source: code/trunk/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.h @ 8352

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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 RIGIDBODY_H
#define RIGIDBODY_H

#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"

class btCollisionShape;
class btMotionState;
class btTypedConstraint;


extern btScalar gDeactivationTime;
extern bool gDisableDeactivation;

#ifdef BT_USE_DOUBLE_PRECISION
#define btRigidBodyData btRigidBodyDoubleData
#define btRigidBodyDataName     "btRigidBodyDoubleData"
#else
#define btRigidBodyData btRigidBodyFloatData
#define btRigidBodyDataName     "btRigidBodyFloatData"
#endif //BT_USE_DOUBLE_PRECISION


enum    btRigidBodyFlags
{
        BT_DISABLE_WORLD_GRAVITY = 1
};


///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
///There are 3 types of rigid bodies: 
///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
class btRigidBody  : public btCollisionObject
{

        btMatrix3x3     m_invInertiaTensorWorld;
        btVector3               m_linearVelocity;
        btVector3               m_angularVelocity;
        btScalar                m_inverseMass;
        btVector3               m_linearFactor;

        btVector3               m_gravity;      
        btVector3               m_gravity_acceleration;
        btVector3               m_invInertiaLocal;
        btVector3               m_totalForce;
        btVector3               m_totalTorque;
        
        btScalar                m_linearDamping;
        btScalar                m_angularDamping;

        bool                    m_additionalDamping;
        btScalar                m_additionalDampingFactor;
        btScalar                m_additionalLinearDampingThresholdSqr;
        btScalar                m_additionalAngularDampingThresholdSqr;
        btScalar                m_additionalAngularDampingFactor;


        btScalar                m_linearSleepingThreshold;
        btScalar                m_angularSleepingThreshold;

        //m_optionalMotionState allows to automatic synchronize the world transform for active objects
        btMotionState*  m_optionalMotionState;

        //keep track of typed constraints referencing this rigid body
        btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;

        int                             m_rigidbodyFlags;
        
        int                             m_debugBodyId;


protected:

        ATTRIBUTE_ALIGNED64(btVector3           m_deltaLinearVelocity);
        btVector3               m_deltaAngularVelocity;
        btVector3               m_angularFactor;
        btVector3               m_invMass;
        btVector3               m_pushVelocity;
        btVector3               m_turnVelocity;


public:


        ///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
        ///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
        ///You can use the motion state to synchronize the world transform between physics and graphics objects. 
        ///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
        ///m_startWorldTransform is only used when you don't provide a motion state.
        struct  btRigidBodyConstructionInfo
        {
                btScalar                        m_mass;

                ///When a motionState is provided, the rigid body will initialize its world transform from the motion state
                ///In this case, m_startWorldTransform is ignored.
                btMotionState*          m_motionState;
                btTransform     m_startWorldTransform;

                btCollisionShape*       m_collisionShape;
                btVector3                       m_localInertia;
                btScalar                        m_linearDamping;
                btScalar                        m_angularDamping;

                ///best simulation results when friction is non-zero
                btScalar                        m_friction;
                ///best simulation results using zero restitution.
                btScalar                        m_restitution;

                btScalar                        m_linearSleepingThreshold;
                btScalar                        m_angularSleepingThreshold;

                //Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
                //Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
                bool                            m_additionalDamping;
                btScalar                        m_additionalDampingFactor;
                btScalar                        m_additionalLinearDampingThresholdSqr;
                btScalar                        m_additionalAngularDampingThresholdSqr;
                btScalar                        m_additionalAngularDampingFactor;

                btRigidBodyConstructionInfo(    btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
                m_mass(mass),
                        m_motionState(motionState),
                        m_collisionShape(collisionShape),
                        m_localInertia(localInertia),
                        m_linearDamping(btScalar(0.)),
                        m_angularDamping(btScalar(0.)),
                        m_friction(btScalar(0.5)),
                        m_restitution(btScalar(0.)),
                        m_linearSleepingThreshold(btScalar(0.8)),
                        m_angularSleepingThreshold(btScalar(1.f)),
                        m_additionalDamping(false),
                        m_additionalDampingFactor(btScalar(0.005)),
                        m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
                        m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
                        m_additionalAngularDampingFactor(btScalar(0.01))
                {
                        m_startWorldTransform.setIdentity();
                }
        };

        ///btRigidBody constructor using construction info
        btRigidBody(    const btRigidBodyConstructionInfo& constructionInfo);

        ///btRigidBody constructor for backwards compatibility. 
        ///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
        btRigidBody(    btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0));


        virtual ~btRigidBody()
        { 
                //No constraints should point to this rigidbody
                //Remove constraints from the dynamics world before you delete the related rigidbodies. 
                btAssert(m_constraintRefs.size()==0); 
        }

protected:

        ///setupRigidBody is only used internally by the constructor
        void    setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);

public:

        void                    proceedToTransform(const btTransform& newTrans); 
        
        ///to keep collision detection and dynamics separate we don't store a rigidbody pointer
        ///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
        static const btRigidBody*       upcast(const btCollisionObject* colObj)
        {
                if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
                        return (const btRigidBody*)colObj;
                return 0;
        }
        static btRigidBody*     upcast(btCollisionObject* colObj)
        {
                if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
                        return (btRigidBody*)colObj;
                return 0;
        }
        
        /// continuous collision detection needs prediction
        void                    predictIntegratedTransform(btScalar step, btTransform& predictedTransform) ;
        
        void                    saveKinematicState(btScalar step);
        
        void                    applyGravity();
        
        void                    setGravity(const btVector3& acceleration);  

        const btVector3&        getGravity() const
        {
                return m_gravity_acceleration;
        }

        void                    setDamping(btScalar lin_damping, btScalar ang_damping);

        btScalar getLinearDamping() const
        {
                return m_linearDamping;
        }

        btScalar getAngularDamping() const
        {
                return m_angularDamping;
        }

        btScalar getLinearSleepingThreshold() const
        {
                return m_linearSleepingThreshold;
        }

        btScalar getAngularSleepingThreshold() const
        {
                return m_angularSleepingThreshold;
        }

        void                    applyDamping(btScalar timeStep);

        SIMD_FORCE_INLINE const btCollisionShape*       getCollisionShape() const {
                return m_collisionShape;
        }

        SIMD_FORCE_INLINE btCollisionShape*     getCollisionShape() {
                        return m_collisionShape;
        }
        
        void                    setMassProps(btScalar mass, const btVector3& inertia);
        
        const btVector3& getLinearFactor() const
        {
                return m_linearFactor;
        }
        void setLinearFactor(const btVector3& linearFactor)
        {
                m_linearFactor = linearFactor;
                m_invMass = m_linearFactor*m_inverseMass;
        }
        btScalar                getInvMass() const { return m_inverseMass; }
        const btMatrix3x3& getInvInertiaTensorWorld() const { 
                return m_invInertiaTensorWorld; 
        }
                
        void                    integrateVelocities(btScalar step);

        void                    setCenterOfMassTransform(const btTransform& xform);

        void                    applyCentralForce(const btVector3& force)
        {
                m_totalForce += force*m_linearFactor;
        }

        const btVector3& getTotalForce()
        {
                return m_totalForce;
        };

        const btVector3& getTotalTorque()
        {
                return m_totalTorque;
        };
    
        const btVector3& getInvInertiaDiagLocal() const
        {
                return m_invInertiaLocal;
        };

        void    setInvInertiaDiagLocal(const btVector3& diagInvInertia)
        {
                m_invInertiaLocal = diagInvInertia;
        }

        void    setSleepingThresholds(btScalar linear,btScalar angular)
        {
                m_linearSleepingThreshold = linear;
                m_angularSleepingThreshold = angular;
        }

        void    applyTorque(const btVector3& torque)
        {
                m_totalTorque += torque*m_angularFactor;
        }
        
        void    applyForce(const btVector3& force, const btVector3& rel_pos) 
        {
                applyCentralForce(force);
                applyTorque(rel_pos.cross(force*m_linearFactor));
        }
        
        void applyCentralImpulse(const btVector3& impulse)
        {
                m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
        }
        
        void applyTorqueImpulse(const btVector3& torque)
        {
                        m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
        }
        
        void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) 
        {
                if (m_inverseMass != btScalar(0.))
                {
                        applyCentralImpulse(impulse);
                        if (m_angularFactor)
                        {
                                applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
                        }
                }
        }

        void clearForces() 
        {
                m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
                m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
        }
        
        void updateInertiaTensor();    
        
        const btVector3&     getCenterOfMassPosition() const { 
                return m_worldTransform.getOrigin(); 
        }
        btQuaternion getOrientation() const;
        
        const btTransform&  getCenterOfMassTransform() const { 
                return m_worldTransform; 
        }
        const btVector3&   getLinearVelocity() const { 
                return m_linearVelocity; 
        }
        const btVector3&    getAngularVelocity() const { 
                return m_angularVelocity; 
        }
        

        inline void setLinearVelocity(const btVector3& lin_vel)
        { 
                m_linearVelocity = lin_vel; 
        }

        inline void setAngularVelocity(const btVector3& ang_vel) 
        { 
                m_angularVelocity = ang_vel; 
        }

        btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
        {
                //we also calculate lin/ang velocity for kinematic objects
                return m_linearVelocity + m_angularVelocity.cross(rel_pos);

                //for kinematic objects, we could also use use:
                //              return  (m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
        }

        void translate(const btVector3& v) 
        {
                m_worldTransform.getOrigin() += v; 
        }

        
        void    getAabb(btVector3& aabbMin,btVector3& aabbMax) const;




        
        SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
        {
                btVector3 r0 = pos - getCenterOfMassPosition();

                btVector3 c0 = (r0).cross(normal);

                btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);

                return m_inverseMass + normal.dot(vec);

        }

        SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
        {
                btVector3 vec = axis * getInvInertiaTensorWorld();
                return axis.dot(vec);
        }

        SIMD_FORCE_INLINE void  updateDeactivation(btScalar timeStep)
        {
                if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
                        return;

                if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) &&
                        (getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold))
                {
                        m_deactivationTime += timeStep;
                } else
                {
                        m_deactivationTime=btScalar(0.);
                        setActivationState(0);
                }

        }

        SIMD_FORCE_INLINE bool  wantsSleeping()
        {

                if (getActivationState() == DISABLE_DEACTIVATION)
                        return false;

                //disable deactivation
                if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
                        return false;

                if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
                        return true;

                if (m_deactivationTime> gDeactivationTime)
                {
                        return true;
                }
                return false;
        }


        
        const btBroadphaseProxy*        getBroadphaseProxy() const
        {
                return m_broadphaseHandle;
        }
        btBroadphaseProxy*      getBroadphaseProxy() 
        {
                return m_broadphaseHandle;
        }
        void    setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
        {
                m_broadphaseHandle = broadphaseProxy;
        }

        //btMotionState allows to automatic synchronize the world transform for active objects
        btMotionState*  getMotionState()
        {
                return m_optionalMotionState;
        }
        const btMotionState*    getMotionState() const
        {
                return m_optionalMotionState;
        }
        void    setMotionState(btMotionState* motionState)
        {
                m_optionalMotionState = motionState;
                if (m_optionalMotionState)
                        motionState->getWorldTransform(m_worldTransform);
        }

        //for experimental overriding of friction/contact solver func
        int     m_contactSolverType;
        int     m_frictionSolverType;

        void    setAngularFactor(const btVector3& angFac)
        {
                m_angularFactor = angFac;
        }

        void    setAngularFactor(btScalar angFac)
        {
                m_angularFactor.setValue(angFac,angFac,angFac);
        }
        const btVector3&        getAngularFactor() const
        {
                return m_angularFactor;
        }

        //is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
        bool    isInWorld() const
        {
                return (getBroadphaseProxy() != 0);
        }

        virtual bool checkCollideWithOverride(btCollisionObject* co);

        void addConstraintRef(btTypedConstraint* c);
        void removeConstraintRef(btTypedConstraint* c);

        btTypedConstraint* getConstraintRef(int index)
        {
                return m_constraintRefs[index];
        }

        int getNumConstraintRefs()
        {
                return m_constraintRefs.size();
        }

        void    setFlags(int flags)
        {
                m_rigidbodyFlags = flags;
        }

        int getFlags() const
        {
                return m_rigidbodyFlags;
        }

        const btVector3& getDeltaLinearVelocity() const
        {
                return m_deltaLinearVelocity;
        }

        const btVector3& getDeltaAngularVelocity() const
        {
                return m_deltaAngularVelocity;
        }

        const btVector3& getPushVelocity() const 
        {
                return m_pushVelocity;
        }

        const btVector3& getTurnVelocity() const 
        {
                return m_turnVelocity;
        }


        ////////////////////////////////////////////////
        ///some internal methods, don't use them
                
        btVector3& internalGetDeltaLinearVelocity()
        {
                return m_deltaLinearVelocity;
        }

        btVector3& internalGetDeltaAngularVelocity()
        {
                return m_deltaAngularVelocity;
        }

        const btVector3& internalGetAngularFactor() const
        {
                return m_angularFactor;
        }

        const btVector3& internalGetInvMass() const
        {
                return m_invMass;
        }
        
        btVector3& internalGetPushVelocity()
        {
                return m_pushVelocity;
        }

        btVector3& internalGetTurnVelocity()
        {
                return m_turnVelocity;
        }

        SIMD_FORCE_INLINE void  internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
        {
                velocity = getLinearVelocity()+m_deltaLinearVelocity + (getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
        }

        SIMD_FORCE_INLINE void  internalGetAngularVelocity(btVector3& angVel) const
        {
                angVel = getAngularVelocity()+m_deltaAngularVelocity;
        }


        //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
        SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
        {
                if (m_inverseMass)
                {
                        m_deltaLinearVelocity += linearComponent*impulseMagnitude;
                        m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
                }
        }

        SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
        {
                if (m_inverseMass)
                {
                        m_pushVelocity += linearComponent*impulseMagnitude;
                        m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
                }
        }
        
        void    internalWritebackVelocity()
        {
                if (m_inverseMass)
                {
                        setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
                        setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
                        //m_deltaLinearVelocity.setZero();
                        //m_deltaAngularVelocity .setZero();
                        //m_originalBody->setCompanionId(-1);
                }
        }


        void    internalWritebackVelocity(btScalar timeStep);
        

        ///////////////////////////////////////////////

        virtual int     calculateSerializeBufferSize()  const;

        ///fills the dataBuffer and returns the struct name (and 0 on failure)
        virtual const char*     serialize(void* dataBuffer,  class btSerializer* serializer) const;

        virtual void serializeSingleObject(class btSerializer* serializer) const;

};

//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct  btRigidBodyFloatData
{
        btCollisionObjectFloatData      m_collisionObjectData;
        btMatrix3x3FloatData            m_invInertiaTensorWorld;
        btVector3FloatData              m_linearVelocity;
        btVector3FloatData              m_angularVelocity;
        btVector3FloatData              m_angularFactor;
        btVector3FloatData              m_linearFactor;
        btVector3FloatData              m_gravity;      
        btVector3FloatData              m_gravity_acceleration;
        btVector3FloatData              m_invInertiaLocal;
        btVector3FloatData              m_totalForce;
        btVector3FloatData              m_totalTorque;
        float                                   m_inverseMass;
        float                                   m_linearDamping;
        float                                   m_angularDamping;
        float                                   m_additionalDampingFactor;
        float                                   m_additionalLinearDampingThresholdSqr;
        float                                   m_additionalAngularDampingThresholdSqr;
        float                                   m_additionalAngularDampingFactor;
        float                                   m_linearSleepingThreshold;
        float                                   m_angularSleepingThreshold;
        int                                             m_additionalDamping;
};

///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct  btRigidBodyDoubleData
{
        btCollisionObjectDoubleData     m_collisionObjectData;
        btMatrix3x3DoubleData           m_invInertiaTensorWorld;
        btVector3DoubleData             m_linearVelocity;
        btVector3DoubleData             m_angularVelocity;
        btVector3DoubleData             m_angularFactor;
        btVector3DoubleData             m_linearFactor;
        btVector3DoubleData             m_gravity;      
        btVector3DoubleData             m_gravity_acceleration;
        btVector3DoubleData             m_invInertiaLocal;
        btVector3DoubleData             m_totalForce;
        btVector3DoubleData             m_totalTorque;
        double                                  m_inverseMass;
        double                                  m_linearDamping;
        double                                  m_angularDamping;
        double                                  m_additionalDampingFactor;
        double                                  m_additionalLinearDampingThresholdSqr;
        double                                  m_additionalAngularDampingThresholdSqr;
        double                                  m_additionalAngularDampingFactor;
        double                                  m_linearSleepingThreshold;
        double                                  m_angularSleepingThreshold;
        int                                             m_additionalDamping;
        char    m_padding[4];
};



#endif