mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-28 06:37:11 +01:00
106 lines
3.8 KiB
C++
106 lines
3.8 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
|
|
#define BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
|
|
|
|
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
|
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
|
#include "BulletSoftBody/btSoftBody.h"
|
|
|
|
#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
|
|
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
|
|
#endif
|
|
|
|
class btSoftBodySolver;
|
|
|
|
class btSoftMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
|
|
{
|
|
btSoftBodyArray m_softBodies;
|
|
int m_drawFlags;
|
|
bool m_drawNodeTree;
|
|
bool m_drawFaceTree;
|
|
bool m_drawClusterTree;
|
|
btSoftBodyWorldInfo m_sbi;
|
|
///Solver classes that encapsulate multiple soft bodies for solving
|
|
btSoftBodySolver* m_softBodySolver;
|
|
bool m_ownsSolver;
|
|
|
|
protected:
|
|
virtual void predictUnconstraintMotion(btScalar timeStep);
|
|
|
|
virtual void internalSingleStepSimulation(btScalar timeStep);
|
|
|
|
void solveSoftBodiesConstraints(btScalar timeStep);
|
|
|
|
void serializeSoftBodies(btSerializer* serializer);
|
|
|
|
public:
|
|
btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0);
|
|
|
|
virtual ~btSoftMultiBodyDynamicsWorld();
|
|
|
|
virtual void debugDrawWorld();
|
|
|
|
void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
|
|
|
|
void removeSoftBody(btSoftBody* body);
|
|
|
|
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject
|
|
virtual void removeCollisionObject(btCollisionObject* collisionObject);
|
|
|
|
int getDrawFlags() const { return (m_drawFlags); }
|
|
void setDrawFlags(int f) { m_drawFlags = f; }
|
|
|
|
btSoftBodyWorldInfo& getWorldInfo()
|
|
{
|
|
return m_sbi;
|
|
}
|
|
const btSoftBodyWorldInfo& getWorldInfo() const
|
|
{
|
|
return m_sbi;
|
|
}
|
|
|
|
virtual btDynamicsWorldType getWorldType() const
|
|
{
|
|
return BT_SOFT_MULTIBODY_DYNAMICS_WORLD;
|
|
}
|
|
|
|
btSoftBodyArray& getSoftBodyArray()
|
|
{
|
|
return m_softBodies;
|
|
}
|
|
|
|
const btSoftBodyArray& getSoftBodyArray() const
|
|
{
|
|
return m_softBodies;
|
|
}
|
|
|
|
virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
|
|
|
|
/// 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.
|
|
static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
|
|
btCollisionObject* collisionObject,
|
|
const btCollisionShape* collisionShape,
|
|
const btTransform& colObjWorldTransform,
|
|
RayResultCallback& resultCallback);
|
|
|
|
virtual void serialize(btSerializer* serializer);
|
|
};
|
|
|
|
#endif //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H
|