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

Bullet Collision Detection & Physics Library

btSoftMultiBodyDynamicsWorld.h
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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#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
27class btSoftBodySolver;
28
29 class btSoftMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
30{
31 btSoftBodyArray m_softBodies;
32 int m_drawFlags;
33 bool m_drawNodeTree;
34 bool m_drawFaceTree;
35 bool m_drawClusterTree;
36 btSoftBodyWorldInfo m_sbi;
38 btSoftBodySolver* m_softBodySolver;
39 bool m_ownsSolver;
40
41protected:
42 virtual void predictUnconstraintMotion(btScalar timeStep);
43
44 virtual void internalSingleStepSimulation(btScalar timeStep);
45
46 void solveSoftBodiesConstraints(btScalar timeStep);
47
48 void serializeSoftBodies(btSerializer* serializer);
49
50public:
51 btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0);
52
53 virtual ~btSoftMultiBodyDynamicsWorld();
54
55 virtual void debugDrawWorld();
56
57 void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
58
59 void removeSoftBody(btSoftBody* body);
60
62 virtual void removeCollisionObject(btCollisionObject* collisionObject);
63
64 int getDrawFlags() const { return (m_drawFlags); }
65 void setDrawFlags(int f) { m_drawFlags = f; }
66
67 btSoftBodyWorldInfo& getWorldInfo()
68 {
69 return m_sbi;
70 }
71 const btSoftBodyWorldInfo& getWorldInfo() const
72 {
73 return m_sbi;
74 }
75
76 virtual btDynamicsWorldType getWorldType() const
77 {
78 return BT_SOFT_MULTIBODY_DYNAMICS_WORLD;
79 }
80
81 btSoftBodyArray& getSoftBodyArray()
82 {
83 return m_softBodies;
84 }
85
86 const btSoftBodyArray& getSoftBodyArray() const
87 {
88 return m_softBodies;
89 }
90
91 virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
92
96 static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
97 btCollisionObject* collisionObject,
98 const btCollisionShape* collisionShape,
99 const btTransform& colObjWorldTransform,
100 RayResultCallback& resultCallback);
101
102 virtual void serialize(btSerializer* serializer);
103};
104
105#endif //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
btSoftBodyArray
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
Definition btDeformableMultiBodyDynamicsWorld.h:27
btDiscreteDynamicsWorld.h
btDynamicsWorldType
btDynamicsWorldType
Definition btDynamicsWorld.h:31
BT_SOFT_MULTIBODY_DYNAMICS_WORLD
@ BT_SOFT_MULTIBODY_DYNAMICS_WORLD
Definition btDynamicsWorld.h:37
btMultiBodyDynamicsWorld.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btSoftBody.h
btSoftBodyArray
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
Definition btSoftMultiBodyDynamicsWorld.h:24
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition btBroadphaseInterface.h:50
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
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition btCollisionShape.h:28
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition btDispatcher.h:77
btMultiBodyConstraintSolver
Definition btMultiBodyConstraintSolver.h:30
btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld
btMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
Definition btMultiBodyDynamicsWorld.cpp:184
btSerializer
Definition btSerializer.h:66
btSoftBodySolver
Definition btSoftBodySolvers.h:29
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition btSoftBody.h:75
btSoftMultiBodyDynamicsWorld::m_ownsSolver
bool m_ownsSolver
Definition btSoftMultiBodyDynamicsWorld.h:39
btSoftMultiBodyDynamicsWorld::m_softBodySolver
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
Definition btSoftMultiBodyDynamicsWorld.h:38
btSoftMultiBodyDynamicsWorld::getSoftBodyArray
btSoftBodyArray & getSoftBodyArray()
Definition btSoftMultiBodyDynamicsWorld.h:81
btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition btSoftMultiBodyDynamicsWorld.cpp:69
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:271
btSoftMultiBodyDynamicsWorld::getSoftBodyArray
const btSoftBodyArray & getSoftBodyArray() const
Definition btSoftMultiBodyDynamicsWorld.h:86
btSoftMultiBodyDynamicsWorld::getWorldInfo
const btSoftBodyWorldInfo & getWorldInfo() const
Definition btSoftMultiBodyDynamicsWorld.h:71
btSoftMultiBodyDynamicsWorld::m_drawClusterTree
bool m_drawClusterTree
Definition btSoftMultiBodyDynamicsWorld.h:35
btSoftMultiBodyDynamicsWorld::removeSoftBody
void removeSoftBody(btSoftBody *body)
Definition btSoftMultiBodyDynamicsWorld.cpp:138
btSoftMultiBodyDynamicsWorld::m_sbi
btSoftBodyWorldInfo m_sbi
Definition btSoftMultiBodyDynamicsWorld.h:36
btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition btSoftMultiBodyDynamicsWorld.cpp:78
btSoftMultiBodyDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition btSoftMultiBodyDynamicsWorld.cpp:154
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:338
btSoftMultiBodyDynamicsWorld::m_drawFlags
int m_drawFlags
Definition btSoftMultiBodyDynamicsWorld.h:32
btSoftMultiBodyDynamicsWorld::setDrawFlags
void setDrawFlags(int f)
Definition btSoftMultiBodyDynamicsWorld.h:65
btSoftMultiBodyDynamicsWorld::getWorldType
virtual btDynamicsWorldType getWorldType() const
Definition btSoftMultiBodyDynamicsWorld.h:76
btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld
virtual ~btSoftMultiBodyDynamicsWorld()
Definition btSoftMultiBodyDynamicsWorld.cpp:60
btSoftMultiBodyDynamicsWorld::m_softBodies
btSoftBodyArray m_softBodies
Definition btSoftMultiBodyDynamicsWorld.h:31
btSoftMultiBodyDynamicsWorld::getDrawFlags
int getDrawFlags() const
Definition btSoftMultiBodyDynamicsWorld.h:64
btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints
void solveSoftBodiesConstraints(btScalar timeStep)
Definition btSoftMultiBodyDynamicsWorld.cpp:112
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:145
btSoftMultiBodyDynamicsWorld::getWorldInfo
btSoftBodyWorldInfo & getWorldInfo()
Definition btSoftMultiBodyDynamicsWorld.h:67
btSoftMultiBodyDynamicsWorld::addSoftBody
void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition btSoftMultiBodyDynamicsWorld.cpp:125
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:254
btSoftMultiBodyDynamicsWorld::m_drawNodeTree
bool m_drawNodeTree
Definition btSoftMultiBodyDynamicsWorld.h:33
btSoftMultiBodyDynamicsWorld::btSoftMultiBodyDynamicsWorld
btSoftMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
Definition btSoftMultiBodyDynamicsWorld.cpp:26
btSoftMultiBodyDynamicsWorld::m_drawFaceTree
bool m_drawFaceTree
Definition btSoftMultiBodyDynamicsWorld.h:34
btSoftMultiBodyDynamicsWorld::serializeSoftBodies
void serializeSoftBodies(btSerializer *serializer)
Definition btSoftMultiBodyDynamicsWorld.cpp:321
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
btBroadphaseProxy::AllFilter
@ AllFilter
Definition btBroadphaseProxy.h:98
btBroadphaseProxy::DefaultFilter
@ DefaultFilter
Definition btBroadphaseProxy.h:92
btSoftBodyWorldInfo
Definition btSoftBody.h:48