16 #ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
17 #define BT_SOFT_RIGID_DYNAMICS_WORLD_H
32 bool m_drawClusterTree;
88 virtual void rayTest(
const btVector3& rayFromWorld,
const btVector3& rayToWorld, RayResultCallback& resultCallback)
const;
97 RayResultCallback& resultCallback);
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
btDiscreteDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration)
this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete thos...
@ BT_SOFT_RIGID_DYNAMICS_WORLD
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btAlignedObjectArray< btSoftBody * > btSoftBodyArray
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
virtual btDynamicsWorldType getWorldType() const
void serializeSoftBodies(btSerializer *serializer)
void removeSoftBody(btSoftBody *body)
btSoftBodyArray & getSoftBodyArray()
virtual void debugDrawWorld()
virtual ~btSoftRigidDynamicsWorld()
void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
virtual void rayTest(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
static void rayTestSingle(const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
virtual void predictUnconstraintMotion(btScalar timeStep)
virtual void serialize(btSerializer *serializer)
virtual void internalSingleStepSimulation(btScalar timeStep)
btSoftRigidDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btSoftBodySolver *softBodySolver=0)
btSoftBodyWorldInfo & getWorldInfo()
const btSoftBodyArray & getSoftBodyArray() const
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
const btSoftBodyWorldInfo & getWorldInfo() const
void solveSoftBodiesConstraints(btScalar timeStep)