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source: code/branches/physics_new/src/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h @ 2119

Last change on this file since 2119 was 2119, checked in by rgrieder, 16 years ago

Merged physics branch into physics_new branch.

  • Property svn:eol-style set to native
File size: 2.3 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
17#define BT_SOFT_RIGID_DYNAMICS_WORLD_H
18
19#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
20#include "btSoftBody.h"
21
22typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
23
24class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
25{
26       
27        btSoftBodyArray m_softBodies;
28        int                             m_drawFlags;
29        bool                    m_drawNodeTree;
30        bool                    m_drawFaceTree;
31        bool                    m_drawClusterTree;
32        btSoftBodyWorldInfo m_sbi;
33
34protected:
35       
36        virtual void    predictUnconstraintMotion(btScalar timeStep);
37       
38        virtual void    internalSingleStepSimulation( btScalar timeStep);
39
40        void    updateSoftBodies();
41
42        void    solveSoftBodiesConstraints();
43
44
45public:
46       
47        btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
48
49        virtual ~btSoftRigidDynamicsWorld();
50       
51        virtual void    debugDrawWorld();
52                       
53        void    addSoftBody(btSoftBody* body);
54
55        void    removeSoftBody(btSoftBody* body);
56       
57        int             getDrawFlags() const { return(m_drawFlags); }
58        void    setDrawFlags(int f)     { m_drawFlags=f; }
59
60        btSoftBodyWorldInfo&    getWorldInfo()
61        {
62                return m_sbi;
63        }
64        const btSoftBodyWorldInfo&      getWorldInfo() const
65        {
66                return m_sbi;
67        }
68
69                       
70        btSoftBodyArray& getSoftBodyArray()
71        {
72                return m_softBodies;
73        }
74
75        const btSoftBodyArray& getSoftBodyArray() const
76        {
77                return m_softBodies;
78        }
79               
80};
81
82#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
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