btSoftRigidDynamicsWorld.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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_RIGID_DYNAMICS_WORLD_H
#define BT_SOFT_RIGID_DYNAMICS_WORLD_H

#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "btSoftBody.h"

typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;

class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
{

        btSoftBodyArray m_softBodies;
        int                             m_drawFlags;
        bool                    m_drawNodeTree;
        bool                    m_drawFaceTree;
        bool                    m_drawClusterTree;
        btSoftBodyWorldInfo m_sbi;

protected:

        virtual void    predictUnconstraintMotion(btScalar timeStep);

        virtual void    internalSingleStepSimulation( btScalar timeStep);

        void    updateSoftBodies();

        void    solveSoftBodiesConstraints();


public:

        btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);

        virtual ~btSoftRigidDynamicsWorld();

        virtual void    debugDrawWorld();

        void    addSoftBody(btSoftBody* body,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);

        void    removeSoftBody(btSoftBody* body);

        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;
        }


        btSoftBodyArray& getSoftBodyArray()
        {
                return m_softBodies;
        }

        const btSoftBodyArray& getSoftBodyArray() const
        {
                return m_softBodies;
        }


        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);

};

#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H

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bullet
Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Fri Jan 11 10:10:12 2013