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