#include <btSoftMultiBodyDynamicsWorld.h>

Inherits btMultiBodyDynamicsWorld.

Public Member Functions
	btSoftMultiBodyDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btMultiBodyConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration, btSoftBodySolver *softBodySolver=0)
virtual	~btSoftMultiBodyDynamicsWorld ()
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)
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)
virtual void	integrateTransforms (btScalar timeStep)
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	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 ()

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)
Protected Member Functions inherited from btMultiBodyDynamicsWorld
virtual void	calculateSimulationIslands ()
virtual void	updateActivationState (btScalar timeStep)
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 29 of file btSoftMultiBodyDynamicsWorld.h.

Constructor & Destructor Documentation

◆ btSoftMultiBodyDynamicsWorld()

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

Definition at line 26 of file btSoftMultiBodyDynamicsWorld.cpp.

References btAlignedAlloc, btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(), btVector3, false, ptr, and fDrawFlags::Std.

◆ ~btSoftMultiBodyDynamicsWorld()

btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld ( )

virtual

Definition at line 60 of file btSoftMultiBodyDynamicsWorld.cpp.

References btAlignedFree.

Member Function Documentation

◆ addSoftBody()

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

Definition at line 120 of file btSoftMultiBodyDynamicsWorld.cpp.

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

◆ debugDrawWorld()

void btSoftMultiBodyDynamicsWorld::debugDrawWorld ( )

virtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 149 of file btSoftMultiBodyDynamicsWorld.cpp.

References btIDebugDraw::DBG_DrawAabb, btIDebugDraw::DBG_DrawWireframe, btMultiBodyDynamicsWorld::debugDrawWorld(), btSoftBodyHelpers::Draw(), btSoftBodyHelpers::DrawClusterTree(), btSoftBodyHelpers::DrawFaceTree(), btSoftBodyHelpers::DrawFrame(), btSoftBodyHelpers::DrawNodeTree(), and i.

◆ getDrawFlags()

int btSoftMultiBodyDynamicsWorld::getDrawFlags ( ) const

inline

Definition at line 64 of file btSoftMultiBodyDynamicsWorld.h.

◆ getSoftBodyArray() [1/2]

btSoftBodyArray & btSoftMultiBodyDynamicsWorld::getSoftBodyArray ( )

inline

Definition at line 81 of file btSoftMultiBodyDynamicsWorld.h.

Referenced by internalSingleStepSimulation().

◆ getSoftBodyArray() [2/2]

const btSoftBodyArray & btSoftMultiBodyDynamicsWorld::getSoftBodyArray ( ) const

inline

Definition at line 86 of file btSoftMultiBodyDynamicsWorld.h.

◆ getWorldInfo() [1/2]

btSoftBodyWorldInfo & btSoftMultiBodyDynamicsWorld::getWorldInfo ( )

inline

Definition at line 67 of file btSoftMultiBodyDynamicsWorld.h.

◆ getWorldInfo() [2/2]

const btSoftBodyWorldInfo & btSoftMultiBodyDynamicsWorld::getWorldInfo ( ) const

inline

Definition at line 71 of file btSoftMultiBodyDynamicsWorld.h.

◆ getWorldType()

virtual btDynamicsWorldType btSoftMultiBodyDynamicsWorld::getWorldType ( ) const

inlinevirtual

Definition at line 76 of file btSoftMultiBodyDynamicsWorld.h.

References BT_SOFT_MULTIBODY_DYNAMICS_WORLD.

◆ internalSingleStepSimulation()

void btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep )

protectedvirtual

solve soft bodies constraints

update soft bodies

Definition at line 78 of file btSoftMultiBodyDynamicsWorld.cpp.

References btAssert, btSoftBody::defaultCollisionHandler(), getSoftBodyArray(), i, and solveSoftBodiesConstraints().

◆ predictUnconstraintMotion()

void btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep )

protectedvirtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 69 of file btSoftMultiBodyDynamicsWorld.cpp.

References BT_PROFILE.

◆ rayTest()

void btSoftMultiBodyDynamicsWorld::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 btSoftMultiBodyDynamicsWorld.cpp.

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

◆ rayTestSingle()

void btSoftMultiBodyDynamicsWorld::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 btSoftMultiBodyDynamicsWorld.cpp.

References btCollisionObject, btCollisionShape, btTransform, btVector3, 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 btSoftMultiBodyDynamicsWorld::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 btSoftMultiBodyDynamicsWorld.cpp.

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