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