Bullet Collision Detection & Physics Library: btSoftMultiBodyDynamicsWorld.h Source File

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
19 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
20 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
21 #include "BulletSoftBody/btSoftBody.h"
22
23 #ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
24 typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
25 #endif
26
27 class btSoftBodySolver;
28
29 class btSoftMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
30 {
31
32 btSoftBodyArray m_softBodies;
33 int m_drawFlags;
34 bool m_drawNodeTree;
35 bool m_drawFaceTree;
36 bool m_drawClusterTree;
37 btSoftBodyWorldInfo m_sbi;
39 btSoftBodySolver *m_softBodySolver;
40 bool m_ownsSolver;
41
42 protected:
43
44 virtual void predictUnconstraintMotion(btScalar timeStep);
45
46 virtual void internalSingleStepSimulation( btScalar timeStep);
47
48 void solveSoftBodiesConstraints( btScalar timeStep );
49
50 void serializeSoftBodies(btSerializer* serializer);
51
52 public:
53
54 btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 );
55
56 virtual ~btSoftMultiBodyDynamicsWorld();
57
58 virtual void debugDrawWorld();
59
60 void addSoftBody(btSoftBody* body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter);
61
62 void removeSoftBody(btSoftBody* body);
63
65 virtual void removeCollisionObject(btCollisionObject* collisionObject);
66
67 int getDrawFlags() const { return(m_drawFlags); }
68 void setDrawFlags(int f) { m_drawFlags=f; }
69
70 btSoftBodyWorldInfo& getWorldInfo()
71 {
72 return m_sbi;
73 }
74 const btSoftBodyWorldInfo& getWorldInfo() const
75 {
76 return m_sbi;
77 }
78
79 virtual btDynamicsWorldType getWorldType() const
80 {
81 return BT_SOFT_MULTIBODY_DYNAMICS_WORLD;
82 }
83
84 btSoftBodyArray& getSoftBodyArray()
85 {
86 return m_softBodies;
87 }
88
89 const btSoftBodyArray& getSoftBodyArray() const
90 {
91 return m_softBodies;
92 }
93
94
95 virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
96
100 static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
101 btCollisionObject* collisionObject,
102 const btCollisionShape* collisionShape,
103 const btTransform& colObjWorldTransform,
104 RayResultCallback& resultCallback);
105
106 virtual void serialize(btSerializer* serializer);
107
108 };
109
110 #endif //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
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:149
btMultiBodyDynamicsWorld.h
btSoftMultiBodyDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btSoftMultiBodyDynamicsWorld.cpp:158
btSoftMultiBodyDynamicsWorld::m_softBodySolver
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
Definition: btSoftMultiBodyDynamicsWorld.h:39
btSoftMultiBodyDynamicsWorld::getSoftBodyArray
btSoftBodyArray & getSoftBodyArray()
Definition: btSoftMultiBodyDynamicsWorld.h:84
btAlignedObjectArray< btSoftBody * >
btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints
void solveSoftBodiesConstraints(btScalar timeStep)
Definition: btSoftMultiBodyDynamicsWorld.cpp:114
btSoftMultiBodyDynamicsWorld::addSoftBody
void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition: btSoftMultiBodyDynamicsWorld.cpp:128
btSoftMultiBodyDynamicsWorld
Definition: btSoftMultiBodyDynamicsWorld.h:29
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
Definition: btCollisionConfiguration.h:26
btSoftMultiBodyDynamicsWorld::m_sbi
btSoftBodyWorldInfo m_sbi
Definition: btSoftMultiBodyDynamicsWorld.h:37
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:27
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:283
btSoftMultiBodyDynamicsWorld::getSoftBodyArray
const btSoftBodyArray & getSoftBodyArray() const
Definition: btSoftMultiBodyDynamicsWorld.h:89
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:264
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:351
btSoftMultiBodyDynamicsWorld::getWorldInfo
const btSoftBodyWorldInfo & getWorldInfo() const
Definition: btSoftMultiBodyDynamicsWorld.h:74
btSerializer
Definition: btSerializer.h:68
btSoftMultiBodyDynamicsWorld::getWorldInfo
btSoftBodyWorldInfo & getWorldInfo()
Definition: btSoftMultiBodyDynamicsWorld.h:70
btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition: btSoftMultiBodyDynamicsWorld.cpp:83
BT_SOFT_MULTIBODY_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:38
btSoftBody.h
btSoftMultiBodyDynamicsWorld::m_ownsSolver
bool m_ownsSolver
Definition: btSoftMultiBodyDynamicsWorld.h:40
btSoftMultiBodyDynamicsWorld::m_softBodies
btSoftBodyArray m_softBodies
Definition: btSoftMultiBodyDynamicsWorld.h:32
btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld
virtual ~btSoftMultiBodyDynamicsWorld()
Definition: btSoftMultiBodyDynamicsWorld.cpp:65
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btSoftMultiBodyDynamicsWorld::getWorldType
virtual btDynamicsWorldType getWorldType() const
Definition: btSoftMultiBodyDynamicsWorld.h:79
btSoftMultiBodyDynamicsWorld::btSoftMultiBodyDynamicsWorld
btSoftMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
Definition: btSoftMultiBodyDynamicsWorld.cpp:28
btMultiBodyConstraintSolver
Definition: btMultiBodyConstraintSolver.h:30
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
Definition: btBroadphaseInterface.h:55
btSoftMultiBodyDynamicsWorld::m_drawFaceTree
bool m_drawFaceTree
Definition: btSoftMultiBodyDynamicsWorld.h:35
btSoftBodySolver
Definition: btSoftBodySolvers.h:30
btSoftMultiBodyDynamicsWorld::m_drawFlags
int m_drawFlags
Definition: btSoftMultiBodyDynamicsWorld.h:33
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btSoftMultiBodyDynamicsWorld::setDrawFlags
void setDrawFlags(int f)
Definition: btSoftMultiBodyDynamicsWorld.h:68
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btSoftBodyArray
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
Definition: btSoftMultiBodyDynamicsWorld.h:24
btSoftMultiBodyDynamicsWorld::serializeSoftBodies
void serializeSoftBodies(btSerializer *serializer)
Definition: btSoftMultiBodyDynamicsWorld.cpp:333
btDynamicsWorldType
btDynamicsWorldType
Definition: btDynamicsWorld.h:31
btBroadphaseProxy::DefaultFilter
Definition: btBroadphaseProxy.h:93
btSoftMultiBodyDynamicsWorld::m_drawNodeTree
bool m_drawNodeTree
Definition: btSoftMultiBodyDynamicsWorld.h:34
btSoftBodyWorldInfo
Definition: btSoftBody.h:43
btBroadphaseProxy::AllFilter
Definition: btBroadphaseProxy.h:99
btDiscreteDynamicsWorld.h
btSoftMultiBodyDynamicsWorld::getDrawFlags
int getDrawFlags() const
Definition: btSoftMultiBodyDynamicsWorld.h:67
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:71
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:75
btSoftMultiBodyDynamicsWorld::removeSoftBody
void removeSoftBody(btSoftBody *body)
Definition: btSoftMultiBodyDynamicsWorld.cpp:142
btMultiBodyDynamicsWorld
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
Definition: btMultiBodyDynamicsWorld.h:30
btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btSoftMultiBodyDynamicsWorld.cpp:74
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btSoftMultiBodyDynamicsWorld::m_drawClusterTree
bool m_drawClusterTree
Definition: btSoftMultiBodyDynamicsWorld.h:36