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

Bullet Collision Detection & Physics Library

btSoftRigidDynamicsWorld.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_RIGID_DYNAMICS_WORLD_H
17 #define BT_SOFT_RIGID_DYNAMICS_WORLD_H
18
19 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
20 #include "btSoftBody.h"
21
22 typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
23
24 class btSoftBodySolver;
25
26 class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
27 {
28 btSoftBodyArray m_softBodies;
29 int m_drawFlags;
30 bool m_drawNodeTree;
31 bool m_drawFaceTree;
32 bool m_drawClusterTree;
33 btSoftBodyWorldInfo m_sbi;
35 btSoftBodySolver* m_softBodySolver;
36 bool m_ownsSolver;
37
38 protected:
39 virtual void predictUnconstraintMotion(btScalar timeStep);
40
41 virtual void internalSingleStepSimulation(btScalar timeStep);
42
43 void solveSoftBodiesConstraints(btScalar timeStep);
44
45 void serializeSoftBodies(btSerializer* serializer);
46
47 public:
48 btSoftRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0);
49
50 virtual ~btSoftRigidDynamicsWorld();
51
52 virtual void debugDrawWorld();
53
54 void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
55
56 void removeSoftBody(btSoftBody* body);
57
59 virtual void removeCollisionObject(btCollisionObject* collisionObject);
60
61 int getDrawFlags() const { return (m_drawFlags); }
62 void setDrawFlags(int f) { m_drawFlags = f; }
63
64 btSoftBodyWorldInfo& getWorldInfo()
65 {
66 return m_sbi;
67 }
68 const btSoftBodyWorldInfo& getWorldInfo() const
69 {
70 return m_sbi;
71 }
72
73 virtual btDynamicsWorldType getWorldType() const
74 {
75 return BT_SOFT_RIGID_DYNAMICS_WORLD;
76 }
77
78 btSoftBodyArray& getSoftBodyArray()
79 {
80 return m_softBodies;
81 }
82
83 const btSoftBodyArray& getSoftBodyArray() const
84 {
85 return m_softBodies;
86 }
87
88 virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
89
93 static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
94 btCollisionObject* collisionObject,
95 const btCollisionShape* collisionShape,
96 const btTransform& colObjWorldTransform,
97 RayResultCallback& resultCallback);
98
99 virtual void serialize(btSerializer* serializer);
100 };
101
102 #endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
btSoftRigidDynamicsWorld::m_ownsSolver
bool m_ownsSolver
Definition: btSoftRigidDynamicsWorld.h:36
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btSoftRigidDynamicsWorld::m_softBodies
btSoftBodyArray m_softBodies
Definition: btSoftRigidDynamicsWorld.h:28
btSoftRigidDynamicsWorld::m_softBodySolver
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
Definition: btSoftRigidDynamicsWorld.h:35
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btBroadphaseProxy::DefaultFilter
@ DefaultFilter
Definition: btBroadphaseProxy.h:92
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld
virtual ~btSoftRigidDynamicsWorld()
Definition: btSoftRigidDynamicsWorld.cpp:60
btSoftRigidDynamicsWorld::solveSoftBodiesConstraints
void solveSoftBodiesConstraints(btScalar timeStep)
Definition: btSoftRigidDynamicsWorld.cpp:107
btSoftRigidDynamicsWorld::m_sbi
btSoftBodyWorldInfo m_sbi
Definition: btSoftRigidDynamicsWorld.h:33
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:140
btSoftRigidDynamicsWorld::m_drawNodeTree
bool m_drawNodeTree
Definition: btSoftRigidDynamicsWorld.h:30
btSoftRigidDynamicsWorld::removeSoftBody
void removeSoftBody(btSoftBody *body)
Definition: btSoftRigidDynamicsWorld.cpp:133
btSoftBodyWorldInfo
Definition: btSoftBody.h:46
btSoftRigidDynamicsWorld::m_drawFaceTree
bool m_drawFaceTree
Definition: btSoftRigidDynamicsWorld.h:31
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
BT_SOFT_RIGID_DYNAMICS_WORLD
@ BT_SOFT_RIGID_DYNAMICS_WORLD
Definition: btDynamicsWorld.h:35
btSoftRigidDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btSoftRigidDynamicsWorld.cpp:149
btSoftRigidDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btSoftRigidDynamicsWorld.cpp:69
btBroadphaseProxy::AllFilter
@ AllFilter
Definition: btBroadphaseProxy.h:98
btDynamicsWorldType
btDynamicsWorldType
Definition: btDynamicsWorld.h:31
btSoftRigidDynamicsWorld::setDrawFlags
void setDrawFlags(int f)
Definition: btSoftRigidDynamicsWorld.h:62
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:333
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:266
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btSoftRigidDynamicsWorld::addSoftBody
void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition: btSoftRigidDynamicsWorld.cpp:120
btSoftRigidDynamicsWorld::getWorldInfo
btSoftBodyWorldInfo & getWorldInfo()
Definition: btSoftRigidDynamicsWorld.h:64
btSoftRigidDynamicsWorld::serializeSoftBodies
void serializeSoftBodies(btSerializer *serializer)
Definition: btSoftRigidDynamicsWorld.cpp:316
btAlignedObjectArray< btSoftBody * >
btSoftRigidDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition: btSoftRigidDynamicsWorld.cpp:78
btDiscreteDynamicsWorld.h
btSerializer
Definition: btSerializer.h:66
btSoftRigidDynamicsWorld
Definition: btSoftRigidDynamicsWorld.h:27
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld
btSoftRigidDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
Definition: btSoftRigidDynamicsWorld.cpp:26
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:73
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:50
btSoftRigidDynamicsWorld::m_drawFlags
int m_drawFlags
Definition: btSoftRigidDynamicsWorld.h:29
btSoftBodySolver
Definition: btSoftBodySolvers.h:29
btSoftRigidDynamicsWorld::getSoftBodyArray
btSoftBodyArray & getSoftBodyArray()
Definition: btSoftRigidDynamicsWorld.h:78
btSoftRigidDynamicsWorld::getSoftBodyArray
const btSoftBodyArray & getSoftBodyArray() const
Definition: btSoftRigidDynamicsWorld.h:83
btSoftBodyArray
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
Definition: btSoftRigidDynamicsWorld.h:22
btDiscreteDynamicsWorld
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
Definition: btDiscreteDynamicsWorld.h:38
btSoftRigidDynamicsWorld::getDrawFlags
int getDrawFlags() const
Definition: btSoftRigidDynamicsWorld.h:61
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:27
btSoftRigidDynamicsWorld::m_drawClusterTree
bool m_drawClusterTree
Definition: btSoftRigidDynamicsWorld.h:32
btSoftRigidDynamicsWorld::getWorldInfo
const btSoftBodyWorldInfo & getWorldInfo() const
Definition: btSoftRigidDynamicsWorld.h:68
btSoftRigidDynamicsWorld::getWorldType
virtual btDynamicsWorldType getWorldType() const
Definition: btSoftRigidDynamicsWorld.h:73
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:249
btSoftBody.h
btConstraintSolver
Definition: btConstraintSolver.h:42