Blender V5.0
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btDeformableMultiBodyDynamicsWorld Class Reference

#include <btDeformableMultiBodyDynamicsWorld.h>

Inherits btMultiBodyDynamicsWorld.

Classes

struct  btDeformableSingleRayCallback

Public Member Functions

 btDeformableMultiBodyDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btDeformableMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btDeformableBodySolver *deformableBodySolver=0)
virtual int stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
virtual void debugDrawWorld ()
void setSolverCallback (btSolverCallback cb)
virtual ~btDeformableMultiBodyDynamicsWorld ()
virtual btMultiBodyDynamicsWorld * getMultiBodyDynamicsWorld ()
virtual const btMultiBodyDynamicsWorld * getMultiBodyDynamicsWorld () const
virtual btDynamicsWorldType getWorldType () const
virtual void predictUnconstraintMotion (btScalar timeStep)
virtual void addSoftBody (btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
btSoftBodyArray & getSoftBodyArray ()
const btSoftBodyArray & getSoftBodyArray () const
btSoftBodyWorldInfo & getWorldInfo ()
const btSoftBodyWorldInfo & getWorldInfo () const
void reinitialize (btScalar timeStep)
void applyRigidBodyGravity (btScalar timeStep)
void beforeSolverCallbacks (btScalar timeStep)
void afterSolverCallbacks (btScalar timeStep)
void addForce (btSoftBody *psb, btDeformableLagrangianForce *force)
void removeForce (btSoftBody *psb, btDeformableLagrangianForce *force)
void removeSoftBodyForce (btSoftBody *psb)
void removeSoftBody (btSoftBody *body)
void removeCollisionObject (btCollisionObject *collisionObject)
int getDrawFlags () const
void setDrawFlags (int f)
void setupConstraints ()
void performDeformableCollisionDetection ()
void solveMultiBodyConstraints ()
void solveContactConstraints ()
void sortConstraints ()
void softBodySelfCollision ()
void setImplicit (bool implicit)
void setLineSearch (bool lineSearch)
void setUseProjection (bool useProjection)
void applyRepulsionForce (btScalar timeStep)
void performGeometricCollisions (btScalar timeStep)
void rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
void rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback) const
Public Member Functions inherited from btMultiBodyDynamicsWorld
 btMultiBodyDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
virtual ~btMultiBodyDynamicsWorld ()
virtual void solveConstraints (btContactSolverInfo &solverInfo)
virtual void addMultiBody (btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter)
virtual void removeMultiBody (btMultiBody *body)
virtual int getNumMultibodies () const
btMultiBody * getMultiBody (int mbIndex)
const btMultiBody * getMultiBody (int mbIndex) const
virtual void addMultiBodyConstraint (btMultiBodyConstraint *constraint)
virtual int getNumMultiBodyConstraints () const
virtual btMultiBodyConstraint * getMultiBodyConstraint (int constraintIndex)
virtual const btMultiBodyConstraint * getMultiBodyConstraint (int constraintIndex) const
virtual void removeMultiBodyConstraint (btMultiBodyConstraint *constraint)
void integrateMultiBodyTransforms (btScalar timeStep)
void predictMultiBodyTransforms (btScalar timeStep)
virtual void debugDrawMultiBodyConstraint (btMultiBodyConstraint *constraint)
void forwardKinematics ()
virtual void clearForces ()
virtual void clearMultiBodyConstraintForces ()
virtual void clearMultiBodyForces ()
virtual void applyGravity ()
virtual void serialize (btSerializer *serializer)
virtual void setMultiBodyConstraintSolver (btMultiBodyConstraintSolver *solver)
virtual void setConstraintSolver (btConstraintSolver *solver)
virtual void getAnalyticsData (btAlignedObjectArray< struct btSolverAnalyticsData > &m_islandAnalyticsData) const
virtual void solveExternalForces (btContactSolverInfo &solverInfo)
virtual void solveInternalConstraints (btContactSolverInfo &solverInfo)
void buildIslands ()

Protected Member Functions

virtual void internalSingleStepSimulation (btScalar timeStep)
virtual void integrateTransforms (btScalar timeStep)
void positionCorrection (btScalar timeStep)
void solveConstraints (btScalar timeStep)
void updateActivationState (btScalar timeStep)
void clearGravity ()
Protected Member Functions inherited from btMultiBodyDynamicsWorld
virtual void calculateSimulationIslands ()
virtual void serializeMultiBodies (btSerializer *serializer)

Additional Inherited Members

Protected Attributes inherited from btMultiBodyDynamicsWorld
btAlignedObjectArray< btMultiBody * > m_multiBodies
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
btMultiBodyConstraintSolver * m_multiBodyConstraintSolver
MultiBodyInplaceSolverIslandCallback * m_solverMultiBodyIslandCallback
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local
btAlignedObjectArray< btVector3 > m_scratch_local_origin
btAlignedObjectArray< btQuaternion > m_scratch_world_to_local1
btAlignedObjectArray< btVector3 > m_scratch_local_origin1
btAlignedObjectArray< btScalar > m_scratch_r
btAlignedObjectArray< btVector3 > m_scratch_v
btAlignedObjectArray< btMatrix3x3 > m_scratch_m

Detailed Description

Definition at line 37 of file btDeformableMultiBodyDynamicsWorld.h.

Constructor & Destructor Documentation

◆ btDeformableMultiBodyDynamicsWorld()

btDeformableMultiBodyDynamicsWorld::btDeformableMultiBodyDynamicsWorld ( btDispatcher * dispatcher,
btBroadphaseInterface * pairCache,
btDeformableMultiBodyConstraintSolver * constraintSolver,
btCollisionConfiguration * collisionConfiguration,
btDeformableBodySolver * deformableBodySolver = 0 )

Definition at line 42 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(), btVector3, and fDrawFlags::Std.

Referenced by btDeformableMultiBodyDynamicsWorld::btDeformableSingleRayCallback::btDeformableSingleRayCallback().

◆ ~btDeformableMultiBodyDynamicsWorld()

btDeformableMultiBodyDynamicsWorld::~btDeformableMultiBodyDynamicsWorld ( )
virtual

Definition at line 70 of file btDeformableMultiBodyDynamicsWorld.cpp.

Member Function Documentation

◆ addForce()

void btDeformableMultiBodyDynamicsWorld::addForce ( btSoftBody * psb,
btDeformableLagrangianForce * force )

Definition at line 682 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btDeformableLagrangianForce::addSoftBody(), btDeformableLagrangianForce::getForceType(), i, btAlignedObjectArray< T >::push_back(), btDeformableLagrangianForce::setIndices(), and btAlignedObjectArray< T >::size().

◆ addSoftBody()

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

Definition at line 501 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btCollisionWorld::addCollisionObject(), and btSoftBody::setSoftBodySolver().

◆ afterSolverCallbacks()

void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks ( btScalar timeStep)

Definition at line 674 of file btDeformableMultiBodyDynamicsWorld.cpp.

Referenced by internalSingleStepSimulation().

◆ applyRepulsionForce()

void btDeformableMultiBodyDynamicsWorld::applyRepulsionForce ( btScalar timeStep)

Definition at line 163 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btSoftBody::applyRepulsionForce(), BT_PROFILE, and i.

Referenced by internalSingleStepSimulation().

◆ applyRigidBodyGravity()

void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity ( btScalar timeStep)

Definition at line 560 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btMultiBodyDynamicsWorld::applyGravity(), b, btAssert, btMultiBody, clearGravity(), btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces(), btMultiBodyDynamicsWorld::forwardKinematics(), i, btRigidBody::integrateVelocities(), ISLAND_SLEEPING, btMultiBodyDynamicsWorld::m_multiBodies, m_nonStaticRigidBodies, btMultiBodyDynamicsWorld::m_scratch_m, btMultiBodyDynamicsWorld::m_scratch_r, and btMultiBodyDynamicsWorld::m_scratch_v.

Referenced by internalSingleStepSimulation().

◆ beforeSolverCallbacks()

void btDeformableMultiBodyDynamicsWorld::beforeSolverCallbacks ( btScalar timeStep)

Definition at line 661 of file btDeformableMultiBodyDynamicsWorld.cpp.

Referenced by internalSingleStepSimulation().

◆ clearGravity()

void btDeformableMultiBodyDynamicsWorld::clearGravity ( )
protected

Definition at line 620 of file btDeformableMultiBodyDynamicsWorld.cpp.

References b, BT_PROFILE, btMultiBody, btRigidBody::clearGravity(), i, ISLAND_SLEEPING, m_gravity, btMultiBodyDynamicsWorld::m_multiBodies, and m_nonStaticRigidBodies.

Referenced by applyRigidBodyGravity().

◆ debugDrawWorld()

void btDeformableMultiBodyDynamicsWorld::debugDrawWorld ( )
virtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 546 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btMultiBodyDynamicsWorld::debugDrawWorld(), btSoftBodyHelpers::Draw(), btSoftBodyHelpers::DrawFrame(), getDrawFlags(), getSoftBodyArray(), i, and btAlignedObjectArray< T >::size().

◆ getDrawFlags()

int btDeformableMultiBodyDynamicsWorld::getDrawFlags ( ) const
inline

Definition at line 142 of file btDeformableMultiBodyDynamicsWorld.h.

Referenced by debugDrawWorld().

◆ getMultiBodyDynamicsWorld() [1/2]

virtual btMultiBodyDynamicsWorld * btDeformableMultiBodyDynamicsWorld::getMultiBodyDynamicsWorld ( )
inlinevirtual

Definition at line 85 of file btDeformableMultiBodyDynamicsWorld.h.

References btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld().

◆ getMultiBodyDynamicsWorld() [2/2]

virtual const btMultiBodyDynamicsWorld * btDeformableMultiBodyDynamicsWorld::getMultiBodyDynamicsWorld ( ) const
inlinevirtual

Definition at line 90 of file btDeformableMultiBodyDynamicsWorld.h.

References btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld().

◆ getSoftBodyArray() [1/2]

btSoftBodyArray & btDeformableMultiBodyDynamicsWorld::getSoftBodyArray ( )
inline

Definition at line 104 of file btDeformableMultiBodyDynamicsWorld.h.

Referenced by debugDrawWorld().

◆ getSoftBodyArray() [2/2]

const btSoftBodyArray & btDeformableMultiBodyDynamicsWorld::getSoftBodyArray ( ) const
inline

Definition at line 109 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getWorldInfo() [1/2]

btSoftBodyWorldInfo & btDeformableMultiBodyDynamicsWorld::getWorldInfo ( )
inline

Definition at line 114 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getWorldInfo() [2/2]

const btSoftBodyWorldInfo & btDeformableMultiBodyDynamicsWorld::getWorldInfo ( ) const
inline

Definition at line 119 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getWorldType()

virtual btDynamicsWorldType btDeformableMultiBodyDynamicsWorld::getWorldType ( ) const
inlinevirtual

Definition at line 95 of file btDeformableMultiBodyDynamicsWorld.h.

References BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD.

◆ integrateTransforms()

void btDeformableMultiBodyDynamicsWorld::integrateTransforms ( btScalar timeStep)
protectedvirtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 295 of file btDeformableMultiBodyDynamicsWorld.cpp.

References BT_PROFILE, btCollisionShape, btCross(), btMatrix3x3, btTransform, btVector3, Diagonal(), btSparseSdf< CELLSIZE >::Evaluate(), findJacobian(), generateUnitOrthogonalVector(), btSoftBody::getWorldInfo(), i, btMultiBodyDynamicsWorld::integrateTransforms(), btSoftBody::interpolateRenderMesh(), inverse, btSoftBody::DeformableRigidContact::jacobianData_normal, btSoftBody::DeformableRigidContact::jacobianData_t1, btSoftBody::DeformableRigidContact::jacobianData_t2, btSoftBody::DeformableRigidContact::m_c0, btSoftBody::sCti::m_colObj, btSoftBody::DeformableRigidContact::m_cti, btSoftBody::m_deformableAnchors, btMultiBodyJacobianData::m_deltaVelocitiesUnitImpulse, btSoftBody::Node::m_im, btMultiBodyJacobianData::m_jacobians, btSoftBody::DeformableNodeRigidAnchor::m_local, btSoftBodyWorldInfo::m_maxDisplacement, btMultiBodyLinkCollider::m_multiBody, btSoftBody::DeformableNodeRigidContact::m_node, btSoftBody::m_nodes, btSoftBody::sCti::m_normal, btSoftBody::Node::m_q, btSoftBodyWorldInfo::m_sparsesdf, btSoftBody::Node::m_splitv, btSoftBody::Node::m_v, btSoftBody::Node::m_vn, btSoftBody::m_worldInfo, btSoftBody::Node::m_x, OuterProduct(), positionCorrection(), rot, btAlignedObjectArray< T >::size(), btSoftBody::DeformableRigidContact::t1, btSoftBody::DeformableRigidContact::t2, and btMultiBodyLinkCollider::upcast().

Referenced by internalSingleStepSimulation().

◆ internalSingleStepSimulation()

void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep)
protectedvirtual

apply gravity and explicit force to velocity, predict motion

perform collision detection that involves rigid/multi bodies

solve contact constraints and then deformable bodies momemtum equation

update vehicle simulation

Definition at line 75 of file btDeformableMultiBodyDynamicsWorld.cpp.

References afterSolverCallbacks(), applyRepulsionForce(), applyRigidBodyGravity(), beforeSolverCallbacks(), BT_PROFILE, btMultiBodyDynamicsWorld::calculateSimulationIslands(), integrateTransforms(), performDeformableCollisionDetection(), performGeometricCollisions(), predictUnconstraintMotion(), reinitialize(), solveConstraints(), and updateActivationState().

Referenced by stepSimulation().

◆ performDeformableCollisionDetection()

void btDeformableMultiBodyDynamicsWorld::performDeformableCollisionDetection ( )

Definition at line 118 of file btDeformableMultiBodyDynamicsWorld.cpp.

References i.

Referenced by internalSingleStepSimulation().

◆ performGeometricCollisions()

void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions ( btScalar timeStep)

Definition at line 176 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btSoftBody::applyRepulsionForce(), BT_PROFILE, cross, i, btSoftBody::m_faceNodeContacts, btSoftBody::m_faces, btSoftBody::Face::m_n, btSoftBody::Face::m_n0, btSoftBody::Face::m_n1, btSoftBody::m_nodes, btSoftBody::Node::m_q, btSoftBody::Node::m_v, btSoftBody::Face::m_vn, btSoftBody::Node::m_x, and btAlignedObjectArray< T >::size().

Referenced by internalSingleStepSimulation().

◆ positionCorrection()

void btDeformableMultiBodyDynamicsWorld::positionCorrection ( btScalar timeStep)
protected

Definition at line 273 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btTransform, btVector3, btRigidBody::getPushVelocity(), btRigidBody::getTurnVelocity(), i, infoGlobal, btTransformUtil::integrateTransform(), m_nonStaticRigidBodies, btRigidBody::setPushVelocity(), and btRigidBody::setTurnVelocity().

Referenced by integrateTransforms().

◆ predictUnconstraintMotion()

void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep)
virtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 514 of file btDeformableMultiBodyDynamicsWorld.cpp.

References BT_PROFILE, and btMultiBodyDynamicsWorld::predictUnconstraintMotion().

Referenced by internalSingleStepSimulation().

◆ rayTest()

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

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 250 of file btDeformableMultiBodyDynamicsWorld.h.

References BT_PROFILE, btVector3, getBroadphaseHandle(), i, and btDeformableMultiBodyDynamicsWorld::btDeformableSingleRayCallback::process().

◆ rayTestSingle()

void btDeformableMultiBodyDynamicsWorld::rayTestSingle ( const btTransform & rayFromTrans,
const btTransform & rayToTrans,
btCollisionObject * collisionObject,
const btCollisionShape * collisionShape,
const btTransform & colObjWorldTransform,
RayResultCallback & resultCallback ) const
inline

Definition at line 267 of file btDeformableMultiBodyDynamicsWorld.h.

References btCollisionObject, btCollisionShape, btTransform, btVector3, btSoftBody::sRayCast::fraction, btSoftBody::sRayCast::index, btSoftBody::m_faces, btCollisionWorld::LocalShapeInfo::m_shapePart, btCollisionWorld::LocalShapeInfo::m_triangleIndex, btSoftBody::rayFaceTest(), btCollisionWorld::rayTestSingle(), and btSoftBody::upcast().

◆ reinitialize()

void btDeformableMultiBodyDynamicsWorld::reinitialize ( btScalar timeStep)

Definition at line 521 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btDispatcherInfo::m_debugDraw, btDispatcherInfo::m_stepCount, and btDispatcherInfo::m_timeStep.

Referenced by internalSingleStepSimulation().

◆ removeCollisionObject()

void btDeformableMultiBodyDynamicsWorld::removeCollisionObject ( btCollisionObject * collisionObject)

Definition at line 739 of file btDeformableMultiBodyDynamicsWorld.cpp.

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

◆ removeForce()

void btDeformableMultiBodyDynamicsWorld::removeForce ( btSoftBody * psb,
btDeformableLagrangianForce * force )

Definition at line 703 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btDeformableLagrangianForce::getForceType(), i, btAlignedObjectArray< T >::removeAtIndex(), and btAlignedObjectArray< T >::size().

◆ removeSoftBody()

void btDeformableMultiBodyDynamicsWorld::removeSoftBody ( btSoftBody * body)

Definition at line 730 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btCollisionWorld::removeCollisionObject(), and removeSoftBodyForce().

Referenced by removeCollisionObject().

◆ removeSoftBodyForce()

void btDeformableMultiBodyDynamicsWorld::removeSoftBodyForce ( btSoftBody * psb)

Definition at line 721 of file btDeformableMultiBodyDynamicsWorld.cpp.

References i, and btAlignedObjectArray< T >::size().

Referenced by removeSoftBody().

◆ setDrawFlags()

void btDeformableMultiBodyDynamicsWorld::setDrawFlags ( int f)
inline

Definition at line 143 of file btDeformableMultiBodyDynamicsWorld.h.

◆ setImplicit()

void btDeformableMultiBodyDynamicsWorld::setImplicit ( bool implicit)
inline

Definition at line 157 of file btDeformableMultiBodyDynamicsWorld.h.

◆ setLineSearch()

void btDeformableMultiBodyDynamicsWorld::setLineSearch ( bool lineSearch)
inline

Definition at line 162 of file btDeformableMultiBodyDynamicsWorld.h.

◆ setSolverCallback()

void btDeformableMultiBodyDynamicsWorld::setSolverCallback ( btSolverCallback cb)
inline

Definition at line 78 of file btDeformableMultiBodyDynamicsWorld.h.

◆ setupConstraints()

void btDeformableMultiBodyDynamicsWorld::setupConstraints ( )

Definition at line 407 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btMultiBodyConstraint, btTypedConstraint(), getCollisionWorld(), getNumConstraints(), m_islandManager, btMultiBodyDynamicsWorld::m_sortedMultiBodyConstraints, and sortConstraints().

Referenced by solveConstraints().

◆ setUseProjection()

void btDeformableMultiBodyDynamicsWorld::setUseProjection ( bool useProjection)
inline

Definition at line 167 of file btDeformableMultiBodyDynamicsWorld.h.

◆ softBodySelfCollision()

void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision ( )

Definition at line 260 of file btDeformableMultiBodyDynamicsWorld.cpp.

References BT_PROFILE, btSoftBody::defaultCollisionHandler(), and i.

◆ solveConstraints()

void btDeformableMultiBodyDynamicsWorld::solveConstraints ( btScalar timeStep)
protected

Definition at line 379 of file btDeformableMultiBodyDynamicsWorld.cpp.

References BT_PROFILE, setupConstraints(), and solveContactConstraints().

Referenced by internalSingleStepSimulation().

◆ solveContactConstraints()

void btDeformableMultiBodyDynamicsWorld::solveContactConstraints ( )

Definition at line 443 of file btDeformableMultiBodyDynamicsWorld.cpp.

References b, btMultiBody, getCollisionWorld(), i, ISLAND_SLEEPING, m_constraintSolver, m_islandManager, btMultiBodyDynamicsWorld::m_multiBodies, btMultiBodyDynamicsWorld::m_scratch_m, btMultiBodyDynamicsWorld::m_scratch_r, and btMultiBodyDynamicsWorld::m_scratch_v.

Referenced by solveConstraints().

◆ solveMultiBodyConstraints()

void btDeformableMultiBodyDynamicsWorld::solveMultiBodyConstraints ( )

◆ sortConstraints()

void btDeformableMultiBodyDynamicsWorld::sortConstraints ( )

Definition at line 425 of file btDeformableMultiBodyDynamicsWorld.cpp.

References getNumConstraints(), i, m_constraints, btMultiBodyDynamicsWorld::m_multiBodyConstraints, and btMultiBodyDynamicsWorld::m_sortedMultiBodyConstraints.

Referenced by setupConstraints().

◆ stepSimulation()

int btDeformableMultiBodyDynamicsWorld::stepSimulation ( btScalar timeStep,
int maxSubSteps = 1,
btScalar fixedTimeStep = btScalar(1.) / btScalar(60.) )
virtual

Definition at line 748 of file btDeformableMultiBodyDynamicsWorld.cpp.

References btFuzzyZero(), btMultiBodyDynamicsWorld::clearForces(), btIDebugDraw::DBG_NoDeactivation, gDisableDeactivation, btIDebugDraw::getDebugMode(), i, internalSingleStepSimulation(), m_fixedTimeStep, m_latencyMotionStateInterpolation, m_localTime, saveKinematicState(), startProfiling(), and synchronizeMotionStates().

◆ updateActivationState()

void btDeformableMultiBodyDynamicsWorld::updateActivationState ( btScalar timeStep)
protectedvirtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 139 of file btDeformableMultiBodyDynamicsWorld.cpp.

References ACTIVE_TAG, DISABLE_DEACTIVATION, i, ISLAND_SLEEPING, btSoftBody::setZeroVelocity(), btMultiBodyDynamicsWorld::updateActivationState(), btSoftBody::updateDeactivation(), WANTS_DEACTIVATION, and btSoftBody::wantsSleeping().

Referenced by internalSingleStepSimulation().

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