btSoftRigidDynamicsWorld Class Reference

#include <btSoftRigidDynamicsWorld.h>

Inheritance diagram for btSoftRigidDynamicsWorld:

Collaboration diagram for btSoftRigidDynamicsWorld:

Public Member Functions
	btSoftRigidDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
virtual	~btSoftRigidDynamicsWorld ()
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
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.
virtual void	serialize (btSerializer *serializer)
	Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
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 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	solveConstraints (btContactSolverInfo &solverInfo)
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 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 void	setConstraintSolver (btConstraintSolver *solver)
virtual btConstraintSolver *	getConstraintSolver ()
virtual int	getNumConstraints () const
virtual btTypedConstraint *	getConstraint (int index)
virtual const btTypedConstraint *	getConstraint (int index) const
virtual void	clearForces ()
	the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
virtual void	applyGravity ()
	apply gravity, call this once per timestep
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)

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.
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 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 btDiscreteDynamicsWorld
void	integrateTransformsInternal (btRigidBody **bodies, int numBodies, btScalar timeStep)
virtual void	integrateTransforms (btScalar timeStep)
virtual void	calculateSimulationIslands ()
virtual void	updateActivationState (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.
bool	m_ownsSolver

Additional Inherited Members
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 26 of file btSoftRigidDynamicsWorld.h.

Constructor & Destructor Documentation

btSoftRigidDynamicsWorld()

btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld	(	btDispatcher *	dispatcher,
		btBroadphaseInterface *	pairCache,
		btConstraintSolver *	constraintSolver,
		btCollisionConfiguration *	collisionConfiguration,
		btSoftBodySolver *	softBodySolver = 0
	)

Definition at line 26 of file btSoftRigidDynamicsWorld.cpp.

~btSoftRigidDynamicsWorld()

btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld ( )

virtual

Definition at line 60 of file btSoftRigidDynamicsWorld.cpp.

Member Function Documentation

addSoftBody()

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

Definition at line 120 of file btSoftRigidDynamicsWorld.cpp.

debugDrawWorld()

void btSoftRigidDynamicsWorld::debugDrawWorld ( )

virtual

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 149 of file btSoftRigidDynamicsWorld.cpp.

getDrawFlags()

int btSoftRigidDynamicsWorld::getDrawFlags ( ) const

inline

Definition at line 61 of file btSoftRigidDynamicsWorld.h.

getSoftBodyArray() [1/2]

btSoftBodyArray & btSoftRigidDynamicsWorld::getSoftBodyArray ( )

inline

Definition at line 78 of file btSoftRigidDynamicsWorld.h.

getSoftBodyArray() [2/2]

const btSoftBodyArray & btSoftRigidDynamicsWorld::getSoftBodyArray ( ) const

inline

Definition at line 83 of file btSoftRigidDynamicsWorld.h.

getWorldInfo() [1/2]

btSoftBodyWorldInfo & btSoftRigidDynamicsWorld::getWorldInfo ( )

inline

Definition at line 64 of file btSoftRigidDynamicsWorld.h.

getWorldInfo() [2/2]

const btSoftBodyWorldInfo & btSoftRigidDynamicsWorld::getWorldInfo ( ) const

inline

Definition at line 68 of file btSoftRigidDynamicsWorld.h.

getWorldType()

virtual btDynamicsWorldType btSoftRigidDynamicsWorld::getWorldType ( ) const

inlinevirtual

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 73 of file btSoftRigidDynamicsWorld.h.

internalSingleStepSimulation()

void btSoftRigidDynamicsWorld::internalSingleStepSimulation ( btScalar  timeStep )

protectedvirtual

solve soft bodies constraints

update soft bodies

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 78 of file btSoftRigidDynamicsWorld.cpp.

predictUnconstraintMotion()

void btSoftRigidDynamicsWorld::predictUnconstraintMotion ( btScalar  timeStep )

protectedvirtual

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 69 of file btSoftRigidDynamicsWorld.cpp.

rayTest()

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

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 249 of file btSoftRigidDynamicsWorld.cpp.

rayTestSingle()

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.

Definition at line 266 of file btSoftRigidDynamicsWorld.cpp.

removeCollisionObject()

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 140 of file btSoftRigidDynamicsWorld.cpp.

removeSoftBody()

void btSoftRigidDynamicsWorld::removeSoftBody

(

btSoftBody *

body

)

Definition at line 133 of file btSoftRigidDynamicsWorld.cpp.

serialize()

void btSoftRigidDynamicsWorld::serialize ( btSerializer *  serializer )

virtual

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

Reimplemented from btDiscreteDynamicsWorld.

Definition at line 333 of file btSoftRigidDynamicsWorld.cpp.

serializeSoftBodies()

void btSoftRigidDynamicsWorld::serializeSoftBodies ( btSerializer *  serializer )

protected

Definition at line 316 of file btSoftRigidDynamicsWorld.cpp.

setDrawFlags()

void btSoftRigidDynamicsWorld::setDrawFlags ( int  f )

inline

Definition at line 62 of file btSoftRigidDynamicsWorld.h.

solveSoftBodiesConstraints()

void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints ( btScalar  timeStep )

protected

Definition at line 107 of file btSoftRigidDynamicsWorld.cpp.

Member Data Documentation

m_drawClusterTree

bool btSoftRigidDynamicsWorld::m_drawClusterTree

private

Definition at line 32 of file btSoftRigidDynamicsWorld.h.

m_drawFaceTree

bool btSoftRigidDynamicsWorld::m_drawFaceTree

private

Definition at line 31 of file btSoftRigidDynamicsWorld.h.

m_drawFlags

int btSoftRigidDynamicsWorld::m_drawFlags

private

Definition at line 29 of file btSoftRigidDynamicsWorld.h.

m_drawNodeTree

bool btSoftRigidDynamicsWorld::m_drawNodeTree

private

Definition at line 30 of file btSoftRigidDynamicsWorld.h.

m_ownsSolver

bool btSoftRigidDynamicsWorld::m_ownsSolver

private

Definition at line 36 of file btSoftRigidDynamicsWorld.h.

m_sbi

btSoftBodyWorldInfo btSoftRigidDynamicsWorld::m_sbi

private

Definition at line 33 of file btSoftRigidDynamicsWorld.h.

m_softBodies

btSoftBodyArray btSoftRigidDynamicsWorld::m_softBodies

private

Definition at line 28 of file btSoftRigidDynamicsWorld.h.

m_softBodySolver

btSoftBodySolver* btSoftRigidDynamicsWorld::m_softBodySolver

private

Solver classes that encapsulate multiple soft bodies for solving.

Definition at line 35 of file btSoftRigidDynamicsWorld.h.

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

• btSoftRigidDynamicsWorld.h
• btSoftRigidDynamicsWorld.cpp