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btDeformableRigidWorld now inherits from btMultiBodyDynamicsWorld instead of btSoftRigidDynamicsWorld

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This commit is contained in:
Xuchen Han
2019-07-09 15:27:17 -07:00
parent 13d4e1cc2b
commit c4e316f005
6 changed files with 86 additions and 38 deletions
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2
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -35,7 +35,7 @@ enum btDynamicsWorldType
BT_SOFT_RIGID_DYNAMICS_WORLD = 4,
BT_GPU_DYNAMICS_WORLD = 5,
BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6,
BT_DEFORMABLE_RIGID_DYNAMICS_WORLD = 7
BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD = 7
};
///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.

5
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -47,7 +47,7 @@ protected:
virtual void calculateSimulationIslands();
virtual void updateActivationState(btScalar timeStep);
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void serializeMultiBodies(btSerializer* serializer);
@@ -55,7 +55,8 @@ public:
btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
virtual ~btMultiBodyDynamicsWorld();
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
virtual void removeMultiBody(btMultiBody* body);