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source: code/trunk/src/external/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h @ 9355

Last change on this file since 9355 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 5.2 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#ifndef BT_DYNAMICS_WORLD_H
17#define BT_DYNAMICS_WORLD_H
18
19#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
20#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
21
22class btTypedConstraint;
23class btActionInterface;
24class btConstraintSolver;
25class btDynamicsWorld;
26
27
28/// Type for the callback for each tick
29typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
30
31enum btDynamicsWorldType
32{
33        BT_SIMPLE_DYNAMICS_WORLD=1,
34        BT_DISCRETE_DYNAMICS_WORLD=2,
35        BT_CONTINUOUS_DYNAMICS_WORLD=3,
36        BT_SOFT_RIGID_DYNAMICS_WORLD=4
37};
38
39///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
40class btDynamicsWorld : public btCollisionWorld
41{
42
43protected:
44                btInternalTickCallback m_internalTickCallback;
45                btInternalTickCallback m_internalPreTickCallback;
46                void*   m_worldUserInfo;
47
48                btContactSolverInfo     m_solverInfo;
49
50public:
51               
52
53                btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
54                :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0)
55                {
56                }
57
58                virtual ~btDynamicsWorld()
59                {
60                }
61               
62                ///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
63                ///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
64                ///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
65                ///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
66                virtual int             stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
67                       
68                virtual void    debugDrawWorld() = 0;
69                               
70                virtual void    addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) 
71                { 
72                        (void)constraint; (void)disableCollisionsBetweenLinkedBodies;
73                }
74
75                virtual void    removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
76
77                virtual void    addAction(btActionInterface* action) = 0;
78
79                virtual void    removeAction(btActionInterface* action) = 0;
80
81                //once a rigidbody is added to the dynamics world, it will get this gravity assigned
82                //existing rigidbodies in the world get gravity assigned too, during this method
83                virtual void    setGravity(const btVector3& gravity) = 0;
84                virtual btVector3 getGravity () const = 0;
85
86                virtual void    synchronizeMotionStates() = 0;
87
88                virtual void    addRigidBody(btRigidBody* body) = 0;
89
90                virtual void    addRigidBody(btRigidBody* body, short group, short mask) = 0;
91
92                virtual void    removeRigidBody(btRigidBody* body) = 0;
93
94                virtual void    setConstraintSolver(btConstraintSolver* solver) = 0;
95
96                virtual btConstraintSolver* getConstraintSolver() = 0;
97               
98                virtual int             getNumConstraints() const {     return 0;               }
99               
100                virtual btTypedConstraint* getConstraint(int index)             {       (void)index;            return 0;               }
101               
102                virtual const btTypedConstraint* getConstraint(int index) const {       (void)index;    return 0;       }
103
104                virtual btDynamicsWorldType     getWorldType() const=0;
105
106                virtual void    clearForces() = 0;
107
108                /// Set the callback for when an internal tick (simulation substep) happens, optional user info
109                void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false) 
110                { 
111                        if (isPreTick)
112                        {
113                                m_internalPreTickCallback = cb;
114                        } else
115                        {
116                                m_internalTickCallback = cb; 
117                        }
118                        m_worldUserInfo = worldUserInfo;
119                }
120
121                void    setWorldUserInfo(void* worldUserInfo)
122                {
123                        m_worldUserInfo = worldUserInfo;
124                }
125
126                void*   getWorldUserInfo() const
127                {
128                        return m_worldUserInfo;
129                }
130
131                btContactSolverInfo& getSolverInfo()
132                {
133                        return m_solverInfo;
134                }
135
136
137                ///obsolete, use addAction instead.
138                virtual void    addVehicle(btActionInterface* vehicle) {(void)vehicle;}
139                ///obsolete, use removeAction instead
140                virtual void    removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
141                ///obsolete, use addAction instead.
142                virtual void    addCharacter(btActionInterface* character) {(void)character;}
143                ///obsolete, use removeAction instead
144                virtual void    removeCharacter(btActionInterface* character) {(void)character;}
145
146
147};
148
149#endif //BT_DYNAMICS_WORLD_H
150
151
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