#include <btSoftRigidDynamicsWorld.h>

Inherits btDiscreteDynamicsWorld.

Public Member Functions
	btSoftRigidDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration, btSoftBodySolver *softBodySolver=0)

virtual	~btSoftRigidDynamicsWorld ()

virtual void	debugDrawWorld ()

void	addSoftBody (btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, 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

virtual void	serialize (btSerializer *serializer)

Static Public Member Functions
static void	rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject collisionObject, const btCollisionShape collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)

Protected Member Functions
virtual void	predictUnconstraintMotion (btScalar timeStep)

virtual void	internalSingleStepSimulation (btScalar timeStep)

void	solveSoftBodiesConstraints (btScalar timeStep)

void	serializeSoftBodies (btSerializer *serializer)

Detailed Description

Definition at line 26 of file btSoftRigidDynamicsWorld.h.

Constructor & Destructor Documentation

◆ btSoftRigidDynamicsWorld()

btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	pairCache,
		btConstraintSolver *	constraintSolver,
		btCollisionConfiguration *	collisionConfiguration,
		btSoftBodySolver *	softBodySolver = 0 )

Definition at line 26 of file btSoftRigidDynamicsWorld.cpp.

References btSoftBodyWorldInfo::air_density, btAlignedAlloc, btVector3, btSparseSdf< CELLSIZE >::Initialize(), btSoftBodyWorldInfo::m_broadphase, btSoftBodyWorldInfo::m_dispatcher, btSoftBodyWorldInfo::m_gravity, btSoftBodyWorldInfo::m_sparsesdf, ptr, btSparseSdf< CELLSIZE >::Reset(), fDrawFlags::Std, btSoftBodyWorldInfo::water_density, btSoftBodyWorldInfo::water_normal, and btSoftBodyWorldInfo::water_offset.

◆ ~btSoftRigidDynamicsWorld()

btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld ( )

virtual

Definition at line 60 of file btSoftRigidDynamicsWorld.cpp.

References btAlignedFree, and btSoftBodySolver::~btSoftBodySolver().

Member Function Documentation

◆ addSoftBody()

void btSoftRigidDynamicsWorld::addSoftBody	(	btSoftBody *	body,
		int	collisionFilterGroup = btBroadphaseProxy::DefaultFilter,
		int	collisionFilterMask = btBroadphaseProxy::AllFilter )

Definition at line 120 of file btSoftRigidDynamicsWorld.cpp.

References btCollisionWorld::addCollisionObject(), btAlignedObjectArray< T >::push_back(), and btSoftBody::setSoftBodySolver().

◆ debugDrawWorld()

void btSoftRigidDynamicsWorld::debugDrawWorld ( )

virtual

Definition at line 149 of file btSoftRigidDynamicsWorld.cpp.

References btIDebugDraw::DBG_DrawAabb, btIDebugDraw::DBG_DrawWireframe, btSoftBodyHelpers::Draw(), btSoftBodyHelpers::DrawClusterTree(), btSoftBodyHelpers::DrawFaceTree(), btSoftBodyHelpers::DrawFrame(), btSoftBodyHelpers::DrawNodeTree(), and btAlignedObjectArray< T >::size().

◆ getDrawFlags()

int btSoftRigidDynamicsWorld::getDrawFlags ( ) const

inline

Definition at line 61 of file btSoftRigidDynamicsWorld.h.

◆ getSoftBodyArray() [1/2]

btSoftBodyArray & btSoftRigidDynamicsWorld::getSoftBodyArray ( )

inline

Definition at line 78 of file btSoftRigidDynamicsWorld.h.

Referenced by internalSingleStepSimulation().

◆ getSoftBodyArray() [2/2]

const btSoftBodyArray & btSoftRigidDynamicsWorld::getSoftBodyArray ( ) const

inline

Definition at line 83 of file btSoftRigidDynamicsWorld.h.

◆ getWorldInfo() [1/2]

btSoftBodyWorldInfo & btSoftRigidDynamicsWorld::getWorldInfo ( )

inline

Definition at line 64 of file btSoftRigidDynamicsWorld.h.

◆ getWorldInfo() [2/2]

const btSoftBodyWorldInfo & btSoftRigidDynamicsWorld::getWorldInfo ( ) const

inline

Definition at line 68 of file btSoftRigidDynamicsWorld.h.

◆ getWorldType()

virtual btDynamicsWorldType btSoftRigidDynamicsWorld::getWorldType ( ) const

inlinevirtual

Definition at line 73 of file btSoftRigidDynamicsWorld.h.

References BT_SOFT_RIGID_DYNAMICS_WORLD.

◆ internalSingleStepSimulation()

void btSoftRigidDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep )

protectedvirtual

solve soft bodies constraints

update soft bodies

Definition at line 78 of file btSoftRigidDynamicsWorld.cpp.

References btAssert, btSoftBodySolver::checkInitialized(), btSoftBody::defaultCollisionHandler(), getSoftBodyArray(), btSoftBodySolver::optimize(), btAlignedObjectArray< T >::size(), solveSoftBodiesConstraints(), and btSoftBodySolver::updateSoftBodies().

◆ predictUnconstraintMotion()

void btSoftRigidDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep )

protectedvirtual

Definition at line 69 of file btSoftRigidDynamicsWorld.cpp.

References BT_PROFILE, and btSoftBodySolver::predictMotion().

◆ rayTest()

void btSoftRigidDynamicsWorld::rayTest	(	const btVector3 &	rayFromWorld,
		const btVector3 &	rayToWorld,
		RayResultCallback &	resultCallback ) const

virtual

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

Definition at line 249 of file btSoftRigidDynamicsWorld.cpp.

References BT_PROFILE, getBroadphaseHandle(), and btSoftSingleRayCallback::process().

◆ rayTestSingle()

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.

Definition at line 266 of file btSoftRigidDynamicsWorld.cpp.

References btSoftBody::eFeature::Face, btSoftBody::sRayCast::feature, btSoftBody::sRayCast::fraction, btSoftBody::sRayCast::index, btSoftBody::m_faces, btCollisionWorld::LocalShapeInfo::m_shapePart, btCollisionWorld::LocalShapeInfo::m_triangleIndex, btSoftBody::rayTest(), btCollisionWorld::rayTestSingle(), and btSoftBody::upcast().

◆ removeCollisionObject()

void btSoftRigidDynamicsWorld::removeCollisionObject ( btCollisionObject * collisionObject )

virtual

removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject

Definition at line 140 of file btSoftRigidDynamicsWorld.cpp.

References removeSoftBody(), and btSoftBody::upcast().