16 #ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
17 #define BT_SOFT_RIGID_DYNAMICS_WORLD_H
92 virtual void rayTest(
const btVector3& rayFromWorld,
const btVector3& rayToWorld, RayResultCallback& resultCallback)
const;
101 RayResultCallback& resultCallback);
107 #endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
btSoftBodyArray & getSoftBodyArray()
btSoftBodyWorldInfo & getWorldInfo()
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
void serializeSoftBodies(btSerializer *serializer)
void removeSoftBody(btSoftBody *body)
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
virtual void internalSingleStepSimulation(btScalar timeStep)
btCollisionObject can be used to manage collision detection objects.
virtual btDynamicsWorldType getWorldType() const
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
void addSoftBody(btSoftBody *body, short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter)
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
virtual void predictUnconstraintMotion(btScalar timeStep)
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
btVector3 can be used to represent 3D points and vectors.
virtual void debugDrawWorld()
void solveSoftBodiesConstraints(btScalar timeStep)
const btSoftBodyWorldInfo & getWorldInfo() const
virtual ~btSoftRigidDynamicsWorld()
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 ...
btSoftRigidDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btSoftBodyArray m_softBodies
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.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btSoftBodyWorldInfo m_sbi
const btSoftBodyArray & getSoftBodyArray() const