Bullet Collision Detection & Physics Library: btSoftRigidDynamicsWorld.cpp Source File

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btSoftRigidDynamicsWorld.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btSoftRigidDynamicsWorld.h"
17#include "LinearMath/btQuickprof.h"
18
19//softbody & helpers
20#include "btSoftBody.h"
21#include "btSoftBodyHelpers.h"
22#include "btSoftBodySolvers.h"
23#include "btDefaultSoftBodySolver.h"
24#include "LinearMath/btSerializer.h"
25
26btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(
27 btDispatcher* dispatcher,
28 btBroadphaseInterface* pairCache,
29 btConstraintSolver* constraintSolver,
30 btCollisionConfiguration* collisionConfiguration,
31 btSoftBodySolver* softBodySolver) : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
32 m_softBodySolver(softBodySolver),
33 m_ownsSolver(false)
34{
35 if (!m_softBodySolver)
36 {
37 void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver), 16);
38 m_softBodySolver = new (ptr) btDefaultSoftBodySolver();
39 m_ownsSolver = true;
40 }
41
42 m_drawFlags = fDrawFlags::Std;
43 m_drawNodeTree = true;
44 m_drawFaceTree = false;
45 m_drawClusterTree = false;
46 m_sbi.m_broadphase = pairCache;
47 m_sbi.m_dispatcher = dispatcher;
48 m_sbi.m_sparsesdf.Initialize();
49 m_sbi.m_sparsesdf.Reset();
50
51 m_sbi.air_density = (btScalar)1.2;
52 m_sbi.water_density = 0;
53 m_sbi.water_offset = 0;
54 m_sbi.water_normal = btVector3(0, 0, 0);
55 m_sbi.m_gravity.setValue(0, -10, 0);
56
57 m_sbi.m_sparsesdf.Initialize();
58}
59
60btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
61{
62 if (m_ownsSolver)
63 {
64 m_softBodySolver->~btSoftBodySolver();
65 btAlignedFree(m_softBodySolver);
66 }
67}
68
69 void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
70{
71 btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
72 {
73 BT_PROFILE("predictUnconstraintMotionSoftBody");
74 m_softBodySolver->predictMotion(float(timeStep));
75 }
76}
77
78 void btSoftRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
79{
80 // Let the solver grab the soft bodies and if necessary optimize for it
81 m_softBodySolver->optimize(getSoftBodyArray());
82
83 if (!m_softBodySolver->checkInitialized())
84 {
85 btAssert("Solver initialization failed\n");
86 }
87
88 btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
89
91 solveSoftBodiesConstraints(timeStep);
92
93 //self collisions
94 for (int i = 0; i < m_softBodies.size(); i++)
95 {
96 btSoftBody* psb = (btSoftBody*)m_softBodies[i];
97 psb->defaultCollisionHandler(psb);
98 }
99
101 m_softBodySolver->updateSoftBodies();
102
103 // End solver-wise simulation step
104 // ///////////////////////////////
105}
106
107 void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints(btScalar timeStep)
108{
109 BT_PROFILE("solveSoftConstraints");
110
111 if (m_softBodies.size())
112 {
113 btSoftBody::solveClusters(m_softBodies);
114 }
115
116 // Solve constraints solver-wise
117 m_softBodySolver->solveConstraints(timeStep * m_softBodySolver->getTimeScale());
118}
119
120 void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
121{
122 m_softBodies.push_back(body);
123
124 // Set the soft body solver that will deal with this body
125 // to be the world's solver
126 body->setSoftBodySolver(m_softBodySolver);
127
128 btCollisionWorld::addCollisionObject(body,
129 collisionFilterGroup,
130 collisionFilterMask);
131}
132
133 void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
134{
135 m_softBodies.remove(body);
136
137 btCollisionWorld::removeCollisionObject(body);
138}
139
140 void btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
141{
142 btSoftBody* body = btSoftBody::upcast(collisionObject);
143 if (body)
144 removeSoftBody(body);
145 else
146 btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
147}
148
149 void btSoftRigidDynamicsWorld::debugDrawWorld()
150{
151 btDiscreteDynamicsWorld::debugDrawWorld();
152
153 if (getDebugDrawer())
154 {
155 int i;
156 for (i = 0; i < this->m_softBodies.size(); i++)
157 {
158 btSoftBody* psb = (btSoftBody*)this->m_softBodies[i];
159 if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
160 {
161 btSoftBodyHelpers::DrawFrame(psb, m_debugDrawer);
162 btSoftBodyHelpers::Draw(psb, m_debugDrawer, m_drawFlags);
163 }
164
165 if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
166 {
167 if (m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb, m_debugDrawer);
168 if (m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb, m_debugDrawer);
169 if (m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb, m_debugDrawer);
170 }
171 }
172 }
173}
174
175struct btSoftSingleRayCallback : public btBroadphaseRayCallback
176{
177 btVector3 m_rayFromWorld;
178 btVector3 m_rayToWorld;
179 btTransform m_rayFromTrans;
180 btTransform m_rayToTrans;
181 btVector3 m_hitNormal;
182
183 const btSoftRigidDynamicsWorld* m_world;
184 btCollisionWorld::RayResultCallback& m_resultCallback;
185
186 btSoftSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btSoftRigidDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
187 : m_rayFromWorld(rayFromWorld),
188 m_rayToWorld(rayToWorld),
189 m_world(world),
190 m_resultCallback(resultCallback)
191 {
192 m_rayFromTrans.setIdentity();
193 m_rayFromTrans.setOrigin(m_rayFromWorld);
194 m_rayToTrans.setIdentity();
195 m_rayToTrans.setOrigin(m_rayToWorld);
196
197 btVector3 rayDir = (rayToWorld - rayFromWorld);
198
199 rayDir.normalize();
201 m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
202 m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
203 m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
204 m_signs[0] = m_rayDirectionInverse[0] < 0.0;
205 m_signs[1] = m_rayDirectionInverse[1] < 0.0;
206 m_signs[2] = m_rayDirectionInverse[2] < 0.0;
207
208 m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
209 }
210
211 virtual bool process(const btBroadphaseProxy* proxy)
212 {
214 if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
215 return false;
216
217 btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
218
219 //only perform raycast if filterMask matches
220 if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
221 {
222 //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
223 //btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
224#if 0
225#ifdef RECALCULATE_AABB
226 btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
227 collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
228#else
229 //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
230 const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
231 const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
232#endif
233#endif
234 //btScalar hitLambda = m_resultCallback.m_closestHitFraction;
235 //culling already done by broadphase
236 //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
237 {
238 m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
239 collisionObject,
240 collisionObject->getCollisionShape(),
241 collisionObject->getWorldTransform(),
242 m_resultCallback);
243 }
244 }
245 return true;
246 }
247};
248
249 void btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
250{
251 BT_PROFILE("rayTest");
254 btSoftSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
255
256#ifndef USE_BRUTEFORCE_RAYBROADPHASE
257 m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
258#else
259 for (int i = 0; i < this->getNumCollisionObjects(); i++)
260 {
261 rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
262 }
263#endif //USE_BRUTEFORCE_RAYBROADPHASE
264}
265
266 void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
267 btCollisionObject* collisionObject,
268 const btCollisionShape* collisionShape,
269 const btTransform& colObjWorldTransform,
270 RayResultCallback& resultCallback)
271{
272 if (collisionShape->isSoftBody())
273 {
274 btSoftBody* softBody = btSoftBody::upcast(collisionObject);
275 if (softBody)
276 {
277 btSoftBody::sRayCast softResult;
278 if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
279 {
280 if (softResult.fraction <= resultCallback.m_closestHitFraction)
281 {
282 btCollisionWorld::LocalShapeInfo shapeInfo;
283 shapeInfo.m_shapePart = 0;
284 shapeInfo.m_triangleIndex = softResult.index;
285 // get the normal
286 btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
287 btVector3 normal = -rayDir;
288 normal.normalize();
289
290 if (softResult.feature == btSoftBody::eFeature::Face)
291 {
292 normal = softBody->m_faces[softResult.index].m_normal;
293 if (normal.dot(rayDir) > 0)
294 {
295 // normal always point toward origin of the ray
296 normal = -normal;
297 }
298 }
299
300 btCollisionWorld::LocalRayResult rayResult(collisionObject,
301 &shapeInfo,
302 normal,
303 softResult.fraction);
304 bool normalInWorldSpace = true;
305 resultCallback.addSingleResult(rayResult, normalInWorldSpace);
306 }
307 }
308 }
309 }
310 else
311 {
312 btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
313 }
314}
315
316 void btSoftRigidDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
317{
318 int i;
319 //serialize all collision objects
320 for (i = 0; i < m_collisionObjects.size(); i++)
321 {
322 btCollisionObject* colObj = m_collisionObjects[i];
323 if (colObj->getInternalType() & btCollisionObject::CO_SOFT_BODY)
324 {
325 int len = colObj->calculateSerializeBufferSize();
326 btChunk* chunk = serializer->allocate(len, 1);
327 const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
328 serializer->finalizeChunk(chunk, structType, BT_SOFTBODY_CODE, colObj);
329 }
330 }
331}
332
333 void btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
334{
335 serializer->startSerialization();
336
337 serializeDynamicsWorldInfo(serializer);
338
339 serializeSoftBodies(serializer);
340
341 serializeRigidBodies(serializer);
342
343 serializeCollisionObjects(serializer);
344
345 serializer->finishSerialization();
346}
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:47
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:46
btDefaultSoftBodySolver.h
btQuickprof.h
BT_PROFILE
#define BT_PROFILE(name)
Definition: btQuickprof.h:198
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btSerializer.h
BT_SOFTBODY_CODE
#define BT_SOFTBODY_CODE
Definition: btSerializer.h:110
btSoftBodyHelpers.h
btSoftBodySolvers.h
btSoftBody.h
btSoftRigidDynamicsWorld.h
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btAlignedObjectArray::remove
void remove(const T &key)
Definition: btAlignedObjectArray.h:480
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:50
btBroadphaseInterface::rayTest
virtual void rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, btBroadphaseRayCallback &rayCallback, const btVector3 &aabbMin=btVector3(0, 0, 0), const btVector3 &aabbMax=btVector3(0, 0, 0))=0
btChunk
Definition: btSerializer.h:48
btChunk::m_oldPtr
void * m_oldPtr
Definition: btSerializer.h:52
btCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
Definition: btCollisionConfiguration.h:27
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btCollisionObject::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionObject.cpp:81
btCollisionObject::CO_SOFT_BODY
@ CO_SOFT_BODY
Definition: btCollisionObject.h:152
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:379
btCollisionObject::getBroadphaseHandle
btBroadphaseProxy * getBroadphaseHandle()
Definition: btCollisionObject.h:395
btCollisionObject::getInternalType
int getInternalType() const
reserved for Bullet internal usage
Definition: btCollisionObject.h:374
btCollisionObject::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCollisionObject.h:685
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObject.h:228
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btCollisionShape::isSoftBody
bool isSoftBody() const
Definition: btCollisionShape.h:87
btCollisionShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
btCollisionWorld::getDebugDrawer
virtual btIDebugDraw * getDebugDrawer()
Definition: btCollisionWorld.h:155
btCollisionWorld::m_broadphasePairCache
btBroadphaseInterface * m_broadphasePairCache
Definition: btCollisionWorld.h:94
btCollisionWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
Definition: btCollisionWorld.cpp:238
btCollisionWorld::addCollisionObject
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition: btCollisionWorld.cpp:124
btCollisionWorld::m_collisionObjects
btAlignedObjectArray< btCollisionObject * > m_collisionObjects
Definition: btCollisionWorld.h:88
btCollisionWorld::getNumCollisionObjects
int getNumCollisionObjects() const
Definition: btCollisionWorld.h:427
btCollisionWorld::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition: btCollisionWorld.h:96
btCollisionWorld::rayTestSingle
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.
Definition: btCollisionWorld.cpp:276
btCollisionWorld::serializeCollisionObjects
void serializeCollisionObjects(btSerializer *serializer)
Definition: btCollisionWorld.cpp:1565
btConstraintSolver
Definition: btConstraintSolver.h:42
btDefaultSoftBodySolver
Definition: btDefaultSoftBodySolver.h:24
btDiscreteDynamicsWorld
btDiscreteDynamicsWorld provides discrete rigid body simulation those classes replace the obsolete Cc...
Definition: btDiscreteDynamicsWorld.h:38
btDiscreteDynamicsWorld::serializeRigidBodies
void serializeRigidBodies(btSerializer *serializer)
Definition: btDiscreteDynamicsWorld.cpp:1379
btDiscreteDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:452
btDiscreteDynamicsWorld::serializeDynamicsWorldInfo
void serializeDynamicsWorldInfo(btSerializer *serializer)
Definition: btDiscreteDynamicsWorld.cpp:1405
btDiscreteDynamicsWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
Definition: btDiscreteDynamicsWorld.cpp:522
btDiscreteDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btDiscreteDynamicsWorld.cpp:269
btDiscreteDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btDiscreteDynamicsWorld.cpp:1091
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btIDebugDraw::getDebugMode
virtual int getDebugMode() const =0
btIDebugDraw::DBG_DrawWireframe
@ DBG_DrawWireframe
Definition: btIDebugDraw.h:55
btIDebugDraw::DBG_DrawAabb
@ DBG_DrawAabb
Definition: btIDebugDraw.h:56
btSerializer
Definition: btSerializer.h:66
btSerializer::allocate
virtual btChunk * allocate(size_t size, int numElements)=0
btSerializer::finishSerialization
virtual void finishSerialization()=0
btSerializer::startSerialization
virtual void startSerialization()=0
btSerializer::finalizeChunk
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
btSoftBodySolver
Definition: btSoftBodySolvers.h:29
btSoftBodySolver::predictMotion
virtual void predictMotion(btScalar solverdt)=0
Predict motion of soft bodies into next timestep.
btSoftBodySolver::getTimeScale
float getTimeScale()
Return the timescale that the simulation is using.
Definition: btSoftBodySolvers.h:115
btSoftBodySolver::checkInitialized
virtual bool checkInitialized()=0
Ensure that this solver is initialized.
btSoftBodySolver::~btSoftBodySolver
virtual ~btSoftBodySolver()
Definition: btSoftBodySolvers.h:57
btSoftBodySolver::updateSoftBodies
virtual void updateSoftBodies()=0
Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes.
btSoftBodySolver::solveConstraints
virtual void solveConstraints(btScalar solverdt)=0
Solve constraints for a set of soft bodies.
btSoftBodySolver::optimize
virtual void optimize(btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate=false)=0
Optimize soft bodies in this solver.
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:75
btSoftBody::defaultCollisionHandler
void defaultCollisionHandler(const btCollisionObjectWrapper *pcoWrap)
Definition: btSoftBody.cpp:4085
btSoftBody::rayTest
bool rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, sRayCast &results)
Ray casting using rayFrom and rayTo in worldspace, (not direction!)
Definition: btSoftBody.cpp:2039
btSoftBody::setSoftBodySolver
void setSoftBodySolver(btSoftBodySolver *softBodySolver)
Definition: btSoftBody.h:1132
btSoftBody::m_faces
tFaceArray m_faces
Definition: btSoftBody.h:817
btSoftBody::solveClusters
static void solveClusters(const btAlignedObjectArray< btSoftBody * > &bodies)
Definition: btSoftBody.cpp:2319
btSoftBody::upcast
static const btSoftBody * upcast(const btCollisionObject *colObj)
Definition: btSoftBody.h:1157
btSoftMultiBodyDynamicsWorld::rayTestSingle
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.
Definition: btSoftMultiBodyDynamicsWorld.cpp:271
btSoftRigidDynamicsWorld
Definition: btSoftRigidDynamicsWorld.h:27
btSoftRigidDynamicsWorld::m_sbi
btSoftBodyWorldInfo m_sbi
Definition: btSoftRigidDynamicsWorld.h:33
btSoftRigidDynamicsWorld::m_softBodies
btSoftBodyArray m_softBodies
Definition: btSoftRigidDynamicsWorld.h:28
btSoftRigidDynamicsWorld::m_drawNodeTree
bool m_drawNodeTree
Definition: btSoftRigidDynamicsWorld.h:30
btSoftRigidDynamicsWorld::serializeSoftBodies
void serializeSoftBodies(btSerializer *serializer)
Definition: btSoftRigidDynamicsWorld.cpp:316
btSoftRigidDynamicsWorld::removeSoftBody
void removeSoftBody(btSoftBody *body)
Definition: btSoftRigidDynamicsWorld.cpp:133
btSoftRigidDynamicsWorld::m_softBodySolver
btSoftBodySolver * m_softBodySolver
Solver classes that encapsulate multiple soft bodies for solving.
Definition: btSoftRigidDynamicsWorld.h:35
btSoftRigidDynamicsWorld::debugDrawWorld
virtual void debugDrawWorld()
Definition: btSoftRigidDynamicsWorld.cpp:149
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld
virtual ~btSoftRigidDynamicsWorld()
Definition: btSoftRigidDynamicsWorld.cpp:60
btSoftRigidDynamicsWorld::getSoftBodyArray
btSoftBodyArray & getSoftBodyArray()
Definition: btSoftRigidDynamicsWorld.h:78
btSoftRigidDynamicsWorld::addSoftBody
void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
Definition: btSoftRigidDynamicsWorld.cpp:120
btSoftRigidDynamicsWorld::rayTest
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 ...
Definition: btSoftRigidDynamicsWorld.cpp:249
btSoftRigidDynamicsWorld::rayTestSingle
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.
Definition: btSoftRigidDynamicsWorld.cpp:266
btSoftRigidDynamicsWorld::predictUnconstraintMotion
virtual void predictUnconstraintMotion(btScalar timeStep)
Definition: btSoftRigidDynamicsWorld.cpp:69
btSoftRigidDynamicsWorld::m_ownsSolver
bool m_ownsSolver
Definition: btSoftRigidDynamicsWorld.h:36
btSoftRigidDynamicsWorld::m_drawClusterTree
bool m_drawClusterTree
Definition: btSoftRigidDynamicsWorld.h:32
btSoftRigidDynamicsWorld::m_drawFlags
int m_drawFlags
Definition: btSoftRigidDynamicsWorld.h:29
btSoftRigidDynamicsWorld::serialize
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see B...
Definition: btSoftRigidDynamicsWorld.cpp:333
btSoftRigidDynamicsWorld::internalSingleStepSimulation
virtual void internalSingleStepSimulation(btScalar timeStep)
Definition: btSoftRigidDynamicsWorld.cpp:78
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld
btSoftRigidDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
Definition: btSoftRigidDynamicsWorld.cpp:26
btSoftRigidDynamicsWorld::m_drawFaceTree
bool m_drawFaceTree
Definition: btSoftRigidDynamicsWorld.h:31
btSoftRigidDynamicsWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
Definition: btSoftRigidDynamicsWorld.cpp:140
btSoftRigidDynamicsWorld::solveSoftBodiesConstraints
void solveSoftBodiesConstraints(btScalar timeStep)
Definition: btSoftRigidDynamicsWorld.cpp:107
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:167
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:114
btTransform::setOrigin
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:147
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::dot
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:229
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:86
btBroadphaseProxy::m_aabbMin
btVector3 m_aabbMin
Definition: btBroadphaseProxy.h:108
btBroadphaseProxy::m_clientObject
void * m_clientObject
Definition: btBroadphaseProxy.h:102
btBroadphaseProxy::m_aabbMax
btVector3 m_aabbMax
Definition: btBroadphaseProxy.h:109
btBroadphaseRayCallback
Definition: btBroadphaseInterface.h:32
btBroadphaseRayCallback::m_rayDirectionInverse
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
Definition: btBroadphaseInterface.h:34
btBroadphaseRayCallback::m_signs
unsigned int m_signs[3]
Definition: btBroadphaseInterface.h:35
btBroadphaseRayCallback::m_lambda_max
btScalar m_lambda_max
Definition: btBroadphaseInterface.h:36
btCollisionWorld::LocalRayResult
Definition: btCollisionWorld.h:176
btCollisionWorld::LocalShapeInfo
LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is avai...
Definition: btCollisionWorld.h:167
btCollisionWorld::LocalShapeInfo::m_triangleIndex
int m_triangleIndex
Definition: btCollisionWorld.h:169
btCollisionWorld::LocalShapeInfo::m_shapePart
int m_shapePart
Definition: btCollisionWorld.h:168
btCollisionWorld::RayResultCallback
RayResultCallback is used to report new raycast results.
Definition: btCollisionWorld.h:196
btCollisionWorld::RayResultCallback::m_closestHitFraction
btScalar m_closestHitFraction
Definition: btCollisionWorld.h:197
btCollisionWorld::RayResultCallback::needsCollision
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
Definition: btCollisionWorld.h:222
btCollisionWorld::RayResultCallback::addSingleResult
virtual btScalar addSingleResult(LocalRayResult &rayResult, bool normalInWorldSpace)=0
btSoftBodyHelpers::DrawNodeTree
static void DrawNodeTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
Definition: btSoftBodyHelpers.cpp:466
btSoftBodyHelpers::DrawFaceTree
static void DrawFaceTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
Definition: btSoftBodyHelpers.cpp:475
btSoftBodyHelpers::DrawClusterTree
static void DrawClusterTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
Definition: btSoftBodyHelpers.cpp:484
btSoftBodyHelpers::Draw
static void Draw(btSoftBody *psb, btIDebugDraw *idraw, int drawflags=fDrawFlags::Std)
Definition: btSoftBodyHelpers.cpp:172
btSoftBodyHelpers::DrawFrame
static void DrawFrame(btSoftBody *psb, btIDebugDraw *idraw)
Definition: btSoftBodyHelpers.cpp:667
btSoftBodyWorldInfo::air_density
btScalar air_density
Definition: btSoftBody.h:49
btSoftBodyWorldInfo::m_dispatcher
btDispatcher * m_dispatcher
Definition: btSoftBody.h:55
btSoftBodyWorldInfo::water_density
btScalar water_density
Definition: btSoftBody.h:50
btSoftBodyWorldInfo::m_sparsesdf
btSparseSdf< 3 > m_sparsesdf
Definition: btSoftBody.h:57
btSoftBodyWorldInfo::m_gravity
btVector3 m_gravity
Definition: btSoftBody.h:56
btSoftBodyWorldInfo::water_normal
btVector3 water_normal
Definition: btSoftBody.h:53
btSoftBodyWorldInfo::water_offset
btScalar water_offset
Definition: btSoftBody.h:51
btSoftBodyWorldInfo::m_broadphase
btBroadphaseInterface * m_broadphase
Definition: btSoftBody.h:54
btSoftBody::eFeature::Face
@ Face
Definition: btSoftBody.h:145
btSoftBody::sRayCast
Definition: btSoftBody.h:202
btSoftBody::sRayCast::feature
eFeature::_ feature
soft body
Definition: btSoftBody.h:204
btSoftBody::sRayCast::fraction
btScalar fraction
feature index
Definition: btSoftBody.h:206
btSoftBody::sRayCast::index
int index
feature type
Definition: btSoftBody.h:205
btSoftSingleRayCallback
Definition: btSoftMultiBodyDynamicsWorld.cpp:181
btSoftSingleRayCallback::m_rayToWorld
btVector3 m_rayToWorld
Definition: btSoftMultiBodyDynamicsWorld.cpp:183
btSoftSingleRayCallback::m_rayFromTrans
btTransform m_rayFromTrans
Definition: btSoftMultiBodyDynamicsWorld.cpp:184
btSoftSingleRayCallback::m_hitNormal
btVector3 m_hitNormal
Definition: btSoftMultiBodyDynamicsWorld.cpp:186
btSoftSingleRayCallback::m_world
const btSoftMultiBodyDynamicsWorld * m_world
Definition: btSoftMultiBodyDynamicsWorld.cpp:188
btSoftSingleRayCallback::m_rayFromWorld
btVector3 m_rayFromWorld
Definition: btSoftMultiBodyDynamicsWorld.cpp:182
btSoftSingleRayCallback::m_world
const btSoftRigidDynamicsWorld * m_world
Definition: btSoftRigidDynamicsWorld.cpp:183
btSoftSingleRayCallback::m_rayToTrans
btTransform m_rayToTrans
Definition: btSoftMultiBodyDynamicsWorld.cpp:185
btSoftSingleRayCallback::m_resultCallback
btCollisionWorld::RayResultCallback & m_resultCallback
Definition: btSoftMultiBodyDynamicsWorld.cpp:189
btSoftSingleRayCallback::process
virtual bool process(const btBroadphaseProxy *proxy)
Definition: btSoftRigidDynamicsWorld.cpp:211
btSoftSingleRayCallback::btSoftSingleRayCallback
btSoftSingleRayCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const btSoftRigidDynamicsWorld *world, btCollisionWorld::RayResultCallback &resultCallback)
Definition: btSoftRigidDynamicsWorld.cpp:186
btSparseSdf::Reset
void Reset()
Definition: btSparseSDF.h:116
btSparseSdf::Initialize
void Initialize(int hashsize=2383, int clampCells=256 *1024)
Definition: btSparseSDF.h:100
fDrawFlags::Std
@ Std
Definition: btSoftBodyHelpers.h:45