PhysicsWorld.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2014 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLPhysics/src/ICLPhysics/PhysicsWorld.h               **
** Module : ICLPhysics                                             **
** Author : Christof Elbrechter, Matthias Esau                     **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/
#pragma once

#include <ICLUtils/Uncopyable.h>
#include <ICLUtils/Lockable.h>
#include <ICLMath/DynMatrix.h>
#include <ICLGeom/Geom.h>
#include <ICLPhysics/PhysicsDefs.h>

#include <vector>


class btSoftBodyWorldInfo;
namespace icl{
  namespace geom{
    class ViewRay;
  }
  namespace physics{

    class PhysicsObject;
    class RigidObject;
    class Constraint;

    class ICLPhysics_API PhysicsWorld : public utils::Lockable, public utils::Uncopyable{

      public:

      enum BulletSolverType {
        SequentialImpulseConstraintSolver,
        MLCP_Dantzig,
        NNCG,
        Lemke,
        Default = SequentialImpulseConstraintSolver
      };

      private:

      friend class PhysicsObject;
      struct Data;

      Data *data;

      void setSolver(BulletSolverType type);

      protected:

      void removeContactPoints(PhysicsObject *obj);

      public:

      PhysicsWorld(BulletSolverType solver_type = Default);

      ~PhysicsWorld();

      void addObject(PhysicsObject *obj);

      void removeObject(PhysicsObject *obj);

      void setGravity(const geom::Vec &gravity);


      void setGravityEnabled(bool on, const geom::Vec *useThisGravityIfOn=0);

      void splitImpulseEnabled(bool enable);


      void step(float dtSeconds=-1, int maxSubSteps=10, float fixedTimeStep=1.f/120.f);

      double getLastTimeDelta();

      bool collideWithWorld(RigidObject* obj, bool ignoreJoints = true);

      void setGroupCollision(int group0, int group1, bool collides);

      bool getGroupCollision(int group0, int group1);

      bool rayCast(const geom::ViewRay& ray, float rayLength, PhysicsObject*& obj, geom::Vec &normal, geom::Vec &hitPoint);

      void addConstraint(Constraint* constraint, bool disableCollisionWithLinkedBodies = false, bool passOwnerShip=false);

      void removeConstraint(Constraint* constraint);

      const btSoftBodyWorldInfo *getWorldInfo() const;

      btSoftBodyWorldInfo *getWorldInfo();
    };
  }
}