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source: code/trunk/src/external/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp @ 9838

Last change on this file since 9838 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: 7.0 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(&getCollisionObjectArray()[0],getNumCollisionObjects(),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        btCollisionWorld::removeCollisionObject(body);
136}
137
138void    btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
139{
140        btRigidBody* body = btRigidBody::upcast(collisionObject);
141        if (body)
142                removeRigidBody(body);
143        else
144                btCollisionWorld::removeCollisionObject(collisionObject);
145}
146
147
148void    btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
149{
150        body->setGravity(m_gravity);
151
152        if (body->getCollisionShape())
153        {
154                addCollisionObject(body);
155        }
156}
157
158void    btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
159{
160        body->setGravity(m_gravity);
161
162        if (body->getCollisionShape())
163        {
164                addCollisionObject(body,group,mask);
165        }
166}
167
168
169void    btSimpleDynamicsWorld::debugDrawWorld()
170{
171
172}
173                               
174void    btSimpleDynamicsWorld::addAction(btActionInterface* action)
175{
176
177}
178
179void    btSimpleDynamicsWorld::removeAction(btActionInterface* action)
180{
181
182}
183
184
185void    btSimpleDynamicsWorld::updateAabbs()
186{
187        btTransform predictedTrans;
188        for ( int i=0;i<m_collisionObjects.size();i++)
189        {
190                btCollisionObject* colObj = m_collisionObjects[i];
191                btRigidBody* body = btRigidBody::upcast(colObj);
192                if (body)
193                {
194                        if (body->isActive() && (!body->isStaticObject()))
195                        {
196                                btVector3 minAabb,maxAabb;
197                                colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
198                                btBroadphaseInterface* bp = getBroadphase();
199                                bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
200                        }
201                }
202        }
203}
204
205void    btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
206{
207        btTransform predictedTrans;
208        for ( int i=0;i<m_collisionObjects.size();i++)
209        {
210                btCollisionObject* colObj = m_collisionObjects[i];
211                btRigidBody* body = btRigidBody::upcast(colObj);
212                if (body)
213                {
214                        if (body->isActive() && (!body->isStaticObject()))
215                        {
216                                body->predictIntegratedTransform(timeStep, predictedTrans);
217                                body->proceedToTransform( predictedTrans);
218                        }
219                }
220        }
221}
222
223
224
225void    btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
226{
227        for ( int i=0;i<m_collisionObjects.size();i++)
228        {
229                btCollisionObject* colObj = m_collisionObjects[i];
230                btRigidBody* body = btRigidBody::upcast(colObj);
231                if (body)
232                {
233                        if (!body->isStaticObject())
234                        {
235                                if (body->isActive())
236                                {
237                                        body->applyGravity();
238                                        body->integrateVelocities( timeStep);
239                                        body->applyDamping(timeStep);
240                                        body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
241                                }
242                        }
243                }
244        }
245}
246
247
248void    btSimpleDynamicsWorld::synchronizeMotionStates()
249{
250        ///@todo: iterate over awake simulation islands!
251        for ( int i=0;i<m_collisionObjects.size();i++)
252        {
253                btCollisionObject* colObj = m_collisionObjects[i];
254                btRigidBody* body = btRigidBody::upcast(colObj);
255                if (body && body->getMotionState())
256                {
257                        if (body->getActivationState() != ISLAND_SLEEPING)
258                        {
259                                body->getMotionState()->setWorldTransform(body->getWorldTransform());
260                        }
261                }
262        }
263
264}
265
266
267void    btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
268{
269        if (m_ownsConstraintSolver)
270        {
271                btAlignedFree(m_constraintSolver);
272        }
273        m_ownsConstraintSolver = false;
274        m_constraintSolver = solver;
275}
276
277btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
278{
279        return m_constraintSolver;
280}
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