bullet: Update to current svn, r2636
[blender.git] / extern / bullet2 / src / BulletDynamics / Dynamics / btDynamicsWorld.h
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose, 
8 including commercial applications, and to alter it and redistribute it freely, 
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. 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
22 class btTypedConstraint;
23 class btActionInterface;
24 class btConstraintSolver;
25 class btDynamicsWorld;
26
27
28 /// Type for the callback for each tick
29 typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
30
31 enum 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.
40 class btDynamicsWorld : public btCollisionWorld
41 {
42
43 protected:
44                 btInternalTickCallback m_internalTickCallback;
45                 btInternalTickCallback m_internalPreTickCallback;
46                 void*   m_worldUserInfo;
47
48                 btContactSolverInfo     m_solverInfo;
49
50 public:
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 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
150 struct btDynamicsWorldDoubleData
151 {
152         btContactSolverInfoDoubleData   m_solverInfo;
153         btVector3DoubleData     m_gravity;
154 };
155
156 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
157 struct btDynamicsWorldFloatData
158 {
159         btContactSolverInfoFloatData    m_solverInfo;
160         btVector3FloatData      m_gravity;
161 };
162
163
164 #endif //BT_DYNAMICS_WORLD_H
165
166