btSimpleDynamicsWorld.cpp

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  https://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.
*/
 
#include "btSimpleDynamicsWorld.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
/*
  Make sure this dummy function never changes so that it
  can be used by probes that are checking whether the
  library is actually installed.
*/
extern "C"
{
        void btBulletDynamicsProbe();
        void btBulletDynamicsProbe() {}
}
 
btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
        : btDynamicsWorld(dispatcher, pairCache, collisionConfiguration),
          m_constraintSolver(constraintSolver),
          m_ownsConstraintSolver(false),
          m_gravity(0, 0, -10)
{
}
 
btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
{
        if (m_ownsConstraintSolver)
                btAlignedFree(m_constraintSolver);
}
 
int btSimpleDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep)
{
        (void)fixedTimeStep;
        (void)maxSubSteps;
 
        predictUnconstraintMotion(timeStep);
 
        btDispatcherInfo& dispatchInfo = getDispatchInfo();
        dispatchInfo.m_timeStep = timeStep;
        dispatchInfo.m_stepCount = 0;
        dispatchInfo.m_debugDraw = getDebugDrawer();
 
        performDiscreteCollisionDetection();
 
        int numManifolds = m_dispatcher1->getNumManifolds();
        if (numManifolds)
        {
                btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
 
                btContactSolverInfo infoGlobal;
                infoGlobal.m_timeStep = timeStep;
                m_constraintSolver->prepareSolve(0, numManifolds);
                m_constraintSolver->solveGroup(&getCollisionObjectArray()[0], getNumCollisionObjects(), manifoldPtr, numManifolds, 0, 0, infoGlobal, m_debugDrawer, m_dispatcher1);
                m_constraintSolver->allSolved(infoGlobal, m_debugDrawer);
        }
 
        integrateTransforms(timeStep);
 
        updateAabbs();
 
        synchronizeMotionStates();
 
        clearForces();
 
        return 1;
}
 
void btSimpleDynamicsWorld::clearForces()
{
        for (int i = 0; i < m_collisionObjects.size(); i++)
        {
                btCollisionObject* colObj = m_collisionObjects[i];
 
                btRigidBody* body = btRigidBody::upcast(colObj);
                if (body)
                {
                        body->clearForces();
                }
        }
}
 
void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
{
        m_gravity = gravity;
        for (int i = 0; i < m_collisionObjects.size(); i++)
        {
                btCollisionObject* colObj = m_collisionObjects[i];
                btRigidBody* body = btRigidBody::upcast(colObj);
                if (body)
                {
                        body->setGravity(gravity);
                }
        }
}
 
btVector3 btSimpleDynamicsWorld::getGravity() const
{
        return m_gravity;
}
 
void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
{
        btCollisionWorld::removeCollisionObject(body);
}
 
void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
{
        btRigidBody* body = btRigidBody::upcast(collisionObject);
        if (body)
                removeRigidBody(body);
        else
                btCollisionWorld::removeCollisionObject(collisionObject);
}
 
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
{
        body->setGravity(m_gravity);
 
        if (body->getCollisionShape())
        {
                addCollisionObject(body);
        }
}
 
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
{
        body->setGravity(m_gravity);
 
        if (body->getCollisionShape())
        {
                addCollisionObject(body, group, mask);
        }
}
 
void btSimpleDynamicsWorld::debugDrawWorld()
{
}
 
void btSimpleDynamicsWorld::addAction(btActionInterface* action)
{
}
 
void btSimpleDynamicsWorld::removeAction(btActionInterface* action)
{
}
 
void btSimpleDynamicsWorld::updateAabbs()
{
        btTransform predictedTrans;
        for (int i = 0; i < m_collisionObjects.size(); i++)
        {
                btCollisionObject* colObj = m_collisionObjects[i];
                btRigidBody* body = btRigidBody::upcast(colObj);
                if (body)
                {
                        if (body->isActive() && (!body->isStaticObject()))
                        {
                                btVector3 minAabb, maxAabb;
                                colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
                                btBroadphaseInterface* bp = getBroadphase();
                                bp->setAabb(body->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
                        }
                }
        }
}
 
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
{
        btTransform predictedTrans;
        for (int i = 0; i < m_collisionObjects.size(); i++)
        {
                btCollisionObject* colObj = m_collisionObjects[i];
                btRigidBody* body = btRigidBody::upcast(colObj);
                if (body)
                {
                        if (body->isActive() && (!body->isStaticObject()))
                        {
                                body->predictIntegratedTransform(timeStep, predictedTrans);
                                body->proceedToTransform(predictedTrans);
                        }
                }
        }
}
 
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
        for (int i = 0; i < m_collisionObjects.size(); i++)
        {
                btCollisionObject* colObj = m_collisionObjects[i];
                btRigidBody* body = btRigidBody::upcast(colObj);
                if (body)
                {
                        if (!body->isStaticObject())
                        {
                                if (body->isActive())
                                {
                                        body->applyGravity();
                                        body->integrateVelocities(timeStep);
                                        body->applyDamping(timeStep);
                                        body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform());
                                }
                        }
                }
        }
}
 
void btSimpleDynamicsWorld::synchronizeMotionStates()
{
        for (int i = 0; i < m_collisionObjects.size(); i++)
        {
                btCollisionObject* colObj = m_collisionObjects[i];
                btRigidBody* body = btRigidBody::upcast(colObj);
                if (body && body->getMotionState())
                {
                        if (body->getActivationState() != ISLAND_SLEEPING)
                        {
                                body->getMotionState()->setWorldTransform(body->getWorldTransform());
                        }
                }
        }
}
 
void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
{
        if (m_ownsConstraintSolver)
        {
                btAlignedFree(m_constraintSolver);
        }
        m_ownsConstraintSolver = false;
        m_constraintSolver = solver;
}
 
btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
{
        return m_constraintSolver;
}