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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h | 126 |
1 files changed, 0 insertions, 126 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h deleted file mode 100644 index d2d76c8b92..0000000000 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ /dev/null @@ -1,126 +0,0 @@ -/* -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" -#include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.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 serializeMultiBodies(btSerializer* serializer); - -public: - btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration); - - virtual ~btMultiBodyDynamicsWorld(); - - virtual void solveConstraints(btContactSolverInfo& solverInfo); - - 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); - void integrateMultiBodyTransforms(btScalar timeStep); - void predictMultiBodyTransforms(btScalar timeStep); - - virtual void predictUnconstraintMotion(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); - virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); - virtual void setConstraintSolver(btConstraintSolver* solver); - virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const; - - virtual void solveExternalForces(btContactSolverInfo& solverInfo); - virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); - void buildIslands(); - - virtual void saveKinematicState(btScalar timeStep); -}; -#endif //BT_MULTIBODY_DYNAMICS_WORLD_H |