source: code/trunk/src/external/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @ 9870

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 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_DISCRETE_DYNAMICS_WORLD_H
#define BT_DISCRETE_DYNAMICS_WORLD_H

#include "btDynamicsWorld.h"

class btDispatcher;
class btOverlappingPairCache;
class btConstraintSolver;
class btSimulationIslandManager;
class btTypedConstraint;
class btActionInterface;

class btIDebugDraw;
#include "LinearMath/btAlignedObjectArray.h"


///btDiscreteDynamicsWorld provides discrete rigid body simulation
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btDiscreteDynamicsWorld : public btDynamicsWorld
{
protected:

        btConstraintSolver*     m_constraintSolver;

        btSimulationIslandManager*      m_islandManager;

        btAlignedObjectArray<btTypedConstraint*> m_constraints;

        btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;

        btVector3       m_gravity;

        //for variable timesteps
        btScalar        m_localTime;
        //for variable timesteps

        bool    m_ownsIslandManager;
        bool    m_ownsConstraintSolver;
        bool    m_synchronizeAllMotionStates;

        btAlignedObjectArray<btActionInterface*>        m_actions;
        
        int     m_profileTimings;

        virtual void    predictUnconstraintMotion(btScalar timeStep);
        
        virtual void    integrateTransforms(btScalar timeStep);
                
        virtual void    addSpeculativeContacts(btScalar timeStep);

        virtual void    calculateSimulationIslands();

        virtual void    solveConstraints(btContactSolverInfo& solverInfo);
        
        void    updateActivationState(btScalar timeStep);

        void    updateActions(btScalar timeStep);

        void    startProfiling(btScalar timeStep);

        virtual void    internalSingleStepSimulation( btScalar timeStep);


        virtual void    saveKinematicState(btScalar timeStep);

        void    serializeRigidBodies(btSerializer* serializer);

public:


        ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
        btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);

        virtual ~btDiscreteDynamicsWorld();

        ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
        virtual int     stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));


        virtual void    synchronizeMotionStates();

        ///this can be useful to synchronize a single rigid body -> graphics object
        void    synchronizeSingleMotionState(btRigidBody* body);

        virtual void    addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);

        virtual void    removeConstraint(btTypedConstraint* constraint);

        virtual void    addAction(btActionInterface*);

        virtual void    removeAction(btActionInterface*);
        
        btSimulationIslandManager*      getSimulationIslandManager()
        {
                return m_islandManager;
        }

        const btSimulationIslandManager*        getSimulationIslandManager() const 
        {
                return m_islandManager;
        }

        btCollisionWorld*       getCollisionWorld()
        {
                return this;
        }

        virtual void    setGravity(const btVector3& gravity);

        virtual btVector3 getGravity () const;

        virtual void    addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

        virtual void    addRigidBody(btRigidBody* body);

        virtual void    addRigidBody(btRigidBody* body, short group, short mask);

        virtual void    removeRigidBody(btRigidBody* body);

        ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
        virtual void    removeCollisionObject(btCollisionObject* collisionObject);


        void    debugDrawConstraint(btTypedConstraint* constraint);

        virtual void    debugDrawWorld();

        virtual void    setConstraintSolver(btConstraintSolver* solver);

        virtual btConstraintSolver* getConstraintSolver();
        
        virtual int             getNumConstraints() const;

        virtual btTypedConstraint* getConstraint(int index)     ;

        virtual const btTypedConstraint* getConstraint(int index) const;

        
        virtual btDynamicsWorldType     getWorldType() const
        {
                return BT_DISCRETE_DYNAMICS_WORLD;
        }
        
        ///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
        virtual void    clearForces();

        ///apply gravity, call this once per timestep
        virtual void    applyGravity();

        virtual void    setNumTasks(int numTasks)
        {
        (void) numTasks;
        }

        ///obsolete, use updateActions instead
        virtual void updateVehicles(btScalar timeStep)
        {
                updateActions(timeStep);
        }

        ///obsolete, use addAction instead
        virtual void    addVehicle(btActionInterface* vehicle);
        ///obsolete, use removeAction instead
        virtual void    removeVehicle(btActionInterface* vehicle);
        ///obsolete, use addAction instead
        virtual void    addCharacter(btActionInterface* character);
        ///obsolete, use removeAction instead
        virtual void    removeCharacter(btActionInterface* character);

        void    setSynchronizeAllMotionStates(bool synchronizeAll)
        {
                m_synchronizeAllMotionStates = synchronizeAll;
        }
        bool getSynchronizeAllMotionStates() const
        {
                return m_synchronizeAllMotionStates;
        }

        ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
        virtual void    serialize(btSerializer* serializer);

};

#endif //BT_DISCRETE_DYNAMICS_WORLD_H