#include <btSoftMultiBodyDynamicsWorld.h>

Inheritance diagram for btSoftMultiBodyDynamicsWorld:

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Collaboration diagram for btSoftMultiBodyDynamicsWorld:

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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 More...

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
	rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. More...

virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo) More...

Public Member Functions inherited from btMultiBodyDynamicsWorld
	btMultiBodyDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btMultiBodyConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)

virtual	~btMultiBodyDynamicsWorld ()

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)

virtual void	debugDrawMultiBodyConstraint (btMultiBodyConstraint *constraint)

void	forwardKinematics ()

virtual void	clearForces ()
	the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. More...

virtual void	clearMultiBodyConstraintForces ()

virtual void	clearMultiBodyForces ()

virtual void	applyGravity ()
	apply gravity, call this once per timestep More...

virtual void	setMultiBodyConstraintSolver (btMultiBodyConstraintSolver *solver)

virtual void	setConstraintSolver (btConstraintSolver *solver)

Public Member Functions inherited from btDiscreteDynamicsWorld
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btDiscreteDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)
	this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those More...

virtual	~btDiscreteDynamicsWorld ()

virtual int	stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
	if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's More...

virtual void	synchronizeMotionStates ()

void	synchronizeSingleMotionState (btRigidBody *body)
	this can be useful to synchronize a single rigid body -> graphics object More...

virtual void	addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)

virtual void	removeConstraint (btTypedConstraint *constraint)

virtual void	addAction (btActionInterface *)

virtual void	removeAction (btActionInterface *)

btSimulationIslandManager *	getSimulationIslandManager ()

const btSimulationIslandManager *	getSimulationIslandManager () const

btCollisionWorld *	getCollisionWorld ()

virtual void	setGravity (const btVector3 &gravity)

virtual btVector3	getGravity () const

virtual void	addCollisionObject (btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter^btBroadphaseProxy::StaticFilter)

virtual void	addRigidBody (btRigidBody *body)

virtual void	addRigidBody (btRigidBody *body, int group, int mask)

virtual void	removeRigidBody (btRigidBody *body)

virtual void	debugDrawConstraint (btTypedConstraint *constraint)

virtual btConstraintSolver *	getConstraintSolver ()

virtual int	getNumConstraints () const

virtual btTypedConstraint *	getConstraint (int index)

virtual const btTypedConstraint *	getConstraint (int index) const

virtual void	setNumTasks (int numTasks)

virtual void	updateVehicles (btScalar timeStep)
	obsolete, use updateActions instead More...

virtual void	addVehicle (btActionInterface *vehicle)
	obsolete, use addAction instead More...

virtual void	removeVehicle (btActionInterface *vehicle)
	obsolete, use removeAction instead More...

virtual void	addCharacter (btActionInterface *character)
	obsolete, use addAction instead More...

virtual void	removeCharacter (btActionInterface *character)
	obsolete, use removeAction instead More...

void	setSynchronizeAllMotionStates (bool synchronizeAll)

bool	getSynchronizeAllMotionStates () const

void	setApplySpeculativeContactRestitution (bool enable)

bool	getApplySpeculativeContactRestitution () const

void	setLatencyMotionStateInterpolation (bool latencyInterpolation)
	Interpolate motion state between previous and current transform, instead of current and next transform. More...

bool	getLatencyMotionStateInterpolation () const

Public Member Functions inherited from btDynamicsWorld
	btDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface broadphase, btCollisionConfiguration *collisionConfiguration)

virtual	~btDynamicsWorld ()

void	setInternalTickCallback (btInternalTickCallback cb, void *worldUserInfo=0, bool isPreTick=false)
	Set the callback for when an internal tick (simulation substep) happens, optional user info. More...

void	setWorldUserInfo (void *worldUserInfo)

void *	getWorldUserInfo () const

btContactSolverInfo &	getSolverInfo ()

const btContactSolverInfo &	getSolverInfo () const

Public Member Functions inherited from btCollisionWorld
	btCollisionWorld (btDispatcher dispatcher, btBroadphaseInterface broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
	for debug drawing More...

virtual	~btCollisionWorld ()

void	setBroadphase (btBroadphaseInterface *pairCache)

const btBroadphaseInterface *	getBroadphase () const

btBroadphaseInterface *	getBroadphase ()

btOverlappingPairCache *	getPairCache ()

btDispatcher *	getDispatcher ()

const btDispatcher *	getDispatcher () const

void	updateSingleAabb (btCollisionObject *colObj)

virtual void	updateAabbs ()

virtual void	computeOverlappingPairs ()
	the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation More...

virtual void	setDebugDrawer (btIDebugDraw *debugDrawer)

virtual btIDebugDraw *	getDebugDrawer ()

virtual void	debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)

int	getNumCollisionObjects () const

void	convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
	convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. More...

void	contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
	contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. More...

void	contactPairTest (btCollisionObject colObjA, btCollisionObject colObjB, ContactResultCallback &resultCallback)
	contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. More...

virtual void	refreshBroadphaseProxy (btCollisionObject *collisionObject)

btCollisionObjectArray &	getCollisionObjectArray ()

const btCollisionObjectArray &	getCollisionObjectArray () const

virtual void	performDiscreteCollisionDetection ()

btDispatcherInfo &	getDispatchInfo ()

const btDispatcherInfo &	getDispatchInfo () const

bool	getForceUpdateAllAabbs () const

void	setForceUpdateAllAabbs (bool forceUpdateAllAabbs)

Static Public Member Functions
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. More...

Static Public Member Functions inherited from btCollisionWorld
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. More...

static void	rayTestSingleInternal (const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)

static void	objectQuerySingle (const btConvexShape castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
	objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. More...

static void	objectQuerySingleInternal (const btConvexShape castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)

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	solveConstraints (btContactSolverInfo &solverInfo)

virtual void	serializeMultiBodies (btSerializer *serializer)

Protected Member Functions inherited from btDiscreteDynamicsWorld
void	integrateTransformsInternal (btRigidBody **bodies, int numBodies, btScalar timeStep)

void	updateActions (btScalar timeStep)

void	startProfiling (btScalar timeStep)

void	releasePredictiveContacts ()

void	createPredictiveContactsInternal (btRigidBody **bodies, int numBodies, btScalar timeStep)

virtual void	createPredictiveContacts (btScalar timeStep)

virtual void	saveKinematicState (btScalar timeStep)

void	serializeRigidBodies (btSerializer *serializer)

void	serializeDynamicsWorldInfo (btSerializer *serializer)

Protected Member Functions inherited from btCollisionWorld
void	serializeCollisionObjects (btSerializer *serializer)

void	serializeContactManifolds (btSerializer *serializer)

Private Attributes
btSoftBodyArray	m_softBodies

int	m_drawFlags

bool	m_drawNodeTree

bool	m_drawFaceTree

bool	m_drawClusterTree

btSoftBodyWorldInfo	m_sbi

btSoftBodySolver *	m_softBodySolver
	Solver classes that encapsulate multiple soft bodies for solving. More...

bool	m_ownsSolver

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

Protected Attributes inherited from btDiscreteDynamicsWorld
btAlignedObjectArray< btTypedConstraint * >	m_sortedConstraints

InplaceSolverIslandCallback *	m_solverIslandCallback

btConstraintSolver *	m_constraintSolver

btSimulationIslandManager *	m_islandManager

btAlignedObjectArray< btTypedConstraint * >	m_constraints

btAlignedObjectArray< btRigidBody * >	m_nonStaticRigidBodies

btVector3	m_gravity

btScalar	m_localTime

btScalar	m_fixedTimeStep

bool	m_ownsIslandManager

bool	m_ownsConstraintSolver

bool	m_synchronizeAllMotionStates

bool	m_applySpeculativeContactRestitution

btAlignedObjectArray< btActionInterface * >	m_actions

int	m_profileTimings

bool	m_latencyMotionStateInterpolation

btAlignedObjectArray< btPersistentManifold * >	m_predictiveManifolds

btSpinMutex	m_predictiveManifoldsMutex

Protected Attributes inherited from btDynamicsWorld
btInternalTickCallback	m_internalTickCallback

btInternalTickCallback	m_internalPreTickCallback

void *	m_worldUserInfo

btContactSolverInfo	m_solverInfo

Protected Attributes inherited from btCollisionWorld
btAlignedObjectArray< btCollisionObject * >	m_collisionObjects

btDispatcher *	m_dispatcher1

btDispatcherInfo	m_dispatchInfo

btBroadphaseInterface *	m_broadphasePairCache

btIDebugDraw *	m_debugDrawer

bool	m_forceUpdateAllAabbs
	m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB) More...

Detailed Description

Definition at line 29 of file btSoftMultiBodyDynamicsWorld.h.

Constructor & Destructor Documentation

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

Definition at line 28 of file btSoftMultiBodyDynamicsWorld.cpp.

btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld ( )

virtual

Definition at line 65 of file btSoftMultiBodyDynamicsWorld.cpp.

Member Function Documentation

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

Definition at line 128 of file btSoftMultiBodyDynamicsWorld.cpp.

void btSoftMultiBodyDynamicsWorld::debugDrawWorld ( )

virtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 158 of file btSoftMultiBodyDynamicsWorld.cpp.

int btSoftMultiBodyDynamicsWorld::getDrawFlags ( ) const

inline

Definition at line 67 of file btSoftMultiBodyDynamicsWorld.h.

btSoftBodyArray& btSoftMultiBodyDynamicsWorld::getSoftBodyArray ( )

inline

Definition at line 84 of file btSoftMultiBodyDynamicsWorld.h.

const btSoftBodyArray& btSoftMultiBodyDynamicsWorld::getSoftBodyArray ( ) const

inline

Definition at line 89 of file btSoftMultiBodyDynamicsWorld.h.

btSoftBodyWorldInfo& btSoftMultiBodyDynamicsWorld::getWorldInfo ( )

inline

Definition at line 70 of file btSoftMultiBodyDynamicsWorld.h.

const btSoftBodyWorldInfo& btSoftMultiBodyDynamicsWorld::getWorldInfo ( ) const

inline

Definition at line 74 of file btSoftMultiBodyDynamicsWorld.h.

virtual btDynamicsWorldType btSoftMultiBodyDynamicsWorld::getWorldType ( ) const

inlinevirtual

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 79 of file btSoftMultiBodyDynamicsWorld.h.

void btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep )

protectedvirtual

solve soft bodies constraints

update soft bodies

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 83 of file btSoftMultiBodyDynamicsWorld.cpp.

void btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep )

protectedvirtual

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 74 of file btSoftMultiBodyDynamicsWorld.cpp.

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

virtual

rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.

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

Reimplemented from btCollisionWorld.

Definition at line 264 of file btSoftMultiBodyDynamicsWorld.cpp.

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 283 of file btSoftMultiBodyDynamicsWorld.cpp.

void btSoftMultiBodyDynamicsWorld::removeCollisionObject ( btCollisionObject * collisionObject )

virtual

removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 149 of file btSoftMultiBodyDynamicsWorld.cpp.

void btSoftMultiBodyDynamicsWorld::removeSoftBody ( btSoftBody * body )

Definition at line 142 of file btSoftMultiBodyDynamicsWorld.cpp.

void btSoftMultiBodyDynamicsWorld::serialize ( btSerializer * serializer )

virtual

Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 351 of file btSoftMultiBodyDynamicsWorld.cpp.

void btSoftMultiBodyDynamicsWorld::serializeSoftBodies ( btSerializer * serializer )

protected

Definition at line 333 of file btSoftMultiBodyDynamicsWorld.cpp.