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

Bullet Collision Detection & Physics Library

btSoftRigidDynamicsWorld.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btSoftRigidDynamicsWorld.h"
17#include "LinearMath/btQuickprof.h"
18
19//softbody & helpers
20#include "btSoftBody.h"
21#include "btSoftBodyHelpers.h"
22#include "btSoftBodySolvers.h"
23#include "btDefaultSoftBodySolver.h"
24#include "LinearMath/btSerializer.h"
25
26btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(
27 btDispatcher* dispatcher,
28 btBroadphaseInterface* pairCache,
29 btConstraintSolver* constraintSolver,
30 btCollisionConfiguration* collisionConfiguration,
31 btSoftBodySolver* softBodySolver) : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
32 m_softBodySolver(softBodySolver),
33 m_ownsSolver(false)
34{
35 if (!m_softBodySolver)
36 {
37 void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver), 16);
38 m_softBodySolver = new (ptr) btDefaultSoftBodySolver();
39 m_ownsSolver = true;
40 }
41
42 m_drawFlags = fDrawFlags::Std;
43 m_drawNodeTree = true;
44 m_drawFaceTree = false;
45 m_drawClusterTree = false;
46 m_sbi.m_broadphase = pairCache;
47 m_sbi.m_dispatcher = dispatcher;
48 m_sbi.m_sparsesdf.Initialize();
49 m_sbi.m_sparsesdf.Reset();
50
51 m_sbi.air_density = (btScalar)1.2;
52 m_sbi.water_density = 0;
53 m_sbi.water_offset = 0;
54 m_sbi.water_normal = btVector3(0, 0, 0);
55 m_sbi.m_gravity.setValue(0, -10, 0);
56
57 m_sbi.m_sparsesdf.Initialize();
58}
59
60btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
61{
62 if (m_ownsSolver)
63 {
64 m_softBodySolver->~btSoftBodySolver();
65 btAlignedFree(m_softBodySolver);
66 }
67}
68
69 void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
70{
71 btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
72 {
73 BT_PROFILE("predictUnconstraintMotionSoftBody");
74 m_softBodySolver->predictMotion(float(timeStep));
75 }
76}
77
78 void btSoftRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
79{
80 // Let the solver grab the soft bodies and if necessary optimize for it
81 m_softBodySolver->optimize(getSoftBodyArray());
82
83 if (!m_softBodySolver->checkInitialized())
84 {
85 btAssert("Solver initialization failed\n");
86 }
87
88 btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
89
91 solveSoftBodiesConstraints(timeStep);
92
93 //self collisions
94 for (int i = 0; i < m_softBodies.size(); i++)
95 {
96 btSoftBody* psb = (btSoftBody*)m_softBodies[i];
97 psb->defaultCollisionHandler(psb);
98 }
99
101 m_softBodySolver->updateSoftBodies();
102
103 // End solver-wise simulation step
104 // ///////////////////////////////
105}
106
107 void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints(btScalar timeStep)
108{
109 BT_PROFILE("solveSoftConstraints");
110
111 if (m_softBodies.size())
112 {
113 btSoftBody::solveClusters(m_softBodies);
114 }
115
116 // Solve constraints solver-wise
117 m_softBodySolver->solveConstraints(timeStep * m_softBodySolver->getTimeScale());
118}
119
120 void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
121{
122 m_softBodies.push_back(body);
123
124 // Set the soft body solver that will deal with this body
125 // to be the world's solver
126 body->setSoftBodySolver(m_softBodySolver);
127
128 btCollisionWorld::addCollisionObject(body,
129 collisionFilterGroup,
130 collisionFilterMask);
131}
132
133 void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
134{
135 m_softBodies.remove(body);
136
137 btCollisionWorld::removeCollisionObject(body);
138}
139
140 void btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
141{
142 btSoftBody* body = btSoftBody::upcast(collisionObject);
143 if (body)
144 removeSoftBody(body);
145 else
146 btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
147}
148
149 void btSoftRigidDynamicsWorld::debugDrawWorld()
150{
151 btDiscreteDynamicsWorld::debugDrawWorld();
152
153 if (getDebugDrawer())
154 {
155 int i;
156 for (i = 0; i < this->m_softBodies.size(); i++)
157 {
158 btSoftBody* psb = (btSoftBody*)this->m_softBodies[i];
159 if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
160 {
161 btSoftBodyHelpers::DrawFrame(psb, m_debugDrawer);
162 btSoftBodyHelpers::Draw(psb, m_debugDrawer, m_drawFlags);
163 }
164
165 if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
166 {
167 if (m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb, m_debugDrawer);
168 if (m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb, m_debugDrawer);
169 if (m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb, m_debugDrawer);
170 }
171 }
172 }
173}
174
175struct btSoftSingleRayCallback : public btBroadphaseRayCallback
176{
177 btVector3 m_rayFromWorld;
178 btVector3 m_rayToWorld;
179 btTransform m_rayFromTrans;
180 btTransform m_rayToTrans;
181 btVector3 m_hitNormal;
182
183 const btSoftRigidDynamicsWorld* m_world;
184 btCollisionWorld::RayResultCallback& m_resultCallback;
185
186 btSoftSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btSoftRigidDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
187 : m_rayFromWorld(rayFromWorld),
188 m_rayToWorld(rayToWorld),
189 m_world(world),
190 m_resultCallback(resultCallback)
191 {
192 m_rayFromTrans.setIdentity();
193 m_rayFromTrans.setOrigin(m_rayFromWorld);
194 m_rayToTrans.setIdentity();
195 m_rayToTrans.setOrigin(m_rayToWorld);
196
197 btVector3 rayDir = (rayToWorld - rayFromWorld);
198
199 rayDir.normalize();
201 m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
202 m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
203 m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
204 m_signs[0] = m_rayDirectionInverse[0] < 0.0;
205 m_signs[1] = m_rayDirectionInverse[1] < 0.0;
206 m_signs[2] = m_rayDirectionInverse[2] < 0.0;
207
208 m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
209 }
210
211 virtual bool process(const btBroadphaseProxy* proxy)
212 {
214 if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
215 return false;
216
217 btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
218
219 //only perform raycast if filterMask matches
220 if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
221 {
222 //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
223 //btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
224#if 0
225#ifdef RECALCULATE_AABB
226 btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
227 collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
228#else
229 //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
230 const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
231 const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
232#endif
233#endif
234 //btScalar hitLambda = m_resultCallback.m_closestHitFraction;
235 //culling already done by broadphase
236 //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
237 {
238 m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
239 collisionObject,
240 collisionObject->getCollisionShape(),
241 collisionObject->getWorldTransform(),
242 m_resultCallback);
243 }
244 }
245 return true;
246 }
247};
248
249 void btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
250{
251 BT_PROFILE("rayTest");
254 btSoftSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
255
256#ifndef USE_BRUTEFORCE_RAYBROADPHASE
257 m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
258#else
259 for (int i = 0; i < this->getNumCollisionObjects(); i++)
260 {
261 rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
262 }
263#endif //USE_BRUTEFORCE_RAYBROADPHASE
264}
265
266 void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
267 btCollisionObject* collisionObject,
268 const btCollisionShape* collisionShape,
269 const btTransform& colObjWorldTransform,
270 RayResultCallback& resultCallback)
271{
272 if (collisionShape->isSoftBody())
273 {
274 btSoftBody* softBody = btSoftBody::upcast(collisionObject);
275 if (softBody)
276 {
277 btSoftBody::sRayCast softResult;
278 if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
279 {
280 if (softResult.fraction <= resultCallback.m_closestHitFraction)
281 {
282 btCollisionWorld::LocalShapeInfo shapeInfo;
283 shapeInfo.m_shapePart = 0;
284 shapeInfo.m_triangleIndex = softResult.index;
285 // get the normal
286 btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
287 btVector3 normal = -rayDir;
288 normal.normalize();
289
290 if (softResult.feature == btSoftBody::eFeature::Face)
291 {
292 normal = softBody->m_faces[softResult.index].m_normal;
293 if (normal.dot(rayDir) > 0)
294 {
295 // normal always point toward origin of the ray
296 normal = -normal;
297 }
298 }
299
300 btCollisionWorld::LocalRayResult rayResult(collisionObject,
301 &shapeInfo,
302 normal,
303 softResult.fraction);
304 bool normalInWorldSpace = true;
305 resultCallback.addSingleResult(rayResult, normalInWorldSpace);
306 }
307 }
308 }
309 }
310 else
311 {
312 btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
313 }
314}
315
316 void btSoftRigidDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
317{
318 int i;
319 //serialize all collision objects
320 for (i = 0; i < m_collisionObjects.size(); i++)
321 {
322 btCollisionObject* colObj = m_collisionObjects[i];
323 if (colObj->getInternalType() & btCollisionObject::CO_SOFT_BODY)
324 {
325 int len = colObj->calculateSerializeBufferSize();
326 btChunk* chunk = serializer->allocate(len, 1);
327 const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
328 serializer->finalizeChunk(chunk, structType, BT_SOFTBODY_CODE, colObj);
329 }
330 }
331}
332
333 void btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
334{
335 serializer->startSerialization();
336
337 serializeDynamicsWorldInfo(serializer);
338
339 serializeSoftBodies(serializer);
340
341 serializeRigidBodies(serializer);
342
343 serializeCollisionObjects(serializer);
344
345 serializer->finishSerialization();
346}
btAlignedFree
#define btAlignedFree(ptr)
Definition btAlignedAllocator.h:47
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition btAlignedAllocator.h:46
btDefaultSoftBodySolver.h
btQuickprof.h
BT_PROFILE
#define BT_PROFILE(name)
Definition btQuickprof.h:198
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btAssert
#define btAssert(x)
Definition btScalar.h:153
btSerializer.h
BT_SOFTBODY_CODE
#define BT_SOFTBODY_CODE
Definition btSerializer.h:110
btSoftBodyHelpers.h
btSoftBodySolvers.h
btSoftBody.h
btSoftRigidDynamicsWorld.h
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition btBroadphaseInterface.h:50
btChunk
Definition btSerializer.h:48
btChunk::m_oldPtr
void * m_oldPtr
Definition btSerializer.h:52
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition btCollisionConfiguration.h:27
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
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:81
btCollisionObject::CO_SOFT_BODY
@ CO_SOFT_BODY
Definition btCollisionObject.h:152
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition btCollisionObject.h:379
btCollisionObject::getBroadphaseHandle
btBroadphaseProxy * getBroadphaseHandle()
Definition btCollisionObject.h:395
btCollisionObject::getInternalType
int getInternalType() const
reserved for Bullet internal usage
Definition btCollisionObject.h:374
btCollisionObject::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition btCollisionObject.h:685
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition btCollisionObject.h:228
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition btCollisionShape.h:28
btCollisionShape::isSoftBody
bool isSoftBody() const
Definition btCollisionShape.h:87
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.
btCollisionWorld::getDebugDrawer
virtual btIDebugDraw * getDebugDrawer()
Definition btCollisionWorld.h:155
btCollisionWorld::m_broadphasePairCache
btBroadphaseInterface * m_broadphasePairCache
Definition btCollisionWorld.h:94
btCollisionWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
Definition btCollisionWorld.cpp:238
btCollisionWorld::addCollisionObject
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition btCollisionWorld.cpp:124
btCollisionWorld::m_collisionObjects
btAlignedObjectArray< btCollisionObject * > m_collisionObjects
Definition btCollisionWorld.h:88
btCollisionWorld::getNumCollisionObjects
int getNumCollisionObjects() const
Definition btCollisionWorld.h:427
btCollisionWorld::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition btCollisionWorld.h:96
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:276
btCollisionWorld::serializeCollisionObjects
void serializeCollisionObjects(btSerializer *serializer)
Definition btCollisionWorld.cpp:1565
btConstraintSolver
Definition btConstraintSolver.h:42
btDefaultSoftBodySolver
Definition btDefaultSoftBodySolver.h:24
btDiscreteDynamicsWorld::serializeRigidBodies
void serializeRigidBodies(btSerializer *serializer)
Definition btDiscreteDynamicsWorld.cpp:1379
btDiscreteDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition btDiscreteDynamicsWorld.cpp:452
btDiscreteDynamicsWorld::serializeDynamicsWorldInfo
void serializeDynamicsWorldInfo(btSerializer *serializer)
Definition btDiscreteDynamicsWorld.cpp:1405
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
Definition btDiscreteDynamicsWorld.cpp:191
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:522
btDiscreteDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition btDiscreteDynamicsWorld.cpp:269
btDiscreteDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition btDiscreteDynamicsWorld.cpp:1091
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition btDispatcher.h:77
btIDebugDraw::DBG_DrawWireframe
@ DBG_DrawWireframe
Definition btIDebugDraw.h:55
btIDebugDraw::DBG_DrawAabb
@ DBG_DrawAabb
Definition btIDebugDraw.h:56
btSerializer
Definition btSerializer.h:66
btSerializer::allocate
virtual btChunk * allocate(size_t size, int numElements)=0
btSerializer::finishSerialization
virtual void finishSerialization()=0
btSerializer::startSerialization
virtual void startSerialization()=0
btSerializer::finalizeChunk
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
btSoftBodySolver
Definition btSoftBodySolvers.h:29
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition btSoftBody.h:75
btSoftBody::defaultCollisionHandler
void defaultCollisionHandler(const btCollisionObjectWrapper *pcoWrap)
Definition btSoftBody.cpp:4085
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:2039
btSoftBody::setSoftBodySolver
void setSoftBodySolver(btSoftBodySolver *softBodySolver)
Definition btSoftBody.h:1132
btSoftBody::m_faces
tFaceArray m_faces
Definition btSoftBody.h:817
btSoftBody::solveClusters
static void solveClusters(const btAlignedObjectArray< btSoftBody * > &bodies)
Definition btSoftBody.cpp:2319
btSoftBody::upcast
static const btSoftBody * upcast(const btCollisionObject *colObj)
Definition btSoftBody.h:1157
btSoftRigidDynamicsWorld
Definition btSoftRigidDynamicsWorld.h:27
btSoftRigidDynamicsWorld::m_sbi
btSoftBodyWorldInfo m_sbi
Definition btSoftRigidDynamicsWorld.h:33
btSoftRigidDynamicsWorld::m_softBodies
btSoftBodyArray m_softBodies
Definition btSoftRigidDynamicsWorld.h:28
btSoftRigidDynamicsWorld::m_drawNodeTree
bool m_drawNodeTree
Definition btSoftRigidDynamicsWorld.h:30
btSoftRigidDynamicsWorld::serializeSoftBodies
void serializeSoftBodies(btSerializer *serializer)
Definition btSoftRigidDynamicsWorld.cpp:316
btSoftRigidDynamicsWorld::removeSoftBody
void removeSoftBody(btSoftBody *body)
Definition btSoftRigidDynamicsWorld.cpp:133
btSoftRigidDynamicsWorld::m_softBodySolver
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
Definition btSoftRigidDynamicsWorld.h:35
btSoftRigidDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition btSoftRigidDynamicsWorld.cpp:149
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld
virtual ~btSoftRigidDynamicsWorld()
Definition btSoftRigidDynamicsWorld.cpp:60
btSoftRigidDynamicsWorld::getSoftBodyArray
btSoftBodyArray & getSoftBodyArray()
Definition btSoftRigidDynamicsWorld.h:78
btSoftRigidDynamicsWorld::addSoftBody
void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition btSoftRigidDynamicsWorld.cpp:120
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
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
btSoftRigidDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition btSoftRigidDynamicsWorld.cpp:69
btSoftRigidDynamicsWorld::m_ownsSolver
bool m_ownsSolver
Definition btSoftRigidDynamicsWorld.h:36
btSoftRigidDynamicsWorld::m_drawClusterTree
bool m_drawClusterTree
Definition btSoftRigidDynamicsWorld.h:32
btSoftRigidDynamicsWorld::m_drawFlags
int m_drawFlags
Definition btSoftRigidDynamicsWorld.h:29
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::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition btSoftRigidDynamicsWorld.cpp:78
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld
btSoftRigidDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
Definition btSoftRigidDynamicsWorld.cpp:26
btSoftRigidDynamicsWorld::m_drawFaceTree
bool m_drawFaceTree
Definition btSoftRigidDynamicsWorld.h:31
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::solveSoftBodiesConstraints
void solveSoftBodiesConstraints(btScalar timeStep)
Definition btSoftRigidDynamicsWorld.cpp:107
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition btTransform.h:114
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::dot
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition btVector3.h:229
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition btVector3.h:303
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition btBroadphaseProxy.h:86
btBroadphaseProxy::m_aabbMin
btVector3 m_aabbMin
Definition btBroadphaseProxy.h:108
btBroadphaseProxy::m_clientObject
void * m_clientObject
Definition btBroadphaseProxy.h:102
btBroadphaseProxy::m_aabbMax
btVector3 m_aabbMax
Definition btBroadphaseProxy.h:109
btBroadphaseRayCallback
Definition btBroadphaseInterface.h:32
btBroadphaseRayCallback::m_rayDirectionInverse
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
Definition btBroadphaseInterface.h:34
btBroadphaseRayCallback::m_signs
unsigned int m_signs[3]
Definition btBroadphaseInterface.h:35
btBroadphaseRayCallback::m_lambda_max
btScalar m_lambda_max
Definition btBroadphaseInterface.h:36
btCollisionWorld::LocalRayResult
Definition btCollisionWorld.h:176
btCollisionWorld::LocalShapeInfo
LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is avai...
Definition btCollisionWorld.h:167
btCollisionWorld::LocalShapeInfo::m_triangleIndex
int m_triangleIndex
Definition btCollisionWorld.h:169
btCollisionWorld::LocalShapeInfo::m_shapePart
int m_shapePart
Definition btCollisionWorld.h:168
btCollisionWorld::RayResultCallback
RayResultCallback is used to report new raycast results.
Definition btCollisionWorld.h:196
btCollisionWorld::RayResultCallback::m_closestHitFraction
btScalar m_closestHitFraction
Definition btCollisionWorld.h:197
btCollisionWorld::RayResultCallback::addSingleResult
virtual btScalar addSingleResult(LocalRayResult &rayResult, bool normalInWorldSpace)=0
btSoftBodyHelpers::DrawNodeTree
static void DrawNodeTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
Definition btSoftBodyHelpers.cpp:466
btSoftBodyHelpers::DrawFaceTree
static void DrawFaceTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
Definition btSoftBodyHelpers.cpp:475
btSoftBodyHelpers::DrawClusterTree
static void DrawClusterTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
Definition btSoftBodyHelpers.cpp:484
btSoftBodyHelpers::Draw
static void Draw(btSoftBody *psb, btIDebugDraw *idraw, int drawflags=fDrawFlags::Std)
Definition btSoftBodyHelpers.cpp:172
btSoftBodyHelpers::DrawFrame
static void DrawFrame(btSoftBody *psb, btIDebugDraw *idraw)
Definition btSoftBodyHelpers.cpp:667
btSoftBody::eFeature::Face
@ Face
Definition btSoftBody.h:145
btSoftBody::sRayCast
Definition btSoftBody.h:202
btSoftBody::sRayCast::feature
eFeature::_ feature
soft body
Definition btSoftBody.h:204
btSoftBody::sRayCast::fraction
btScalar fraction
feature index
Definition btSoftBody.h:206
btSoftBody::sRayCast::index
int index
feature type
Definition btSoftBody.h:205
btSoftSingleRayCallback
Definition btSoftMultiBodyDynamicsWorld.cpp:181
btSoftSingleRayCallback::m_rayToWorld
btVector3 m_rayToWorld
Definition btSoftMultiBodyDynamicsWorld.cpp:183
btSoftSingleRayCallback::m_rayFromTrans
btTransform m_rayFromTrans
Definition btSoftMultiBodyDynamicsWorld.cpp:184
btSoftSingleRayCallback::m_hitNormal
btVector3 m_hitNormal
Definition btSoftMultiBodyDynamicsWorld.cpp:186
btSoftSingleRayCallback::m_world
const btSoftMultiBodyDynamicsWorld * m_world
Definition btSoftMultiBodyDynamicsWorld.cpp:188
btSoftSingleRayCallback::m_rayFromWorld
btVector3 m_rayFromWorld
Definition btSoftMultiBodyDynamicsWorld.cpp:182
btSoftSingleRayCallback::m_rayToTrans
btTransform m_rayToTrans
Definition btSoftMultiBodyDynamicsWorld.cpp:185
btSoftSingleRayCallback::m_resultCallback
btCollisionWorld::RayResultCallback & m_resultCallback
Definition btSoftMultiBodyDynamicsWorld.cpp:189
btSoftSingleRayCallback::process
virtual bool process(const btBroadphaseProxy *proxy)
Definition btSoftRigidDynamicsWorld.cpp:211
btSoftSingleRayCallback::btSoftSingleRayCallback
btSoftSingleRayCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const btSoftRigidDynamicsWorld *world, btCollisionWorld::RayResultCallback &resultCallback)
Definition btSoftRigidDynamicsWorld.cpp:186
fDrawFlags::Std
@ Std
Definition btSoftBodyHelpers.h:45