Public Member Functions | Static Public Member Functions | Protected Member Functions | Private Attributes

btSoftRigidDynamicsWorld Class Reference

#include <btSoftRigidDynamicsWorld.h>

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List of all members.

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)
btSoftBodyWorldInfogetWorldInfo ()
const btSoftBodyWorldInfogetWorldInfo () const
virtual btDynamicsWorldType getWorldType () const
btSoftBodyArraygetSoftBodyArray ()
const btSoftBodyArraygetSoftBodyArray () 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
btSoftBodySolverm_softBodySolver
 Solver classes that encapsulate multiple soft bodies for solving.
bool m_ownsSolver

Detailed Description

Definition at line 26 of file btSoftRigidDynamicsWorld.h.


Constructor & Destructor Documentation

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.


Member Function Documentation

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.


Member Data Documentation

Definition at line 33 of file btSoftRigidDynamicsWorld.h.

Definition at line 32 of file btSoftRigidDynamicsWorld.h.

Definition at line 30 of file btSoftRigidDynamicsWorld.h.

Definition at line 31 of file btSoftRigidDynamicsWorld.h.

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.


The documentation for this class was generated from the following files: