Differential D8762 Diff 28333 extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h

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extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h

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	*/			*/

	#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H			#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
	#define BT_SOFT_RIGID_DYNAMICS_WORLD_H			#define BT_SOFT_RIGID_DYNAMICS_WORLD_H

	#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"			#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
	#include "btSoftBody.h"			#include "btSoftBody.h"

	typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;			typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;

	class btSoftBodySolver;			class btSoftBodySolver;

	class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld			class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
	{			{

	btSoftBodyArray m_softBodies;			btSoftBodyArray m_softBodies;
	int m_drawFlags;			int m_drawFlags;
	bool m_drawNodeTree;			bool m_drawNodeTree;
	bool m_drawFaceTree;			bool m_drawFaceTree;
	bool m_drawClusterTree;			bool m_drawClusterTree;
	btSoftBodyWorldInfo m_sbi;			btSoftBodyWorldInfo m_sbi;
	///Solver classes that encapsulate multiple soft bodies for solving			///Solver classes that encapsulate multiple soft bodies for solving
	btSoftBodySolver *m_softBodySolver;			btSoftBodySolver* m_softBodySolver;
	bool m_ownsSolver;			bool m_ownsSolver;

	protected:			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:			public:

	btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 );			btSoftRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver* softBodySolver = 0);

	virtual ~btSoftRigidDynamicsWorld();			virtual ~btSoftRigidDynamicsWorld();

	virtual void debugDrawWorld();			virtual void debugDrawWorld();

	void addSoftBody(btSoftBody* body,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short 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			///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); }			int getDrawFlags() const { return (m_drawFlags); }
	void setDrawFlags(int f) { m_drawFlags=f; }			void setDrawFlags(int f) { m_drawFlags = f; }

	btSoftBodyWorldInfo& getWorldInfo()			btSoftBodyWorldInfo& getWorldInfo()
	{			{
	return m_sbi;			return m_sbi;
	}			}
	const btSoftBodyWorldInfo& getWorldInfo() const			const btSoftBodyWorldInfo& getWorldInfo() const
	{			{
	return m_sbi;			return m_sbi;
	}			}

	virtual btDynamicsWorldType getWorldType() const			virtual btDynamicsWorldType getWorldType() const
	{			{
	return BT_SOFT_RIGID_DYNAMICS_WORLD;			return BT_SOFT_RIGID_DYNAMICS_WORLD;
	}			}

	btSoftBodyArray& getSoftBodyArray()			btSoftBodyArray& getSoftBodyArray()
	{			{
	return m_softBodies;			return m_softBodies;
	}			}

	const btSoftBodyArray& getSoftBodyArray() const			const btSoftBodyArray& getSoftBodyArray() const
	{			{
	return m_softBodies;			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.			/// 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.			/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
	/// This allows more customization.			/// This allows more customization.
	static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,			static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
	btCollisionObject* collisionObject,			btCollisionObject* collisionObject,
	const btCollisionShape* collisionShape,			const btCollisionShape* collisionShape,
	const btTransform& colObjWorldTransform,			const btTransform& colObjWorldTransform,
	RayResultCallback& resultCallback);			RayResultCallback& resultCallback);

	virtual void serialize(btSerializer* serializer);			virtual void serialize(btSerializer* serializer);

	};			};

	#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H			#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H