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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h | 114 |
1 files changed, 114 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h new file mode 100644 index 0000000000..c0c132bbba --- /dev/null +++ b/thirdparty/bullet/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 |