Bullet Collision Detection & Physics Library
btSoftRigidDynamicsWorld.h
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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_SOFT_RIGID_DYNAMICS_WORLD_H
17 #define BT_SOFT_RIGID_DYNAMICS_WORLD_H
18 
20 #include "btSoftBody.h"
21 
23 
24 class btSoftBodySolver;
25 
27 {
28 
38 
39 protected:
40 
41  virtual void predictUnconstraintMotion(btScalar timeStep);
42 
43  virtual void internalSingleStepSimulation( btScalar timeStep);
44 
45  void solveSoftBodiesConstraints( btScalar timeStep );
46 
47  void serializeSoftBodies(btSerializer* serializer);
48 
49 public:
50 
51  btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 );
52 
53  virtual ~btSoftRigidDynamicsWorld();
54 
55  virtual void debugDrawWorld();
56 
57  void addSoftBody(btSoftBody* body,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
58 
59  void removeSoftBody(btSoftBody* body);
60 
62  virtual void removeCollisionObject(btCollisionObject* collisionObject);
63 
64  int getDrawFlags() const { return(m_drawFlags); }
65  void setDrawFlags(int f) { m_drawFlags=f; }
66 
68  {
69  return m_sbi;
70  }
72  {
73  return m_sbi;
74  }
75 
77  {
79  }
80 
82  {
83  return m_softBodies;
84  }
85 
87  {
88  return m_softBodies;
89  }
90 
91 
92  virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
93 
97  static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
98  btCollisionObject* collisionObject,
99  const btCollisionShape* collisionShape,
100  const btTransform& colObjWorldTransform,
101  RayResultCallback& resultCallback);
102 
103  virtual void serialize(btSerializer* serializer);
104 
105 };
106 
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.
Definition: btVector3.h:83
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
void solveSoftBodiesConstraints(btScalar timeStep)
const btSoftBodyWorldInfo & getWorldInfo() const
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 ...
btDynamicsWorldType
btSoftRigidDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:71
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
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...
Definition: btScalar.h:266
const btSoftBodyArray & getSoftBodyArray() const