16#ifndef BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
17#define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
200 btVector3 rayDir = (rayToWorld - rayFromWorld);
228#ifdef RECALCULATE_AABB
229 btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
259#ifndef USE_BRUTEFORCE_RAYBROADPHASE
294 if (normal.
dot(rayDir) > 0)
305 bool normalInWorldSpace =
true;
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
@ BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
btTransform & getWorldTransform()
btBroadphaseProxy * getBroadphaseHandle()
const btCollisionShape * getCollisionShape() const
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
btBroadphaseInterface * m_broadphasePairCache
btAlignedObjectArray< btCollisionObject * > m_collisionObjects
int getNumCollisionObjects() const
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.
void(* btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld *world)
void setImplicit(bool implicit)
void setLineSearch(bool lineSearch)
const btSoftBodyWorldInfo & getWorldInfo() const
void applyRigidBodyGravity(btScalar timeStep)
btSoftBodyWorldInfo & getWorldInfo()
void solveMultiBodyConstraints()
void setUseProjection(bool useProjection)
btDeformableMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btDeformableMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btDeformableBodySolver *deformableBodySolver=0)
void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
virtual void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
void removeSoftBodyForce(btSoftBody *psb)
const btSoftBodyArray & getSoftBodyArray() const
void removeSoftBody(btSoftBody *body)
void reinitialize(btScalar timeStep)
void positionCorrection(btScalar timeStep)
virtual void predictUnconstraintMotion(btScalar timeStep)
void afterSolverCallbacks(btScalar timeStep)
void applyRepulsionForce(btScalar timeStep)
void rayTestSingle(const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback) const
virtual void debugDrawWorld()
void solveConstraints(btScalar timeStep)
btAlignedObjectArray< btVector3 > TVStack
void addForce(btSoftBody *psb, btDeformableLagrangianForce *force)
void softBodySelfCollision()
btSolverCallback m_solverCallback
void performGeometricCollisions(btScalar timeStep)
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 ...
virtual void integrateTransforms(btScalar timeStep)
virtual btDynamicsWorldType getWorldType() const
void removeForce(btSoftBody *psb, btDeformableLagrangianForce *force)
btSoftBodyWorldInfo m_sbi
virtual void internalSingleStepSimulation(btScalar timeStep)
void updateActivationState(btScalar timeStep)
virtual ~btDeformableMultiBodyDynamicsWorld()
void solveContactConstraints()
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
btSoftBodyArray m_softBodies
void setSolverCallback(btSolverCallback cb)
virtual const btMultiBodyDynamicsWorld * getMultiBodyDynamicsWorld() const
DeformableBodyInplaceSolverIslandCallback * m_solverDeformableBodyIslandCallback
virtual void setGravity(const btVector3 &gravity)
btSoftBodyArray & getSoftBodyArray()
void beforeSolverCallbacks(btScalar timeStep)
void performDeformableCollisionDetection()
btDeformableBodySolver * m_deformableBodySolver
Solver classes that encapsulate multiple deformable bodies for solving.
virtual btMultiBodyDynamicsWorld * getMultiBodyDynamicsWorld()
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
bool rayFaceTest(const btVector3 &rayFrom, const btVector3 &rayTo, sRayCast &results)
static const btSoftBody * upcast(const btCollisionObject *colObj)
btVector3 can be used to represent 3D points and vectors.
btScalar dot(const btVector3 &v) const
Return the dot product.
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
btBroadphaseRayCallback()
LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is avai...
RayResultCallback is used to report new raycast results.
btScalar m_closestHitFraction
virtual btScalar addSingleResult(LocalRayResult &rayResult, bool normalInWorldSpace)=0
btDeformableSingleRayCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const btDeformableMultiBodyDynamicsWorld *world, btCollisionWorld::RayResultCallback &resultCallback)
const btDeformableMultiBodyDynamicsWorld * m_world
virtual bool process(const btBroadphaseProxy *proxy)
btTransform m_rayFromTrans
btCollisionWorld::RayResultCallback & m_resultCallback
btScalar fraction
feature index