#include <btDeformableMultiBodyDynamicsWorld.h>

Inheritance diagram for btDeformableMultiBodyDynamicsWorld:

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Collaboration diagram for btDeformableMultiBodyDynamicsWorld:

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Classes
struct	btDeformableSingleRayCallback

Public Member Functions
	btDeformableMultiBodyDynamicsWorld (btDispatcher dispatcher, btBroadphaseInterface pairCache, btDeformableMultiBodyConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration, btDeformableBodySolver *deformableBodySolver=0)

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

virtual void	debugDrawWorld ()

void	setSolverCallback (btSolverCallback cb)

virtual	~btDeformableMultiBodyDynamicsWorld ()

virtual btMultiBodyDynamicsWorld *	getMultiBodyDynamicsWorld ()

virtual const btMultiBodyDynamicsWorld *	getMultiBodyDynamicsWorld () const

virtual btDynamicsWorldType	getWorldType () const

virtual void	predictUnconstraintMotion (btScalar timeStep)

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

btSoftBodyArray &	getSoftBodyArray ()

const btSoftBodyArray &	getSoftBodyArray () const

btSoftBodyWorldInfo &	getWorldInfo ()

const btSoftBodyWorldInfo &	getWorldInfo () const

virtual void	setGravity (const btVector3 &gravity)

void	reinitialize (btScalar timeStep)

void	applyRigidBodyGravity (btScalar timeStep)

void	beforeSolverCallbacks (btScalar timeStep)

void	afterSolverCallbacks (btScalar timeStep)

void	addForce (btSoftBody psb, btDeformableLagrangianForce force)

void	removeForce (btSoftBody psb, btDeformableLagrangianForce force)

void	removeSoftBodyForce (btSoftBody *psb)

void	removeSoftBody (btSoftBody *body)

void	removeCollisionObject (btCollisionObject *collisionObject)
	removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject

int	getDrawFlags () const

void	setDrawFlags (int f)

void	setupConstraints ()

void	performDeformableCollisionDetection ()

void	solveMultiBodyConstraints ()

void	solveContactConstraints ()

void	sortConstraints ()

void	softBodySelfCollision ()

void	setImplicit (bool implicit)

void	setLineSearch (bool lineSearch)

void	setUseProjection (bool useProjection)

void	applyRepulsionForce (btScalar timeStep)

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 allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.

void	rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject collisionObject, const btCollisionShape collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback) const

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)

void	integrateMultiBodyTransforms (btScalar timeStep)

void	predictMultiBodyTransforms (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.

virtual void	clearMultiBodyConstraintForces ()

virtual void	clearMultiBodyForces ()

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

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

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 ()

virtual void	saveKinematicState (btScalar timeStep)

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

virtual	~btDiscreteDynamicsWorld ()

virtual void	synchronizeMotionStates ()

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

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 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

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

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

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

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

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.

bool	getLatencyMotionStateInterpolation () const

btAlignedObjectArray< btRigidBody * > &	getNonStaticRigidBodies ()

const btAlignedObjectArray< btRigidBody * > &	getNonStaticRigidBodies () 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.

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

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

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.

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

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.

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)

Protected Member Functions
virtual void	internalSingleStepSimulation (btScalar timeStep)

virtual void	integrateTransforms (btScalar timeStep)

void	positionCorrection (btScalar timeStep)

void	solveConstraints (btScalar timeStep)

void	updateActivationState (btScalar timeStep)

void	clearGravity ()

Protected Member Functions inherited from btMultiBodyDynamicsWorld
virtual void	calculateSimulationIslands ()

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)

void	serializeRigidBodies (btSerializer *serializer)

void	serializeDynamicsWorldInfo (btSerializer *serializer)

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

void	serializeContactManifolds (btSerializer *serializer)

Private Types
typedef btAlignedObjectArray< btVector3 >	TVStack

typedef void(*	btSolverCallback) (btScalar time, btDeformableMultiBodyDynamicsWorld *world)

Private Attributes
btDeformableBodySolver *	m_deformableBodySolver
	Solver classes that encapsulate multiple deformable bodies for solving.

btSoftBodyArray	m_softBodies

int	m_drawFlags

bool	m_drawNodeTree

bool	m_drawFaceTree

bool	m_drawClusterTree

btSoftBodyWorldInfo	m_sbi

btScalar	m_internalTime

int	m_ccdIterations

bool	m_implicit

bool	m_lineSearch

bool	m_useProjection

DeformableBodyInplaceSolverIslandCallback *	m_solverDeformableBodyIslandCallback

btSolverCallback	m_solverCallback

Additional Inherited Members
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.

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.

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

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)

Detailed Description

Definition at line 37 of file btDeformableMultiBodyDynamicsWorld.h.

Member Typedef Documentation

◆ btSolverCallback

typedef void(* btDeformableMultiBodyDynamicsWorld::btSolverCallback) (btScalar time, btDeformableMultiBodyDynamicsWorld *world)

private

Definition at line 55 of file btDeformableMultiBodyDynamicsWorld.h.

◆ TVStack

typedef btAlignedObjectArray<btVector3> btDeformableMultiBodyDynamicsWorld::TVStack

private

Definition at line 39 of file btDeformableMultiBodyDynamicsWorld.h.

Constructor & Destructor Documentation

◆ btDeformableMultiBodyDynamicsWorld()

btDeformableMultiBodyDynamicsWorld::btDeformableMultiBodyDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	pairCache,
		btDeformableMultiBodyConstraintSolver *	constraintSolver,
		btCollisionConfiguration *	collisionConfiguration,
		btDeformableBodySolver *	deformableBodySolver = `0`
	)

Definition at line 42 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ ~btDeformableMultiBodyDynamicsWorld()

btDeformableMultiBodyDynamicsWorld::~btDeformableMultiBodyDynamicsWorld ( )

virtual

Definition at line 70 of file btDeformableMultiBodyDynamicsWorld.cpp.

Member Function Documentation

◆ addForce()

void btDeformableMultiBodyDynamicsWorld::addForce	(	btSoftBody *	psb,
		btDeformableLagrangianForce *	force
	)

Definition at line 613 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ addSoftBody()

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

virtual

Definition at line 426 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ afterSolverCallbacks()

void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks ( btScalar timeStep )

Definition at line 605 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ applyRepulsionForce()

void btDeformableMultiBodyDynamicsWorld::applyRepulsionForce ( btScalar timeStep )

Definition at line 163 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ applyRigidBodyGravity()

void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity ( btScalar timeStep )

Definition at line 491 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ beforeSolverCallbacks()

void btDeformableMultiBodyDynamicsWorld::beforeSolverCallbacks ( btScalar timeStep )

Definition at line 592 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ clearGravity()

void btDeformableMultiBodyDynamicsWorld::clearGravity ( )

protected

Definition at line 551 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ debugDrawWorld()

void btDeformableMultiBodyDynamicsWorld::debugDrawWorld ( )

virtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 477 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ getDrawFlags()

int btDeformableMultiBodyDynamicsWorld::getDrawFlags ( ) const

inline

Definition at line 144 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getMultiBodyDynamicsWorld() [1/2]

virtual btMultiBodyDynamicsWorld * btDeformableMultiBodyDynamicsWorld::getMultiBodyDynamicsWorld ( )

inlinevirtual

Definition at line 85 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getMultiBodyDynamicsWorld() [2/2]

virtual const btMultiBodyDynamicsWorld * btDeformableMultiBodyDynamicsWorld::getMultiBodyDynamicsWorld ( ) const

inlinevirtual

Definition at line 90 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getSoftBodyArray() [1/2]

btSoftBodyArray & btDeformableMultiBodyDynamicsWorld::getSoftBodyArray ( )

inline

Definition at line 104 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getSoftBodyArray() [2/2]

const btSoftBodyArray & btDeformableMultiBodyDynamicsWorld::getSoftBodyArray ( ) const

inline

Definition at line 109 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getWorldInfo() [1/2]

btSoftBodyWorldInfo & btDeformableMultiBodyDynamicsWorld::getWorldInfo ( )

inline

Definition at line 114 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getWorldInfo() [2/2]

const btSoftBodyWorldInfo & btDeformableMultiBodyDynamicsWorld::getWorldInfo ( ) const

inline

Definition at line 119 of file btDeformableMultiBodyDynamicsWorld.h.

◆ getWorldType()

virtual btDynamicsWorldType btDeformableMultiBodyDynamicsWorld::getWorldType ( ) const

inlinevirtual

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 95 of file btDeformableMultiBodyDynamicsWorld.h.

◆ integrateTransforms()

void btDeformableMultiBodyDynamicsWorld::integrateTransforms ( btScalar timeStep )

protectedvirtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 296 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ internalSingleStepSimulation()

void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation ( btScalar timeStep )

protectedvirtual

apply gravity and explicit force to velocity, predict motion

perform collision detection that involves rigid/multi bodies

update vehicle simulation

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 75 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ performDeformableCollisionDetection()

void btDeformableMultiBodyDynamicsWorld::performDeformableCollisionDetection ( )

Definition at line 118 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ performGeometricCollisions()

void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions ( btScalar timeStep )

Definition at line 176 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ positionCorrection()

void btDeformableMultiBodyDynamicsWorld::positionCorrection ( btScalar timeStep )

protected

Definition at line 274 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ predictUnconstraintMotion()

void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion ( btScalar timeStep )

virtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 439 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ rayTest()

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

inlinevirtual

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 252 of file btDeformableMultiBodyDynamicsWorld.h.

◆ rayTestSingle()

void btDeformableMultiBodyDynamicsWorld::rayTestSingle	(	const btTransform &	rayFromTrans,
		const btTransform &	rayToTrans,
		btCollisionObject *	collisionObject,
		const btCollisionShape *	collisionShape,
		const btTransform &	colObjWorldTransform,
		RayResultCallback &	resultCallback
	)		const

inline

Definition at line 269 of file btDeformableMultiBodyDynamicsWorld.h.

◆ reinitialize()

void btDeformableMultiBodyDynamicsWorld::reinitialize ( btScalar timeStep )

Definition at line 452 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ removeCollisionObject()

void btDeformableMultiBodyDynamicsWorld::removeCollisionObject ( btCollisionObject * collisionObject )

virtual

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

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 670 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ removeForce()

void btDeformableMultiBodyDynamicsWorld::removeForce	(	btSoftBody *	psb,
		btDeformableLagrangianForce *	force
	)

Definition at line 634 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ removeSoftBody()

void btDeformableMultiBodyDynamicsWorld::removeSoftBody ( btSoftBody * body )

Definition at line 661 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ removeSoftBodyForce()

void btDeformableMultiBodyDynamicsWorld::removeSoftBodyForce ( btSoftBody * psb )

Definition at line 652 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ setDrawFlags()

void btDeformableMultiBodyDynamicsWorld::setDrawFlags ( int f )

inline

Definition at line 145 of file btDeformableMultiBodyDynamicsWorld.h.

◆ setGravity()

void btDeformableMultiBodyDynamicsWorld::setGravity ( const btVector3 & gravity )

virtual

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 446 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ setImplicit()

void btDeformableMultiBodyDynamicsWorld::setImplicit ( bool implicit )

inline

Definition at line 159 of file btDeformableMultiBodyDynamicsWorld.h.

◆ setLineSearch()

void btDeformableMultiBodyDynamicsWorld::setLineSearch ( bool lineSearch )

inline

Definition at line 164 of file btDeformableMultiBodyDynamicsWorld.h.

◆ setSolverCallback()

void btDeformableMultiBodyDynamicsWorld::setSolverCallback ( btSolverCallback cb )

inline

Definition at line 78 of file btDeformableMultiBodyDynamicsWorld.h.

◆ setupConstraints()

void btDeformableMultiBodyDynamicsWorld::setupConstraints ( )

Definition at line 332 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ setUseProjection()

void btDeformableMultiBodyDynamicsWorld::setUseProjection ( bool useProjection )

inline

Definition at line 169 of file btDeformableMultiBodyDynamicsWorld.h.

◆ softBodySelfCollision()

void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision ( )

Definition at line 261 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ solveConstraints()

void btDeformableMultiBodyDynamicsWorld::solveConstraints ( btScalar timeStep )

protected

Definition at line 304 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ solveContactConstraints()

void btDeformableMultiBodyDynamicsWorld::solveContactConstraints ( )

Definition at line 368 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ solveMultiBodyConstraints()

void btDeformableMultiBodyDynamicsWorld::solveMultiBodyConstraints ( )

◆ sortConstraints()

void btDeformableMultiBodyDynamicsWorld::sortConstraints ( )

Definition at line 350 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ stepSimulation()

int btDeformableMultiBodyDynamicsWorld::stepSimulation	(	btScalar	timeStep,
		int	maxSubSteps = `1`,
		btScalar	fixedTimeStep = `btScalar(1.) / btScalar(60.)`
	)

virtual

if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 679 of file btDeformableMultiBodyDynamicsWorld.cpp.

◆ updateActivationState()

void btDeformableMultiBodyDynamicsWorld::updateActivationState ( btScalar timeStep )

protectedvirtual

Reimplemented from btMultiBodyDynamicsWorld.

Definition at line 139 of file btDeformableMultiBodyDynamicsWorld.cpp.

Member Data Documentation

◆ m_ccdIterations

int btDeformableMultiBodyDynamicsWorld::m_ccdIterations

private

Definition at line 49 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_deformableBodySolver

btDeformableBodySolver* btDeformableMultiBodyDynamicsWorld::m_deformableBodySolver

private

Solver classes that encapsulate multiple deformable bodies for solving.

Definition at line 41 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_drawClusterTree

bool btDeformableMultiBodyDynamicsWorld::m_drawClusterTree

private

Definition at line 46 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_drawFaceTree

bool btDeformableMultiBodyDynamicsWorld::m_drawFaceTree

private

Definition at line 45 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_drawFlags

int btDeformableMultiBodyDynamicsWorld::m_drawFlags

private

Definition at line 43 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_drawNodeTree

bool btDeformableMultiBodyDynamicsWorld::m_drawNodeTree

private

Definition at line 44 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_implicit

bool btDeformableMultiBodyDynamicsWorld::m_implicit

private

Definition at line 50 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_internalTime

btScalar btDeformableMultiBodyDynamicsWorld::m_internalTime

private

Definition at line 48 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_lineSearch

bool btDeformableMultiBodyDynamicsWorld::m_lineSearch

private

Definition at line 51 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_sbi

btSoftBodyWorldInfo btDeformableMultiBodyDynamicsWorld::m_sbi

private

Definition at line 47 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_softBodies

btSoftBodyArray btDeformableMultiBodyDynamicsWorld::m_softBodies

private

Definition at line 42 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_solverCallback

btSolverCallback btDeformableMultiBodyDynamicsWorld::m_solverCallback

private

Definition at line 56 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_solverDeformableBodyIslandCallback

DeformableBodyInplaceSolverIslandCallback* btDeformableMultiBodyDynamicsWorld::m_solverDeformableBodyIslandCallback

private

Definition at line 53 of file btDeformableMultiBodyDynamicsWorld.h.

◆ m_useProjection

bool btDeformableMultiBodyDynamicsWorld::m_useProjection

private

Definition at line 52 of file btDeformableMultiBodyDynamicsWorld.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Protected Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ btSolverCallback

◆ TVStack

Constructor & Destructor Documentation

◆ btDeformableMultiBodyDynamicsWorld()

◆ ~btDeformableMultiBodyDynamicsWorld()

Member Function Documentation

◆ addForce()

◆ addSoftBody()

◆ afterSolverCallbacks()

◆ applyRepulsionForce()

◆ applyRigidBodyGravity()

◆ beforeSolverCallbacks()

◆ clearGravity()

◆ debugDrawWorld()

◆ getDrawFlags()

◆ getMultiBodyDynamicsWorld() [1/2]

◆ getMultiBodyDynamicsWorld() [2/2]

◆ getSoftBodyArray() [1/2]

◆ getSoftBodyArray() [2/2]

◆ getWorldInfo() [1/2]

◆ getWorldInfo() [2/2]

◆ getWorldType()

◆ integrateTransforms()

◆ internalSingleStepSimulation()

◆ performDeformableCollisionDetection()

◆ performGeometricCollisions()

◆ positionCorrection()

◆ predictUnconstraintMotion()

◆ rayTest()

◆ rayTestSingle()

◆ reinitialize()

◆ removeCollisionObject()

◆ removeForce()

◆ removeSoftBody()

◆ removeSoftBodyForce()

◆ setDrawFlags()

◆ setGravity()

◆ setImplicit()

◆ setLineSearch()

◆ setSolverCallback()

◆ setupConstraints()

◆ setUseProjection()

◆ softBodySelfCollision()

◆ solveConstraints()

◆ solveContactConstraints()

◆ solveMultiBodyConstraints()

◆ sortConstraints()

◆ stepSimulation()

◆ updateActivationState()

Member Data Documentation

◆ m_ccdIterations

◆ m_deformableBodySolver

◆ m_drawClusterTree

◆ m_drawFaceTree

◆ m_drawFlags

◆ m_drawNodeTree

◆ m_implicit

◆ m_internalTime

◆ m_lineSearch

◆ m_sbi

◆ m_softBodies

◆ m_solverCallback

◆ m_solverDeformableBodyIslandCallback

◆ m_useProjection