Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 114 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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index 0000000000..c0c132bbba
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+++ b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
@@ -0,0 +1,114 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_MULTIBODY_DYNAMICS_WORLD_H
+#define BT_MULTIBODY_DYNAMICS_WORLD_H
+
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+
+#define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
+
+class btMultiBody;
+class btMultiBodyConstraint;
+class btMultiBodyConstraintSolver;
+struct MultiBodyInplaceSolverIslandCallback;
+
+///The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet
+///This implementation is still preliminary/experimental.
+class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
+{
+protected:
+	btAlignedObjectArray<btMultiBody*> m_multiBodies;
+	btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
+	btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
+	btMultiBodyConstraintSolver*	m_multiBodyConstraintSolver;
+	MultiBodyInplaceSolverIslandCallback*	m_solverMultiBodyIslandCallback;
+
+	//cached data to avoid memory allocations
+	btAlignedObjectArray<btQuaternion> m_scratch_world_to_local;
+	btAlignedObjectArray<btVector3> m_scratch_local_origin;
+	btAlignedObjectArray<btQuaternion> m_scratch_world_to_local1;
+	btAlignedObjectArray<btVector3> m_scratch_local_origin1;
+	btAlignedObjectArray<btScalar> m_scratch_r;
+	btAlignedObjectArray<btVector3> m_scratch_v;
+	btAlignedObjectArray<btMatrix3x3> m_scratch_m;
+
+	
+	virtual void	calculateSimulationIslands();
+	virtual void	updateActivationState(btScalar timeStep);
+	virtual void	solveConstraints(btContactSolverInfo& solverInfo);
+	
+	virtual void	serializeMultiBodies(btSerializer* serializer);
+
+public:
+
+	btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
+
+	virtual ~btMultiBodyDynamicsWorld ();
+
+	virtual void	addMultiBody(btMultiBody* body, int group= btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter);
+
+	virtual void	removeMultiBody(btMultiBody* body);
+
+	virtual int		getNumMultibodies() const
+	{
+		return m_multiBodies.size();
+	}
+
+	btMultiBody*	getMultiBody(int mbIndex)
+	{
+		return m_multiBodies[mbIndex];
+	}
+
+	const btMultiBody*	getMultiBody(int mbIndex) const
+	{
+		return m_multiBodies[mbIndex];
+	}
+
+	virtual void	addMultiBodyConstraint( btMultiBodyConstraint* constraint);
+
+	virtual int     getNumMultiBodyConstraints() const
+	{
+        return m_multiBodyConstraints.size();
+	}
+
+	virtual btMultiBodyConstraint*	getMultiBodyConstraint( int constraintIndex)
+	{
+        return m_multiBodyConstraints[constraintIndex];
+	}
+
+	virtual const btMultiBodyConstraint*	getMultiBodyConstraint( int constraintIndex) const
+	{
+        return m_multiBodyConstraints[constraintIndex];
+	}
+
+	virtual void	removeMultiBodyConstraint( btMultiBodyConstraint* constraint);
+
+	virtual void	integrateTransforms(btScalar timeStep);
+
+	virtual void	debugDrawWorld();
+
+	virtual void	debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
+	
+	void	forwardKinematics();
+	virtual void clearForces();
+	virtual void clearMultiBodyConstraintForces();
+	virtual void clearMultiBodyForces();
+	virtual void applyGravity();
+	
+	virtual	void	serialize(btSerializer* serializer);
+
+};
+#endif //BT_MULTIBODY_DYNAMICS_WORLD_H