Bullet Collision Detection & Physics Library
Public Member Functions | Public Attributes | Protected Attributes | Private Types | List of all members
btDeformableBodySolver Class Reference

#include <btDeformableBodySolver.h>

Inheritance diagram for btDeformableBodySolver:
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Public Member Functions

 btDeformableBodySolver ()
 
virtual ~btDeformableBodySolver ()
 
virtual SolverTypes getSolverType () const
 Return the type of the solver. More...
 
virtual void updateSoftBodies ()
 Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes. More...
 
virtual btScalar solveContactConstraints (btCollisionObject **deformableBodies, int numDeformableBodies, const btContactSolverInfo &infoGlobal)
 
virtual void solveDeformableConstraints (btScalar solverdt)
 
virtual void setGravity (const btVector3 &gravity)
 
virtual void reinitialize (const btAlignedObjectArray< btSoftBody * > &softBodies, btScalar dt)
 
virtual void setConstraints (const btContactSolverInfo &infoGlobal)
 
virtual void predictMotion (btScalar solverdt)
 Predict motion of soft bodies into next timestep. More...
 
void predictDeformableMotion (btSoftBody *psb, btScalar dt)
 
void backupVelocity ()
 
virtual void setupDeformableSolve (bool implicit)
 
void revertVelocity ()
 
void updateVelocity ()
 
bool updateNodes ()
 
void computeStep (TVStack &ddv, const TVStack &residual)
 
btScalar computeDescentStep (TVStack &ddv, const TVStack &residual, bool verbose=false)
 
virtual void copySoftBodyToVertexBuffer (const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer)
 
virtual void processCollision (btSoftBody *softBody, const btCollisionObjectWrapper *collisionObjectWrap)
 
virtual void processCollision (btSoftBody *softBody, btSoftBody *otherSoftBody)
 Process a collision between two soft bodies. More...
 
void setImplicit (bool implicit)
 
void setLineSearch (bool lineSearch)
 
void updateState ()
 
void updateDv (btScalar scale=1)
 
void updateTempPosition ()
 
void backupDv ()
 
void revertDv ()
 
void updateEnergy (btScalar scale)
 
btScalar kineticEnergy ()
 
virtual void applyExplicitForce ()
 
virtual void applyTransforms (btScalar timeStep)
 
virtual void setStrainLimiting (bool opt)
 
virtual void setPreconditioner (int opt)
 
virtual btAlignedObjectArray< btDeformableLagrangianForce * > * getLagrangianForceArray ()
 
virtual const btAlignedObjectArray< btSoftBody::Node * > * getIndices ()
 
virtual void setProjection ()
 
virtual void setLagrangeMultiplier ()
 
virtual bool isReducedSolver ()
 
virtual void deformableBodyInternalWriteBack ()
 
virtual void optimize (btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate=false)
 Optimize soft bodies in this solver. More...
 
virtual void solveConstraints (btScalar dt)
 Solve constraints for a set of soft bodies. More...
 
virtual bool checkInitialized ()
 Ensure that this solver is initialized. More...
 
virtual void copyBackToSoftBodies (bool bMove=true)
 Copy necessary data back to the original soft body source objects. More...
 
- Public Member Functions inherited from btSoftBodySolver
 btSoftBodySolver ()
 
virtual ~btSoftBodySolver ()
 
virtual SolverTypes getSolverType () const =0
 Return the type of the solver. More...
 
virtual bool checkInitialized ()=0
 Ensure that this solver is initialized. More...
 
virtual void optimize (btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate=false)=0
 Optimize soft bodies in this solver. More...
 
virtual void copyBackToSoftBodies (bool bMove=true)=0
 Copy necessary data back to the original soft body source objects. More...
 
virtual void predictMotion (btScalar solverdt)=0
 Predict motion of soft bodies into next timestep. More...
 
virtual void solveConstraints (btScalar solverdt)=0
 Solve constraints for a set of soft bodies. More...
 
virtual void updateSoftBodies ()=0
 Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes. More...
 
virtual void processCollision (btSoftBody *, const struct btCollisionObjectWrapper *)=0
 Process a collision between one of the world's soft bodies and another collision object. More...
 
virtual void processCollision (btSoftBody *, btSoftBody *)=0
 Process a collision between two soft bodies. More...
 
virtual void setNumberOfPositionIterations (int iterations)
 Set the number of velocity constraint solver iterations this solver uses. More...
 
virtual int getNumberOfPositionIterations ()
 Get the number of velocity constraint solver iterations this solver uses. More...
 
virtual void setNumberOfVelocityIterations (int iterations)
 Set the number of velocity constraint solver iterations this solver uses. More...
 
virtual int getNumberOfVelocityIterations ()
 Get the number of velocity constraint solver iterations this solver uses. More...
 
float getTimeScale ()
 Return the timescale that the simulation is using. More...
 

Public Attributes

btDeformableBackwardEulerObjective * m_objective
 
bool m_useProjection
 

Protected Attributes

int m_numNodes
 
TVStack m_dv
 
TVStack m_backup_dv
 
TVStack m_ddv
 
TVStack m_residual
 
btAlignedObjectArray< btSoftBody * > m_softBodies
 
TVStack m_backupVelocity
 
btScalar m_dt
 
btConjugateGradient< btDeformableBackwardEulerObjective > m_cg
 
btConjugateResidual< btDeformableBackwardEulerObjective > m_cr
 
bool m_implicit
 
int m_maxNewtonIterations
 
btScalar m_newtonTolerance
 
bool m_lineSearch
 
bool m_reducedSolver
 
- Protected Attributes inherited from btSoftBodySolver
int m_numberOfPositionIterations
 
int m_numberOfVelocityIterations
 
float m_timeScale
 

Private Types

typedef btAlignedObjectArray< btVector3 > TVStack
 

Additional Inherited Members

- Public Types inherited from btSoftBodySolver
enum  SolverTypes {
  DEFAULT_SOLVER ,
  CPU_SOLVER ,
  CL_SOLVER ,
  CL_SIMD_SOLVER ,
  DX_SOLVER ,
  DX_SIMD_SOLVER ,
  DEFORMABLE_SOLVER ,
  REDUCED_DEFORMABLE_SOLVER
}
 

Detailed Description

Definition at line 30 of file btDeformableBodySolver.h.

Member Typedef Documentation

◆ TVStack

typedef btAlignedObjectArray<btVector3> btDeformableBodySolver::TVStack
private

Definition at line 32 of file btDeformableBodySolver.h.

Constructor & Destructor Documentation

◆ btDeformableBodySolver()

btDeformableBodySolver::btDeformableBodySolver ( )

Definition at line 22 of file btDeformableBodySolver.cpp.

◆ ~btDeformableBodySolver()

btDeformableBodySolver::~btDeformableBodySolver ( )
virtual

Definition at line 29 of file btDeformableBodySolver.cpp.

Member Function Documentation

◆ applyExplicitForce()

void btDeformableBodySolver::applyExplicitForce ( )
virtual

Definition at line 509 of file btDeformableBodySolver.cpp.

◆ applyTransforms()

void btDeformableBodySolver::applyTransforms ( btScalar  timeStep)
virtual

Reimplemented in btReducedDeformableBodySolver.

Definition at line 514 of file btDeformableBodySolver.cpp.

◆ backupDv()

void btDeformableBodySolver::backupDv ( )

Definition at line 140 of file btDeformableBodySolver.cpp.

◆ backupVelocity()

void btDeformableBodySolver::backupVelocity ( )

Definition at line 317 of file btDeformableBodySolver.cpp.

◆ checkInitialized()

virtual bool btDeformableBodySolver::checkInitialized ( )
inlinevirtual

Ensure that this solver is initialized.

Implements btSoftBodySolver.

Definition at line 220 of file btDeformableBodySolver.h.

◆ computeDescentStep()

btScalar btDeformableBodySolver::computeDescentStep ( TVStack &  ddv,
const TVStack &  residual,
bool  verbose = false 
)

Definition at line 166 of file btDeformableBodySolver.cpp.

◆ computeStep()

void btDeformableBodySolver::computeStep ( TVStack &  ddv,
const TVStack &  residual 
)

Definition at line 214 of file btDeformableBodySolver.cpp.

◆ copyBackToSoftBodies()

virtual void btDeformableBodySolver::copyBackToSoftBodies ( bool  bMove = true)
inlinevirtual

Copy necessary data back to the original soft body source objects.

Implements btSoftBodySolver.

Definition at line 221 of file btDeformableBodySolver.h.

◆ copySoftBodyToVertexBuffer()

virtual void btDeformableBodySolver::copySoftBodyToVertexBuffer ( const btSoftBody *const  softBody,
btVertexBufferDescriptor *  vertexBuffer 
)
inlinevirtual

Definition at line 113 of file btDeformableBodySolver.h.

◆ deformableBodyInternalWriteBack()

virtual void btDeformableBodySolver::deformableBodyInternalWriteBack ( )
inlinevirtual

Reimplemented in btReducedDeformableBodySolver.

Definition at line 215 of file btDeformableBodySolver.h.

◆ getIndices()

virtual const btAlignedObjectArray< btSoftBody::Node * > * btDeformableBodySolver::getIndices ( )
inlinevirtual

Definition at line 195 of file btDeformableBodySolver.h.

◆ getLagrangianForceArray()

virtual btAlignedObjectArray< btDeformableLagrangianForce * > * btDeformableBodySolver::getLagrangianForceArray ( )
inlinevirtual

Definition at line 190 of file btDeformableBodySolver.h.

◆ getSolverType()

virtual SolverTypes btDeformableBodySolver::getSolverType ( ) const
inlinevirtual

Return the type of the solver.

Implements btSoftBodySolver.

Reimplemented in btReducedDeformableBodySolver.

Definition at line 59 of file btDeformableBodySolver.h.

◆ isReducedSolver()

virtual bool btDeformableBodySolver::isReducedSolver ( )
inlinevirtual

Definition at line 210 of file btDeformableBodySolver.h.

◆ kineticEnergy()

btScalar btDeformableBodySolver::kineticEnergy ( )

Definition at line 122 of file btDeformableBodySolver.cpp.

◆ optimize()

virtual void btDeformableBodySolver::optimize ( btAlignedObjectArray< btSoftBody * > &  softBodies,
bool  forceUpdate = false 
)
inlinevirtual

Optimize soft bodies in this solver.

Implements btSoftBodySolver.

Definition at line 218 of file btDeformableBodySolver.h.

◆ predictDeformableMotion()

void btDeformableBodySolver::predictDeformableMotion ( btSoftBody *  psb,
btScalar  dt 
)

Definition at line 422 of file btDeformableBodySolver.cpp.

◆ predictMotion()

void btDeformableBodySolver::predictMotion ( btScalar  solverdt)
virtual

Predict motion of soft bodies into next timestep.

Implements btSoftBodySolver.

Reimplemented in btReducedDeformableBodySolver.

Definition at line 388 of file btDeformableBodySolver.cpp.

◆ processCollision() [1/2]

virtual void btDeformableBodySolver::processCollision ( btSoftBody *  ,
btSoftBody *   
)
inlinevirtual

Process a collision between two soft bodies.

Implements btSoftBodySolver.

Definition at line 122 of file btDeformableBodySolver.h.

◆ processCollision() [2/2]

virtual void btDeformableBodySolver::processCollision ( btSoftBody *  softBody,
const btCollisionObjectWrapper *  collisionObjectWrap 
)
inlinevirtual

Definition at line 116 of file btDeformableBodySolver.h.

◆ reinitialize()

void btDeformableBodySolver::reinitialize ( const btAlignedObjectArray< btSoftBody * > &  softBodies,
btScalar  dt 
)
virtual

Reimplemented in btReducedDeformableBodySolver.

Definition at line 222 of file btDeformableBodySolver.cpp.

◆ revertDv()

void btDeformableBodySolver::revertDv ( )

Definition at line 149 of file btDeformableBodySolver.cpp.

◆ revertVelocity()

void btDeformableBodySolver::revertVelocity ( )

Definition at line 362 of file btDeformableBodySolver.cpp.

◆ setConstraints()

void btDeformableBodySolver::setConstraints ( const btContactSolverInfo &  infoGlobal)
virtual

Reimplemented in btReducedDeformableBodySolver.

Definition at line 251 of file btDeformableBodySolver.cpp.

◆ setGravity()

virtual void btDeformableBodySolver::setGravity ( const btVector3 &  gravity)
inlinevirtual

Reimplemented in btReducedDeformableBodySolver.

Definition at line 73 of file btDeformableBodySolver.h.

◆ setImplicit()

void btDeformableBodySolver::setImplicit ( bool  implicit)

Definition at line 498 of file btDeformableBodySolver.cpp.

◆ setLagrangeMultiplier()

virtual void btDeformableBodySolver::setLagrangeMultiplier ( )
inlinevirtual

Definition at line 205 of file btDeformableBodySolver.h.

◆ setLineSearch()

void btDeformableBodySolver::setLineSearch ( bool  lineSearch)

Definition at line 504 of file btDeformableBodySolver.cpp.

◆ setPreconditioner()

virtual void btDeformableBodySolver::setPreconditioner ( int  opt)
inlinevirtual

Definition at line 172 of file btDeformableBodySolver.h.

◆ setProjection()

virtual void btDeformableBodySolver::setProjection ( )
inlinevirtual

Definition at line 200 of file btDeformableBodySolver.h.

◆ setStrainLimiting()

virtual void btDeformableBodySolver::setStrainLimiting ( bool  opt)
inlinevirtual

Definition at line 167 of file btDeformableBodySolver.h.

◆ setupDeformableSolve()

void btDeformableBodySolver::setupDeformableSolve ( bool  implicit)
virtual

Definition at line 330 of file btDeformableBodySolver.cpp.

◆ solveConstraints()

virtual void btDeformableBodySolver::solveConstraints ( btScalar  solverdt)
inlinevirtual

Solve constraints for a set of soft bodies.

Implements btSoftBodySolver.

Definition at line 219 of file btDeformableBodySolver.h.

◆ solveContactConstraints()

btScalar btDeformableBodySolver::solveContactConstraints ( btCollisionObject **  deformableBodies,
int  numDeformableBodies,
const btContactSolverInfo &  infoGlobal 
)
virtual

Reimplemented in btReducedDeformableBodySolver.

Definition at line 257 of file btDeformableBodySolver.cpp.

◆ solveDeformableConstraints()

void btDeformableBodySolver::solveDeformableConstraints ( btScalar  solverdt)
virtual

Definition at line 34 of file btDeformableBodySolver.cpp.

◆ updateDv()

void btDeformableBodySolver::updateDv ( btScalar  scale = 1)

Definition at line 206 of file btDeformableBodySolver.cpp.

◆ updateEnergy()

void btDeformableBodySolver::updateEnergy ( btScalar  scale)

Definition at line 157 of file btDeformableBodySolver.cpp.

◆ updateNodes()

bool btDeformableBodySolver::updateNodes ( )

Definition at line 375 of file btDeformableBodySolver.cpp.

◆ updateSoftBodies()

void btDeformableBodySolver::updateSoftBodies ( )
virtual

Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes.

Implements btSoftBodySolver.

Definition at line 485 of file btDeformableBodySolver.cpp.

◆ updateState()

void btDeformableBodySolver::updateState ( )

Definition at line 200 of file btDeformableBodySolver.cpp.

◆ updateTempPosition()

void btDeformableBodySolver::updateTempPosition ( )

Definition at line 297 of file btDeformableBodySolver.cpp.

◆ updateVelocity()

void btDeformableBodySolver::updateVelocity ( )

Definition at line 264 of file btDeformableBodySolver.cpp.

Member Data Documentation

◆ m_backup_dv

TVStack btDeformableBodySolver::m_backup_dv
protected

Definition at line 37 of file btDeformableBodySolver.h.

◆ m_backupVelocity

TVStack btDeformableBodySolver::m_backupVelocity
protected

Definition at line 41 of file btDeformableBodySolver.h.

◆ m_cg

btConjugateGradient<btDeformableBackwardEulerObjective> btDeformableBodySolver::m_cg
protected

Definition at line 43 of file btDeformableBodySolver.h.

◆ m_cr

btConjugateResidual<btDeformableBackwardEulerObjective> btDeformableBodySolver::m_cr
protected

Definition at line 44 of file btDeformableBodySolver.h.

◆ m_ddv

TVStack btDeformableBodySolver::m_ddv
protected

Definition at line 38 of file btDeformableBodySolver.h.

◆ m_dt

btScalar btDeformableBodySolver::m_dt
protected

Definition at line 42 of file btDeformableBodySolver.h.

◆ m_dv

TVStack btDeformableBodySolver::m_dv
protected

Definition at line 36 of file btDeformableBodySolver.h.

◆ m_implicit

bool btDeformableBodySolver::m_implicit
protected

Definition at line 45 of file btDeformableBodySolver.h.

◆ m_lineSearch

bool btDeformableBodySolver::m_lineSearch
protected

Definition at line 48 of file btDeformableBodySolver.h.

◆ m_maxNewtonIterations

int btDeformableBodySolver::m_maxNewtonIterations
protected

Definition at line 46 of file btDeformableBodySolver.h.

◆ m_newtonTolerance

btScalar btDeformableBodySolver::m_newtonTolerance
protected

Definition at line 47 of file btDeformableBodySolver.h.

◆ m_numNodes

int btDeformableBodySolver::m_numNodes
protected

Definition at line 35 of file btDeformableBodySolver.h.

◆ m_objective

btDeformableBackwardEulerObjective* btDeformableBodySolver::m_objective

Definition at line 52 of file btDeformableBodySolver.h.

◆ m_reducedSolver

bool btDeformableBodySolver::m_reducedSolver
protected

Definition at line 49 of file btDeformableBodySolver.h.

◆ m_residual

TVStack btDeformableBodySolver::m_residual
protected

Definition at line 39 of file btDeformableBodySolver.h.

◆ m_softBodies

btAlignedObjectArray<btSoftBody*> btDeformableBodySolver::m_softBodies
protected

Definition at line 40 of file btDeformableBodySolver.h.

◆ m_useProjection

bool btDeformableBodySolver::m_useProjection

Definition at line 53 of file btDeformableBodySolver.h.

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