)
1051 {
1052 integrateTransformsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
1053 }
1054
1056 if (m_applySpeculativeContactRestitution)
1057 {
1058 BT_PROFILE("apply speculative contact restitution");
1059 for (int i = 0; i < m_predictiveManifolds.size(); i++)
1060 {
1061 btPersistentManifold* manifold = m_predictiveManifolds[i];
1062 btRigidBody* body0 = btRigidBody::upcast((btCollisionObject*)manifold->getBody0());
1063 btRigidBody* body1 = btRigidBody::upcast((btCollisionObject*)manifold->getBody1());
1064
1065 for (int p = 0; p < manifold->getNumContacts(); p++)
1066 {
1067 const btManifoldPoint& pt = manifold->getContactPoint(p);
1068 btScalar combinedRestitution = gCalculateCombinedRestitutionCallback(body0, body1);
1069
1070 if (combinedRestitution > 0 && pt.m_appliedImpulse != 0.f)
1071 //if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
1072 {
1073 btVector3 imp = -pt.m_normalWorldOnB * pt.m_appliedImpulse * combinedRestitution;
1074
1075 const btVector3& pos1 = pt.getPositionWorldOnA();
1076 const btVector3& pos2 = pt.getPositionWorldOnB();
1077
1078 btVector3 rel_pos0 = pos1 - body0->getWorldTransform().getOrigin();
1079 btVector3 rel_pos1 = pos2 - body1->getWorldTransform().getOrigin();
1080
1081 if (body0)
1082 body0->applyImpulse(imp, rel_pos0);
1083 if (body1)
1084 body1->applyImpulse(-imp, rel_pos1);
1085 }
1086 }
1087 }
1088 }
1089}
1090
1091 void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
1092{
1093 BT_PROFILE("predictUnconstraintMotion");
1094 for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
1095 {
1096 btRigidBody* body = m_nonStaticRigidBodies[i];
1097 if (!body->isStaticOrKinematicObject())
1098 {
1099 //don't integrate/update velocities here, it happens in the constraint solver
1100
1101 body->applyDamping(timeStep);
1102
1103 body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
1104 }
1105 }
1106}
1107
1108 void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
1109{
1110 (void)timeStep;
1111
1112#ifndef BT_NO_PROFILE
1113 CProfileManager::Reset();
1114#endif //BT_NO_PROFILE
1115}
1116
1117 void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
1118{
1119 bool drawFrames = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraints) != 0;
1120 bool drawLimits = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraintLimits) != 0;
1121 btScalar dbgDrawSize = constraint->getDbgDrawSize();
1122 if (dbgDrawSize <= btScalar(0.f))
1123 {
1124 return;
1125 }
1126
1127 switch (constraint->getConstraintType())
1128 {
1129 case POINT2POINT_CONSTRAINT_TYPE:
1130 {
1131 btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)constraint;
1132 btTransform tr;
1133 tr.setIdentity();
1134 btVector3 pivot = p2pC->getPivotInA();
1135 pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot;
1136 tr.setOrigin(pivot);
1137 getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1138 // that ideally should draw the same frame
1139 pivot = p2pC->getPivotInB();
1140 pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot;
1141 tr.setOrigin(pivot);
1142 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1143 }
1144 break;
1145 case HINGE_CONSTRAINT_TYPE:
1146 {
1147 btHingeConstraint* pHinge = (btHingeConstraint*)constraint;
1148 btTransform tr = pHinge->getRigidBodyA().getCenterOfMassTransform() * pHinge->getAFrame();
1149 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1150 tr = pHinge->getRigidBodyB().getCenterOfMassTransform() * pHinge->getBFrame();
1151 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1152 btScalar minAng = pHinge->getLowerLimit();
1153 btScalar maxAng = pHinge->getUpperLimit();
1154 if (minAng == maxAng)
1155 {
1156 break;
1157 }
1158 bool drawSect = true;
1159 if (!pHinge->hasLimit())
1160 {
1161 minAng = btScalar(0.f);
1162 maxAng = SIMD_2_PI;
1163 drawSect = false;
1164 }
1165 if (drawLimits)
1166 {
1167 btVector3& center = tr.getOrigin();
1168 btVector3 normal = tr.getBasis().getColumn(2);
1169 btVector3 axis = tr.getBasis().getColumn(0);
1170 getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, btVector3(0, 0, 0), drawSect);
1171 }
1172 }
1173 break;
1174 case CONETWIST_CONSTRAINT_TYPE:
1175 {
1176 btConeTwistConstraint* pCT = (btConeTwistConstraint*)constraint;
1177 btTransform tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
1178 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1179 tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
1180 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1181 if (drawLimits)
1182 {
1183 //const btScalar length = btScalar(5);
1184 const btScalar length = dbgDrawSize;
1185 static int nSegments = 8 * 4;
1186 btScalar fAngleInRadians = btScalar(2. * 3.1415926) * (btScalar)(nSegments - 1) / btScalar(nSegments);
1187 btVector3 pPrev = pCT->GetPointForAngle(fAngleInRadians, length);
1188 pPrev = tr * pPrev;
1189 for (int i = 0; i < nSegments; i++)
1190 {
1191 fAngleInRadians = btScalar(2. * 3.1415926) * (btScalar)i / btScalar(nSegments);
1192 btVector3 pCur = pCT->GetPointForAngle(fAngleInRadians, length);
1193 pCur = tr * pCur;
1194 getDebugDrawer()->drawLine(pPrev, pCur, btVector3(0, 0, 0));
1195
1196 if (i % (nSegments / 8) == 0)
1197 getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0, 0, 0));
1198
1199 pPrev = pCur;
1200 }
1201 btScalar tws = pCT->getTwistSpan();
1202 btScalar twa = pCT->getTwistAngle();
1203 bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f));
1204 if (useFrameB)
1205 {
1206 tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
1207 }
1208 else
1209 {
1210 tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
1211 }
1212 btVector3 pivot = tr.getOrigin();
1213 btVector3 normal = tr.getBasis().getColumn(0);
1214 btVector3 axis1 = tr.getBasis().getColumn(1);
1215 getDebugDrawer()->drawArc(pivot, normal, axis1, dbgDrawSize, dbgDrawSize, -twa - tws, -twa + tws, btVector3(0, 0, 0), true);
1216 }
1217 }
1218 break;
1219 case D6_SPRING_CONSTRAINT_TYPE:
1220 case D6_CONSTRAINT_TYPE:
1221 {
1222 btGeneric6DofConstraint* p6DOF = (btGeneric6DofConstraint*)constraint;
1223 btTransform tr = p6DOF->getCalculatedTransformA();
1224 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1225 tr = p6DOF->getCalculatedTransformB();
1226 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1227 if (drawLimits)
1228 {
1229 tr = p6DOF->getCalculatedTransformA();
1230 const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
1231 btVector3 up = tr.getBasis().getColumn(2);
1232 btVector3 axis = tr.getBasis().getColumn(0);
1233 btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
1234 btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
1235 btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
1236 btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
1237 getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
1238 axis = tr.getBasis().getColumn(1);
1239 btScalar ay = p6DOF->getAngle(1);
1240 btScalar az = p6DOF->getAngle(2);
1241 btScalar cy = btCos(ay);
1242 btScalar sy = btSin(ay);
1243 btScalar cz = btCos(az);
1244 btScalar sz = btSin(az);
1245 btVector3 ref;
1246 ref[0] = cy * cz * axis[0] + cy * sz * axis[1] - sy * axis[2];
1247 ref[1] = -sz * axis[0] + cz * axis[1];
1248 ref[2] = cz * sy * axis[0] + sz * sy * axis[1] + cy * axis[2];
1249 tr = p6DOF->getCalculatedTransformB();
1250 btVector3 normal = -tr.getBasis().getColumn(0);
1251 btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
1252 btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
1253 if (minFi > maxFi)
1254 {
1255 getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false);
1256 }
1257 else if (minFi < maxFi)
1258 {
1259 getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true);
1260 }
1261 tr = p6DOF->getCalculatedTransformA();
1262 btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
1263 btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
1264 getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0));
1265 }
1266 }
1267 break;
1269 case D6_SPRING_2_CONSTRAINT_TYPE:
1270 {
1271 {
1272 btGeneric6DofSpring2Constraint* p6DOF = (btGeneric6DofSpring2Constraint*)constraint;
1273 btTransform tr = p6DOF->getCalculatedTransformA();
1274 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1275 tr = p6DOF->getCalculatedTransformB();
1276 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1277 if (drawLimits)
1278 {
1279 tr = p6DOF->getCalculatedTransformA();
1280 const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
1281 btVector3 up = tr.getBasis().getColumn(2);
1282 btVector3 axis = tr.getBasis().getColumn(0);
1283 btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
1284 btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
1285 if (minTh <= maxTh)
1286 {
1287 btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
1288 btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
1289 getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
1290 }
1291 axis = tr.getBasis().getColumn(1);
1292 btScalar ay = p6DOF->getAngle(1);
1293 btScalar az = p6DOF->getAngle(2);
1294 btScalar cy = btCos(ay);
1295 btScalar sy = btSin(ay);
1296 btScalar cz = btCos(az);
1297 btScalar sz = btSin(az);
1298 btVector3 ref;
1299 ref[0] = cy * cz * axis[0] + cy * sz * axis[1] - sy * axis[2];
1300 ref[1] = -sz * axis[0] + cz * axis[1];
1301 ref[2] = cz * sy * axis[0] + sz * sy * axis[1] + cy * axis[2];
1302 tr = p6DOF->getCalculatedTransformB();
1303 btVector3 normal = -tr.getBasis().getColumn(0);
1304 btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
1305 btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
1306 if (minFi > maxFi)
1307 {
1308 getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false);
1309 }
1310 else if (minFi < maxFi)
1311 {
1312 getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true);
1313 }
1314 tr = p6DOF->getCalculatedTransformA();
1315 btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
1316 btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
1317 getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0));
1318 }
1319 }
1320 break;
1321 }
1322 case SLIDER_CONSTRAINT_TYPE:
1323 {
1324 btSliderConstraint* pSlider = (btSliderConstraint*)constraint;
1325 btTransform tr = pSlider->getCalculatedTransformA();
1326 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1327 tr = pSlider->getCalculatedTransformB();
1328 if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
1329 if (drawLimits)
1330 {
1331 btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB();
1332 btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f);
1333 btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f);
1334 getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0));
1335 btVector3 normal = tr.getBasis().getColumn(0);
1336 btVector3 axis = tr.getBasis().getColumn(1);
1337 btScalar a_min = pSlider->getLowerAngLimit();
1338 btScalar a_max = pSlider->getUpperAngLimit();
1339 const btVector3& center = pSlider->getCalculatedTransformB().getOrigin();
1340 getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, a_min, a_max, btVector3(0, 0, 0), true);
1341 }
1342 }
1343 break;
1344 default:
1345 break;
1346 }
1347 return;
1348}
1349
1350 void btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
1351{
1352 if (m_ownsConstraintSolver)
1353 {
1354 btAlignedFree(m_constraintSolver);
1355 }
1356 m_ownsConstraintSolver = false;
1357 m_constraintSolver = solver;
1358 m_solverIslandCallback->m_solver = solver;
1359}
1360
1361 btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver()
1362{
1363 return m_constraintSolver;
1364}
1365
1366 int btDiscreteDynamicsWorld::getNumConstraints() const
1367{
1368 return int(m_constraints.size());
1369}
1370 btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index)
1371{
1372 return m_constraints[index];
1373}
1374 const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const
1375{
1376 return m_constraints[index];
1377}
1378
1379 void btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
1380{
1381 int i;
1382 //serialize all collision objects
1383 for (i = 0; i < m_collisionObjects.size(); i++)
1384 {
1385 btCollisionObject* colObj = m_collisionObjects[i];
1386 if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
1387 {
1388 int len = colObj->calculateSerializeBufferSize();
1389 btChunk* chunk = serializer->allocate(len, 1);
1390 const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
1391 serializer->finalizeChunk(chunk, structType, BT_RIGIDBODY_CODE, colObj);
1392 }
1393 }
1394
1395 for (i = 0; i < m_constraints.size(); i++)
1396 {
1397 btTypedConstraint* constraint = m_constraints[i];
1398 int size = constraint->calculateSerializeBufferSize();
1399 btChunk* chunk = serializer->allocate(size, 1);
1400 const char* structType = constraint->serialize(chunk->m_oldPtr, serializer);
1401 serializer->finalizeChunk(chunk, structType, BT_CONSTRAINT_CODE, constraint);
1402 }
1403}
1404
1405 void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serializer)
1406{
1407#ifdef BT_USE_DOUBLE_PRECISION
1408 int len = sizeof(btDynamicsWorldDoubleData);
1409 btChunk* chunk = serializer->allocate(len, 1);
1410 btDynamicsWorldDoubleData* worldInfo = (btDynamicsWorldDoubleData*)chunk->m_oldPtr;
1411#else //BT_USE_DOUBLE_PRECISION
1412 int len = sizeof(btDynamicsWorldFloatData);
1413 btChunk* chunk = serializer->allocate(len, 1);
1414 btDynamicsWorldFloatData* worldInfo = (btDynamicsWorldFloatData*)chunk->m_oldPtr;
1415#endif //BT_USE_DOUBLE_PRECISION
1416
1417 memset(worldInfo, 0x00, len);
1418
1419 m_gravity.serialize(worldInfo->m_gravity);
1420 worldInfo->m_solverInfo.m_tau = getSolverInfo().m_tau;
1421 worldInfo->m_solverInfo.m_damping = getSolverInfo().m_damping;
1422 worldInfo->m_solverInfo.m_friction = getSolverInfo().m_friction;
1423 worldInfo->m_solverInfo.m_timeStep = getSolverInfo().m_timeStep;
1424
1425 worldInfo->m_solverInfo.m_restitution = getSolverInfo().m_restitution;
1426 worldInfo->m_solverInfo.m_maxErrorReduction = getSolverInfo().m_maxErrorReduction;
1427 worldInfo->m_solverInfo.m_sor = getSolverInfo().m_sor;
1428 worldInfo->m_solverInfo.m_erp = getSolverInfo().m_erp;
1429
1430 worldInfo->m_solverInfo.m_erp2 = getSolverInfo().m_erp2;
1431 worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm;
1432 worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold;
1433 worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp;
1434
1435 worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop;
1436 worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor;
1437 worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce;
1438 worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold;
1439
1440 worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations;
1441 worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode;
1442 worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold;
1443 worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize;
1444
1445 worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
1446
1447
1448#ifdef BT_USE_DOUBLE_PRECISION
1449 const char* structType = "btDynamicsWorldDoubleData";
1450#else //BT_USE_DOUBLE_PRECISION
1451 const char* structType = "btDynamicsWorldFloatData";
1452#endif //BT_USE_DOUBLE_PRECISION
1453 serializer->finalizeChunk(chunk, structType, BT_DYNAMICSWORLD_CODE, worldInfo);
1454}
1455
1456 void btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
1457{
1458 serializer->startSerialization();
1459
1460 serializeDynamicsWorldInfo(serializer);
1461
1462 serializeCollisionObjects(serializer);
1463
1464 serializeRigidBodies(serializer);
1465
1466 serializeContactManifolds(serializer);
1467
1468 serializer->finishSerialization();
1469}
btActionInterface.h
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:47
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:46
btCollisionAlgorithm.h
btCollisionDispatcher.h
ACTIVE_TAG
#define ACTIVE_TAG
Definition: btCollisionObject.h:22
DISABLE_DEACTIVATION
#define DISABLE_DEACTIVATION
Definition: btCollisionObject.h:25
WANTS_DEACTIVATION
#define WANTS_DEACTIVATION
Definition: btCollisionObject.h:24
ISLAND_SLEEPING
#define ISLAND_SLEEPING
Definition: btCollisionObject.h:23
btCollisionShape.h
btConeTwistConstraint.h
btContactConstraint.h
btContactSolverInfo.h
size
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition: btDbvt.cpp:52
btGetConstraintIslandId
int btGetConstraintIslandId(const btTypedConstraint *lhs)
Definition: btDiscreteDynamicsWorld.cpp:56
gNumClampedCcdMotions
int gNumClampedCcdMotions
internal debugging variable. this value shouldn't be too high
Definition: btDiscreteDynamicsWorld.cpp:847
btDiscreteDynamicsWorld.h
btGeneric6DofConstraint.h
btGeneric6DofSpring2Constraint.h
btHingeConstraint.h
btIDebugDraw.h
gCalculateCombinedFrictionCallback
CalculateCombinedCallback gCalculateCombinedFrictionCallback
Definition: btManifoldResult.cpp:25
gCalculateCombinedRestitutionCallback
CalculateCombinedCallback gCalculateCombinedRestitutionCallback
Definition: btManifoldResult.cpp:24
btMotionState.h
btPoint2PointConstraint.h
length
btScalar length(const btQuaternion &q)
Return the length of a quaternion.
Definition: btQuaternion.h:895
btQuickprof.h
BT_PROFILE
#define BT_PROFILE(name)
Definition: btQuickprof.h:198
gDisableDeactivation
bool gDisableDeactivation
Definition: btRigidBody.cpp:26
btRigidBody.h
BT_DISABLE_WORLD_GRAVITY
@ BT_DISABLE_WORLD_GRAVITY
Definition: btRigidBody.h:41
SIMD_PI
#define SIMD_PI
Definition: btScalar.h:526
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSin
btScalar btSin(btScalar x)
Definition: btScalar.h:499
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btCos
btScalar btCos(btScalar x)
Definition: btScalar.h:498
btFuzzyZero
bool btFuzzyZero(btScalar x)
Definition: btScalar.h:572
SIMD_2_PI
#define SIMD_2_PI
Definition: btScalar.h:527
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btSequentialImpulseConstraintSolver.h
btSerializer.h
BT_RIGIDBODY_CODE
#define BT_RIGIDBODY_CODE
Definition: btSerializer.h:112
BT_DYNAMICSWORLD_CODE
#define BT_DYNAMICSWORLD_CODE
Definition: btSerializer.h:121
BT_CONSTRAINT_CODE
#define BT_CONSTRAINT_CODE
Definition: btSerializer.h:113
btSimpleBroadphase.h
btSimulationIslandManager.h
btSliderConstraint.h
btSphereShape.h
btMutexLock
void btMutexLock(btSpinMutex *mutex)
Definition: btThreads.h:70
btMutexUnlock
void btMutexUnlock(btSpinMutex *mutex)
Definition: btThreads.h:79
btTransformUtil.h
btTypedConstraint.h
SLIDER_CONSTRAINT_TYPE
@ SLIDER_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:40
CONETWIST_CONSTRAINT_TYPE
@ CONETWIST_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:38
POINT2POINT_CONSTRAINT_TYPE
@ POINT2POINT_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:36
D6_SPRING_2_CONSTRAINT_TYPE
@ D6_SPRING_2_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:45
HINGE_CONSTRAINT_TYPE
@ HINGE_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:37
D6_SPRING_CONSTRAINT_TYPE
@ D6_SPRING_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:42
D6_CONSTRAINT_TYPE
@ D6_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:39
btActionInterface
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
Definition: btActionInterface.h:27
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition: btAlignedObjectArray.h:203
btAlignedObjectArray::clear
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
Definition: btAlignedObjectArray.h:176
btAlignedObjectArray::remove
void remove(const T &key)
Definition: btAlignedObjectArray.h:480
btAlignedObjectArray::quickSort
void quickSort(const L &CompareFunc)
Definition: btAlignedObjectArray.h:341
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:50
btChunk
Definition: btSerializer.h:48
btChunk::m_oldPtr
void * m_oldPtr
Definition: btSerializer.h:52
btClosestNotMeConvexResultCallback
Definition: btDiscreteDynamicsWorld.cpp:757
btClosestNotMeConvexResultCallback::m_me
btCollisionObject * m_me
Definition: btDiscreteDynamicsWorld.cpp:759
btClosestNotMeConvexResultCallback::m_dispatcher
btDispatcher * m_dispatcher
Definition: btDiscreteDynamicsWorld.cpp:762
btClosestNotMeConvexResultCallback::btClosestNotMeConvexResultCallback
btClosestNotMeConvexResultCallback(btCollisionObject *me, const btVector3 &fromA, const btVector3 &toA, btOverlappingPairCache *pairCache, btDispatcher *dispatcher)
Definition: btDiscreteDynamicsWorld.cpp:765
btClosestNotMeConvexResultCallback::addSingleResult
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace)
Definition: btDiscreteDynamicsWorld.cpp:773
btClosestNotMeConvexResultCallback::m_pairCache
btOverlappingPairCache * m_pairCache
Definition: btDiscreteDynamicsWorld.cpp:761
btClosestNotMeConvexResultCallback::m_allowedPenetration
btScalar m_allowedPenetration
Definition: btDiscreteDynamicsWorld.cpp:760
btClosestNotMeConvexResultCallback::needsCollision
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
Definition: btDiscreteDynamicsWorld.cpp:794
btCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)=0
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:27
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btCollisionObject::isStaticOrKinematicObject
bool isStaticOrKinematicObject() const
Definition: btCollisionObject.h:207
btCollisionObject::getHitFraction
btScalar getHitFraction() const
Definition: btCollisionObject.h:479
btCollisionObject::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionObject.cpp:81
btCollisionObject::CO_RIGID_BODY
@ CO_RIGID_BODY
Definition: btCollisionObject.h:148
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:379
btCollisionObject::getBroadphaseHandle
btBroadphaseProxy * getBroadphaseHandle()
Definition: btCollisionObject.h:395
btCollisionObject::getInternalType
int getInternalType() const
reserved for Bullet internal usage
Definition: btCollisionObject.h:374
btCollisionObject::hasContactResponse
bool hasContactResponse() const
Definition: btCollisionObject.h:212
btCollisionObject::isActive
bool isActive() const
Definition: btCollisionObject.h:306
btCollisionObject::isStaticObject
bool isStaticObject() const
Definition: btCollisionObject.h:197
btCollisionObject::setActivationState
void setActivationState(int newState) const
Definition: btCollisionObject.cpp:61
btCollisionObject::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCollisionObject.h:685
btCollisionObject::isKinematicObject
bool isKinematicObject() const
Definition: btCollisionObject.h:202
btCollisionObject::getInterpolationWorldTransform
const btTransform & getInterpolationWorldTransform() const
Definition: btCollisionObject.h:410
btCollisionObject::getIslandTag
int getIslandTag() const
Definition: btCollisionObject.h:448
btCollisionObject::getInterpolationAngularVelocity
const btVector3 & getInterpolationAngularVelocity() const
Definition: btCollisionObject.h:443
btCollisionObject::getCcdMotionThreshold
btScalar getCcdMotionThreshold() const
Definition: btCollisionObject.h:511
btCollisionObject::setHitFraction
void setHitFraction(btScalar hitFraction)
Definition: btCollisionObject.h:484
btCollisionObject::getActivationState
int getActivationState() const
Definition: btCollisionObject.h:289
btCollisionObject::getCcdSquareMotionThreshold
btScalar getCcdSquareMotionThreshold() const
Definition: btCollisionObject.h:516
btCollisionObject::getInterpolationLinearVelocity
const btVector3 & getInterpolationLinearVelocity() const
Definition: btCollisionObject.h:438
btCollisionObject::getCcdSweptSphereRadius
btScalar getCcdSweptSphereRadius() const
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition: btCollisionObject.h:500
btCollisionShape::isConvex
bool isConvex() const
Definition: btCollisionShape.h:70
btCollisionWorld
CollisionWorld is interface and container for the collision detection.
Definition: btCollisionWorld.h:86
btCollisionWorld::getDispatcher
btDispatcher * getDispatcher()
Definition: btCollisionWorld.h:132
btCollisionWorld::getDispatchInfo
btDispatcherInfo & getDispatchInfo()
Definition: btCollisionWorld.h:490
btCollisionWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btCollisionWorld.cpp:1467
btCollisionWorld::getDebugDrawer
virtual btIDebugDraw * getDebugDrawer()
Definition: btCollisionWorld.h:155
btCollisionWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
Definition: btCollisionWorld.cpp:238
btCollisionWorld::addCollisionObject
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition: btCollisionWorld.cpp:124
btCollisionWorld::m_collisionObjects
btAlignedObjectArray< btCollisionObject * > m_collisionObjects
Definition: btCollisionWorld.h:88
btCollisionWorld::getNumCollisionObjects
int getNumCollisionObjects() const
Definition: btCollisionWorld.h:427
btCollisionWorld::performDiscreteCollisionDetection
virtual void performDiscreteCollisionDetection()
Definition: btCollisionWorld.cpp:220
btCollisionWorld::convexSweepTest
void convexSweepTest(const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultC...
Definition: btCollisionWorld.cpp:1075
btCollisionWorld::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition: btCollisionWorld.h:96
btCollisionWorld::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionWorld.h:90
btCollisionWorld::serializeContactManifolds
void serializeContactManifolds(btSerializer *serializer)
Definition: btCollisionWorld.cpp:1595
btCollisionWorld::getBroadphase
const btBroadphaseInterface * getBroadphase() const
Definition: btCollisionWorld.h:117
btCollisionWorld::serializeCollisionObjects
void serializeCollisionObjects(btSerializer *serializer)
Definition: btCollisionWorld.cpp:1565
btConeTwistConstraint
btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
Definition: btConeTwistConstraint.h:59
btConeTwistConstraint::getRigidBodyB
const btRigidBody & getRigidBodyB() const
Definition: btConeTwistConstraint.h:155
btConeTwistConstraint::getBFrame
const btTransform & getBFrame() const
Definition: btConeTwistConstraint.h:245
btConeTwistConstraint::getTwistAngle
btScalar getTwistAngle() const
Definition: btConeTwistConstraint.h:289
btConeTwistConstraint::getRigidBodyA
const btRigidBody & getRigidBodyA() const
Definition: btConeTwistConstraint.h:151
btConeTwistConstraint::GetPointForAngle
btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const
Definition: btConeTwistConstraint.cpp:871
btConeTwistConstraint::getTwistSpan
btScalar getTwistSpan() const
Definition: btConeTwistConstraint.h:273
btConeTwistConstraint::getAFrame
const btTransform & getAFrame() const
Definition: btConeTwistConstraint.h:244
btConstraintSolver
Definition: btConstraintSolver.h:42
btConstraintSolver::allSolved
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
Definition: btConstraintSolver.h:51
btConstraintSolver::~btConstraintSolver
virtual ~btConstraintSolver()
Definition: btConstraintSolver.h:44
btConstraintSolver::prepareSolve
virtual void prepareSolve(int, int)
Definition: btConstraintSolver.h:46
btConstraintSolver::solveGroup
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, class btIDebugDraw *debugDrawer, btDispatcher *dispatcher)=0
solve a group of constraints
btDiscreteDynamicsWorld::updateActions
void updateActions(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:584
btDiscreteDynamicsWorld::removeAction
virtual void removeAction(btActionInterface *)
Definition: btDiscreteDynamicsWorld.cpp:656
btDiscreteDynamicsWorld::m_predictiveManifolds
btAlignedObjectArray< btPersistentManifold * > m_predictiveManifolds
Definition: btDiscreteDynamicsWorld.h:69
btDiscreteDynamicsWorld::integrateTransformsInternal
void integrateTransformsInternal(btRigidBody **bodies, int numBodies, btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:951
btDiscreteDynamicsWorld::calculateSimulationIslands
virtual void calculateSimulationIslands()
Definition: btDiscreteDynamicsWorld.cpp:709
btDiscreteDynamicsWorld::setGravity
virtual void setGravity(const btVector3 &gravity)
Definition: btDiscreteDynamicsWorld.cpp:499
btDiscreteDynamicsWorld::removeConstraint
virtual void removeConstraint(btTypedConstraint *constraint)
Definition: btDiscreteDynamicsWorld.cpp:644
btDiscreteDynamicsWorld::integrateTransforms
virtual void integrateTransforms(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:1047
btDiscreteDynamicsWorld::synchronizeSingleMotionState
void synchronizeSingleMotionState(btRigidBody *body)
this can be useful to synchronize a single rigid body -> graphics object
Definition: btDiscreteDynamicsWorld.cpp:335
btDiscreteDynamicsWorld::m_latencyMotionStateInterpolation
bool m_latencyMotionStateInterpolation
Definition: btDiscreteDynamicsWorld.h:67
btDiscreteDynamicsWorld::createPredictiveContactsInternal
void createPredictiveContactsInternal(btRigidBody **bodies, int numBodies, btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:849
btDiscreteDynamicsWorld::addVehicle
virtual void addVehicle(btActionInterface *vehicle)
obsolete, use addAction instead
Definition: btDiscreteDynamicsWorld.cpp:661
btDiscreteDynamicsWorld::getConstraintSolver
virtual btConstraintSolver * getConstraintSolver()
Definition: btDiscreteDynamicsWorld.cpp:1361
btDiscreteDynamicsWorld::serialize
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
Definition: btDiscreteDynamicsWorld.cpp:1456
btDiscreteDynamicsWorld::serializeRigidBodies
void serializeRigidBodies(btSerializer *serializer)
Definition: btDiscreteDynamicsWorld.cpp:1379
btDiscreteDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:452
btDiscreteDynamicsWorld::addRigidBody
virtual void addRigidBody(btRigidBody *body)
Definition: btDiscreteDynamicsWorld.cpp:537
btDiscreteDynamicsWorld::removeRigidBody
virtual void removeRigidBody(btRigidBody *body)
Definition: btDiscreteDynamicsWorld.cpp:531
btDiscreteDynamicsWorld::getConstraint
virtual btTypedConstraint * getConstraint(int index)
Definition: btDiscreteDynamicsWorld.cpp:1370
btDiscreteDynamicsWorld::serializeDynamicsWorldInfo
void serializeDynamicsWorldInfo(btSerializer *serializer)
Definition: btDiscreteDynamicsWorld.cpp:1405
btDiscreteDynamicsWorld::m_applySpeculativeContactRestitution
bool m_applySpeculativeContactRestitution
Definition: btDiscreteDynamicsWorld.h:61
btDiscreteDynamicsWorld::addAction
virtual void addAction(btActionInterface *)
Definition: btDiscreteDynamicsWorld.cpp:651
btDiscreteDynamicsWorld::m_sortedConstraints
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
Definition: btDiscreteDynamicsWorld.h:40
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
Definition: btDiscreteDynamicsWorld.cpp:191
btDiscreteDynamicsWorld::m_localTime
btScalar m_localTime
Definition: btDiscreteDynamicsWorld.h:54
btDiscreteDynamicsWorld::setConstraintSolver
virtual void setConstraintSolver(btConstraintSolver *solver)
Definition: btDiscreteDynamicsWorld.cpp:1350
btDiscreteDynamicsWorld::m_gravity
btVector3 m_gravity
Definition: btDiscreteDynamicsWorld.h:51
btDiscreteDynamicsWorld::m_fixedTimeStep
btScalar m_fixedTimeStep
Definition: btDiscreteDynamicsWorld.h:55
btDiscreteDynamicsWorld::synchronizeMotionStates
virtual void synchronizeMotionStates()
Definition: btDiscreteDynamicsWorld.cpp:356
btDiscreteDynamicsWorld::stepSimulation
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
Definition: btDiscreteDynamicsWorld.cpp:382
btDiscreteDynamicsWorld::saveKinematicState
virtual void saveKinematicState(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:249
btDiscreteDynamicsWorld::addConstraint
virtual void addConstraint(btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
Definition: btDiscreteDynamicsWorld.cpp:631
btDiscreteDynamicsWorld::addCharacter
virtual void addCharacter(btActionInterface *character)
obsolete, use addAction instead
Definition: btDiscreteDynamicsWorld.cpp:671
btDiscreteDynamicsWorld::getGravity
virtual btVector3 getGravity() const
Definition: btDiscreteDynamicsWorld.cpp:512
btDiscreteDynamicsWorld::m_solverIslandCallback
InplaceSolverIslandCallback * m_solverIslandCallback
Definition: btDiscreteDynamicsWorld.h:41
btDiscreteDynamicsWorld::applyGravity
virtual void applyGravity()
apply gravity, call this once per timestep
Definition: btDiscreteDynamicsWorld.cpp:322
btDiscreteDynamicsWorld::m_islandManager
btSimulationIslandManager * m_islandManager
Definition: btDiscreteDynamicsWorld.h:45
btDiscreteDynamicsWorld::createPredictiveContacts
virtual void createPredictiveContacts(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:941
btDiscreteDynamicsWorld::m_constraints
btAlignedObjectArray< btTypedConstraint * > m_constraints
Definition: btDiscreteDynamicsWorld.h:47
btDiscreteDynamicsWorld::m_nonStaticRigidBodies
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
Definition: btDiscreteDynamicsWorld.h:49
btDiscreteDynamicsWorld::m_actions
btAlignedObjectArray< btActionInterface * > m_actions
Definition: btDiscreteDynamicsWorld.h:63
btDiscreteDynamicsWorld::m_ownsConstraintSolver
bool m_ownsConstraintSolver
Definition: btDiscreteDynamicsWorld.h:59
btDiscreteDynamicsWorld::m_ownsIslandManager
bool m_ownsIslandManager
Definition: btDiscreteDynamicsWorld.h:58
btDiscreteDynamicsWorld::getNumConstraints
virtual int getNumConstraints() const
Definition: btDiscreteDynamicsWorld.cpp:1366
btDiscreteDynamicsWorld::removeCharacter
virtual void removeCharacter(btActionInterface *character)
obsolete, use removeAction instead
Definition: btDiscreteDynamicsWorld.cpp:676
btDiscreteDynamicsWorld::getSimulationIslandManager
btSimulationIslandManager * getSimulationIslandManager()
Definition: btDiscreteDynamicsWorld.h:125
btDiscreteDynamicsWorld::m_predictiveManifoldsMutex
btSpinMutex m_predictiveManifoldsMutex
Definition: btDiscreteDynamicsWorld.h:70
btDiscreteDynamicsWorld::updateActivationState
virtual void updateActivationState(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:594
btDiscreteDynamicsWorld::addCollisionObject
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter)
Definition: btDiscreteDynamicsWorld.cpp:517
btDiscreteDynamicsWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
Definition: btDiscreteDynamicsWorld.cpp:522
btDiscreteDynamicsWorld::m_constraintSolver
btConstraintSolver * m_constraintSolver
Definition: btDiscreteDynamicsWorld.h:43
btDiscreteDynamicsWorld::debugDrawConstraint
virtual void debugDrawConstraint(btTypedConstraint *constraint)
Definition: btDiscreteDynamicsWorld.cpp:1117
btDiscreteDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btDiscreteDynamicsWorld.cpp:269
btDiscreteDynamicsWorld::getCollisionWorld
btCollisionWorld * getCollisionWorld()
Definition: btDiscreteDynamicsWorld.h:135
btDiscreteDynamicsWorld::clearForces
virtual void clearForces()
the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
Definition: btDiscreteDynamicsWorld.cpp:309
btDiscreteDynamicsWorld::m_synchronizeAllMotionStates
bool m_synchronizeAllMotionStates
Definition: btDiscreteDynamicsWorld.h:60
btDiscreteDynamicsWorld::solveConstraints
virtual void solveConstraints(btContactSolverInfo &solverInfo)
Definition: btDiscreteDynamicsWorld.cpp:681
btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld
virtual ~btDiscreteDynamicsWorld()
Definition: btDiscreteDynamicsWorld.cpp:229
btDiscreteDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:1091
btDiscreteDynamicsWorld::releasePredictiveContacts
void releasePredictiveContacts()
Definition: btDiscreteDynamicsWorld.cpp:929
btDiscreteDynamicsWorld::removeVehicle
virtual void removeVehicle(btActionInterface *vehicle)
obsolete, use removeAction instead
Definition: btDiscreteDynamicsWorld.cpp:666
btDiscreteDynamicsWorld::startProfiling
void startProfiling(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:1108
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btDispatcher::needsCollision
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)=0
btDispatcher::needsResponse
virtual bool needsResponse(const btCollisionObject *body0, const btCollisionObject *body1)=0
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
Definition: btDynamicsWorld.h:43
btDynamicsWorld::getSolverInfo
btContactSolverInfo & getSolverInfo()
Definition: btDynamicsWorld.h:140
btDynamicsWorld::m_internalTickCallback
btInternalTickCallback m_internalTickCallback
Definition: btDynamicsWorld.h:45
btDynamicsWorld::m_internalPreTickCallback
btInternalTickCallback m_internalPreTickCallback
Definition: btDynamicsWorld.h:46
btGeneric6DofConstraint
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
Definition: btGeneric6DofConstraint.h:268
btGeneric6DofConstraint::getCalculatedTransformB
const btTransform & getCalculatedTransformB() const
Gets the global transform of the offset for body B.
Definition: btGeneric6DofConstraint.h:368
btGeneric6DofConstraint::getRotationalLimitMotor
btRotationalLimitMotor * getRotationalLimitMotor(int index)
Retrieves the angular limit informacion.
Definition: btGeneric6DofConstraint.h:478
btGeneric6DofConstraint::getCalculatedTransformA
const btTransform & getCalculatedTransformA() const
Gets the global transform of the offset for body A.
Definition: btGeneric6DofConstraint.h:359
btGeneric6DofConstraint::getAngle
btScalar getAngle(int axis_index) const
Get the relative Euler angle.
Definition: btGeneric6DofConstraint.cpp:655
btGeneric6DofConstraint::getTranslationalLimitMotor
btTranslationalLimitMotor * getTranslationalLimitMotor()
Retrieves the limit informacion.
Definition: btGeneric6DofConstraint.h:484
btGeneric6DofSpring2Constraint
Definition: btGeneric6DofSpring2Constraint.h:274
btGeneric6DofSpring2Constraint::getRotationalLimitMotor
btRotationalLimitMotor2 * getRotationalLimitMotor(int index)
Definition: btGeneric6DofSpring2Constraint.h:328
btGeneric6DofSpring2Constraint::getCalculatedTransformA
const btTransform & getCalculatedTransformA() const
Definition: btGeneric6DofSpring2Constraint.h:336
btGeneric6DofSpring2Constraint::getCalculatedTransformB
const btTransform & getCalculatedTransformB() const
Definition: btGeneric6DofSpring2Constraint.h:338
btGeneric6DofSpring2Constraint::getAngle
btScalar getAngle(int axis_index) const
Definition: btGeneric6DofSpring2Constraint.h:350
btGeneric6DofSpring2Constraint::getTranslationalLimitMotor
btTranslationalLimitMotor2 * getTranslationalLimitMotor()
Definition: btGeneric6DofSpring2Constraint.h:329
btHingeConstraint
hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in lo...
Definition: btHingeConstraint.h:49
btHingeConstraint::getRigidBodyB
const btRigidBody & getRigidBodyB() const
Definition: btHingeConstraint.h:127
btHingeConstraint::getAFrame
const btTransform & getAFrame() const
Definition: btHingeConstraint.h:273
btHingeConstraint::getUpperLimit
btScalar getUpperLimit() const
Definition: btHingeConstraint.h:257
btHingeConstraint::getBFrame
const btTransform & getBFrame() const
Definition: btHingeConstraint.h:274
btHingeConstraint::getLowerLimit
btScalar getLowerLimit() const
Definition: btHingeConstraint.h:248
btHingeConstraint::hasLimit
bool hasLimit() const
Definition: btHingeConstraint.h:239
btHingeConstraint::getRigidBodyA
const btRigidBody & getRigidBodyA() const
Definition: btHingeConstraint.h:123
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btIDebugDraw::drawLine
virtual void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
btIDebugDraw::drawArc
virtual void drawArc(const btVector3 &center, const btVector3 &normal, const btVector3 &axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, const btVector3 &color, bool drawSect, btScalar stepDegrees=btScalar(10.f))
Definition: btIDebugDraw.h:171
btIDebugDraw::flushLines
virtual void flushLines()
Definition: btIDebugDraw.h:468
btIDebugDraw::drawTransform
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
Definition: btIDebugDraw.h:163
btIDebugDraw::getDebugMode
virtual int getDebugMode() const =0
btIDebugDraw::drawBox
virtual void drawBox(const btVector3 &bbMin, const btVector3 &bbMax, const btVector3 &color)
Definition: btIDebugDraw.h:304
btIDebugDraw::drawSpherePatch
virtual void drawSpherePatch(const btVector3 &center, const btVector3 &up, const btVector3 &axis, btScalar radius, btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3 &color, btScalar stepDegrees=btScalar(10.f), bool drawCenter=true)
Definition: btIDebugDraw.h:196
btIDebugDraw::DBG_NoDeactivation
@ DBG_NoDeactivation
Definition: btIDebugDraw.h:59
btIDebugDraw::DBG_DrawWireframe
@ DBG_DrawWireframe
Definition: btIDebugDraw.h:55
btIDebugDraw::DBG_DrawConstraints
@ DBG_DrawConstraints
Definition: btIDebugDraw.h:66
btIDebugDraw::DBG_DrawNormals
@ DBG_DrawNormals
Definition: btIDebugDraw.h:69
btIDebugDraw::DBG_DrawAabb
@ DBG_DrawAabb
Definition: btIDebugDraw.h:56
btIDebugDraw::DBG_DrawConstraintLimits
@ DBG_DrawConstraintLimits
Definition: btIDebugDraw.h:67
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition: btManifoldPoint.h:52
btManifoldPoint::m_combinedRestitution
btScalar m_combinedRestitution
Definition: btManifoldPoint.h:114
btManifoldPoint::m_positionWorldOnA
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
Definition: btManifoldPoint.h:107
btManifoldPoint::getPositionWorldOnB
const btVector3 & getPositionWorldOnB() const
Definition: btManifoldPoint.h:165
btManifoldPoint::getPositionWorldOnA
const btVector3 & getPositionWorldOnA() const
Definition: btManifoldPoint.h:159
btManifoldPoint::m_appliedImpulse
btScalar m_appliedImpulse
Definition: btManifoldPoint.h:126
btManifoldPoint::m_normalWorldOnB
btVector3 m_normalWorldOnB
Definition: btManifoldPoint.h:108
btManifoldPoint::m_combinedFriction
btScalar m_combinedFriction
Definition: btManifoldPoint.h:111
btManifoldPoint::m_positionWorldOnB
btVector3 m_positionWorldOnB
Definition: btManifoldPoint.h:105
btMatrix3x3::getColumn
btVector3 getColumn(int i) const
Get a column of the matrix as a vector.
Definition: btMatrix3x3.h:142
btMotionState::setWorldTransform
virtual void setWorldTransform(const btTransform &worldTrans)=0
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:51
btOverlappingPairCache::findPair
virtual btBroadphasePair * findPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)=0
btOverlappingPairCache::needsBroadphaseCollision
virtual bool needsBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const =0
btOverlappingPairCache::getOverlapFilterCallback
virtual btOverlapFilterCallback * getOverlapFilterCallback()=0
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btPersistentManifold::getContactPoint
const btManifoldPoint & getContactPoint(int index) const
Definition: btPersistentManifold.h:130
btPersistentManifold::getBody0
const btCollisionObject * getBody0() const
Definition: btPersistentManifold.h:105
btPersistentManifold::getBody1
const btCollisionObject * getBody1() const
Definition: btPersistentManifold.h:106
btPersistentManifold::getNumContacts
int getNumContacts() const
Definition: btPersistentManifold.h:120
btPersistentManifold::addManifoldPoint
int addManifoldPoint(const btManifoldPoint &newPoint, bool isPredictive=false)
Definition: btPersistentManifold.cpp:212
btPoint2PointConstraint
point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocke...
Definition: btPoint2PointConstraint.h:54
btPoint2PointConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btPoint2PointConstraint.h:106
btPoint2PointConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btPoint2PointConstraint.h:101
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btRigidBody::applyGravity
void applyGravity()
Definition: btRigidBody.cpp:205
btRigidBody::wantsSleeping
bool wantsSleeping()
Definition: btRigidBody.h:516
btRigidBody::addConstraintRef
void addConstraintRef(btTypedConstraint *c)
Definition: btRigidBody.cpp:415
btRigidBody::clearForces
void clearForces()
Definition: btRigidBody.h:415
btRigidBody::getFlags
int getFlags() const
Definition: btRigidBody.h:608
btRigidBody::applyDamping
void applyDamping(btScalar timeStep)
applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
Definition: btRigidBody.cpp:149
btRigidBody::getInvMass
btScalar getInvMass() const
Definition: btRigidBody.h:263
btRigidBody::updateDeactivation
void updateDeactivation(btScalar timeStep)
Definition: btRigidBody.h:499
btRigidBody::setGravity
void setGravity(const btVector3 &acceleration)
Definition: btRigidBody.cpp:128
btRigidBody::proceedToTransform
void proceedToTransform(const btTransform &newTrans)
Definition: btRigidBody.cpp:221
btRigidBody::getCenterOfMassTransform
const btTransform & getCenterOfMassTransform() const
Definition: btRigidBody.h:429
btRigidBody::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btRigidBody.h:242
btRigidBody::saveKinematicState
void saveKinematicState(btScalar step)
Definition: btRigidBody.cpp:105
btRigidBody::applyImpulse
void applyImpulse(const btVector3 &impulse, const btVector3 &rel_pos)
Definition: btRigidBody.h:335
btRigidBody::getMotionState
btMotionState * getMotionState()
Definition: btRigidBody.h:549
btRigidBody::removeConstraintRef
void removeConstraintRef(btTypedConstraint *c)
Definition: btRigidBody.cpp:438
btRigidBody::setAngularVelocity
void setAngularVelocity(const btVector3 &ang_vel)
Definition: btRigidBody.h:451
btRigidBody::setLinearVelocity
void setLinearVelocity(const btVector3 &lin_vel)
Definition: btRigidBody.h:442
btRigidBody::getBroadphaseProxy
const btBroadphaseProxy * getBroadphaseProxy() const
Definition: btRigidBody.h:535
btRigidBody::upcast
static const btRigidBody * upcast(const btCollisionObject *colObj)
to keep collision detection and dynamics separate we don't store a rigidbody pointer but a rigidbody ...
Definition: btRigidBody.h:189
btRigidBody::predictIntegratedTransform
void predictIntegratedTransform(btScalar step, btTransform &predictedTransform)
continuous collision detection needs prediction
Definition: btRigidBody.cpp:100
btRigidBody::getLinearVelocity
const btVector3 & getLinearVelocity() const
Definition: btRigidBody.h:433
btRotationalLimitMotor2::m_hiLimit
btScalar m_hiLimit
Definition: btGeneric6DofSpring2Constraint.h:74
btRotationalLimitMotor2::m_loLimit
btScalar m_loLimit
Definition: btGeneric6DofSpring2Constraint.h:73
btRotationalLimitMotor::m_hiLimit
btScalar m_hiLimit
joint limit
Definition: btGeneric6DofConstraint.h:50
btRotationalLimitMotor::m_loLimit
btScalar m_loLimit
limit_parameters
Definition: btGeneric6DofConstraint.h:49
btSequentialImpulseConstraintSolver
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
Definition: btSequentialImpulseConstraintSolver.h:52
btSerializer
Definition: btSerializer.h:66
btSerializer::allocate
virtual btChunk * allocate(size_t size, int numElements)=0
btSerializer::finishSerialization
virtual void finishSerialization()=0
btSerializer::startSerialization
virtual void startSerialization()=0
btSerializer::finalizeChunk
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
btSimulationIslandManager
SimulationIslandManager creates and handles simulation islands, using btUnionFind.
Definition: btSimulationIslandManager.h:31
btSimulationIslandManager::storeIslandActivationState
virtual void storeIslandActivationState(btCollisionWorld *world)
Definition: btSimulationIslandManager.cpp:141
btSimulationIslandManager::updateActivationState
virtual void updateActivationState(btCollisionWorld *colWorld, btDispatcher *dispatcher)
Definition: btSimulationIslandManager.cpp:119
btSimulationIslandManager::buildAndProcessIslands
void buildAndProcessIslands(btDispatcher *dispatcher, btCollisionWorld *collisionWorld, IslandCallback *callback)
Definition: btSimulationIslandManager.cpp:343
btSimulationIslandManager::getUnionFind
btUnionFind & getUnionFind()
Definition: btSimulationIslandManager.h:45
btSimulationIslandManager::~btSimulationIslandManager
virtual ~btSimulationIslandManager()
Definition: btSimulationIslandManager.cpp:31
btSliderConstraint
Definition: btSliderConstraint.h:67
btSliderConstraint::getUseLinearReferenceFrameA
bool getUseLinearReferenceFrameA()
Definition: btSliderConstraint.h:195
btSliderConstraint::getUpperLinLimit
btScalar getUpperLinLimit()
Definition: btSliderConstraint.h:189
btSliderConstraint::getCalculatedTransformB
const btTransform & getCalculatedTransformB() const
Definition: btSliderConstraint.h:182
btSliderConstraint::getLowerLinLimit
btScalar getLowerLinLimit()
Definition: btSliderConstraint.h:187
btSliderConstraint::getCalculatedTransformA
const btTransform & getCalculatedTransformA() const
Definition: btSliderConstraint.h:181
btSliderConstraint::getLowerAngLimit
btScalar getLowerAngLimit()
Definition: btSliderConstraint.h:191
btSliderConstraint::getUpperAngLimit
btScalar getUpperAngLimit()
Definition: btSliderConstraint.h:193
btSortConstraintOnIslandPredicate
Definition: btDiscreteDynamicsWorld.cpp:67
btSortConstraintOnIslandPredicate::operator()
bool operator()(const btTypedConstraint *lhs, const btTypedConstraint *rhs) const
Definition: btDiscreteDynamicsWorld.cpp:69
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition: btSphereShape.h:25
btStackAlloc
The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
Definition: btStackAlloc.h:35
btTransformUtil::integrateTransform
static void integrateTransform(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btTransform &predictedTransform)
Definition: btTransformUtil.h:32
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:109
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:167
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:114
btTransform::setOrigin
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:147
btTransform::setBasis
void setBasis(const btMatrix3x3 &basis)
Set the rotational element by btMatrix3x3.
Definition: btTransform.h:155
btTranslationalLimitMotor2::m_lowerLimit
btVector3 m_lowerLimit
Definition: btGeneric6DofSpring2Constraint.h:166
btTranslationalLimitMotor2::m_upperLimit
btVector3 m_upperLimit
Definition: btGeneric6DofSpring2Constraint.h:167
btTranslationalLimitMotor::m_lowerLimit
btVector3 m_lowerLimit
the constraint lower limits
Definition: btGeneric6DofConstraint.h:134
btTranslationalLimitMotor::m_upperLimit
btVector3 m_upperLimit
the constraint upper limits
Definition: btGeneric6DofConstraint.h:135
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
btTypedConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btTypedConstraint.cpp:104
btTypedConstraint::getConstraintType
btTypedConstraintType getConstraintType() const
Definition: btTypedConstraint.h:302
btTypedConstraint::isEnabled
bool isEnabled() const
Definition: btTypedConstraint.h:201
btTypedConstraint::getDbgDrawSize
btScalar getDbgDrawSize()
Definition: btTypedConstraint.h:311
btTypedConstraint::getRigidBodyA
const btRigidBody & getRigidBodyA() const
Definition: btTypedConstraint.h:214
btTypedConstraint::getRigidBodyB
const btRigidBody & getRigidBodyB() const
Definition: btTypedConstraint.h:218
btTypedConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btTypedConstraint.h:435
btUnionFind::unite
void unite(int p, int q)
Definition: btUnionFind.h:76
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::dot
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:229
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251
btVector3::serialize
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1317
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
InplaceSolverIslandCallback
Definition: btDiscreteDynamicsWorld.cpp:79
InplaceSolverIslandCallback::m_solverInfo
btContactSolverInfo * m_solverInfo
Definition: btDiscreteDynamicsWorld.cpp:80
InplaceSolverIslandCallback::m_bodies
btAlignedObjectArray< btCollisionObject * > m_bodies
Definition: btDiscreteDynamicsWorld.cpp:87
InplaceSolverIslandCallback::InplaceSolverIslandCallback
InplaceSolverIslandCallback(btConstraintSolver *solver, btStackAlloc *stackAlloc, btDispatcher *dispatcher)
Definition: btDiscreteDynamicsWorld.cpp:91
InplaceSolverIslandCallback::m_constraints
btAlignedObjectArray< btTypedConstraint * > m_constraints
Definition: btDiscreteDynamicsWorld.cpp:89
InplaceSolverIslandCallback::processConstraints
void processConstraints()
Definition: btDiscreteDynamicsWorld.cpp:178
InplaceSolverIslandCallback::m_dispatcher
btDispatcher * m_dispatcher
Definition: btDiscreteDynamicsWorld.cpp:85
InplaceSolverIslandCallback::m_solver
btConstraintSolver * m_solver
Definition: btDiscreteDynamicsWorld.cpp:81
InplaceSolverIslandCallback::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition: btDiscreteDynamicsWorld.cpp:84
InplaceSolverIslandCallback::m_manifolds
btAlignedObjectArray< btPersistentManifold * > m_manifolds
Definition: btDiscreteDynamicsWorld.cpp:88
InplaceSolverIslandCallback::processIsland
virtual void processIsland(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifolds, int numManifolds, int islandId)
Definition: btDiscreteDynamicsWorld.cpp:123
InplaceSolverIslandCallback::m_sortedConstraints
btTypedConstraint ** m_sortedConstraints
Definition: btDiscreteDynamicsWorld.cpp:82
InplaceSolverIslandCallback::m_numConstraints
int m_numConstraints
Definition: btDiscreteDynamicsWorld.cpp:83
InplaceSolverIslandCallback::operator=
InplaceSolverIslandCallback & operator=(InplaceSolverIslandCallback &other)
Definition: btDiscreteDynamicsWorld.cpp:104
InplaceSolverIslandCallback::setup
void setup(btContactSolverInfo *solverInfo, btTypedConstraint **sortedConstraints, int numConstraints, btIDebugDraw *debugDrawer)
Definition: btDiscreteDynamicsWorld.cpp:111
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:179
btBroadphasePair::m_algorithm
btCollisionAlgorithm * m_algorithm
Definition: btBroadphaseProxy.h:211
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:86
btBroadphaseProxy::AllFilter
@ AllFilter
Definition: btBroadphaseProxy.h:98
btBroadphaseProxy::DefaultFilter
@ DefaultFilter
Definition: btBroadphaseProxy.h:92
btBroadphaseProxy::StaticFilter
@ StaticFilter
Definition: btBroadphaseProxy.h:93
btBroadphaseProxy::m_collisionFilterMask
int m_collisionFilterMask
Definition: btBroadphaseProxy.h:104
btBroadphaseProxy::m_clientObject
void * m_clientObject
Definition: btBroadphaseProxy.h:102
btBroadphaseProxy::m_collisionFilterGroup
int m_collisionFilterGroup
Definition: btBroadphaseProxy.h:103
btCollisionWorld::ClosestConvexResultCallback
Definition: btCollisionWorld.h:363
btCollisionWorld::ClosestConvexResultCallback::m_convexToWorld
btVector3 m_convexToWorld
Definition: btCollisionWorld.h:372
btCollisionWorld::ClosestConvexResultCallback::ClosestConvexResultCallback
ClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld)
Definition: btCollisionWorld.h:364
btCollisionWorld::ClosestConvexResultCallback::m_convexFromWorld
btVector3 m_convexFromWorld
Definition: btCollisionWorld.h:371
btCollisionWorld::LocalConvexResult
Definition: btCollisionWorld.h:308
btCollisionWorld::LocalConvexResult::m_hitNormalLocal
btVector3 m_hitNormalLocal
Definition: btCollisionWorld.h:324
btCollisionWorld::LocalConvexResult::m_hitCollisionObject
const btCollisionObject * m_hitCollisionObject
Definition: btCollisionWorld.h:322
btContactSolverInfoData::m_damping
btScalar m_damping
Definition: btContactSolverInfo.h:40
btContactSolverInfoData::m_friction
btScalar m_friction
Definition: btContactSolverInfo.h:41
btContactSolverInfoData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:44
btContactSolverInfoData::m_maxErrorReduction
btScalar m_maxErrorReduction
Definition: btContactSolverInfo.h:45
btContactSolverInfoData::m_sor
btScalar m_sor
Definition: btContactSolverInfo.h:46
btContactSolverInfoData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:63
btContactSolverInfoData::m_splitImpulsePenetrationThreshold
btScalar m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:57
btContactSolverInfoData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:56
btContactSolverInfoData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:62
btContactSolverInfoData::m_warmstartingFactor
btScalar m_warmstartingFactor
Definition: btContactSolverInfo.h:60
btContactSolverInfoData::m_maxGyroscopicForce
btScalar m_maxGyroscopicForce
Definition: btContactSolverInfo.h:65
btContactSolverInfoData::m_restitution
btScalar m_restitution
Definition: btContactSolverInfo.h:43
btContactSolverInfoData::m_linearSlop
btScalar m_linearSlop
Definition: btContactSolverInfo.h:59
btContactSolverInfoData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:64
btContactSolverInfoData::m_globalCfm
btScalar m_globalCfm
Definition: btContactSolverInfo.h:52
btContactSolverInfoData::m_tau
btScalar m_tau
Definition: btContactSolverInfo.h:39
btContactSolverInfoData::m_splitImpulseTurnErp
btScalar m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:58
btContactSolverInfoData::m_erp
btScalar m_erp
Definition: btContactSolverInfo.h:47
btContactSolverInfoData::m_timeStep
btScalar m_timeStep
Definition: btContactSolverInfo.h:42
btContactSolverInfoData::m_singleAxisRollingFrictionThreshold
btScalar m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:66
btContactSolverInfoData::m_erp2
btScalar m_erp2
Definition: btContactSolverInfo.h:48
btContactSolverInfoDoubleData::m_friction
double m_friction
Definition: btContactSolverInfo.h:121
btContactSolverInfoDoubleData::m_maxErrorReduction
double m_maxErrorReduction
Definition: btContactSolverInfo.h:124
btContactSolverInfoDoubleData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:137
btContactSolverInfoDoubleData::m_linearSlop
double m_linearSlop
Definition: btContactSolverInfo.h:131
btContactSolverInfoDoubleData::m_globalCfm
double m_globalCfm
Definition: btContactSolverInfo.h:128
btContactSolverInfoDoubleData::m_timeStep
double m_timeStep
Definition: btContactSolverInfo.h:122
btContactSolverInfoDoubleData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:140
btContactSolverInfoDoubleData::m_erp
double m_erp
Definition: btContactSolverInfo.h:126
btContactSolverInfoDoubleData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:141
btContactSolverInfoDoubleData::m_splitImpulsePenetrationThreshold
double m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:129
btContactSolverInfoDoubleData::m_damping
double m_damping
Definition: btContactSolverInfo.h:120
btContactSolverInfoDoubleData::m_tau
double m_tau
Definition: btContactSolverInfo.h:119
btContactSolverInfoDoubleData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:139
btContactSolverInfoDoubleData::m_warmstartingFactor
double m_warmstartingFactor
Definition: btContactSolverInfo.h:132
btContactSolverInfoDoubleData::m_singleAxisRollingFrictionThreshold
double m_singleAxisRollingFrictionThreshold
it is only used for 'explicit' version of gyroscopic force
Definition: btContactSolverInfo.h:135
btContactSolverInfoDoubleData::m_sor
double m_sor
Definition: btContactSolverInfo.h:125
btContactSolverInfoDoubleData::m_splitImpulseTurnErp
double m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:130
btContactSolverInfoDoubleData::m_restitution
double m_restitution
Definition: btContactSolverInfo.h:123
btContactSolverInfoDoubleData::m_erp2
double m_erp2
Definition: btContactSolverInfo.h:127
btContactSolverInfoDoubleData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:138
btContactSolverInfoDoubleData::m_maxGyroscopicForce
double m_maxGyroscopicForce
Definition: btContactSolverInfo.h:134
btContactSolverInfo
Definition: btContactSolverInfo.h:76
btDispatcherInfo
Definition: btDispatcher.h:31
btDispatcherInfo::m_timeStep
btScalar m_timeStep
Definition: btDispatcher.h:53
btDispatcherInfo::m_allowedCcdPenetration
btScalar m_allowedCcdPenetration
Definition: btDispatcher.h:62
btDispatcherInfo::m_stepCount
int m_stepCount
Definition: btDispatcher.h:54
btDispatcherInfo::m_useContinuous
bool m_useContinuous
Definition: btDispatcher.h:57
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btDynamicsWorldDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btDynamicsWorld.h:162
btDynamicsWorldDoubleData::m_solverInfo
btContactSolverInfoDoubleData m_solverInfo
Definition: btDynamicsWorld.h:163
btDynamicsWorldDoubleData::m_gravity
btVector3DoubleData m_gravity
Definition: btDynamicsWorld.h:164
btDynamicsWorldFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btDynamicsWorld.h:169
btSimulationIslandManager::IslandCallback
Definition: btSimulationIslandManager.h:53