diff options
Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBody.h')
| -rw-r--r-- | extern/bullet2/src/BulletSoftBody/btSoftBody.h | 25 |
1 files changed, 18 insertions, 7 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.h b/extern/bullet2/src/BulletSoftBody/btSoftBody.h index ba589486f26..2116c34f06d 100644 --- a/extern/bullet2/src/BulletSoftBody/btSoftBody.h +++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.h @@ -69,7 +69,7 @@ struct btSoftBodyWorldInfo class btSoftBody : public btCollisionObject { public: - btAlignedObjectArray<class btCollisionObject*> m_collisionDisabledObjects; + btAlignedObjectArray<const class btCollisionObject*> m_collisionDisabledObjects; // The solver object that handles this soft body btSoftBodySolver *m_softBodySolver; @@ -182,7 +182,7 @@ public: /* sCti is Softbody contact info */ struct sCti { - btCollisionObject* m_colObj; /* Rigid body */ + const btCollisionObject* m_colObj; /* Rigid body */ btVector3 m_normal; /* Outward normal */ btScalar m_offset; /* Offset from origin */ }; @@ -374,13 +374,13 @@ public: { Cluster* m_soft; btRigidBody* m_rigid; - btCollisionObject* m_collisionObject; + const btCollisionObject* m_collisionObject; Body() : m_soft(0),m_rigid(0),m_collisionObject(0) {} Body(Cluster* p) : m_soft(p),m_rigid(0),m_collisionObject(0) {} - Body(btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj) + Body(const btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj) { - m_rigid = btRigidBody::upcast(m_collisionObject); + m_rigid = (btRigidBody*)btRigidBody::upcast(m_collisionObject); } void activate() const @@ -671,6 +671,9 @@ public: btTransform m_initialWorldTransform; btVector3 m_windVelocity; + + btScalar m_restLengthScale; + // // Api // @@ -810,9 +813,15 @@ public: void rotate( const btQuaternion& rot); /* Scale */ void scale( const btVector3& scl); + /* Get link resting lengths scale */ + btScalar getRestLengthScale(); + /* Scale resting length of all springs */ + void setRestLengthScale(btScalar restLength); /* Set current state as pose */ void setPose( bool bvolume, bool bframe); + /* Set current link lengths as resting lengths */ + void resetLinkRestLengths(); /* Return the volume */ btScalar getVolume() const; /* Cluster count */ @@ -867,7 +876,7 @@ public: /* integrateMotion */ void integrateMotion(); /* defaultCollisionHandlers */ - void defaultCollisionHandler(btCollisionObject* pco); + void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap); void defaultCollisionHandler(btSoftBody* psb); @@ -949,11 +958,13 @@ public: btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const; void initializeFaceTree(); btVector3 evaluateCom() const; - bool checkContact(btCollisionObject* colObj,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const; + bool checkContact(const btCollisionObjectWrapper* colObjWrap,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); void updatePose(); void updateConstants(); + void updateLinkConstants(); + void updateArea(bool averageArea = true); void initializeClusters(); void updateClusters(); void cleanupClusters(); |