Bullet Collision Detection & Physics Library: btMultiBodyDynamicsWorld.h Source File

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btMultiBodyDynamicsWorld.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2013 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#ifndef BT_MULTIBODY_DYNAMICS_WORLD_H
17#define BT_MULTIBODY_DYNAMICS_WORLD_H
18
19#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
20#include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h"
21
22#define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
23
24class btMultiBody;
25class btMultiBodyConstraint;
26class btMultiBodyConstraintSolver;
27struct MultiBodyInplaceSolverIslandCallback;
28
31 class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
32{
33protected:
34 btAlignedObjectArray<btMultiBody*> m_multiBodies;
35 btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
36 btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
37 btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
38 MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback;
39
40 //cached data to avoid memory allocations
41 btAlignedObjectArray<btQuaternion> m_scratch_world_to_local;
42 btAlignedObjectArray<btVector3> m_scratch_local_origin;
43 btAlignedObjectArray<btQuaternion> m_scratch_world_to_local1;
44 btAlignedObjectArray<btVector3> m_scratch_local_origin1;
45 btAlignedObjectArray<btScalar> m_scratch_r;
46 btAlignedObjectArray<btVector3> m_scratch_v;
47 btAlignedObjectArray<btMatrix3x3> m_scratch_m;
48
49 virtual void calculateSimulationIslands();
50 virtual void updateActivationState(btScalar timeStep);
51
52
53 virtual void serializeMultiBodies(btSerializer* serializer);
54
55public:
56 btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
57
58 virtual ~btMultiBodyDynamicsWorld();
59
60 virtual void solveConstraints(btContactSolverInfo& solverInfo);
61
62 virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
63
64 virtual void removeMultiBody(btMultiBody* body);
65
66 virtual int getNumMultibodies() const
67 {
68 return m_multiBodies.size();
69 }
70
71 btMultiBody* getMultiBody(int mbIndex)
72 {
73 return m_multiBodies[mbIndex];
74 }
75
76 const btMultiBody* getMultiBody(int mbIndex) const
77 {
78 return m_multiBodies[mbIndex];
79 }
80
81 virtual void addMultiBodyConstraint(btMultiBodyConstraint* constraint);
82
83 virtual int getNumMultiBodyConstraints() const
84 {
85 return m_multiBodyConstraints.size();
86 }
87
88 virtual btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex)
89 {
90 return m_multiBodyConstraints[constraintIndex];
91 }
92
93 virtual const btMultiBodyConstraint* getMultiBodyConstraint(int constraintIndex) const
94 {
95 return m_multiBodyConstraints[constraintIndex];
96 }
97
98 virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint);
99
100 virtual void integrateTransforms(btScalar timeStep);
101 void integrateMultiBodyTransforms(btScalar timeStep);
102 void predictMultiBodyTransforms(btScalar timeStep);
103
104 virtual void predictUnconstraintMotion(btScalar timeStep);
105 virtual void debugDrawWorld();
106
107 virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
108
109 void forwardKinematics();
110 virtual void clearForces();
111 virtual void clearMultiBodyConstraintForces();
112 virtual void clearMultiBodyForces();
113 virtual void applyGravity();
114
115 virtual void serialize(btSerializer* serializer);
116 virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver);
117 virtual void setConstraintSolver(btConstraintSolver* solver);
118 virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const;
119
120 virtual void solveExternalForces(btContactSolverInfo& solverInfo);
121 virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
122 void buildIslands();
123
124 virtual void saveKinematicState(btScalar timeStep);
125};
126#endif //BT_MULTIBODY_DYNAMICS_WORLD_H
btDiscreteDynamicsWorld.h
btMultiBodyInplaceSolverIslandCallback.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
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
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:50
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:27
btConstraintSolver
Definition: btConstraintSolver.h:42
btDiscreteDynamicsWorld
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
Definition: btDiscreteDynamicsWorld.h:38
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btMultiBodyConstraintSolver
Definition: btMultiBodyConstraintSolver.h:30
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:57
btMultiBodyDynamicsWorld
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
Definition: btMultiBodyDynamicsWorld.h:32
btMultiBodyDynamicsWorld::getMultiBodyConstraint
virtual btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex)
Definition: btMultiBodyDynamicsWorld.h:88
btMultiBodyDynamicsWorld::m_multiBodyConstraints
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
Definition: btMultiBodyDynamicsWorld.h:35
btMultiBodyDynamicsWorld::clearForces
virtual void clearForces()
the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
Definition: btMultiBodyDynamicsWorld.cpp:825
btMultiBodyDynamicsWorld::solveInternalConstraints
virtual void solveInternalConstraints(btContactSolverInfo &solverInfo)
Definition: btMultiBodyDynamicsWorld.cpp:235
btMultiBodyDynamicsWorld::updateActivationState
virtual void updateActivationState(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:125
btMultiBodyDynamicsWorld::forwardKinematics
void forwardKinematics()
Definition: btMultiBodyDynamicsWorld.cpp:215
btMultiBodyDynamicsWorld::m_scratch_world_to_local
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local
Definition: btMultiBodyDynamicsWorld.h:41
btMultiBodyDynamicsWorld::getMultiBody
btMultiBody * getMultiBody(int mbIndex)
Definition: btMultiBodyDynamicsWorld.h:71
btMultiBodyDynamicsWorld::m_scratch_world_to_local1
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local1
Definition: btMultiBodyDynamicsWorld.h:43
btMultiBodyDynamicsWorld::m_scratch_m
btAlignedObjectArray< btMatrix3x3 > m_scratch_m
Definition: btMultiBodyDynamicsWorld.h:47
btMultiBodyDynamicsWorld::m_solverMultiBodyIslandCallback
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
Definition: btMultiBodyDynamicsWorld.h:38
btMultiBodyDynamicsWorld::serialize
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
Definition: btMultiBodyDynamicsWorld.cpp:834
btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld
virtual ~btMultiBodyDynamicsWorld()
Definition: btMultiBodyDynamicsWorld.cpp:194
btMultiBodyDynamicsWorld::m_scratch_local_origin1
btAlignedObjectArray< btVector3 > m_scratch_local_origin1
Definition: btMultiBodyDynamicsWorld.h:44
btMultiBodyDynamicsWorld::serializeMultiBodies
virtual void serializeMultiBodies(btSerializer *serializer)
Definition: btMultiBodyDynamicsWorld.cpp:851
btMultiBodyDynamicsWorld::addMultiBodyConstraint
virtual void addMultiBodyConstraint(btMultiBodyConstraint *constraint)
Definition: btMultiBodyDynamicsWorld.cpp:664
btMultiBodyDynamicsWorld::m_scratch_v
btAlignedObjectArray< btVector3 > m_scratch_v
Definition: btMultiBodyDynamicsWorld.h:46
btMultiBodyDynamicsWorld::getMultiBody
const btMultiBody * getMultiBody(int mbIndex) const
Definition: btMultiBodyDynamicsWorld.h:76
btMultiBodyDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:36
btMultiBodyDynamicsWorld::buildIslands
void buildIslands()
Definition: btMultiBodyDynamicsWorld.cpp:230
btMultiBodyDynamicsWorld::calculateSimulationIslands
virtual void calculateSimulationIslands()
Definition: btMultiBodyDynamicsWorld.cpp:42
btMultiBodyDynamicsWorld::removeMultiBodyConstraint
virtual void removeMultiBodyConstraint(btMultiBodyConstraint *constraint)
Definition: btMultiBodyDynamicsWorld.cpp:669
btMultiBodyDynamicsWorld::predictMultiBodyTransforms
void predictMultiBodyTransforms(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:630
btMultiBodyDynamicsWorld::integrateTransforms
virtual void integrateTransforms(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:575
btMultiBodyDynamicsWorld::m_multiBodyConstraintSolver
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
Definition: btMultiBodyDynamicsWorld.h:37
btMultiBodyDynamicsWorld::m_multiBodies
btAlignedObjectArray< btMultiBody * > m_multiBodies
Definition: btMultiBodyDynamicsWorld.h:34
btMultiBodyDynamicsWorld::getAnalyticsData
virtual void getAnalyticsData(btAlignedObjectArray< struct btSolverAnalyticsData > &m_islandAnalyticsData) const
Definition: btMultiBodyDynamicsWorld.cpp:179
btMultiBodyDynamicsWorld::solveConstraints
virtual void solveConstraints(btContactSolverInfo &solverInfo)
Definition: btMultiBodyDynamicsWorld.cpp:223
btMultiBodyDynamicsWorld::integrateMultiBodyTransforms
void integrateMultiBodyTransforms(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:581
btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint *constraint)
Definition: btMultiBodyDynamicsWorld.cpp:674
btMultiBodyDynamicsWorld::getNumMultibodies
virtual int getNumMultibodies() const
Definition: btMultiBodyDynamicsWorld.h:66
btMultiBodyDynamicsWorld::solveExternalForces
virtual void solveExternalForces(btContactSolverInfo &solverInfo)
Definition: btMultiBodyDynamicsWorld.cpp:288
btMultiBodyDynamicsWorld::setConstraintSolver
virtual void setConstraintSolver(btConstraintSolver *solver)
Definition: btMultiBodyDynamicsWorld.cpp:206
btMultiBodyDynamicsWorld::m_scratch_local_origin
btAlignedObjectArray< btVector3 > m_scratch_local_origin
Definition: btMultiBodyDynamicsWorld.h:42
btMultiBodyDynamicsWorld::clearMultiBodyForces
virtual void clearMultiBodyForces()
Definition: btMultiBodyDynamicsWorld.cpp:797
btMultiBodyDynamicsWorld::getNumMultiBodyConstraints
virtual int getNumMultiBodyConstraints() const
Definition: btMultiBodyDynamicsWorld.h:83
btMultiBodyDynamicsWorld::m_scratch_r
btAlignedObjectArray< btScalar > m_scratch_r
Definition: btMultiBodyDynamicsWorld.h:45
btMultiBodyDynamicsWorld::removeMultiBody
virtual void removeMultiBody(btMultiBody *body)
Definition: btMultiBodyDynamicsWorld.cpp:31
btMultiBodyDynamicsWorld::m_sortedMultiBodyConstraints
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
Definition: btMultiBodyDynamicsWorld.h:36
btMultiBodyDynamicsWorld::addMultiBody
virtual void addMultiBody(btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter)
Definition: btMultiBodyDynamicsWorld.cpp:26
btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces
virtual void clearMultiBodyConstraintForces()
Definition: btMultiBodyDynamicsWorld.cpp:789
btMultiBodyDynamicsWorld::saveKinematicState
virtual void saveKinematicState(btScalar timeStep)
Definition: btMultiBodyDynamicsWorld.cpp:880
btMultiBodyDynamicsWorld::applyGravity
virtual void applyGravity()
apply gravity, call this once per timestep
Definition: btMultiBodyDynamicsWorld.cpp:755
btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver
virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver *solver)
Definition: btMultiBodyDynamicsWorld.cpp:199
btMultiBodyDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btMultiBodyDynamicsWorld.cpp:679
btMultiBodyDynamicsWorld::getMultiBodyConstraint
virtual const btMultiBodyConstraint * getMultiBodyConstraint(int constraintIndex) const
Definition: btMultiBodyDynamicsWorld.h:93
btMultiBody
Definition: btMultiBody.h:51
btSerializer
Definition: btSerializer.h:66
MultiBodyInplaceSolverIslandCallback
Definition: btMultiBodyInplaceSolverIslandCallback.h:66
btBroadphaseProxy::AllFilter
@ AllFilter
Definition: btBroadphaseProxy.h:98
btBroadphaseProxy::DefaultFilter
@ DefaultFilter
Definition: btBroadphaseProxy.h:92
btContactSolverInfo
Definition: btContactSolverInfo.h:76