#include <btReducedDeformableBodySolver.h>

Inheritance diagram for btReducedDeformableBodySolver:

Collaboration diagram for btReducedDeformableBodySolver:

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Public Member Functions
	btReducedDeformableBodySolver ()

	~btReducedDeformableBodySolver ()

virtual void	setGravity (const btVector3 &gravity)

virtual SolverTypes	getSolverType () const
	Return the type of the solver. More...

virtual void	reinitialize (const btAlignedObjectArray< btSoftBody * > &bodies, btScalar dt)

virtual void	predictMotion (btScalar solverdt)
	Predict motion of soft bodies into next timestep. More...

virtual void	applyTransforms (btScalar timeStep)

virtual void	setConstraints (const btContactSolverInfo &infoGlobal)

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

virtual void	deformableBodyInternalWriteBack ()

Public Member Functions inherited from btDeformableBodySolver
	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
btAlignedObjectArray< btAlignedObjectArray< btReducedDeformableStaticConstraint > >	m_staticConstraints

btAlignedObjectArray< btAlignedObjectArray< btReducedDeformableNodeRigidContactConstraint > >	m_nodeRigidConstraints

btAlignedObjectArray< btAlignedObjectArray< btReducedDeformableFaceRigidContactConstraint > >	m_faceRigidConstraints

Public Attributes inherited from btDeformableBodySolver
btDeformableBackwardEulerObjective *	m_objective

bool	m_useProjection

Protected Member Functions
void	predictReduceDeformableMotion (btScalar solverdt)

void	applyExplicitForce (btScalar solverdt)

Protected Attributes
bool	m_ascendOrder

btScalar	m_dampingAlpha

btScalar	m_dampingBeta

btVector3	m_gravity

Protected Attributes inherited from btDeformableBodySolver
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

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 9 of file btReducedDeformableBodySolver.h.

Constructor & Destructor Documentation

◆ btReducedDeformableBodySolver()

btReducedDeformableBodySolver::btReducedDeformableBodySolver ( )

Definition at line 4 of file btReducedDeformableBodySolver.cpp.

◆ ~btReducedDeformableBodySolver()

btReducedDeformableBodySolver::~btReducedDeformableBodySolver ( )

inline

Definition at line 28 of file btReducedDeformableBodySolver.h.

Member Function Documentation

◆ applyExplicitForce()

void btReducedDeformableBodySolver::applyExplicitForce ( btScalar solverdt )

protected

Definition at line 139 of file btReducedDeformableBodySolver.cpp.

◆ applyTransforms()

void btReducedDeformableBodySolver::applyTransforms ( btScalar timeStep )

virtual

Reimplemented from btDeformableBodySolver.

Definition at line 163 of file btReducedDeformableBodySolver.cpp.

◆ deformableBodyInternalWriteBack()

void btReducedDeformableBodySolver::deformableBodyInternalWriteBack ( )

virtual

Reimplemented from btDeformableBodySolver.

Definition at line 316 of file btReducedDeformableBodySolver.cpp.

◆ getSolverType()

virtual SolverTypes btReducedDeformableBodySolver::getSolverType ( ) const

inlinevirtual

Return the type of the solver.

Reimplemented from btDeformableBodySolver.

Definition at line 32 of file btReducedDeformableBodySolver.h.

◆ predictMotion()

void btReducedDeformableBodySolver::predictMotion ( btScalar solverdt )

virtual

Predict motion of soft bodies into next timestep.

Reimplemented from btDeformableBodySolver.

Definition at line 77 of file btReducedDeformableBodySolver.cpp.

◆ predictReduceDeformableMotion()

void btReducedDeformableBodySolver::predictReduceDeformableMotion ( btScalar solverdt )

protected

Definition at line 87 of file btReducedDeformableBodySolver.cpp.

◆ reinitialize()

void btReducedDeformableBodySolver::reinitialize	(	const btAlignedObjectArray< btSoftBody * > &	bodies,
		btScalar	dt
	)

virtual

Reimplemented from btDeformableBodySolver.

Definition at line 18 of file btReducedDeformableBodySolver.cpp.

◆ setConstraints()

void btReducedDeformableBodySolver::setConstraints ( const btContactSolverInfo & infoGlobal )

virtual

Reimplemented from btDeformableBodySolver.

Definition at line 196 of file btReducedDeformableBodySolver.cpp.

◆ setGravity()

void btReducedDeformableBodySolver::setGravity ( const btVector3 & gravity )

virtual

Reimplemented from btDeformableBodySolver.

Definition at line 13 of file btReducedDeformableBodySolver.cpp.

◆ solveContactConstraints()

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