111 lines
3.8 KiB
C++
111 lines
3.8 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. 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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
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#define BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
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#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletSoftBody/btSoftBody.h"
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#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
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typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
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#endif
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class btSoftBodySolver;
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class btSoftMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
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{
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btSoftBodyArray m_softBodies;
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int m_drawFlags;
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bool m_drawNodeTree;
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bool m_drawFaceTree;
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bool m_drawClusterTree;
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btSoftBodyWorldInfo m_sbi;
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///Solver classes that encapsulate multiple soft bodies for solving
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btSoftBodySolver *m_softBodySolver;
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bool m_ownsSolver;
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protected:
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virtual void predictUnconstraintMotion(btScalar timeStep);
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virtual void internalSingleStepSimulation( btScalar timeStep);
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void solveSoftBodiesConstraints( btScalar timeStep );
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void serializeSoftBodies(btSerializer* serializer);
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public:
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btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 );
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virtual ~btSoftMultiBodyDynamicsWorld();
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virtual void debugDrawWorld();
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void addSoftBody(btSoftBody* body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter);
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void removeSoftBody(btSoftBody* body);
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///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject
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virtual void removeCollisionObject(btCollisionObject* collisionObject);
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int getDrawFlags() const { return(m_drawFlags); }
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void setDrawFlags(int f) { m_drawFlags=f; }
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btSoftBodyWorldInfo& getWorldInfo()
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{
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return m_sbi;
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}
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const btSoftBodyWorldInfo& getWorldInfo() const
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{
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return m_sbi;
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}
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virtual btDynamicsWorldType getWorldType() const
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{
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return BT_SOFT_MULTIBODY_DYNAMICS_WORLD;
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}
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btSoftBodyArray& getSoftBodyArray()
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{
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return m_softBodies;
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}
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const btSoftBodyArray& getSoftBodyArray() const
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{
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return m_softBodies;
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}
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virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
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/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
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/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
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/// This allows more customization.
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static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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RayResultCallback& resultCallback);
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virtual void serialize(btSerializer* serializer);
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};
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#endif //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
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