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btSoftRigidDynamicsWorld.h

/*
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);

      void  removeSoftBody(btSoftBody* body);

      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;
      }

};

#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H

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