#include <btSoftRigidDynamicsWorld.h>
Public Member Functions | |
btSoftRigidDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0) | |
virtual | ~btSoftRigidDynamicsWorld () |
virtual void | debugDrawWorld () |
void | addSoftBody (btSoftBody *body, short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter) |
void | removeSoftBody (btSoftBody *body) |
virtual void | removeCollisionObject (btCollisionObject *collisionObject) |
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject | |
int | getDrawFlags () const |
void | setDrawFlags (int f) |
btSoftBodyWorldInfo & | getWorldInfo () |
const btSoftBodyWorldInfo & | getWorldInfo () const |
virtual btDynamicsWorldType | getWorldType () const |
btSoftBodyArray & | getSoftBodyArray () |
const btSoftBodyArray & | getSoftBodyArray () const |
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 allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. | |
virtual void | serialize (btSerializer *serializer) |
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo). | |
Static Public Member Functions | |
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. | |
Protected Member Functions | |
virtual void | predictUnconstraintMotion (btScalar timeStep) |
virtual void | internalSingleStepSimulation (btScalar timeStep) |
void | solveSoftBodiesConstraints (btScalar timeStep) |
void | serializeSoftBodies (btSerializer *serializer) |
Private Attributes | |
btSoftBodyArray | m_softBodies |
int | m_drawFlags |
bool | m_drawNodeTree |
bool | m_drawFaceTree |
bool | m_drawClusterTree |
btSoftBodyWorldInfo | m_sbi |
btSoftBodySolver * | m_softBodySolver |
Solver classes that encapsulate multiple soft bodies for solving. | |
bool | m_ownsSolver |
Definition at line 26 of file btSoftRigidDynamicsWorld.h.
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld | ( | btDispatcher * | dispatcher, | |
btBroadphaseInterface * | pairCache, | |||
btConstraintSolver * | constraintSolver, | |||
btCollisionConfiguration * | collisionConfiguration, | |||
btSoftBodySolver * | softBodySolver = 0 | |||
) |
Definition at line 28 of file btSoftRigidDynamicsWorld.cpp.
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld | ( | ) | [virtual] |
Definition at line 65 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::addSoftBody | ( | btSoftBody * | body, | |
short int | collisionFilterGroup = btBroadphaseProxy::DefaultFilter , |
|||
short int | collisionFilterMask = btBroadphaseProxy::AllFilter | |||
) |
Definition at line 128 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::debugDrawWorld | ( | ) | [virtual] |
Reimplemented from btDiscreteDynamicsWorld.
Definition at line 158 of file btSoftRigidDynamicsWorld.cpp.
int btSoftRigidDynamicsWorld::getDrawFlags | ( | ) | const [inline] |
Definition at line 64 of file btSoftRigidDynamicsWorld.h.
btSoftBodyArray& btSoftRigidDynamicsWorld::getSoftBodyArray | ( | ) | [inline] |
Definition at line 81 of file btSoftRigidDynamicsWorld.h.
const btSoftBodyArray& btSoftRigidDynamicsWorld::getSoftBodyArray | ( | ) | const [inline] |
Definition at line 86 of file btSoftRigidDynamicsWorld.h.
btSoftBodyWorldInfo& btSoftRigidDynamicsWorld::getWorldInfo | ( | ) | [inline] |
Definition at line 67 of file btSoftRigidDynamicsWorld.h.
const btSoftBodyWorldInfo& btSoftRigidDynamicsWorld::getWorldInfo | ( | ) | const [inline] |
Definition at line 71 of file btSoftRigidDynamicsWorld.h.
virtual btDynamicsWorldType btSoftRigidDynamicsWorld::getWorldType | ( | ) | const [inline, virtual] |
Reimplemented from btDiscreteDynamicsWorld.
Definition at line 76 of file btSoftRigidDynamicsWorld.h.
void btSoftRigidDynamicsWorld::internalSingleStepSimulation | ( | btScalar | timeStep | ) | [protected, virtual] |
solve soft bodies constraints
update soft bodies
Reimplemented from btDiscreteDynamicsWorld.
Definition at line 83 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::predictUnconstraintMotion | ( | btScalar | timeStep | ) | [protected, virtual] |
Reimplemented from btDiscreteDynamicsWorld.
Definition at line 74 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::rayTest | ( | const btVector3 & | rayFromWorld, | |
const btVector3 & | rayToWorld, | |||
RayResultCallback & | resultCallback | |||
) | const [virtual] |
rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test
use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test
Reimplemented from btCollisionWorld.
Definition at line 264 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::rayTestSingle | ( | const btTransform & | rayFromTrans, | |
const btTransform & | rayToTrans, | |||
btCollisionObject * | collisionObject, | |||
const btCollisionShape * | collisionShape, | |||
const btTransform & | colObjWorldTransform, | |||
RayResultCallback & | resultCallback | |||
) | [static] |
rayTestSingle performs a raycast call and calls the resultCallback.
It is used internally by rayTest. In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. This allows more customization.
Reimplemented from btCollisionWorld.
Definition at line 283 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::removeCollisionObject | ( | btCollisionObject * | collisionObject | ) | [virtual] |
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject
Reimplemented from btDiscreteDynamicsWorld.
Definition at line 149 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::removeSoftBody | ( | btSoftBody * | body | ) |
Definition at line 142 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::serialize | ( | btSerializer * | serializer | ) | [virtual] |
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo).
Reimplemented from btDiscreteDynamicsWorld.
Definition at line 351 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::serializeSoftBodies | ( | btSerializer * | serializer | ) | [protected] |
Definition at line 333 of file btSoftRigidDynamicsWorld.cpp.
void btSoftRigidDynamicsWorld::setDrawFlags | ( | int | f | ) | [inline] |
Definition at line 65 of file btSoftRigidDynamicsWorld.h.
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints | ( | btScalar | timeStep | ) | [protected] |
Definition at line 114 of file btSoftRigidDynamicsWorld.cpp.
bool btSoftRigidDynamicsWorld::m_drawClusterTree [private] |
Definition at line 33 of file btSoftRigidDynamicsWorld.h.
bool btSoftRigidDynamicsWorld::m_drawFaceTree [private] |
Definition at line 32 of file btSoftRigidDynamicsWorld.h.
int btSoftRigidDynamicsWorld::m_drawFlags [private] |
Definition at line 30 of file btSoftRigidDynamicsWorld.h.
bool btSoftRigidDynamicsWorld::m_drawNodeTree [private] |
Definition at line 31 of file btSoftRigidDynamicsWorld.h.
bool btSoftRigidDynamicsWorld::m_ownsSolver [private] |
Definition at line 37 of file btSoftRigidDynamicsWorld.h.
Definition at line 34 of file btSoftRigidDynamicsWorld.h.
Definition at line 29 of file btSoftRigidDynamicsWorld.h.
Solver classes that encapsulate multiple soft bodies for solving.
Definition at line 36 of file btSoftRigidDynamicsWorld.h.