Bullet Collision Detection & Physics Library: btSoftRigidDynamicsWorld.cpp Source File

Bullet Collision Detection & Physics Library

btSoftRigidDynamicsWorld.cpp
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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
17 #include "btSoftRigidDynamicsWorld.h"
18 #include "LinearMath/btQuickprof.h"
19
20 //softbody & helpers
21 #include "btSoftBody.h"
22 #include "btSoftBodyHelpers.h"
23 #include "btSoftBodySolvers.h"
24 #include "btDefaultSoftBodySolver.h"
25 #include "LinearMath/btSerializer.h"
26
27
28 btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(
29 btDispatcher* dispatcher,
30 btBroadphaseInterface* pairCache,
31 btConstraintSolver* constraintSolver,
32 btCollisionConfiguration* collisionConfiguration,
33 btSoftBodySolver *softBodySolver ) :
34 btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
35 m_softBodySolver( softBodySolver ),
36 m_ownsSolver(false)
37 {
38 if( !m_softBodySolver )
39 {
40 void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver),16);
41 m_softBodySolver = new(ptr) btDefaultSoftBodySolver();
42 m_ownsSolver = true;
43 }
44
45 m_drawFlags = fDrawFlags::Std;
46 m_drawNodeTree = true;
47 m_drawFaceTree = false;
48 m_drawClusterTree = false;
49 m_sbi.m_broadphase = pairCache;
50 m_sbi.m_dispatcher = dispatcher;
51 m_sbi.m_sparsesdf.Initialize();
52 m_sbi.m_sparsesdf.Reset();
53
54 m_sbi.air_density = (btScalar)1.2;
55 m_sbi.water_density = 0;
56 m_sbi.water_offset = 0;
57 m_sbi.water_normal = btVector3(0,0,0);
58 m_sbi.m_gravity.setValue(0,-10,0);
59
60 m_sbi.m_sparsesdf.Initialize();
61
62
63 }
64
65 btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
66 {
67 if (m_ownsSolver)
68 {
69 m_softBodySolver->~btSoftBodySolver();
70 btAlignedFree(m_softBodySolver);
71 }
72 }
73
74 void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
75 {
76 btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep );
77 {
78 BT_PROFILE("predictUnconstraintMotionSoftBody");
79 m_softBodySolver->predictMotion( float(timeStep) );
80 }
81 }
82
83 void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep )
84 {
85
86 // Let the solver grab the soft bodies and if necessary optimize for it
87 m_softBodySolver->optimize( getSoftBodyArray() );
88
89 if( !m_softBodySolver->checkInitialized() )
90 {
91 btAssert( "Solver initialization failed\n" );
92 }
93
94 btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
95
97 solveSoftBodiesConstraints( timeStep );
98
99 //self collisions
100 for ( int i=0;i<m_softBodies.size();i++)
101 {
102 btSoftBody* psb=(btSoftBody*)m_softBodies[i];
103 psb->defaultCollisionHandler(psb);
104 }
105
107 m_softBodySolver->updateSoftBodies( );
108
109 // End solver-wise simulation step
110 // ///////////////////////////////
111
112 }
113
114 void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints( btScalar timeStep )
115 {
116 BT_PROFILE("solveSoftConstraints");
117
118 if(m_softBodies.size())
119 {
120 btSoftBody::solveClusters(m_softBodies);
121 }
122
123 // Solve constraints solver-wise
124 m_softBodySolver->solveConstraints( timeStep * m_softBodySolver->getTimeScale() );
125
126 }
127
128 void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body,short int collisionFilterGroup,short int collisionFilterMask)
129 {
130 m_softBodies.push_back(body);
131
132 // Set the soft body solver that will deal with this body
133 // to be the world's solver
134 body->setSoftBodySolver( m_softBodySolver );
135
136 btCollisionWorld::addCollisionObject(body,
137 collisionFilterGroup,
138 collisionFilterMask);
139
140 }
141
142 void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
143 {
144 m_softBodies.remove(body);
145
146 btCollisionWorld::removeCollisionObject(body);
147 }
148
149 void btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
150 {
151 btSoftBody* body = btSoftBody::upcast(collisionObject);
152 if (body)
153 removeSoftBody(body);
154 else
155 btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
156 }
157
158 void btSoftRigidDynamicsWorld::debugDrawWorld()
159 {
160 btDiscreteDynamicsWorld::debugDrawWorld();
161
162 if (getDebugDrawer())
163 {
164 int i;
165 for ( i=0;i<this->m_softBodies.size();i++)
166 {
167 btSoftBody* psb=(btSoftBody*)this->m_softBodies[i];
168 if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
169 {
170 btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
171 btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags);
172 }
173
174 if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
175 {
176 if(m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
177 if(m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
178 if(m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer);
179 }
180 }
181 }
182 }
183
184
185
186
187 struct btSoftSingleRayCallback : public btBroadphaseRayCallback
188 {
189 btVector3 m_rayFromWorld;
190 btVector3 m_rayToWorld;
191 btTransform m_rayFromTrans;
192 btTransform m_rayToTrans;
193 btVector3 m_hitNormal;
194
195 const btSoftRigidDynamicsWorld* m_world;
196 btCollisionWorld::RayResultCallback& m_resultCallback;
197
198 btSoftSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btSoftRigidDynamicsWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
199 :m_rayFromWorld(rayFromWorld),
200 m_rayToWorld(rayToWorld),
201 m_world(world),
202 m_resultCallback(resultCallback)
203 {
204 m_rayFromTrans.setIdentity();
205 m_rayFromTrans.setOrigin(m_rayFromWorld);
206 m_rayToTrans.setIdentity();
207 m_rayToTrans.setOrigin(m_rayToWorld);
208
209 btVector3 rayDir = (rayToWorld-rayFromWorld);
210
211 rayDir.normalize ();
213 m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
214 m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
215 m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
216 m_signs[0] = m_rayDirectionInverse[0] < 0.0;
217 m_signs[1] = m_rayDirectionInverse[1] < 0.0;
218 m_signs[2] = m_rayDirectionInverse[2] < 0.0;
219
220 m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);
221
222 }
223
224
225
226 virtual bool process(const btBroadphaseProxy* proxy)
227 {
229 if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
230 return false;
231
232 btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
233
234 //only perform raycast if filterMask matches
235 if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
236 {
237 //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
238 //btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
239 #if 0
240 #ifdef RECALCULATE_AABB
241 btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
242 collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
243 #else
244 //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
245 const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
246 const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
247 #endif
248 #endif
249 //btScalar hitLambda = m_resultCallback.m_closestHitFraction;
250 //culling already done by broadphase
251 //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
252 {
253 m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
254 collisionObject,
255 collisionObject->getCollisionShape(),
256 collisionObject->getWorldTransform(),
257 m_resultCallback);
258 }
259 }
260 return true;
261 }
262 };
263
264 void btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
265 {
266 BT_PROFILE("rayTest");
269 btSoftSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
270
271 #ifndef USE_BRUTEFORCE_RAYBROADPHASE
272 m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
273 #else
274 for (int i=0;i<this->getNumCollisionObjects();i++)
275 {
276 rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
277 }
278 #endif //USE_BRUTEFORCE_RAYBROADPHASE
279
280 }
281
282
283 void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
284 btCollisionObject* collisionObject,
285 const btCollisionShape* collisionShape,
286 const btTransform& colObjWorldTransform,
287 RayResultCallback& resultCallback)
288 {
289 if (collisionShape->isSoftBody()) {
290 btSoftBody* softBody = btSoftBody::upcast(collisionObject);
291 if (softBody) {
292 btSoftBody::sRayCast softResult;
293 if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
294 {
295
296 if (softResult.fraction<= resultCallback.m_closestHitFraction)
297 {
298
299 btCollisionWorld::LocalShapeInfo shapeInfo;
300 shapeInfo.m_shapePart = 0;
301 shapeInfo.m_triangleIndex = softResult.index;
302 // get the normal
303 btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
304 btVector3 normal=-rayDir;
305 normal.normalize();
306
307 if (softResult.feature == btSoftBody::eFeature::Face)
308 {
309 normal = softBody->m_faces[softResult.index].m_normal;
310 if (normal.dot(rayDir) > 0) {
311 // normal always point toward origin of the ray
312 normal = -normal;
313 }
314 }
315
316 btCollisionWorld::LocalRayResult rayResult
317 (collisionObject,
318 &shapeInfo,
319 normal,
320 softResult.fraction);
321 bool normalInWorldSpace = true;
322 resultCallback.addSingleResult(rayResult,normalInWorldSpace);
323 }
324 }
325 }
326 }
327 else {
328 btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,collisionObject,collisionShape,colObjWorldTransform,resultCallback);
329 }
330 }
331
332
333 void btSoftRigidDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
334 {
335 int i;
336 //serialize all collision objects
337 for (i=0;i<m_collisionObjects.size();i++)
338 {
339 btCollisionObject* colObj = m_collisionObjects[i];
340 if (colObj->getInternalType() & btCollisionObject::CO_SOFT_BODY)
341 {
342 int len = colObj->calculateSerializeBufferSize();
343 btChunk* chunk = serializer->allocate(len,1);
344 const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
345 serializer->finalizeChunk(chunk,structType,BT_SOFTBODY_CODE,colObj);
346 }
347 }
348
349 }
350
351 void btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
352 {
353
354 serializer->startSerialization();
355
356 serializeDynamicsWorldInfo( serializer);
357
358 serializeSoftBodies(serializer);
359
360 serializeRigidBodies(serializer);
361
362 serializeCollisionObjects(serializer);
363
364 serializer->finishSerialization();
365 }
366
367
btTransform::setOrigin
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:150
btCollisionObject::CO_SOFT_BODY
Definition: btCollisionObject.h:148
btDiscreteDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:474
btSerializer::finishSerialization
virtual void finishSerialization()=0
btDiscreteDynamicsWorld::serializeDynamicsWorldInfo
void serializeDynamicsWorldInfo(btSerializer *serializer)
Definition: btDiscreteDynamicsWorld.cpp:1454
btSoftRigidDynamicsWorld::getSoftBodyArray
btSoftBodyArray & getSoftBodyArray()
Definition: btSoftRigidDynamicsWorld.h:81
btSoftSingleRayCallback::m_rayToWorld
btVector3 m_rayToWorld
Definition: btSoftRigidDynamicsWorld.cpp:190
btCollisionWorld::serializeCollisionObjects
void serializeCollisionObjects(btSerializer *serializer)
Definition: btCollisionWorld.cpp:1586
btIDebugDraw::DBG_DrawAabb
Definition: btIDebugDraw.h:60
btSoftBody::sRayCast::feature
eFeature::_ feature
soft body
Definition: btSoftBody.h:166
btSoftSingleRayCallback::m_rayFromWorld
btVector3 m_rayFromWorld
Definition: btSoftRigidDynamicsWorld.cpp:189
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:274
btSoftBody::sRayCast::index
int index
feature type
Definition: btSoftBody.h:167
btChunk
Definition: btSerializer.h:51
btSoftBodySolver::checkInitialized
virtual bool checkInitialized()=0
Ensure that this solver is initialized.
btSoftBodySolvers.h
btCollisionObject::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionObject.cpp:76
btSoftSingleRayCallback::m_world
const btSoftRigidDynamicsWorld * m_world
Definition: btSoftRigidDynamicsWorld.cpp:195
btSoftRigidDynamicsWorld::serialize
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
Definition: btSoftRigidDynamicsWorld.cpp:351
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:650
btSoftRigidDynamicsWorld.h
btSoftBodyWorldInfo::water_offset
btScalar water_offset
Definition: btSoftBody.h:47
btSoftBody::defaultCollisionHandler
void defaultCollisionHandler(const btCollisionObjectWrapper *pcoWrap)
Definition: btSoftBody.cpp:3153
btSoftRigidDynamicsWorld::serializeSoftBodies
void serializeSoftBodies(btSerializer *serializer)
Definition: btSoftRigidDynamicsWorld.cpp:333
btSoftRigidDynamicsWorld::removeSoftBody
void removeSoftBody(btSoftBody *body)
Definition: btSoftRigidDynamicsWorld.cpp:142
btBroadphaseProxy::m_aabbMax
btVector3 m_aabbMax
Definition: btBroadphaseProxy.h:110
btSerializer::startSerialization
virtual void startSerialization()=0
btDiscreteDynamicsWorld
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
Definition: btDiscreteDynamicsWorld.h:37
btCollisionWorld::LocalShapeInfo::m_triangleIndex
int m_triangleIndex
Definition: btCollisionWorld.h:177
btCollisionWorld::addCollisionObject
virtual void addCollisionObject(btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition: btCollisionWorld.cpp:111
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btAssert
#define btAssert(x)
Definition: btScalar.h:114
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
Definition: btCollisionConfiguration.h:26
btSoftBodyWorldInfo::m_dispatcher
btDispatcher * m_dispatcher
Definition: btSoftBody.h:51
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:27
btSoftBody::sRayCast::fraction
btScalar fraction
feature index
Definition: btSoftBody.h:168
BT_SOFTBODY_CODE
#define BT_SOFTBODY_CODE
Definition: btSerializer.h:118
btCollisionWorld::RayResultCallback
RayResultCallback is used to report new raycast results.
Definition: btCollisionWorld.h:204
btDefaultSoftBodySolver.h
btDiscreteDynamicsWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
Definition: btDiscreteDynamicsWorld.cpp:547
btSoftBodyWorldInfo::water_normal
btVector3 water_normal
Definition: btSoftBody.h:49
btSoftRigidDynamicsWorld::m_drawFlags
int m_drawFlags
Definition: btSoftRigidDynamicsWorld.h:30
btSoftBodyHelpers::DrawFaceTree
static void DrawFaceTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
Definition: btSoftBodyHelpers.cpp:466
btCollisionWorld::RayResultCallback::m_closestHitFraction
btScalar m_closestHitFraction
Definition: btCollisionWorld.h:206
btSoftBody::rayTest
bool rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, sRayCast &results)
Ray casting using rayFrom and rayTo in worldspace, (not direction!)
Definition: btSoftBody.cpp:1697
btCollisionShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t...
btSerializer
Definition: btSerializer.h:68
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:307
btCollisionWorld::getNumCollisionObjects
int getNumCollisionObjects() const
Definition: btCollisionWorld.h:438
btSoftBodyHelpers::Draw
static void Draw(btSoftBody *psb, btIDebugDraw *idraw, int drawflags=fDrawFlags::Std)
Definition: btSoftBodyHelpers.cpp:159
btSoftRigidDynamicsWorld
Definition: btSoftRigidDynamicsWorld.h:26
btSoftBodyWorldInfo::m_sparsesdf
btSparseSdf< 3 > m_sparsesdf
Definition: btSoftBody.h:53
btSoftBody::solveClusters
static void solveClusters(const btAlignedObjectArray< btSoftBody *> &bodies)
Definition: btSoftBody.cpp:1959
btSoftBody::sRayCast
Definition: btSoftBody.h:163
btCollisionWorld::RayResultCallback::addSingleResult
virtual btScalar addSingleResult(LocalRayResult &rayResult, bool normalInWorldSpace)=0
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:367
btSoftBody.h
btSoftBodySolver::optimize
virtual void optimize(btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate=false)=0
Optimize soft bodies in this solver.
btIDebugDraw::DBG_DrawWireframe
Definition: btIDebugDraw.h:59
btDefaultSoftBodySolver
Definition: btDefaultSoftBodySolver.h:24
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btCollisionObject::getBroadphaseHandle
btBroadphaseProxy * getBroadphaseHandle()
Definition: btCollisionObject.h:384
btSoftBodySolver::predictMotion
virtual void predictMotion(float solverdt)=0
Predict motion of soft bodies into next timestep.
btSoftBodySolver::solveConstraints
virtual void solveConstraints(float solverdt)=0
Solve constraints for a set of soft bodies.
btSoftRigidDynamicsWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
Definition: btSoftRigidDynamicsWorld.cpp:149
btCollisionWorld::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition: btCollisionWorld.h:102
btSoftRigidDynamicsWorld::m_drawFaceTree
bool m_drawFaceTree
Definition: btSoftRigidDynamicsWorld.h:32
btCollisionWorld::getDebugDrawer
virtual btIDebugDraw * getDebugDrawer()
Definition: btCollisionWorld.h:162
btDiscreteDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btDiscreteDynamicsWorld.cpp:283
btSoftBody::upcast
static const btSoftBody * upcast(const btCollisionObject *colObj)
Definition: btSoftBody.h:933
btSoftBodySolver::~btSoftBodySolver
virtual ~btSoftBodySolver()
Definition: btSoftBodySolvers.h:59
btCollisionWorld::RayResultCallback::needsCollision
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
Definition: btCollisionWorld.h:231
btVector3::dot
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:235
btSoftRigidDynamicsWorld::m_ownsSolver
bool m_ownsSolver
Definition: btSoftRigidDynamicsWorld.h:37
btSoftSingleRayCallback::m_resultCallback
btCollisionWorld::RayResultCallback & m_resultCallback
Definition: btSoftRigidDynamicsWorld.cpp:196
btSoftSingleRayCallback::m_rayFromTrans
btTransform m_rayFromTrans
Definition: btSoftRigidDynamicsWorld.cpp:191
btDiscreteDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:1125
btSoftRigidDynamicsWorld::m_drawClusterTree
bool m_drawClusterTree
Definition: btSoftRigidDynamicsWorld.h:33
btSoftRigidDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition: btSoftRigidDynamicsWorld.cpp:83
btBroadphaseRayCallback
Definition: btBroadphaseInterface.h:36
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:48
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btBroadphaseProxy::m_clientObject
void * m_clientObject
Definition: btBroadphaseProxy.h:103
btSoftRigidDynamicsWorld::m_drawNodeTree
bool m_drawNodeTree
Definition: btSoftRigidDynamicsWorld.h:31
btCollisionWorld::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: btCollisionWorld.cpp:262
btSoftSingleRayCallback::m_hitNormal
btVector3 m_hitNormal
Definition: btSoftRigidDynamicsWorld.cpp:193
btCollisionWorld::LocalShapeInfo
LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is avai...
Definition: btCollisionWorld.h:174
btCollisionWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
Definition: btCollisionWorld.cpp:235
btSoftSingleRayCallback
Definition: btSoftRigidDynamicsWorld.cpp:187
btSoftRigidDynamicsWorld::addSoftBody
void addSoftBody(btSoftBody *body, short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition: btSoftRigidDynamicsWorld.cpp:128
btCollisionObject::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCollisionObject.h:636
btCollisionWorld::LocalShapeInfo::m_shapePart
int m_shapePart
Definition: btCollisionWorld.h:176
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
Definition: btBroadphaseInterface.h:51
btSoftSingleRayCallback::btSoftSingleRayCallback
btSoftSingleRayCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const btSoftRigidDynamicsWorld *world, btCollisionWorld::RayResultCallback &resultCallback)
Definition: btSoftRigidDynamicsWorld.cpp:198
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:85
btSoftRigidDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btSoftRigidDynamicsWorld.cpp:74
btSoftBodyHelpers::DrawNodeTree
static void DrawNodeTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
Definition: btSoftBodyHelpers.cpp:457
btSoftBodySolver
Definition: btSoftBodySolvers.h:30
fDrawFlags::Std
Definition: btSoftBodyHelpers.h:41
btSoftRigidDynamicsWorld::m_softBodySolver
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
Definition: btSoftRigidDynamicsWorld.h:36
btSoftBodyHelpers::DrawClusterTree
static void DrawClusterTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
Definition: btSoftBodyHelpers.cpp:475
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btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btSoftBodySolver::updateSoftBodies
virtual void updateSoftBodies()=0
Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes...
btSoftRigidDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btSoftRigidDynamicsWorld.cpp:158
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int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:155
BT_PROFILE
#define BT_PROFILE(name)
Definition: btQuickprof.h:203
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The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btSoftRigidDynamicsWorld::solveSoftBodiesConstraints
void solveSoftBodiesConstraints(btScalar timeStep)
Definition: btSoftRigidDynamicsWorld.cpp:114
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virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
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btVector3 m_aabbMin
Definition: btBroadphaseProxy.h:109
btSoftSingleRayCallback::process
virtual bool process(const btBroadphaseProxy *proxy)
Definition: btSoftRigidDynamicsWorld.cpp:226
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void remove(const T &key)
Definition: btAlignedObjectArray.h:479
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld
virtual ~btSoftRigidDynamicsWorld()
Definition: btSoftRigidDynamicsWorld.cpp:65
btQuickprof.h
btCollisionShape::isSoftBody
bool isSoftBody() const
Definition: btCollisionShape.h:90
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int getInternalType() const
reserved for Bullet internal usage
Definition: btCollisionObject.h:362
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virtual int getDebugMode() const =0
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btAlignedObjectArray< btCollisionObject * > m_collisionObjects
Definition: btCollisionWorld.h:94
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void setSoftBodySolver(btSoftBodySolver *softBodySolver)
Definition: btSoftBody.h:907
btSoftBodySolver::getTimeScale
float getTimeScale()
Return the timescale that the simulation is using.
Definition: btSoftBodySolvers.h:118
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btScalar water_density
Definition: btSoftBody.h:46
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btBroadphaseInterface * m_broadphasePairCache
Definition: btCollisionWorld.h:100
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#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:47
btSoftRigidDynamicsWorld::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: btSoftRigidDynamicsWorld.cpp:264
btSoftBodyHelpers.h
btSoftBodyWorldInfo::m_broadphase
btBroadphaseInterface * m_broadphase
Definition: btSoftBody.h:50
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btScalar air_density
Definition: btSoftBody.h:45
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void serializeRigidBodies(btSerializer *serializer)
Definition: btDiscreteDynamicsWorld.cpp:1425
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btVector3 m_gravity
Definition: btSoftBody.h:52
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld
btSoftRigidDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
Definition: btSoftRigidDynamicsWorld.cpp:28
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The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:71
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The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
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btSoftBodyArray m_softBodies
Definition: btSoftRigidDynamicsWorld.h:29
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Definition: btSoftBody.h:123
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void * m_oldPtr
Definition: btSerializer.h:56
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btTransform m_rayToTrans
Definition: btSoftRigidDynamicsWorld.cpp:192
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virtual btChunk * allocate(size_t size, int numElements)=0
btBroadphaseInterface::rayTest
virtual void rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, btBroadphaseRayCallback &rayCallback, const btVector3 &aabbMin=btVector3(0, 0, 0), const btVector3 &aabbMax=btVector3(0, 0, 0))=0
btCollisionWorld::LocalRayResult
Definition: btCollisionWorld.h:183
btSoftRigidDynamicsWorld::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: btSoftRigidDynamicsWorld.cpp:283
btSoftBodyHelpers::DrawFrame
static void DrawFrame(btSoftBody *psb, btIDebugDraw *idraw)
Definition: btSoftBodyHelpers.cpp:646
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float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
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const btCollisionShape * getCollisionShape() const
Definition: btCollisionObject.h:223
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Definition: btSoftRigidDynamicsWorld.h:34
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void Reset()
Definition: btSparseSDF.h:90
btSparseSdf::Initialize
void Initialize(int hashsize=2383, int clampCells=256 *1024)
Definition: btSparseSDF.h:81
btSerializer.h
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tFaceArray m_faces
Definition: btSoftBody.h:658
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Definition: btConstraintSolver.h:40