btSoftRigidDynamicsWorld Class Reference

#include <btSoftRigidDynamicsWorld.h>

Inheritance diagram for btSoftRigidDynamicsWorld:

Collaboration diagram for btSoftRigidDynamicsWorld:

[legend]

Public Member Functions
	btSoftRigidDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration)
virtual	~btSoftRigidDynamicsWorld ()
virtual void	debugDrawWorld ()
void	addSoftBody (btSoftBody *body, short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, short 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
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.
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.
Protected Member Functions
virtual void	predictUnconstraintMotion (btScalar timeStep)
virtual void	internalSingleStepSimulation (btScalar timeStep)
void	updateSoftBodies ()
void	solveSoftBodiesConstraints ()
Private Attributes
btSoftBodyArray	m_softBodies
int	m_drawFlags
bool	m_drawNodeTree
bool	m_drawFaceTree
bool	m_drawClusterTree
btSoftBodyWorldInfo	m_sbi

Detailed Description

Definition at line 24 of file btSoftRigidDynamicsWorld.h.

Constructor & Destructor Documentation

btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	pairCache,
		btConstraintSolver *	constraintSolver,
		btCollisionConfiguration *	collisionConfiguration
	)

Definition at line 28 of file btSoftRigidDynamicsWorld.cpp.

btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld ( ) [virtual]

Definition at line 42 of file btSoftRigidDynamicsWorld.cpp.

Member Function Documentation

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

Definition at line 105 of file btSoftRigidDynamicsWorld.cpp.

void btSoftRigidDynamicsWorld::debugDrawWorld ( ) [virtual]

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 131 of file btSoftRigidDynamicsWorld.cpp.

int btSoftRigidDynamicsWorld::getDrawFlags ( ) const [inline]

Definition at line 60 of file btSoftRigidDynamicsWorld.h.

const btSoftBodyArray& btSoftRigidDynamicsWorld::getSoftBodyArray ( ) const [inline]

Definition at line 78 of file btSoftRigidDynamicsWorld.h.

btSoftBodyArray& btSoftRigidDynamicsWorld::getSoftBodyArray ( ) [inline]

Definition at line 73 of file btSoftRigidDynamicsWorld.h.

const btSoftBodyWorldInfo& btSoftRigidDynamicsWorld::getWorldInfo ( ) const [inline]

Definition at line 67 of file btSoftRigidDynamicsWorld.h.

btSoftBodyWorldInfo& btSoftRigidDynamicsWorld::getWorldInfo ( ) [inline]

Definition at line 63 of file btSoftRigidDynamicsWorld.h.

void btSoftRigidDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep ) [protected, virtual]

solve soft bodies constraints

update soft bodies

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 59 of file btSoftRigidDynamicsWorld.cpp.

void btSoftRigidDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep ) [protected, virtual]

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 47 of file btSoftRigidDynamicsWorld.cpp.

void btSoftRigidDynamicsWorld::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 233 of file btSoftRigidDynamicsWorld.cpp.

void btSoftRigidDynamicsWorld::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.

Reimplemented from btCollisionWorld.

Definition at line 252 of file btSoftRigidDynamicsWorld.cpp.

void btSoftRigidDynamicsWorld::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 122 of file btSoftRigidDynamicsWorld.cpp.

void btSoftRigidDynamicsWorld::removeSoftBody ( btSoftBody * body )

Definition at line 115 of file btSoftRigidDynamicsWorld.cpp.

void btSoftRigidDynamicsWorld::setDrawFlags ( int f ) [inline]

Definition at line 61 of file btSoftRigidDynamicsWorld.h.

void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints ( ) [protected]

Definition at line 89 of file btSoftRigidDynamicsWorld.cpp.

void btSoftRigidDynamicsWorld::updateSoftBodies ( ) [protected]

Definition at line 78 of file btSoftRigidDynamicsWorld.cpp.