Bullet Collision Detection & Physics Library
Public Member Functions | Static Public Member Functions | Protected Member Functions | Private Attributes | List of all members
btSoftRigidDynamicsWorld Class Reference

#include <btSoftRigidDynamicsWorld.h>

Inheritance diagram for btSoftRigidDynamicsWorld:
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Collaboration diagram for btSoftRigidDynamicsWorld:
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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 More...
 
int getDrawFlags () const
 
void setDrawFlags (int f)
 
btSoftBodyWorldInfogetWorldInfo ()
 
const btSoftBodyWorldInfogetWorldInfo () const
 
virtual btDynamicsWorldType getWorldType () const
 
btSoftBodyArraygetSoftBodyArray ()
 
const btSoftBodyArraygetSoftBodyArray () 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 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 solveConstraints (btContactSolverInfo &solverInfo)
 
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 *)
 
btSimulationIslandManagergetSimulationIslandManager ()
 
const btSimulationIslandManagergetSimulationIslandManager () const
 
btCollisionWorldgetCollisionWorld ()
 
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 removeCollisionObject (btCollisionObject *collisionObject)
 removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject More...
 
virtual void debugDrawConstraint (btTypedConstraint *constraint)
 
virtual void debugDrawWorld ()
 
virtual void setConstraintSolver (btConstraintSolver *solver)
 
virtual btConstraintSolvergetConstraintSolver ()
 
virtual int getNumConstraints () const
 
virtual btTypedConstraintgetConstraint (int index)
 
virtual const btTypedConstraintgetConstraint (int index) const
 
virtual btDynamicsWorldType getWorldType () const
 
virtual void clearForces ()
 the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. More...
 
virtual void applyGravity ()
 apply gravity, call this once per timestep More...
 
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
 
virtual void serialize (btSerializer *serializer)
 Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo) More...
 
void setLatencyMotionStateInterpolation (bool latencyInterpolation)
 Interpolate motion state between previous and current transform, instead of current and next transform. More...
 
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 ()
 
virtual int stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0
 stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. More...
 
virtual void debugDrawWorld ()=0
 
virtual void addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false)
 
virtual void removeConstraint (btTypedConstraint *constraint)
 
virtual void addAction (btActionInterface *action)=0
 
virtual void removeAction (btActionInterface *action)=0
 
virtual void setGravity (const btVector3 &gravity)=0
 
virtual btVector3 getGravity () const =0
 
virtual void synchronizeMotionStates ()=0
 
virtual void addRigidBody (btRigidBody *body)=0
 
virtual void addRigidBody (btRigidBody *body, int group, int mask)=0
 
virtual void removeRigidBody (btRigidBody *body)=0
 
virtual void setConstraintSolver (btConstraintSolver *solver)=0
 
virtual btConstraintSolvergetConstraintSolver ()=0
 
virtual int getNumConstraints () const
 
virtual btTypedConstraintgetConstraint (int index)
 
virtual const btTypedConstraintgetConstraint (int index) const
 
virtual btDynamicsWorldType getWorldType () const =0
 
virtual void clearForces ()=0
 
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
 
btContactSolverInfogetSolverInfo ()
 
const btContactSolverInfogetSolverInfo () const
 
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...
 
- Public Member Functions inherited from btCollisionWorld
 btCollisionWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
 for debug drawing More...
 
virtual ~btCollisionWorld ()
 
void setBroadphase (btBroadphaseInterface *pairCache)
 
const btBroadphaseInterfacegetBroadphase () const
 
btBroadphaseInterfacegetBroadphase ()
 
btOverlappingPairCachegetPairCache ()
 
btDispatchergetDispatcher ()
 
const btDispatchergetDispatcher () 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 btIDebugDrawgetDebugDrawer ()
 
virtual void debugDrawWorld ()
 
virtual void debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
 
int getNumCollisionObjects () 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...
 
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 addCollisionObject (btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
 
virtual void refreshBroadphaseProxy (btCollisionObject *collisionObject)
 
btCollisionObjectArraygetCollisionObjectArray ()
 
const btCollisionObjectArraygetCollisionObjectArray () const
 
virtual void removeCollisionObject (btCollisionObject *collisionObject)
 
virtual void performDiscreteCollisionDetection ()
 
btDispatcherInfogetDispatchInfo ()
 
const btDispatcherInfogetDispatchInfo () const
 
bool getForceUpdateAllAabbs () const
 
void setForceUpdateAllAabbs (bool forceUpdateAllAabbs)
 
virtual void serialize (btSerializer *serializer)
 Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo) More...
 

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 btDiscreteDynamicsWorld
virtual void predictUnconstraintMotion (btScalar timeStep)
 
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)
 
virtual void internalSingleStepSimulation (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
 
btSoftBodySolverm_softBodySolver
 Solver classes that encapsulate multiple soft bodies for solving. More...
 
bool m_ownsSolver
 

Additional Inherited Members

- Protected Attributes inherited from btDiscreteDynamicsWorld
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
 
InplaceSolverIslandCallbackm_solverIslandCallback
 
btConstraintSolverm_constraintSolver
 
btSimulationIslandManagerm_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
 
btDispatcherm_dispatcher1
 
btDispatcherInfo m_dispatchInfo
 
btBroadphaseInterfacem_broadphasePairCache
 
btIDebugDrawm_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 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.


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