Bullet Collision Detection & Physics Library
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16 #ifndef BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
17 #define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
165 #endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
btCollisionObject can be used to manage collision detection objects.
btAlignedObjectArray< btVector3 > TVStack
virtual btDynamicsWorldType getWorldType() const
void solveConstraints(btScalar timeStep)
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 ...
btSoftBodyWorldInfo & getWorldInfo()
void positionCorrection(btScalar timeStep)
virtual void debugDrawWorld()
void softBodySelfCollision()
void solveMultiBodyConstraints()
void reinitialize(btScalar timeStep)
virtual ~btDeformableMultiBodyDynamicsWorld()
btSoftBodyArray m_softBodies
virtual void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
void beforeSolverCallbacks(btScalar timeStep)
void setLineSearch(bool lineSearch)
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual void internalSingleStepSimulation(btScalar timeStep)
void setSolverCallback(btSolverCallback cb)
void addForce(btSoftBody *psb, btDeformableLagrangianForce *force)
btDeformableBodySolver * m_deformableBodySolver
Solver classes that encapsulate multiple deformable bodies for solving.
void afterSolverCallbacks(btScalar timeStep)
btSolverCallback m_solverCallback
btSoftBodyWorldInfo m_sbi
void solveContactConstraints()
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
void removeSoftBody(btSoftBody *body)
virtual void integrateTransforms(btScalar timeStep)
virtual const btMultiBodyDynamicsWorld * getMultiBodyDynamicsWorld() const
const btSoftBodyWorldInfo & getWorldInfo() const
void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
void applyRigidBodyGravity(btScalar timeStep)
btSoftBodyArray & getSoftBodyArray()
DeformableBodyInplaceSolverIslandCallback * m_solverDeformableBodyIslandCallback
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
const btSoftBodyArray & getSoftBodyArray() const
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
btDeformableMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btDeformableMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btDeformableBodySolver *deformableBodySolver=0)
void(* btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld *world)
virtual btMultiBodyDynamicsWorld * getMultiBodyDynamicsWorld()
void updateActivationState(btScalar timeStep)
virtual void predictUnconstraintMotion(btScalar timeStep)
void setImplicit(bool implicit)