Bullet Collision Detection & Physics Library
btSoftMultiBodyDynamicsWorld.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_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 
27 class btSoftBodySolver;
28 
30 {
40 
41 protected:
42  virtual void predictUnconstraintMotion(btScalar timeStep);
43 
44  virtual void internalSingleStepSimulation(btScalar timeStep);
45 
46  void solveSoftBodiesConstraints(btScalar timeStep);
47 
48  void serializeSoftBodies(btSerializer* serializer);
49 
50 public:
51  btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0);
52 
54 
55  virtual void debugDrawWorld();
56 
57  void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, 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  virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
92 
96  static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
97  btCollisionObject* collisionObject,
98  const btCollisionShape* collisionShape,
99  const btTransform& colObjWorldTransform,
100  RayResultCallback& resultCallback);
101 
102  virtual void serialize(btSerializer* serializer);
103 };
104 
105 #endif //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btSoftMultiBodyDynamicsWorld::m_drawFaceTree
bool m_drawFaceTree
Definition: btSoftMultiBodyDynamicsWorld.h:34
btSoftMultiBodyDynamicsWorld::getWorldType
virtual btDynamicsWorldType getWorldType() const
Definition: btSoftMultiBodyDynamicsWorld.h:76
btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld
virtual ~btSoftMultiBodyDynamicsWorld()
Definition: btSoftMultiBodyDynamicsWorld.cpp:60
btSoftMultiBodyDynamicsWorld::m_drawFlags
int m_drawFlags
Definition: btSoftMultiBodyDynamicsWorld.h:32
btSoftMultiBodyDynamicsWorld::setDrawFlags
void setDrawFlags(int f)
Definition: btSoftMultiBodyDynamicsWorld.h:65
btMultiBodyDynamicsWorld.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btBroadphaseProxy::DefaultFilter
Definition: btBroadphaseProxy.h:92
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btSoftMultiBodyDynamicsWorld::m_drawNodeTree
bool m_drawNodeTree
Definition: btSoftMultiBodyDynamicsWorld.h:33
btSoftMultiBodyDynamicsWorld::serializeSoftBodies
void serializeSoftBodies(btSerializer *serializer)
Definition: btSoftMultiBodyDynamicsWorld.cpp:316
btSoftMultiBodyDynamicsWorld::getDrawFlags
int getDrawFlags() const
Definition: btSoftMultiBodyDynamicsWorld.h:64
btSoftBodyWorldInfo
Definition: btSoftBody.h:43
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:26
btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btSoftMultiBodyDynamicsWorld.cpp:69
btSoftMultiBodyDynamicsWorld::m_drawClusterTree
bool m_drawClusterTree
Definition: btSoftMultiBodyDynamicsWorld.h:35
btSoftMultiBodyDynamicsWorld::removeSoftBody
void removeSoftBody(btSoftBody *body)
Definition: btSoftMultiBodyDynamicsWorld.cpp:133
btSoftBodyArray
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
Definition: btSoftMultiBodyDynamicsWorld.h:24
btSoftMultiBodyDynamicsWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
Definition: btSoftMultiBodyDynamicsWorld.cpp:140
btBroadphaseProxy::AllFilter
Definition: btBroadphaseProxy.h:98
btDynamicsWorldType
btDynamicsWorldType
Definition: btDynamicsWorld.h:30
btMultiBodyConstraintSolver
Definition: btMultiBodyConstraintSolver.h:28
btSoftMultiBodyDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btSoftMultiBodyDynamicsWorld.cpp:149
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints
void solveSoftBodiesConstraints(btScalar timeStep)
Definition: btSoftMultiBodyDynamicsWorld.cpp:107
btSoftMultiBodyDynamicsWorld::m_softBodySolver
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
Definition: btSoftMultiBodyDynamicsWorld.h:38
btSoftMultiBodyDynamicsWorld::addSoftBody
void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition: btSoftMultiBodyDynamicsWorld.cpp:120
btSoftMultiBodyDynamicsWorld::getSoftBodyArray
btSoftBodyArray & getSoftBodyArray()
Definition: btSoftMultiBodyDynamicsWorld.h:81
btAlignedObjectArray< btSoftBody * >
btSoftMultiBodyDynamicsWorld
Definition: btSoftMultiBodyDynamicsWorld.h:29
btDiscreteDynamicsWorld.h
btSoftMultiBodyDynamicsWorld::getSoftBodyArray
const btSoftBodyArray & getSoftBodyArray() const
Definition: btSoftMultiBodyDynamicsWorld.h:86
btSerializer
Definition: btSerializer.h:65
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:70
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:49
btSoftBodySolver
Definition: btSoftBodySolvers.h:28
btSoftMultiBodyDynamicsWorld::getWorldInfo
const btSoftBodyWorldInfo & getWorldInfo() const
Definition: btSoftMultiBodyDynamicsWorld.h:71
btSoftMultiBodyDynamicsWorld::rayTestSingle
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.
Definition: btSoftMultiBodyDynamicsWorld.cpp:266
btSoftMultiBodyDynamicsWorld::m_sbi
btSoftBodyWorldInfo m_sbi
Definition: btSoftMultiBodyDynamicsWorld.h:36
btSoftMultiBodyDynamicsWorld::rayTest
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 ...
Definition: btSoftMultiBodyDynamicsWorld.cpp:249
btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition: btSoftMultiBodyDynamicsWorld.cpp:78
btSoftMultiBodyDynamicsWorld::serialize
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
Definition: btSoftMultiBodyDynamicsWorld.cpp:333
btMultiBodyDynamicsWorld
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
Definition: btMultiBodyDynamicsWorld.h:30
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:26
btSoftMultiBodyDynamicsWorld::getWorldInfo
btSoftBodyWorldInfo & getWorldInfo()
Definition: btSoftMultiBodyDynamicsWorld.h:67
BT_SOFT_MULTIBODY_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:37
btSoftBody.h
btSoftMultiBodyDynamicsWorld::m_softBodies
btSoftBodyArray m_softBodies
Definition: btSoftMultiBodyDynamicsWorld.h:31
btSoftMultiBodyDynamicsWorld::m_ownsSolver
bool m_ownsSolver
Definition: btSoftMultiBodyDynamicsWorld.h:39
btSoftMultiBodyDynamicsWorld::btSoftMultiBodyDynamicsWorld
btSoftMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
Definition: btSoftMultiBodyDynamicsWorld.cpp:26