#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 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.

◆ ~btSoftMultiBodyDynamicsWorld()

btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld ( )

virtual

Definition at line 60 of file btSoftMultiBodyDynamicsWorld.cpp.

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

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(), btAlignedObjectArray< T >::push_back(), 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 btAlignedObjectArray< T >::size().

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

◆ predictUnconstraintMotion()

void btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep )

protectedvirtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 69 of file btSoftMultiBodyDynamicsWorld.cpp.

References BT_PROFILE, and btSoftBodySolver::predictMotion().

◆ 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, getBroadphaseHandle(), 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 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().

Referenced by btSoftSingleRayCallback::process().

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