44 m_deformableBodySolver(deformableBodySolver),
80 (*m_internalPreTickCallback)(
this, timeStep);
165 BT_PROFILE(
"btDeformableMultiBodyDynamicsWorld::applyRepulsionForce");
178 BT_PROFILE(
"btDeformableMultiBodyDynamicsWorld::performGeometricCollisions");
234 int penetration_count = 0;
244 if (penetration_count == 0)
263 BT_PROFILE(
"btDeformableMultiBodyDynamicsWorld::softBodySelfCollision");
286 if (pushVelocity[0] != 0.f || pushVelocity[1] != 0 || pushVelocity[2] != 0 || turnVelocity[0] != 0.f || turnVelocity[1] != 0 || turnVelocity[2] != 0)
306 BT_PROFILE(
"btDeformableMultiBodyDynamicsWorld::solveConstraints");
383 bool isSleeping =
false;
408 bool isConstraintPass =
true;
435 collisionFilterGroup,
436 collisionFilterMask);
513 bool isSleeping =
false;
530 bool isConstraintPass =
false;
541 btAssert(
" RK4Integration is not supported");
568 bool isSleeping =
false;
596 (*m_internalTickCallback)(
this, timeStep);
617 for (
int i = 0; i < forces.
size(); ++i)
621 forces[i]->addSoftBody(psb);
637 int removed_index = -1;
638 for (
int i = 0; i < forces.
size(); ++i)
642 forces[i]->removeSoftBody(psb);
648 if (removed_index >= 0)
655 for (
int i = 0; i < forces.
size(); ++i)
657 forces[i]->removeSoftBody(psb);
683 int numSimulationSubSteps = 0;
692 numSimulationSubSteps = int(
m_localTime / fixedTimeStep);
693 m_localTime -= numSimulationSubSteps * fixedTimeStep;
699 fixedTimeStep = timeStep;
704 numSimulationSubSteps = 0;
709 numSimulationSubSteps = 1;
720 if (numSimulationSubSteps)
723 int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps;
727 for (
int i = 0; i < clampedSimulationSteps; i++)
741 CProfileManager::Increment_Frame_Counter();
744 return numSimulationSubSteps;
#define DISABLE_DEACTIVATION
#define WANTS_DEACTIVATION
bool gDisableDeactivation
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
bool btFuzzyZero(btScalar x)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
int size() const
return the number of elements in the array
void resize(int newsize, const T &fillData=T())
void removeAtIndex(int index)
void remove(const T &key)
void quickSort(const L &CompareFunc)
void push_back(const T &_Val)
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
btTransform & getWorldTransform()
void setActivationState(int newState) const
void setWorldTransform(const btTransform &worldTrans)
int getActivationState() const
btDispatcher * getDispatcher()
btDispatcherInfo & getDispatchInfo()
virtual btIDebugDraw * getDebugDrawer()
virtual void removeCollisionObject(btCollisionObject *collisionObject)
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
virtual void performDiscreteCollisionDetection()
btIDebugDraw * m_debugDrawer
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
virtual void solveDeformableConstraints(btScalar solverdt)
virtual void setConstraints(const btContactSolverInfo &infoGlobal)
virtual void applyTransforms(btScalar timeStep)
virtual void setStrainLimiting(bool opt)
virtual void setPreconditioner(int opt)
virtual void setProjection()
virtual btAlignedObjectArray< btDeformableLagrangianForce * > * getLagrangianForceArray()
virtual void reinitialize(const btAlignedObjectArray< btSoftBody * > &softBodies, btScalar dt)
virtual void setupDeformableSolve(bool implicit)
void setLineSearch(bool lineSearch)
virtual const btAlignedObjectArray< btSoftBody::Node * > * getIndices()
virtual void predictMotion(btScalar solverdt)
Predict motion of soft bodies into next timestep.
void setImplicit(bool implicit)
virtual void setLagrangeMultiplier()
virtual void setGravity(const btVector3 &gravity)
void applyRigidBodyGravity(btScalar timeStep)
btDeformableMultiBodyDynamicsWorld(btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btDeformableMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration, btDeformableBodySolver *deformableBodySolver=0)
void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
virtual void addSoftBody(btSoftBody *body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
void removeSoftBodyForce(btSoftBody *psb)
void removeSoftBody(btSoftBody *body)
void reinitialize(btScalar timeStep)
void positionCorrection(btScalar timeStep)
virtual void predictUnconstraintMotion(btScalar timeStep)
void afterSolverCallbacks(btScalar timeStep)
void applyRepulsionForce(btScalar timeStep)
virtual void debugDrawWorld()
void solveConstraints(btScalar timeStep)
void addForce(btSoftBody *psb, btDeformableLagrangianForce *force)
void softBodySelfCollision()
btSolverCallback m_solverCallback
void performGeometricCollisions(btScalar timeStep)
virtual void integrateTransforms(btScalar timeStep)
void removeForce(btSoftBody *psb, btDeformableLagrangianForce *force)
btSoftBodyWorldInfo m_sbi
virtual void internalSingleStepSimulation(btScalar timeStep)
void updateActivationState(btScalar timeStep)
virtual ~btDeformableMultiBodyDynamicsWorld()
void solveContactConstraints()
virtual int stepSimulation(btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))
if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
btSoftBodyArray m_softBodies
DeformableBodyInplaceSolverIslandCallback * m_solverDeformableBodyIslandCallback
virtual void setGravity(const btVector3 &gravity)
btSoftBodyArray & getSoftBodyArray()
void beforeSolverCallbacks(btScalar timeStep)
void performDeformableCollisionDetection()
btDeformableBodySolver * m_deformableBodySolver
Solver classes that encapsulate multiple deformable bodies for solving.
void updateActions(btScalar timeStep)
virtual void setGravity(const btVector3 &gravity)
bool m_latencyMotionStateInterpolation
btAlignedObjectArray< btTypedConstraint * > m_sortedConstraints
virtual void synchronizeMotionStates()
btSimulationIslandManager * m_islandManager
btAlignedObjectArray< btTypedConstraint * > m_constraints
btAlignedObjectArray< btRigidBody * > m_nonStaticRigidBodies
virtual int getNumConstraints() const
virtual void removeCollisionObject(btCollisionObject *collisionObject)
removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise ca...
btConstraintSolver * m_constraintSolver
btCollisionWorld * getCollisionWorld()
void startProfiling(btScalar timeStep)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btContactSolverInfo m_solverInfo
btContactSolverInfo & getSolverInfo()
btInternalTickCallback m_internalTickCallback
btInternalTickCallback m_internalPreTickCallback
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
virtual int getDebugMode() const =0
The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet This implementation is s...
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
virtual void clearForces()
the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
virtual void updateActivationState(btScalar timeStep)
btAlignedObjectArray< btMatrix3x3 > m_scratch_m
btAlignedObjectArray< btVector3 > m_scratch_v
virtual void predictUnconstraintMotion(btScalar timeStep)
virtual void calculateSimulationIslands()
virtual void integrateTransforms(btScalar timeStep)
btAlignedObjectArray< btMultiBody * > m_multiBodies
btAlignedObjectArray< btScalar > m_scratch_r
btAlignedObjectArray< btMultiBodyConstraint * > m_sortedMultiBodyConstraints
virtual void clearMultiBodyConstraintForces()
virtual void saveKinematicState(btScalar timeStep)
virtual void applyGravity()
apply gravity, call this once per timestep
virtual void debugDrawWorld()
void computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass, bool jointFeedbackInWorldSpace, bool jointFeedbackInJointFrame)
const btMultibodyLink & getLink(int index) const
btScalar getLinkMass(int i) const
void addLinkForce(int i, const btVector3 &f)
void processDeltaVeeMultiDof2()
bool isUsingRK4Integration() const
const btMultiBodyLinkCollider * getBaseCollider() const
bool internalNeedsJointFeedback() const
btScalar getBaseMass() const
void addBaseForce(const btVector3 &f)
The btRigidBody is the main class for rigid body objects.
void integrateVelocities(btScalar step)
void setTurnVelocity(const btVector3 &v)
void setPushVelocity(const btVector3 &v)
btVector3 getPushVelocity() const
btVector3 getTurnVelocity() const
void processIslands(btDispatcher *dispatcher, btCollisionWorld *collisionWorld, IslandCallback *callback)
void buildIslands(btDispatcher *dispatcher, btCollisionWorld *colWorld)
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
void defaultCollisionHandler(const btCollisionObjectWrapper *pcoWrap)
btAlignedObjectArray< DeformableFaceNodeContact > m_faceNodeContactsCCD
void setSoftBodySolver(btSoftBodySolver *softBodySolver)
void updateDeactivation(btScalar timeStep)
void applyRepulsionForce(btScalar timeStep, bool applySpringForce)
static const btSoftBody * upcast(const btCollisionObject *colObj)
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btVector3 can be used to represent 3D points and vectors.
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
virtual void processConstraints(int islandId=-1)
virtual void setup(btContactSolverInfo *solverInfo, btTypedConstraint **sortedConstraints, int numConstraints, btMultiBodyConstraint **sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw *debugDrawer)
class btIDebugDraw * m_debugDraw
class btMultiBodyLinkCollider * m_collider
static void Draw(btSoftBody *psb, btIDebugDraw *idraw, int drawflags=fDrawFlags::Std)
static void DrawFrame(btSoftBody *psb, btIDebugDraw *idraw)
btDispatcher * m_dispatcher
btSparseSdf< 3 > m_sparsesdf
btBroadphaseInterface * m_broadphase
void setDefaultVoxelsz(btScalar sz)
void Initialize(int hashsize=2383, int clampCells=256 *1024)