16 #ifndef BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H 17 #define BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H 23 #ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H 110 #endif //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
virtual void debugDrawWorld()
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
btSoftBodyArray & getSoftBodyArray()
void solveSoftBodiesConstraints(btScalar timeStep)
void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
btSoftBodyWorldInfo m_sbi
const btSoftBodyWorldInfo & getWorldInfo() const
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
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.
const btSoftBodyArray & getSoftBodyArray() const
RayResultCallback is used to report new raycast results.
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
virtual 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 ...
btSoftBodyWorldInfo & getWorldInfo()
virtual void internalSingleStepSimulation(btScalar timeStep)
btSoftBodyArray m_softBodies
virtual btDynamicsWorldType getWorldType() const
virtual ~btSoftMultiBodyDynamicsWorld()
btCollisionObject can be used to manage collision detection objects.
btSoftMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
btVector3 can be used to represent 3D points and vectors.
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
void serializeSoftBodies(btSerializer *serializer)
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
void removeSoftBody(btSoftBody *body)
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
virtual void predictUnconstraintMotion(btScalar timeStep)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...