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Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h | 105 |
1 files changed, 0 insertions, 105 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h deleted file mode 100644 index f295945a6d..0000000000 --- a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h +++ /dev/null @@ -1,105 +0,0 @@ -/* -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_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 |