Bullet Collision Detection & Physics Library
btSoftMultiBodyDynamicsWorld.h
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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#ifndef BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
17#define BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
18
22
23#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
25#endif
26
28
30{
31
41
42protected:
43
44 virtual void predictUnconstraintMotion(btScalar timeStep);
45
46 virtual void internalSingleStepSimulation( btScalar timeStep);
47
48 void solveSoftBodiesConstraints( btScalar timeStep );
49
50 void serializeSoftBodies(btSerializer* serializer);
51
52public:
53
54 btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 );
55
57
58 virtual void debugDrawWorld();
59
60 void addSoftBody(btSoftBody* body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter);
61
62 void removeSoftBody(btSoftBody* body);
63
65 virtual void removeCollisionObject(btCollisionObject* collisionObject);
66
67 int getDrawFlags() const { return(m_drawFlags); }
68 void setDrawFlags(int f) { m_drawFlags=f; }
69
71 {
72 return m_sbi;
73 }
75 {
76 return m_sbi;
77 }
78
80 {
82 }
83
85 {
86 return m_softBodies;
87 }
88
90 {
91 return m_softBodies;
92 }
93
94
95 virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
96
100 static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
101 btCollisionObject* collisionObject,
102 const btCollisionShape* collisionShape,
103 const btTransform& colObjWorldTransform,
104 RayResultCallback& resultCallback);
105
106 virtual void serialize(btSerializer* serializer);
107
108};
109
110#endif //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
btDynamicsWorldType
@ BT_SOFT_MULTIBODY_DYNAMICS_WORLD
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:72
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
virtual void predictUnconstraintMotion(btScalar timeStep)
static void rayTestSingle(const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
rayTestSingle performs a raycast call and calls the resultCallback.
const btSoftBodyArray & getSoftBodyArray() const
const btSoftBodyWorldInfo & getWorldInfo() const
virtual void internalSingleStepSimulation(btScalar timeStep)
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
virtual btDynamicsWorldType getWorldType() const
void solveSoftBodiesConstraints(btScalar timeStep)
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
virtual void rayTest(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This ...
btSoftMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
void serializeSoftBodies(btSerializer *serializer)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84