Bullet Collision Detection & Physics Library
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btDeformableLagrangianForce Class Referenceabstract

#include <btDeformableLagrangianForce.h>

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Public Types

typedef btAlignedObjectArray< btVector3 > TVStack
 

Public Member Functions

 btDeformableLagrangianForce ()
 
virtual ~btDeformableLagrangianForce ()
 
virtual void addScaledForces (btScalar scale, TVStack &force)=0
 
virtual void addScaledDampingForceDifferential (btScalar scale, const TVStack &dv, TVStack &df)=0
 
virtual void buildDampingForceDifferentialDiagonal (btScalar scale, TVStack &diagA)=0
 
virtual void addScaledElasticForceDifferential (btScalar scale, const TVStack &dx, TVStack &df)=0
 
virtual void addScaledExplicitForce (btScalar scale, TVStack &force)=0
 
virtual void addScaledDampingForce (btScalar scale, TVStack &force)=0
 
virtual void addScaledHessian (btScalar scale)
 
virtual btDeformableLagrangianForceType getForceType ()=0
 
virtual void reinitialize (bool nodeUpdated)
 
virtual int getNumNodes ()
 
virtual void addSoftBody (btSoftBody *psb)
 
virtual void removeSoftBody (btSoftBody *psb)
 
virtual void setIndices (const btAlignedObjectArray< btSoftBody::Node * > *nodes)
 
virtual btMatrix3x3 Ds (int id0, int id1, int id2, int id3, const TVStack &dx)
 
virtual btMatrix3x3 DsFromVelocity (const btSoftBody::Node *n0, const btSoftBody::Node *n1, const btSoftBody::Node *n2, const btSoftBody::Node *n3)
 
virtual void testDerivative ()
 
virtual void testHessian ()
 
virtual double totalElasticEnergy (btScalar dt)
 
virtual double totalDampingEnergy (btScalar dt)
 
virtual double totalEnergy (btScalar dt)
 

Public Attributes

btAlignedObjectArray< btSoftBody * > m_softBodies
 
const btAlignedObjectArray< btSoftBody::Node * > * m_nodes
 

Detailed Description

Definition at line 38 of file btDeformableLagrangianForce.h.

Member Typedef Documentation

◆ TVStack

typedef btAlignedObjectArray<btVector3> btDeformableLagrangianForce::TVStack

Definition at line 41 of file btDeformableLagrangianForce.h.

Constructor & Destructor Documentation

◆ btDeformableLagrangianForce()

btDeformableLagrangianForce::btDeformableLagrangianForce ( )
inline

Definition at line 45 of file btDeformableLagrangianForce.h.

◆ ~btDeformableLagrangianForce()

virtual btDeformableLagrangianForce::~btDeformableLagrangianForce ( )
inlinevirtual

Definition at line 49 of file btDeformableLagrangianForce.h.

Member Function Documentation

◆ addScaledDampingForce()

virtual void btDeformableLagrangianForce::addScaledDampingForce ( btScalar  scale,
TVStack &  force 
)
pure virtual

Implemented in btDeformableCorotatedForce, btDeformableGravityForce, btDeformableLinearElasticityForce, btDeformableMassSpringForce, btDeformableMousePickingForce, and btDeformableNeoHookeanForce.

◆ addScaledDampingForceDifferential()

virtual void btDeformableLagrangianForce::addScaledDampingForceDifferential ( btScalar  scale,
const TVStack &  dv,
TVStack &  df 
)
pure virtual

Implemented in btDeformableCorotatedForce, btDeformableGravityForce, btDeformableLinearElasticityForce, btDeformableMassSpringForce, btDeformableMousePickingForce, and btDeformableNeoHookeanForce.

◆ addScaledElasticForceDifferential()

virtual void btDeformableLagrangianForce::addScaledElasticForceDifferential ( btScalar  scale,
const TVStack &  dx,
TVStack &  df 
)
pure virtual

Implemented in btDeformableCorotatedForce, btDeformableGravityForce, btDeformableLinearElasticityForce, btDeformableMassSpringForce, btDeformableMousePickingForce, and btDeformableNeoHookeanForce.

◆ addScaledExplicitForce()

virtual void btDeformableLagrangianForce::addScaledExplicitForce ( btScalar  scale,
TVStack &  force 
)
pure virtual

Implemented in btDeformableCorotatedForce, btDeformableGravityForce, btDeformableLinearElasticityForce, btDeformableMassSpringForce, btDeformableMousePickingForce, and btDeformableNeoHookeanForce.

◆ addScaledForces()

virtual void btDeformableLagrangianForce::addScaledForces ( btScalar  scale,
TVStack &  force 
)
pure virtual

Implemented in btDeformableCorotatedForce, btDeformableGravityForce, btDeformableLinearElasticityForce, btDeformableMassSpringForce, btDeformableMousePickingForce, and btDeformableNeoHookeanForce.

◆ addScaledHessian()

virtual void btDeformableLagrangianForce::addScaledHessian ( btScalar  scale)
inlinevirtual

Reimplemented in btDeformableLinearElasticityForce.

Definition at line 69 of file btDeformableLagrangianForce.h.

◆ addSoftBody()

virtual void btDeformableLagrangianForce::addSoftBody ( btSoftBody *  psb)
inlinevirtual

Definition at line 89 of file btDeformableLagrangianForce.h.

◆ buildDampingForceDifferentialDiagonal()

virtual void btDeformableLagrangianForce::buildDampingForceDifferentialDiagonal ( btScalar  scale,
TVStack &  diagA 
)
pure virtual

Implemented in btDeformableCorotatedForce, btDeformableGravityForce, btDeformableLinearElasticityForce, btDeformableMassSpringForce, btDeformableMousePickingForce, and btDeformableNeoHookeanForce.

◆ Ds()

virtual btMatrix3x3 btDeformableLagrangianForce::Ds ( int  id0,
int  id1,
int  id2,
int  id3,
const TVStack &  dx 
)
inlinevirtual

Definition at line 105 of file btDeformableLagrangianForce.h.

◆ DsFromVelocity()

virtual btMatrix3x3 btDeformableLagrangianForce::DsFromVelocity ( const btSoftBody::Node *  n0,
const btSoftBody::Node *  n1,
const btSoftBody::Node *  n2,
const btSoftBody::Node *  n3 
)
inlinevirtual

Definition at line 114 of file btDeformableLagrangianForce.h.

◆ getForceType()

virtual btDeformableLagrangianForceType btDeformableLagrangianForce::getForceType ( )
pure virtual

Implemented in btDeformableCorotatedForce, btDeformableGravityForce, btDeformableLinearElasticityForce, btDeformableMassSpringForce, btDeformableMousePickingForce, and btDeformableNeoHookeanForce.

◆ getNumNodes()

virtual int btDeformableLagrangianForce::getNumNodes ( )
inlinevirtual

Definition at line 78 of file btDeformableLagrangianForce.h.

◆ reinitialize()

virtual void btDeformableLagrangianForce::reinitialize ( bool  nodeUpdated)
inlinevirtual

Definition at line 73 of file btDeformableLagrangianForce.h.

◆ removeSoftBody()

virtual void btDeformableLagrangianForce::removeSoftBody ( btSoftBody *  psb)
inlinevirtual

Definition at line 94 of file btDeformableLagrangianForce.h.

◆ setIndices()

virtual void btDeformableLagrangianForce::setIndices ( const btAlignedObjectArray< btSoftBody::Node * > *  nodes)
inlinevirtual

Definition at line 99 of file btDeformableLagrangianForce.h.

◆ testDerivative()

virtual void btDeformableLagrangianForce::testDerivative ( )
inlinevirtual

Definition at line 123 of file btDeformableLagrangianForce.h.

◆ testHessian()

virtual void btDeformableLagrangianForce::testHessian ( )
inlinevirtual

Definition at line 233 of file btDeformableLagrangianForce.h.

◆ totalDampingEnergy()

virtual double btDeformableLagrangianForce::totalDampingEnergy ( btScalar  dt)
inlinevirtual

Reimplemented in btDeformableLinearElasticityForce, btDeformableMassSpringForce, btDeformableMousePickingForce, and btDeformableNeoHookeanForce.

Definition at line 361 of file btDeformableLagrangianForce.h.

◆ totalElasticEnergy()

virtual double btDeformableLagrangianForce::totalElasticEnergy ( btScalar  dt)
inlinevirtual

Reimplemented in btDeformableLinearElasticityForce, btDeformableMassSpringForce, btDeformableMousePickingForce, and btDeformableNeoHookeanForce.

Definition at line 355 of file btDeformableLagrangianForce.h.

◆ totalEnergy()

virtual double btDeformableLagrangianForce::totalEnergy ( btScalar  dt)
inlinevirtual

Reimplemented in btDeformableGravityForce.

Definition at line 367 of file btDeformableLagrangianForce.h.

Member Data Documentation

◆ m_nodes

const btAlignedObjectArray<btSoftBody::Node*>* btDeformableLagrangianForce::m_nodes

Definition at line 43 of file btDeformableLagrangianForce.h.

◆ m_softBodies

btAlignedObjectArray<btSoftBody*> btDeformableLagrangianForce::m_softBodies

Definition at line 42 of file btDeformableLagrangianForce.h.

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