src/BulletSoftBody/btSoftRigidDynamicsWorld.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  11 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.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. This notice may not be removed or altered from any source distribution.
  14 */
  15
  16 #ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
  17 #define BT_SOFT_RIGID_DYNAMICS_WORLD_H
  18
  19 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
  20 #include "btSoftBody.h"
  21
  22 typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
  23
  24 class btSoftBodySolver;
  25
  26 class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
  27 {
  28
  29         btSoftBodyArray m_softBodies;
  30         int                             m_drawFlags;
  31         bool                    m_drawNodeTree;
  32         bool                    m_drawFaceTree;
  33         bool                    m_drawClusterTree;
  34         btSoftBodyWorldInfo m_sbi;
  35         ///Solver classes that encapsulate multiple soft bodies for solving
  36         btSoftBodySolver *m_softBodySolver;
  37         bool                    m_ownsSolver;
  38
  39 protected:
  40
  41         virtual void    predictUnconstraintMotion(btScalar timeStep);
  42
  43         virtual void    internalSingleStepSimulation( btScalar timeStep);
  44
  45         void    solveSoftBodiesConstraints( btScalar timeStep );
  46
  47         void    serializeSoftBodies(btSerializer* serializer);
  48
  49 public:
  50
  51         btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 );
  52
  53         virtual ~btSoftRigidDynamicsWorld();
  54
  55         virtual void    debugDrawWorld();
  56
  57         void    addSoftBody(btSoftBody* body,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
  58
  59         void    removeSoftBody(btSoftBody* body);
  60
  61         ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject
  62         virtual void    removeCollisionObject(btCollisionObject* collisionObject);
  63
  64         int             getDrawFlags() const { return(m_drawFlags); }
  65         void    setDrawFlags(int f)     { m_drawFlags=f; }
  66
  67         btSoftBodyWorldInfo&    getWorldInfo()
  68         {
  69                 return m_sbi;
  70         }
  71         const btSoftBodyWorldInfo&      getWorldInfo() const
  72         {
  73                 return m_sbi;
  74         }
  75
  76         virtual btDynamicsWorldType     getWorldType() const
  77         {
  78                 return  BT_SOFT_RIGID_DYNAMICS_WORLD;
  79         }
  80
  81         btSoftBodyArray& getSoftBodyArray()
  82         {
  83                 return m_softBodies;
  84         }
  85
  86         const btSoftBodyArray& getSoftBodyArray() const
  87         {
  88                 return m_softBodies;
  89         }
  90
  91
  92         virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
  93
  94         /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
  95         /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
  96         /// This allows more customization.
  97         static void     rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
  98                                           btCollisionObject* collisionObject,
  99                                           const btCollisionShape* collisionShape,
 100                                           const btTransform& colObjWorldTransform,
 101                                           RayResultCallback& resultCallback);
 102
 103         virtual void    serialize(btSerializer* serializer);
 104
 105 };
 106
 107 #endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H