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source: code/trunk/src/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp @ 3215

Last change on this file since 3215 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

  • Property svn:eol-style set to native
File size: 6.3 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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#include "btSimpleDynamicsWorld.h"
17#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
18#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
19#include "BulletCollision/CollisionShapes/btCollisionShape.h"
20#include "BulletDynamics/Dynamics/btRigidBody.h"
21#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
22#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
23
24
25/*
26  Make sure this dummy function never changes so that it
27  can be used by probes that are checking whether the
28  library is actually installed.
29*/
30extern "C" 
31{
32        void btBulletDynamicsProbe ();
33        void btBulletDynamicsProbe () {}
34}
35
36
37
38
39btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
40:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
41m_constraintSolver(constraintSolver),
42m_ownsConstraintSolver(false),
43m_gravity(0,0,-10)
44{
45
46}
47
48
49btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
50{
51        if (m_ownsConstraintSolver)
52                btAlignedFree( m_constraintSolver);
53}
54
55int             btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
56{
57        (void)fixedTimeStep;
58        (void)maxSubSteps;
59
60
61        ///apply gravity, predict motion
62        predictUnconstraintMotion(timeStep);
63
64        btDispatcherInfo&       dispatchInfo = getDispatchInfo();
65        dispatchInfo.m_timeStep = timeStep;
66        dispatchInfo.m_stepCount = 0;
67        dispatchInfo.m_debugDraw = getDebugDrawer();
68
69        ///perform collision detection
70        performDiscreteCollisionDetection();
71
72        ///solve contact constraints
73        int numManifolds = m_dispatcher1->getNumManifolds();
74        if (numManifolds)
75        {
76                btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
77               
78                btContactSolverInfo infoGlobal;
79                infoGlobal.m_timeStep = timeStep;
80                m_constraintSolver->prepareSolve(0,numManifolds);
81                m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
82                m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
83        }
84
85        ///integrate transforms
86        integrateTransforms(timeStep);
87               
88        updateAabbs();
89
90        synchronizeMotionStates();
91
92        clearForces();
93
94        return 1;
95
96}
97
98void    btSimpleDynamicsWorld::clearForces()
99{
100        ///@todo: iterate over awake simulation islands!
101        for ( int i=0;i<m_collisionObjects.size();i++)
102        {
103                btCollisionObject* colObj = m_collisionObjects[i];
104               
105                btRigidBody* body = btRigidBody::upcast(colObj);
106                if (body)
107                {
108                        body->clearForces();
109                }
110        }
111}       
112
113
114void    btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
115{
116        m_gravity = gravity;
117        for ( int i=0;i<m_collisionObjects.size();i++)
118        {
119                btCollisionObject* colObj = m_collisionObjects[i];
120                btRigidBody* body = btRigidBody::upcast(colObj);
121                if (body)
122                {
123                        body->setGravity(gravity);
124                }
125        }
126}
127
128btVector3 btSimpleDynamicsWorld::getGravity () const
129{
130        return m_gravity;
131}
132
133void    btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
134{
135        removeCollisionObject(body);
136}
137
138void    btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
139{
140        body->setGravity(m_gravity);
141
142        if (body->getCollisionShape())
143        {
144                addCollisionObject(body);
145        }
146}
147
148void    btSimpleDynamicsWorld::updateAabbs()
149{
150        btTransform predictedTrans;
151        for ( int i=0;i<m_collisionObjects.size();i++)
152        {
153                btCollisionObject* colObj = m_collisionObjects[i];
154                btRigidBody* body = btRigidBody::upcast(colObj);
155                if (body)
156                {
157                        if (body->isActive() && (!body->isStaticObject()))
158                        {
159                                btVector3 minAabb,maxAabb;
160                                colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
161                                btBroadphaseInterface* bp = getBroadphase();
162                                bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
163                        }
164                }
165        }
166}
167
168void    btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
169{
170        btTransform predictedTrans;
171        for ( int i=0;i<m_collisionObjects.size();i++)
172        {
173                btCollisionObject* colObj = m_collisionObjects[i];
174                btRigidBody* body = btRigidBody::upcast(colObj);
175                if (body)
176                {
177                        if (body->isActive() && (!body->isStaticObject()))
178                        {
179                                body->predictIntegratedTransform(timeStep, predictedTrans);
180                                body->proceedToTransform( predictedTrans);
181                        }
182                }
183        }
184}
185
186
187
188void    btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
189{
190        for ( int i=0;i<m_collisionObjects.size();i++)
191        {
192                btCollisionObject* colObj = m_collisionObjects[i];
193                btRigidBody* body = btRigidBody::upcast(colObj);
194                if (body)
195                {
196                        if (!body->isStaticObject())
197                        {
198                                if (body->isActive())
199                                {
200                                        body->applyGravity();
201                                        body->integrateVelocities( timeStep);
202                                        body->applyDamping(timeStep);
203                                        body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
204                                }
205                        }
206                }
207        }
208}
209
210
211void    btSimpleDynamicsWorld::synchronizeMotionStates()
212{
213        ///@todo: iterate over awake simulation islands!
214        for ( int i=0;i<m_collisionObjects.size();i++)
215        {
216                btCollisionObject* colObj = m_collisionObjects[i];
217                btRigidBody* body = btRigidBody::upcast(colObj);
218                if (body && body->getMotionState())
219                {
220                        if (body->getActivationState() != ISLAND_SLEEPING)
221                        {
222                                body->getMotionState()->setWorldTransform(body->getWorldTransform());
223                        }
224                }
225        }
226
227}
228
229
230void    btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
231{
232        if (m_ownsConstraintSolver)
233        {
234                btAlignedFree(m_constraintSolver);
235        }
236        m_ownsConstraintSolver = false;
237        m_constraintSolver = solver;
238}
239
240btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
241{
242        return m_constraintSolver;
243}
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