diff options
Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h | 67 |
1 files changed, 31 insertions, 36 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h index 6d46a21db5..f295945a6d 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h @@ -21,64 +21,61 @@ subject to the following restrictions: #include "BulletSoftBody/btSoftBody.h" #ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H -typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray; +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; + 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; + btSoftBodySolver* m_softBodySolver; + bool m_ownsSolver; protected: + virtual void predictUnconstraintMotion(btScalar timeStep); - virtual void predictUnconstraintMotion(btScalar timeStep); - - virtual void internalSingleStepSimulation( btScalar timeStep); + virtual void internalSingleStepSimulation(btScalar timeStep); - void solveSoftBodiesConstraints( btScalar timeStep ); + void solveSoftBodiesConstraints(btScalar timeStep); - void serializeSoftBodies(btSerializer* serializer); + void serializeSoftBodies(btSerializer* serializer); public: - - btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 ); + btSoftMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0); virtual ~btSoftMultiBodyDynamicsWorld(); - virtual void debugDrawWorld(); + virtual void debugDrawWorld(); - void addSoftBody(btSoftBody* body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter); + void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter); - void removeSoftBody(btSoftBody* body); + 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); + virtual void removeCollisionObject(btCollisionObject* collisionObject); - int getDrawFlags() const { return(m_drawFlags); } - void setDrawFlags(int f) { m_drawFlags=f; } + int getDrawFlags() const { return (m_drawFlags); } + void setDrawFlags(int f) { m_drawFlags = f; } - btSoftBodyWorldInfo& getWorldInfo() + btSoftBodyWorldInfo& getWorldInfo() { return m_sbi; } - const btSoftBodyWorldInfo& getWorldInfo() const + const btSoftBodyWorldInfo& getWorldInfo() const { return m_sbi; } - virtual btDynamicsWorldType getWorldType() const + virtual btDynamicsWorldType getWorldType() const { - return BT_SOFT_MULTIBODY_DYNAMICS_WORLD; + return BT_SOFT_MULTIBODY_DYNAMICS_WORLD; } btSoftBodyArray& getSoftBodyArray() @@ -91,20 +88,18 @@ public: return m_softBodies; } - - virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; + 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); + 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 +#endif //BT_SOFT_MULTIBODY_DYNAMICS_WORLD_H |