The btSoftBody is an class to simulate cloth and volumetric soft bodies. More...

#include <btSoftBody.h>

Inheritance diagram for btSoftBody:

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Collaboration diagram for btSoftBody:

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Classes
struct	AJoint

struct	Anchor

struct	Body

struct	CJoint

struct	Cluster

struct	Config

struct	DeformableFaceNodeContact

class	DeformableFaceRigidContact

class	DeformableNodeRigidAnchor

class	DeformableNodeRigidContact

class	DeformableRigidContact

struct	eAeroModel
	eAeroModel More...

struct	eFeature
	eFeature More...

struct	Element

struct	ePSolver
	ePSolver : positions solvers More...

struct	eSolverPresets
	eSolverPresets More...

struct	eVSolver
	eVSolver : velocities solvers More...

struct	Face

struct	fCollision
	fCollision More...

struct	Feature

struct	fMaterial
	fMaterial More...

struct	ImplicitFn

struct	Impulse

struct	Joint

struct	Link

struct	LJoint

struct	Material

struct	Node

struct	Note

struct	Pose

struct	RayFromToCaster
	RayFromToCaster takes a ray from, ray to (instead of direction!) More...

struct	RContact

struct	RenderFace

struct	RenderNode

struct	SContact

struct	sCti

struct	sMedium

struct	SolverState

struct	sRayCast

struct	Tetra

struct	TetraScratch

Public Types
typedef btAlignedObjectArray< eVSolver::_ >	tVSolverArray

typedef btAlignedObjectArray< ePSolver::_ >	tPSolverArray

typedef btAlignedObjectArray< btScalar >	tScalarArray

typedef btAlignedObjectArray< btVector3 >	tVector3Array

typedef void(*	psolver_t) (btSoftBody *, btScalar, btScalar)

typedef void(*	vsolver_t) (btSoftBody *, btScalar)

typedef btAlignedObjectArray< Cluster * >	tClusterArray

typedef btAlignedObjectArray< Note >	tNoteArray

typedef btAlignedObjectArray< Node >	tNodeArray

typedef btAlignedObjectArray< RenderNode >	tRenderNodeArray

typedef btAlignedObjectArray< btDbvtNode * >	tLeafArray

typedef btAlignedObjectArray< Link >	tLinkArray

typedef btAlignedObjectArray< Face >	tFaceArray

typedef btAlignedObjectArray< RenderFace >	tRenderFaceArray

typedef btAlignedObjectArray< Tetra >	tTetraArray

typedef btAlignedObjectArray< Anchor >	tAnchorArray

typedef btAlignedObjectArray< RContact >	tRContactArray

typedef btAlignedObjectArray< SContact >	tSContactArray

typedef btAlignedObjectArray< Material * >	tMaterialArray

typedef btAlignedObjectArray< Joint * >	tJointArray

typedef btAlignedObjectArray< btSoftBody * >	tSoftBodyArray

typedef btAlignedObjectArray< btAlignedObjectArray< btScalar > >	tDenseMatrix

Public Types inherited from btCollisionObject
enum	CollisionFlags { CF_DYNAMIC_OBJECT = 0 , CF_STATIC_OBJECT = 1 , CF_KINEMATIC_OBJECT = 2 , CF_NO_CONTACT_RESPONSE = 4 , CF_CUSTOM_MATERIAL_CALLBACK = 8 , CF_CHARACTER_OBJECT = 16 , CF_DISABLE_VISUALIZE_OBJECT = 32 , CF_DISABLE_SPU_COLLISION_PROCESSING = 64 , CF_HAS_CONTACT_STIFFNESS_DAMPING = 128 , CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256 , CF_HAS_FRICTION_ANCHOR = 512 , CF_HAS_COLLISION_SOUND_TRIGGER = 1024 }

enum	CollisionObjectTypes { CO_COLLISION_OBJECT = 1 , CO_RIGID_BODY = 2 , CO_GHOST_OBJECT = 4 , CO_SOFT_BODY = 8 , CO_HF_FLUID = 16 , CO_USER_TYPE = 32 , CO_FEATHERSTONE_LINK = 64 }

enum	AnisotropicFrictionFlags { CF_ANISOTROPIC_FRICTION_DISABLED = 0 , CF_ANISOTROPIC_FRICTION = 1 , CF_ANISOTROPIC_ROLLING_FRICTION = 2 }

Public Member Functions
	btSoftBody (btSoftBodyWorldInfo worldInfo, int node_count, const btVector3 x, const btScalar *m)

	btSoftBody (btSoftBodyWorldInfo *worldInfo)

void	initDefaults ()

virtual	~btSoftBody ()

btSoftBodyWorldInfo *	getWorldInfo ()

void	setDampingCoefficient (btScalar damping_coeff)

virtual void	setCollisionShape (btCollisionShape *collisionShape)

bool	checkLink (int node0, int node1) const

bool	checkLink (const Node node0, const Node node1) const

bool	checkFace (int node0, int node1, int node2) const

Material *	appendMaterial ()

void	appendNote (const char text, const btVector3 &o, const btVector4 &c=btVector4(1, 0, 0, 0), Node n0=0, Node n1=0, Node n2=0, Node *n3=0)

void	appendNote (const char text, const btVector3 &o, Node feature)

void	appendNote (const char text, const btVector3 &o, Link feature)

void	appendNote (const char text, const btVector3 &o, Face feature)

void	appendNode (const btVector3 &x, btScalar m)

void	appendLink (int model=-1, Material *mat=0)

void	appendLink (int node0, int node1, Material *mat=0, bool bcheckexist=false)

void	appendLink (Node node0, Node node1, Material *mat=0, bool bcheckexist=false)

void	appendFace (int model=-1, Material *mat=0)

void	appendFace (int node0, int node1, int node2, Material *mat=0)

void	appendTetra (int model, Material *mat)

void	appendTetra (int node0, int node1, int node2, int node3, Material *mat=0)

void	appendDeformableAnchor (int node, btRigidBody *body)

void	appendDeformableAnchor (int node, btMultiBodyLinkCollider *link)

void	appendAnchor (int node, btRigidBody *body, bool disableCollisionBetweenLinkedBodies=false, btScalar influence=1)

void	appendAnchor (int node, btRigidBody *body, const btVector3 &localPivot, bool disableCollisionBetweenLinkedBodies=false, btScalar influence=1)

void	removeAnchor (int node)

void	appendLinearJoint (const LJoint::Specs &specs, Cluster *body0, Body body1)

void	appendLinearJoint (const LJoint::Specs &specs, Body body=Body())

void	appendLinearJoint (const LJoint::Specs &specs, btSoftBody *body)

void	appendAngularJoint (const AJoint::Specs &specs, Cluster *body0, Body body1)

void	appendAngularJoint (const AJoint::Specs &specs, Body body=Body())

void	appendAngularJoint (const AJoint::Specs &specs, btSoftBody *body)

void	addForce (const btVector3 &force)

void	addForce (const btVector3 &force, int node)

void	addAeroForceToNode (const btVector3 &windVelocity, int nodeIndex)

void	addAeroForceToFace (const btVector3 &windVelocity, int faceIndex)

void	addVelocity (const btVector3 &velocity)

void	setVelocity (const btVector3 &velocity)

void	addVelocity (const btVector3 &velocity, int node)

void	setMass (int node, btScalar mass)

btScalar	getMass (int node) const

btScalar	getTotalMass () const

void	setTotalMass (btScalar mass, bool fromfaces=false)

void	setTotalDensity (btScalar density)

void	setVolumeMass (btScalar mass)

void	setVolumeDensity (btScalar density)

btVector3	getLinearVelocity ()

void	setLinearVelocity (const btVector3 &linVel)

void	setAngularVelocity (const btVector3 &angVel)

btTransform	getRigidTransform ()

virtual void	transformTo (const btTransform &trs)

virtual void	transform (const btTransform &trs)

virtual void	translate (const btVector3 &trs)

virtual void	rotate (const btQuaternion &rot)

virtual void	scale (const btVector3 &scl)

btScalar	getRestLengthScale ()

void	setRestLengthScale (btScalar restLength)

void	setPose (bool bvolume, bool bframe)

void	resetLinkRestLengths ()

btScalar	getVolume () const

btVector3	getCenterOfMass () const

int	clusterCount () const

btVector3	clusterCom (int cluster) const

int	generateBendingConstraints (int distance, Material *mat=0)

void	randomizeConstraints ()

void	updateState (const btAlignedObjectArray< btVector3 > &qs, const btAlignedObjectArray< btVector3 > &vs)

void	releaseCluster (int index)

void	releaseClusters ()

int	generateClusters (int k, int maxiterations=8192)
	generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle otherwise an approximation will be used (better performance)

void	refine (ImplicitFn *ifn, btScalar accurary, bool cut)

bool	cutLink (int node0, int node1, btScalar position)

bool	cutLink (const Node node0, const Node node1, btScalar position)

bool	rayTest (const btVector3 &rayFrom, const btVector3 &rayTo, sRayCast &results)
	Ray casting using rayFrom and rayTo in worldspace, (not direction!)

bool	rayFaceTest (const btVector3 &rayFrom, const btVector3 &rayTo, sRayCast &results)

int	rayFaceTest (const btVector3 &rayFrom, const btVector3 &rayTo, btScalar &mint, int &index) const

void	setSolver (eSolverPresets::_ preset)

void	predictMotion (btScalar dt)

void	solveConstraints ()

void	staticSolve (int iterations)

void	integrateMotion ()

void	defaultCollisionHandler (const btCollisionObjectWrapper *pcoWrap)

void	defaultCollisionHandler (btSoftBody *psb)

void	setSelfCollision (bool useSelfCollision)

bool	useSelfCollision ()

void	updateDeactivation (btScalar timeStep)

void	setZeroVelocity ()

bool	wantsSleeping ()

virtual btMatrix3x3	getImpulseFactor (int n_node)

void	setWindVelocity (const btVector3 &velocity)
	Set a wind velocity for interaction with the air.

const btVector3 &	getWindVelocity ()
	Return the wind velocity for interaction with the air.

void	setSoftBodySolver (btSoftBodySolver *softBodySolver)

btSoftBodySolver *	getSoftBodySolver ()

btSoftBodySolver *	getSoftBodySolver () const

virtual void	getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const

void	pointersToIndices ()

void	indicesToPointers (const int *map=0)

int	rayTest (const btVector3 &rayFrom, const btVector3 &rayTo, btScalar &mint, eFeature::_ &feature, int &index, bool bcountonly) const

void	initializeFaceTree ()

void	rebuildNodeTree ()

btVector3	evaluateCom () const

bool	checkDeformableContact (const btCollisionObjectWrapper *colObjWrap, const btVector3 &x, btScalar margin, btSoftBody::sCti &cti, bool predict=false) const

bool	checkDeformableFaceContact (const btCollisionObjectWrapper *colObjWrap, Face &f, btVector3 &contact_point, btVector3 &bary, btScalar margin, btSoftBody::sCti &cti, bool predict=false) 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 ()

void	prepareClusters (int iterations)

void	solveClusters (btScalar sor)

void	applyClusters (bool drift)

void	dampClusters ()

void	setSpringStiffness (btScalar k)

void	setGravityFactor (btScalar gravFactor)

void	setCacheBarycenter (bool cacheBarycenter)

void	initializeDmInverse ()

void	updateDeformation ()

void	advanceDeformation ()

void	applyForces ()

void	setMaxStress (btScalar maxStress)

void	interpolateRenderMesh ()

void	setCollisionQuadrature (int N)

void	geometricCollisionHandler (btSoftBody *psb)

void	updateNode (btDbvtNode *node, bool use_velocity, bool margin)

void	updateNodeTree (bool use_velocity, bool margin)

template<class DBVTNODE >
void	updateFace (DBVTNODE *node, bool use_velocity, bool margin)

void	updateFaceTree (bool use_velocity, bool margin)

void	applyRepulsionForce (btScalar timeStep, bool applySpringForce)

virtual int	calculateSerializeBufferSize () const

virtual const char *	serialize (void dataBuffer, class btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)

Public Member Functions inherited from btCollisionObject
	BT_DECLARE_ALIGNED_ALLOCATOR ()

bool	mergesSimulationIslands () const

const btVector3 &	getAnisotropicFriction () const

void	setAnisotropicFriction (const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION)

bool	hasAnisotropicFriction (int frictionMode=CF_ANISOTROPIC_FRICTION) const

void	setContactProcessingThreshold (btScalar contactProcessingThreshold)
	the constraint solver can discard solving contacts, if the distance is above this threshold.

btScalar	getContactProcessingThreshold () const

bool	isStaticObject () const

bool	isKinematicObject () const

bool	isStaticOrKinematicObject () const

bool	hasContactResponse () const

	btCollisionObject ()

virtual	~btCollisionObject ()

const btCollisionShape *	getCollisionShape () const

btCollisionShape *	getCollisionShape ()

void	setIgnoreCollisionCheck (const btCollisionObject *co, bool ignoreCollisionCheck)

int	getNumObjectsWithoutCollision () const

const btCollisionObject *	getObjectWithoutCollision (int index)

virtual bool	checkCollideWithOverride (const btCollisionObject *co) const

void *	internalGetExtensionPointer () const
	Avoid using this internal API call, the extension pointer is used by some Bullet extensions.

void	internalSetExtensionPointer (void *pointer)
	Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.

int	getActivationState () const

void	setActivationState (int newState) const

void	setDeactivationTime (btScalar time)

btScalar	getDeactivationTime () const

void	forceActivationState (int newState) const

void	activate (bool forceActivation=false) const

bool	isActive () const

void	setRestitution (btScalar rest)

btScalar	getRestitution () const

void	setFriction (btScalar frict)

btScalar	getFriction () const

void	setRollingFriction (btScalar frict)

btScalar	getRollingFriction () const

void	setSpinningFriction (btScalar frict)

btScalar	getSpinningFriction () const

void	setContactStiffnessAndDamping (btScalar stiffness, btScalar damping)

btScalar	getContactStiffness () const

btScalar	getContactDamping () const

int	getInternalType () const
	reserved for Bullet internal usage

btTransform &	getWorldTransform ()

const btTransform &	getWorldTransform () const

void	setWorldTransform (const btTransform &worldTrans)

btBroadphaseProxy *	getBroadphaseHandle ()

const btBroadphaseProxy *	getBroadphaseHandle () const

void	setBroadphaseHandle (btBroadphaseProxy *handle)

const btTransform &	getInterpolationWorldTransform () const

btTransform &	getInterpolationWorldTransform ()

void	setInterpolationWorldTransform (const btTransform &trans)

void	setInterpolationLinearVelocity (const btVector3 &linvel)

void	setInterpolationAngularVelocity (const btVector3 &angvel)

const btVector3 &	getInterpolationLinearVelocity () const

const btVector3 &	getInterpolationAngularVelocity () const

int	getIslandTag () const

void	setIslandTag (int tag)

int	getCompanionId () const

void	setCompanionId (int id)

int	getWorldArrayIndex () const

void	setWorldArrayIndex (int ix)

btScalar	getHitFraction () const

void	setHitFraction (btScalar hitFraction)

int	getCollisionFlags () const

void	setCollisionFlags (int flags)

btScalar	getCcdSweptSphereRadius () const
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

void	setCcdSweptSphereRadius (btScalar radius)
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

btScalar	getCcdMotionThreshold () const

btScalar	getCcdSquareMotionThreshold () const

void	setCcdMotionThreshold (btScalar ccdMotionThreshold)
	Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.

void *	getUserPointer () const
	users can point to their objects, userPointer is not used by Bullet

int	getUserIndex () const

int	getUserIndex2 () const

int	getUserIndex3 () const

void	setUserPointer (void *userPointer)
	users can point to their objects, userPointer is not used by Bullet

void	setUserIndex (int index)
	users can point to their objects, userPointer is not used by Bullet

void	setUserIndex2 (int index)

void	setUserIndex3 (int index)

int	getUpdateRevisionInternal () const

void	setCustomDebugColor (const btVector3 &colorRGB)

void	removeCustomDebugColor ()

bool	getCustomDebugColor (btVector3 &colorRGB) const

bool	checkCollideWith (const btCollisionObject *co) const

virtual void	serializeSingleObject (class btSerializer *serializer) const

Static Public Member Functions
static btVector3	clusterCom (const Cluster *cluster)

static btVector3	clusterVelocity (const Cluster *cluster, const btVector3 &rpos)

static void	clusterVImpulse (Cluster *cluster, const btVector3 &rpos, const btVector3 &impulse)

static void	clusterDImpulse (Cluster *cluster, const btVector3 &rpos, const btVector3 &impulse)

static void	clusterImpulse (Cluster *cluster, const btVector3 &rpos, const Impulse &impulse)

static void	clusterVAImpulse (Cluster *cluster, const btVector3 &impulse)

static void	clusterDAImpulse (Cluster *cluster, const btVector3 &impulse)

static void	clusterAImpulse (Cluster *cluster, const Impulse &impulse)

static void	clusterDCImpulse (Cluster *cluster, const btVector3 &impulse)

static void	solveCommonConstraints (btSoftBody **bodies, int count, int iterations)

static void	solveClusters (const btAlignedObjectArray< btSoftBody * > &bodies)

static const btSoftBody *	upcast (const btCollisionObject *colObj)

static btSoftBody *	upcast (btCollisionObject *colObj)

static void	PSolve_Anchors (btSoftBody *psb, btScalar kst, btScalar ti)

static void	PSolve_RContacts (btSoftBody *psb, btScalar kst, btScalar ti)

static void	PSolve_SContacts (btSoftBody *psb, btScalar, btScalar ti)

static void	PSolve_Links (btSoftBody *psb, btScalar kst, btScalar ti)

static void	VSolve_Links (btSoftBody *psb, btScalar kst)

static psolver_t	getSolver (ePSolver::_ solver)

static vsolver_t	getSolver (eVSolver::_ solver)

template<typename T >
static T	BaryEval (const T &a, const T &b, const T &c, const btVector3 &coord)

Public Attributes
btAlignedObjectArray< const class btCollisionObject * >	m_collisionDisabledObjects

btSoftBodySolver *	m_softBodySolver

Config	m_cfg

SolverState	m_sst

Pose	m_pose

void *	m_tag

btSoftBodyWorldInfo *	m_worldInfo

tNoteArray	m_notes

tNodeArray	m_nodes

tRenderNodeArray	m_renderNodes

tLinkArray	m_links

tFaceArray	m_faces

tRenderFaceArray	m_renderFaces

tTetraArray	m_tetras

btAlignedObjectArray< TetraScratch >	m_tetraScratches

btAlignedObjectArray< TetraScratch >	m_tetraScratchesTn

tAnchorArray	m_anchors

btAlignedObjectArray< DeformableNodeRigidAnchor >	m_deformableAnchors

tRContactArray	m_rcontacts

btAlignedObjectArray< DeformableNodeRigidContact >	m_nodeRigidContacts

btAlignedObjectArray< DeformableFaceNodeContact >	m_faceNodeContacts

btAlignedObjectArray< DeformableFaceRigidContact >	m_faceRigidContacts

btAlignedObjectArray< DeformableFaceNodeContact >	m_faceNodeContactsCCD

tSContactArray	m_scontacts

tJointArray	m_joints

tMaterialArray	m_materials

btScalar	m_timeacc

btVector3	m_bounds [2]

bool	m_bUpdateRtCst

btDbvt	m_ndbvt

btDbvt	m_fdbvt

btDbvntNode *	m_fdbvnt

btDbvt	m_cdbvt

tClusterArray	m_clusters

btScalar	m_dampingCoefficient

btScalar	m_sleepingThreshold

btScalar	m_maxSpeedSquared

btAlignedObjectArray< btVector3 >	m_quads

btScalar	m_repulsionStiffness

btScalar	m_gravityFactor

bool	m_cacheBarycenter

btAlignedObjectArray< btVector3 >	m_X

btAlignedObjectArray< btVector4 >	m_renderNodesInterpolationWeights

btAlignedObjectArray< btAlignedObjectArray< const btSoftBody::Node * > >	m_renderNodesParents

btAlignedObjectArray< btScalar >	m_z

bool	m_useSelfCollision

bool	m_softSoftCollision

btAlignedObjectArray< bool >	m_clusterConnectivity

btVector3	m_windVelocity

btScalar	m_restLengthScale

bool	m_reducedModel

btAlignedObjectArray< int >	m_userIndexMapping

Additional Inherited Members
Protected Attributes inherited from btCollisionObject
btTransform	m_worldTransform

btTransform	m_interpolationWorldTransform
	m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (predicted) transform

btVector3	m_interpolationLinearVelocity

btVector3	m_interpolationAngularVelocity

btVector3	m_anisotropicFriction

int	m_hasAnisotropicFriction

btScalar	m_contactProcessingThreshold

btBroadphaseProxy *	m_broadphaseHandle

btCollisionShape *	m_collisionShape

void *	m_extensionPointer
	m_extensionPointer is used by some internal low-level Bullet extensions.

btCollisionShape *	m_rootCollisionShape
	m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes If it is NULL, the m_collisionShape is not temporarily replaced.

int	m_collisionFlags

int	m_islandTag1

int	m_companionId

int	m_worldArrayIndex

int	m_activationState1

btScalar	m_deactivationTime

btScalar	m_friction

btScalar	m_restitution

btScalar	m_rollingFriction

btScalar	m_spinningFriction

btScalar	m_contactDamping

btScalar	m_contactStiffness

int	m_internalType
	m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.

void *	m_userObjectPointer
	users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer

int	m_userIndex2

int	m_userIndex

int	m_userIndex3

btScalar	m_hitFraction
	time of impact calculation

btScalar	m_ccdSweptSphereRadius
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

btScalar	m_ccdMotionThreshold
	Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.

int	m_checkCollideWith
	If some object should have elaborate collision filtering by sub-classes.

btAlignedObjectArray< const btCollisionObject * >	m_objectsWithoutCollisionCheck

int	m_updateRevision
	internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.

btVector3	m_customDebugColorRGB

Detailed Description

The btSoftBody is an class to simulate cloth and volumetric soft bodies.

There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject.

Definition at line 74 of file btSoftBody.h.

Member Typedef Documentation

◆ psolver_t

typedef void(* btSoftBody::psolver_t) (btSoftBody *, btScalar, btScalar)

Definition at line 785 of file btSoftBody.h.

◆ tAnchorArray

typedef btAlignedObjectArray<Anchor> btSoftBody::tAnchorArray

Definition at line 796 of file btSoftBody.h.

◆ tClusterArray

typedef btAlignedObjectArray<Cluster*> btSoftBody::tClusterArray

Definition at line 787 of file btSoftBody.h.

◆ tDenseMatrix

typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > btSoftBody::tDenseMatrix

Definition at line 802 of file btSoftBody.h.

◆ tFaceArray

typedef btAlignedObjectArray<Face> btSoftBody::tFaceArray

Definition at line 793 of file btSoftBody.h.

◆ tJointArray

typedef btAlignedObjectArray<Joint*> btSoftBody::tJointArray

Definition at line 800 of file btSoftBody.h.

◆ tLeafArray

typedef btAlignedObjectArray<btDbvtNode*> btSoftBody::tLeafArray

Definition at line 791 of file btSoftBody.h.

◆ tLinkArray

typedef btAlignedObjectArray<Link> btSoftBody::tLinkArray

Definition at line 792 of file btSoftBody.h.

◆ tMaterialArray

typedef btAlignedObjectArray<Material*> btSoftBody::tMaterialArray

Definition at line 799 of file btSoftBody.h.

◆ tNodeArray

typedef btAlignedObjectArray<Node> btSoftBody::tNodeArray

Definition at line 789 of file btSoftBody.h.

◆ tNoteArray

typedef btAlignedObjectArray<Note> btSoftBody::tNoteArray

Definition at line 788 of file btSoftBody.h.

◆ tPSolverArray

typedef btAlignedObjectArray<ePSolver::_> btSoftBody::tPSolverArray

Definition at line 152 of file btSoftBody.h.

◆ tRContactArray

typedef btAlignedObjectArray<RContact> btSoftBody::tRContactArray

Definition at line 797 of file btSoftBody.h.

◆ tRenderFaceArray

typedef btAlignedObjectArray<RenderFace> btSoftBody::tRenderFaceArray

Definition at line 794 of file btSoftBody.h.

◆ tRenderNodeArray

typedef btAlignedObjectArray<RenderNode> btSoftBody::tRenderNodeArray

Definition at line 790 of file btSoftBody.h.

◆ tScalarArray

typedef btAlignedObjectArray<btScalar> btSoftBody::tScalarArray

Definition at line 220 of file btSoftBody.h.

◆ tSContactArray

typedef btAlignedObjectArray<SContact> btSoftBody::tSContactArray

Definition at line 798 of file btSoftBody.h.

◆ tSoftBodyArray

typedef btAlignedObjectArray<btSoftBody*> btSoftBody::tSoftBodyArray

Definition at line 801 of file btSoftBody.h.

◆ tTetraArray

typedef btAlignedObjectArray<Tetra> btSoftBody::tTetraArray

Definition at line 795 of file btSoftBody.h.

◆ tVector3Array

typedef btAlignedObjectArray<btVector3> btSoftBody::tVector3Array

Definition at line 221 of file btSoftBody.h.

◆ tVSolverArray

typedef btAlignedObjectArray<eVSolver::_> btSoftBody::tVSolverArray

Definition at line 151 of file btSoftBody.h.

◆ vsolver_t

typedef void(* btSoftBody::vsolver_t) (btSoftBody *, btScalar)

Definition at line 786 of file btSoftBody.h.

Constructor & Destructor Documentation

◆ btSoftBody() [1/2]

btSoftBody::btSoftBody	(	btSoftBodyWorldInfo *	worldInfo,
		int	node_count,
		const btVector3 *	x,
		const btScalar *	m
	)

Definition at line 130 of file btSoftBody.cpp.

◆ btSoftBody() [2/2]

btSoftBody::btSoftBody ( btSoftBodyWorldInfo * worldInfo )

Definition at line 164 of file btSoftBody.cpp.

◆ ~btSoftBody()

btSoftBody::~btSoftBody ( )

virtual

Definition at line 240 of file btSoftBody.cpp.

Member Function Documentation

◆ addAeroForceToFace()

void btSoftBody::addAeroForceToFace	(	const btVector3 &	windVelocity,
		int	faceIndex
	)

Definition at line 797 of file btSoftBody.cpp.

◆ addAeroForceToNode()

void btSoftBody::addAeroForceToNode	(	const btVector3 &	windVelocity,
		int	nodeIndex
	)

Definition at line 708 of file btSoftBody.cpp.

◆ addForce() [1/2]

void btSoftBody::addForce ( const btVector3 & force )

Definition at line 693 of file btSoftBody.cpp.

◆ addForce() [2/2]

void btSoftBody::addForce	(	const btVector3 &	force,
		int	node
	)

Definition at line 699 of file btSoftBody.cpp.

◆ addVelocity() [1/2]

void btSoftBody::addVelocity ( const btVector3 & velocity )

Definition at line 893 of file btSoftBody.cpp.

◆ addVelocity() [2/2]

void btSoftBody::addVelocity	(	const btVector3 &	velocity,
		int	node
	)

Definition at line 913 of file btSoftBody.cpp.

◆ advanceDeformation()

void btSoftBody::advanceDeformation ( )

Definition at line 3562 of file btSoftBody.cpp.

◆ appendAnchor() [1/2]

void btSoftBody::appendAnchor	(	int	node,
		btRigidBody *	body,
		bool	disableCollisionBetweenLinkedBodies = `false`,
		btScalar	influence = `1`
	)

Definition at line 504 of file btSoftBody.cpp.

◆ appendAnchor() [2/2]

void btSoftBody::appendAnchor	(	int	node,
		btRigidBody *	body,
		const btVector3 &	localPivot,
		bool	disableCollisionBetweenLinkedBodies = `false`,
		btScalar	influence = `1`
	)

Definition at line 511 of file btSoftBody.cpp.

◆ appendAngularJoint() [1/3]

void btSoftBody::appendAngularJoint	(	const AJoint::Specs &	specs,
		Body	body = `Body()`
	)

Definition at line 681 of file btSoftBody.cpp.

◆ appendAngularJoint() [2/3]

void btSoftBody::appendAngularJoint	(	const AJoint::Specs &	specs,
		btSoftBody *	body
	)

Definition at line 687 of file btSoftBody.cpp.

◆ appendAngularJoint() [3/3]

void btSoftBody::appendAngularJoint	(	const AJoint::Specs &	specs,
		Cluster *	body0,
		Body	body1
	)

Definition at line 666 of file btSoftBody.cpp.

◆ appendDeformableAnchor() [1/2]

void btSoftBody::appendDeformableAnchor	(	int	node,
		btMultiBodyLinkCollider *	link
	)

Definition at line 584 of file btSoftBody.cpp.

◆ appendDeformableAnchor() [2/2]

void btSoftBody::appendDeformableAnchor	(	int	node,
		btRigidBody *	body
	)

Definition at line 531 of file btSoftBody.cpp.

◆ appendFace() [1/2]

void btSoftBody::appendFace	(	int	model = `-1`,
		Material *	mat = `0`
	)

Definition at line 432 of file btSoftBody.cpp.

◆ appendFace() [2/2]

void btSoftBody::appendFace	(	int	node0,
		int	node1,
		int	node2,
		Material *	mat = `0`
	)

Definition at line 448 of file btSoftBody.cpp.

◆ appendLinearJoint() [1/3]

void btSoftBody::appendLinearJoint	(	const LJoint::Specs &	specs,
		Body	body = `Body()`
	)

Definition at line 654 of file btSoftBody.cpp.

◆ appendLinearJoint() [2/3]

void btSoftBody::appendLinearJoint	(	const LJoint::Specs &	specs,
		btSoftBody *	body
	)

Definition at line 660 of file btSoftBody.cpp.

◆ appendLinearJoint() [3/3]

void btSoftBody::appendLinearJoint	(	const LJoint::Specs &	specs,
		Cluster *	body0,
		Body	body1
	)

Definition at line 640 of file btSoftBody.cpp.

◆ appendLink() [1/3]

void btSoftBody::appendLink	(	int	model = `-1`,
		Material *	mat = `0`
	)

Definition at line 392 of file btSoftBody.cpp.

◆ appendLink() [2/3]

void btSoftBody::appendLink	(	int	node0,
		int	node1,
		Material *	mat = `0`,
		bool	bcheckexist = `false`
	)

Definition at line 406 of file btSoftBody.cpp.

◆ appendLink() [3/3]

void btSoftBody::appendLink	(	Node *	node0,
		Node *	node1,
		Material *	mat = `0`,
		bool	bcheckexist = `false`
	)

Definition at line 415 of file btSoftBody.cpp.

◆ appendMaterial()

btSoftBody::Material * btSoftBody::appendMaterial ( )

Definition at line 302 of file btSoftBody.cpp.

◆ appendNode()

void btSoftBody::appendNode	(	const btVector3 &	x,
		btScalar	m
	)

Definition at line 372 of file btSoftBody.cpp.

◆ appendNote() [1/4]

void btSoftBody::appendNote	(	const char *	text,
		const btVector3 &	o,
		const btVector4 &	c = `btVector4(1, 0, 0, 0)`,
		Node *	n0 = `0`,
		Node *	n1 = `0`,
		Node *	n2 = `0`,
		Node *	n3 = `0`
	)

Definition at line 314 of file btSoftBody.cpp.

◆ appendNote() [2/4]

void btSoftBody::appendNote	(	const char *	text,
		const btVector3 &	o,
		Face *	feature
	)

Definition at line 361 of file btSoftBody.cpp.

◆ appendNote() [3/4]

void btSoftBody::appendNote	(	const char *	text,
		const btVector3 &	o,
		Link *	feature
	)

Definition at line 351 of file btSoftBody.cpp.

◆ appendNote() [4/4]

void btSoftBody::appendNote	(	const char *	text,
		const btVector3 &	o,
		Node *	feature
	)

Definition at line 343 of file btSoftBody.cpp.

◆ appendTetra() [1/2]

void btSoftBody::appendTetra	(	int	model,
		Material *	mat
	)

Definition at line 472 of file btSoftBody.cpp.

◆ appendTetra() [2/2]

void btSoftBody::appendTetra	(	int	node0,
		int	node1,
		int	node2,
		int	node3,
		Material *	mat = `0`
	)

Definition at line 486 of file btSoftBody.cpp.

◆ applyClusters()

void btSoftBody::applyClusters ( bool drift )

Definition at line 3377 of file btSoftBody.cpp.

◆ applyForces()

void btSoftBody::applyForces ( )

Definition at line 3741 of file btSoftBody.cpp.

◆ applyRepulsionForce()

void btSoftBody::applyRepulsionForce	(	btScalar	timeStep,
		bool	applySpringForce
	)

inline

Definition at line 1317 of file btSoftBody.h.

◆ BaryEval()

template<typename T >

static T btSoftBody::BaryEval	(	const T &	a,
		const T &	b,
		const T &	c,
		const btVector3 &	coord
	)

inlinestatic

Definition at line 1309 of file btSoftBody.h.

◆ calculateSerializeBufferSize()

int btSoftBody::calculateSerializeBufferSize ( ) const

virtual

Reimplemented from btCollisionObject.

Definition at line 4320 of file btSoftBody.cpp.

◆ checkContact()

bool btSoftBody::checkContact	(	const btCollisionObjectWrapper *	colObjWrap,
		const btVector3 &	x,
		btScalar	margin,
		btSoftBody::sCti &	cti
	)		const

Definition at line 2748 of file btSoftBody.cpp.

◆ checkDeformableContact()

bool btSoftBody::checkDeformableContact	(	const btCollisionObjectWrapper *	colObjWrap,
		const btVector3 &	x,
		btScalar	margin,
		btSoftBody::sCti &	cti,
		bool	predict = `false`
	)		const

Definition at line 2777 of file btSoftBody.cpp.

◆ checkDeformableFaceContact()

bool btSoftBody::checkDeformableFaceContact	(	const btCollisionObjectWrapper *	colObjWrap,
		Face &	f,
		btVector3 &	contact_point,
		btVector3 &	bary,
		btScalar	margin,
		btSoftBody::sCti &	cti,
		bool	predict = `false`
	)		const

Definition at line 2825 of file btSoftBody.cpp.

◆ checkFace()

bool btSoftBody::checkFace	(	int	node0,
		int	node1,
		int	node2
	)		const

Definition at line 278 of file btSoftBody.cpp.

◆ checkLink() [1/2]

bool btSoftBody::checkLink	(	const Node *	node0,
		const Node *	node1
	)		const

Definition at line 262 of file btSoftBody.cpp.

◆ checkLink() [2/2]

bool btSoftBody::checkLink	(	int	node0,
		int	node1
	)		const

Definition at line 256 of file btSoftBody.cpp.

◆ cleanupClusters()

void btSoftBody::cleanupClusters ( )

Definition at line 3345 of file btSoftBody.cpp.

◆ clusterAImpulse()

void btSoftBody::clusterAImpulse	(	Cluster *	cluster,
		const Impulse &	impulse
	)

static

Definition at line 1338 of file btSoftBody.cpp.

◆ clusterCom() [1/2]

btVector3 btSoftBody::clusterCom ( const Cluster * cluster )

static

Definition at line 1269 of file btSoftBody.cpp.

◆ clusterCom() [2/2]

btVector3 btSoftBody::clusterCom ( int cluster ) const

Definition at line 1280 of file btSoftBody.cpp.

◆ clusterCount()

int btSoftBody::clusterCount ( ) const

Definition at line 1263 of file btSoftBody.cpp.

◆ clusterDAImpulse()

void btSoftBody::clusterDAImpulse	(	Cluster *	cluster,
		const btVector3 &	impulse
	)

static

Definition at line 1330 of file btSoftBody.cpp.

◆ clusterDCImpulse()

void btSoftBody::clusterDCImpulse	(	Cluster *	cluster,
		const btVector3 &	impulse
	)

static

Definition at line 1345 of file btSoftBody.cpp.

◆ clusterDImpulse()

void btSoftBody::clusterDImpulse	(	Cluster *	cluster,
		const btVector3 &	rpos,
		const btVector3 &	impulse
	)

static

Definition at line 1304 of file btSoftBody.cpp.

◆ clusterImpulse()

void btSoftBody::clusterImpulse	(	Cluster *	cluster,
		const btVector3 &	rpos,
		const Impulse &	impulse
	)

static

Definition at line 1314 of file btSoftBody.cpp.

◆ clusterVAImpulse()

void btSoftBody::clusterVAImpulse	(	Cluster *	cluster,
		const btVector3 &	impulse
	)

static

Definition at line 1321 of file btSoftBody.cpp.

◆ clusterVelocity()

btVector3 btSoftBody::clusterVelocity	(	const Cluster *	cluster,
		const btVector3 &	rpos
	)

static

Definition at line 1286 of file btSoftBody.cpp.

◆ clusterVImpulse()

void btSoftBody::clusterVImpulse	(	Cluster *	cluster,
		const btVector3 &	rpos,
		const btVector3 &	impulse
	)

static

Definition at line 1292 of file btSoftBody.cpp.

◆ cutLink() [1/2]

bool btSoftBody::cutLink	(	const Node *	node0,
		const Node *	node1,
		btScalar	position
	)

Definition at line 1978 of file btSoftBody.cpp.

◆ cutLink() [2/2]

bool btSoftBody::cutLink	(	int	node0,
		int	node1,
		btScalar	position
	)

Definition at line 1984 of file btSoftBody.cpp.

◆ dampClusters()

void btSoftBody::dampClusters ( )

Definition at line 3428 of file btSoftBody.cpp.

◆ defaultCollisionHandler() [1/2]

void btSoftBody::defaultCollisionHandler ( btSoftBody * psb )

Definition at line 4158 of file btSoftBody.cpp.

◆ defaultCollisionHandler() [2/2]

void btSoftBody::defaultCollisionHandler ( const btCollisionObjectWrapper * pcoWrap )

Definition at line 4076 of file btSoftBody.cpp.

◆ evaluateCom()

btVector3 btSoftBody::evaluateCom ( ) const

Definition at line 2735 of file btSoftBody.cpp.

◆ generateBendingConstraints()

int btSoftBody::generateBendingConstraints	(	int	distance,
		Material *	mat = `0`
	)

generic Floyd's algorithm

Definition at line 1357 of file btSoftBody.cpp.

◆ generateClusters()

int btSoftBody::generateClusters	(	int	k,
		int	maxiterations = `8192`
	)

generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle otherwise an approximation will be used (better performance)

Definition at line 1521 of file btSoftBody.cpp.

◆ geometricCollisionHandler()

void btSoftBody::geometricCollisionHandler ( btSoftBody * psb )

Definition at line 4258 of file btSoftBody.cpp.

◆ getAabb()

virtual void btSoftBody::getAabb	(	btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

inlinevirtual

Definition at line 1174 of file btSoftBody.h.

◆ getCenterOfMass()

btVector3 btSoftBody::getCenterOfMass ( ) const

inline

Definition at line 1030 of file btSoftBody.h.

◆ getImpulseFactor()

virtual btMatrix3x3 btSoftBody::getImpulseFactor ( int n_node )

inlinevirtual

Reimplemented in btReducedDeformableBody.

Definition at line 1107 of file btSoftBody.h.

◆ getLinearVelocity()

btVector3 btSoftBody::getLinearVelocity ( )

Definition at line 1034 of file btSoftBody.cpp.

◆ getMass()

btScalar btSoftBody::getMass ( int node ) const

Definition at line 930 of file btSoftBody.cpp.

◆ getRestLengthScale()

btScalar btSoftBody::getRestLengthScale ( )

Definition at line 1164 of file btSoftBody.cpp.

◆ getRigidTransform()

btTransform btSoftBody::getRigidTransform ( )

Definition at line 1067 of file btSoftBody.cpp.

◆ getSoftBodySolver() [1/2]

btSoftBodySolver * btSoftBody::getSoftBodySolver ( )

inline

Definition at line 1140 of file btSoftBody.h.

◆ getSoftBodySolver() [2/2]

btSoftBodySolver * btSoftBody::getSoftBodySolver ( ) const

inline

Definition at line 1148 of file btSoftBody.h.

◆ getSolver() [1/2]

btSoftBody::psolver_t btSoftBody::getSolver ( ePSolver::_ solver )

static

Definition at line 4032 of file btSoftBody.cpp.

◆ getSolver() [2/2]

btSoftBody::vsolver_t btSoftBody::getSolver ( eVSolver::_ solver )

static

Definition at line 4052 of file btSoftBody.cpp.

◆ getTotalMass()

btScalar btSoftBody::getTotalMass ( ) const

Definition at line 936 of file btSoftBody.cpp.

◆ getVolume()

btScalar btSoftBody::getVolume ( ) const

Definition at line 1244 of file btSoftBody.cpp.

◆ getWindVelocity()

const btVector3 & btSoftBody::getWindVelocity ( )

Return the wind velocity for interaction with the air.

Definition at line 4315 of file btSoftBody.cpp.

◆ getWorldInfo()

btSoftBodyWorldInfo * btSoftBody::getWorldInfo ( )

inline

Definition at line 881 of file btSoftBody.h.

◆ indicesToPointers()

void btSoftBody::indicesToPointers ( const int * map = 0 )

Definition at line 2459 of file btSoftBody.cpp.

◆ initDefaults()

void btSoftBody::initDefaults ( )

for now, create a collision shape internally

Definition at line 170 of file btSoftBody.cpp.

◆ initializeClusters()

void btSoftBody::initializeClusters ( )

Definition at line 3162 of file btSoftBody.cpp.

◆ initializeDmInverse()

void btSoftBody::initializeDmInverse ( )

Definition at line 3472 of file btSoftBody.cpp.

◆ initializeFaceTree()

void btSoftBody::initializeFaceTree ( )

Definition at line 2642 of file btSoftBody.cpp.

◆ integrateMotion()

void btSoftBody::integrateMotion ( )

Definition at line 2348 of file btSoftBody.cpp.

◆ interpolateRenderMesh()

void btSoftBody::interpolateRenderMesh ( )

Definition at line 3815 of file btSoftBody.cpp.

◆ pointersToIndices()

void btSoftBody::pointersToIndices ( )

Definition at line 2416 of file btSoftBody.cpp.

◆ predictMotion()

void btSoftBody::predictMotion ( btScalar dt )

Definition at line 2099 of file btSoftBody.cpp.

◆ prepareClusters()

void btSoftBody::prepareClusters ( int iterations )

Definition at line 3359 of file btSoftBody.cpp.

◆ PSolve_Anchors()

void btSoftBody::PSolve_Anchors	(	btSoftBody *	psb,
		btScalar	kst,
		btScalar	ti
	)

static

Definition at line 3864 of file btSoftBody.cpp.

◆ PSolve_Links()

void btSoftBody::PSolve_Links	(	btSoftBody *	psb,
		btScalar	kst,
		btScalar	ti
	)

static

Definition at line 3995 of file btSoftBody.cpp.

◆ PSolve_RContacts()

void btSoftBody::PSolve_RContacts	(	btSoftBody *	psb,
		btScalar	kst,
		btScalar	ti
	)

static

Definition at line 3885 of file btSoftBody.cpp.

◆ PSolve_SContacts()

void btSoftBody::PSolve_SContacts	(	btSoftBody *	psb,
		btScalar	,
		btScalar	ti
	)

static

Definition at line 3960 of file btSoftBody.cpp.

◆ randomizeConstraints()

void btSoftBody::randomizeConstraints ( )

Definition at line 1472 of file btSoftBody.cpp.

◆ rayFaceTest() [1/2]

int btSoftBody::rayFaceTest	(	const btVector3 &	rayFrom,
		const btVector3 &	rayTo,
		btScalar &	mint,
		int &	index
	)		const

Definition at line 2577 of file btSoftBody.cpp.

◆ rayFaceTest() [2/2]

bool btSoftBody::rayFaceTest	(	const btVector3 &	rayFrom,
		const btVector3 &	rayTo,
		sRayCast &	results
	)

Definition at line 2054 of file btSoftBody.cpp.

◆ rayTest() [1/2]

int btSoftBody::rayTest	(	const btVector3 &	rayFrom,
		const btVector3 &	rayTo,
		btScalar &	mint,
		eFeature::_ &	feature,
		int &	index,
		bool	bcountonly
	)		const

Definition at line 2502 of file btSoftBody.cpp.

◆ rayTest() [2/2]

bool btSoftBody::rayTest	(	const btVector3 &	rayFrom,
		const btVector3 &	rayTo,
		sRayCast &	results
	)

Ray casting using rayFrom and rayTo in worldspace, (not direction!)

Definition at line 2039 of file btSoftBody.cpp.

◆ rebuildNodeTree()

void btSoftBody::rebuildNodeTree ( )

Definition at line 2697 of file btSoftBody.cpp.

◆ refine()

void btSoftBody::refine	(	ImplicitFn *	ifn,
		btScalar	accurary,
		bool	cut
	)

Definition at line 1714 of file btSoftBody.cpp.

◆ releaseCluster()

void btSoftBody::releaseCluster ( int index )

Definition at line 1505 of file btSoftBody.cpp.

◆ releaseClusters()

void btSoftBody::releaseClusters ( )

Definition at line 1515 of file btSoftBody.cpp.

◆ removeAnchor()

void btSoftBody::removeAnchor ( int node )

Definition at line 566 of file btSoftBody.cpp.

◆ resetLinkRestLengths()

void btSoftBody::resetLinkRestLengths ( )

Definition at line 1233 of file btSoftBody.cpp.

◆ rotate()

void btSoftBody::rotate ( const btQuaternion & rot )

virtual

Definition at line 1134 of file btSoftBody.cpp.

◆ scale()

void btSoftBody::scale ( const btVector3 & scl )

virtual

Reimplemented in btReducedDeformableBody.

Definition at line 1143 of file btSoftBody.cpp.

◆ serialize()

const char * btSoftBody::serialize	(	void *	dataBuffer,
		class btSerializer *	serializer
	)		const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented from btCollisionObject.

Definition at line 4327 of file btSoftBody.cpp.

◆ setAngularVelocity()

void btSoftBody::setAngularVelocity ( const btVector3 & angVel )

Definition at line 1056 of file btSoftBody.cpp.

◆ setCacheBarycenter()

void btSoftBody::setCacheBarycenter ( bool cacheBarycenter )

Definition at line 3467 of file btSoftBody.cpp.

◆ setCollisionQuadrature()

void btSoftBody::setCollisionQuadrature ( int N )

Definition at line 3852 of file btSoftBody.cpp.

◆ setCollisionShape()

virtual void btSoftBody::setCollisionShape ( btCollisionShape * collisionShape )

inlinevirtual

Reimplemented from btCollisionObject.

Definition at line 892 of file btSoftBody.h.

◆ setDampingCoefficient()

void btSoftBody::setDampingCoefficient ( btScalar damping_coeff )

inline

Definition at line 886 of file btSoftBody.h.

◆ setGravityFactor()

void btSoftBody::setGravityFactor ( btScalar gravFactor )

Definition at line 3462 of file btSoftBody.cpp.

◆ setLinearVelocity()

void btSoftBody::setLinearVelocity ( const btVector3 & linVel )

Definition at line 1047 of file btSoftBody.cpp.

◆ setMass()

void btSoftBody::setMass	(	int	node,
		btScalar	mass
	)

Definition at line 923 of file btSoftBody.cpp.

◆ setMaxStress()

void btSoftBody::setMaxStress ( btScalar maxStress )

Definition at line 3809 of file btSoftBody.cpp.

◆ setPose()

void btSoftBody::setPose	(	bool	bvolume,
		bool	bframe
	)

Definition at line 1185 of file btSoftBody.cpp.

◆ setRestLengthScale()

void btSoftBody::setRestLengthScale ( btScalar restLength )

Definition at line 1170 of file btSoftBody.cpp.

◆ setSelfCollision()

void btSoftBody::setSelfCollision ( bool useSelfCollision )

Definition at line 4065 of file btSoftBody.cpp.

◆ setSoftBodySolver()

void btSoftBody::setSoftBodySolver ( btSoftBodySolver * softBodySolver )

inline

Definition at line 1132 of file btSoftBody.h.

◆ setSolver()

void btSoftBody::setSolver ( eSolverPresets::_ preset )

Definition at line 2074 of file btSoftBody.cpp.

◆ setSpringStiffness()

void btSoftBody::setSpringStiffness ( btScalar k )

Definition at line 3453 of file btSoftBody.cpp.

◆ setTotalDensity()

void btSoftBody::setTotalDensity ( btScalar density )

Definition at line 983 of file btSoftBody.cpp.

◆ setTotalMass()

void btSoftBody::setTotalMass	(	btScalar	mass,
		bool	fromfaces = `false`
	)

Definition at line 947 of file btSoftBody.cpp.

◆ setVelocity()

void btSoftBody::setVelocity ( const btVector3 & velocity )

Definition at line 899 of file btSoftBody.cpp.

◆ setVolumeDensity()

void btSoftBody::setVolumeDensity ( btScalar density )

Definition at line 1019 of file btSoftBody.cpp.

◆ setVolumeMass()

void btSoftBody::setVolumeMass ( btScalar mass )

Definition at line 989 of file btSoftBody.cpp.

◆ setWindVelocity()

void btSoftBody::setWindVelocity ( const btVector3 & velocity )

Set a wind velocity for interaction with the air.

Definition at line 4310 of file btSoftBody.cpp.

◆ setZeroVelocity()

void btSoftBody::setZeroVelocity ( )

Definition at line 4723 of file btSoftBody.cpp.

◆ solveClusters() [1/2]

void btSoftBody::solveClusters ( btScalar sor )

Definition at line 3368 of file btSoftBody.cpp.

◆ solveClusters() [2/2]

void btSoftBody::solveClusters ( const btAlignedObjectArray< btSoftBody * > & bodies )

static

Definition at line 2319 of file btSoftBody.cpp.

◆ solveCommonConstraints()

void btSoftBody::solveCommonConstraints	(	btSoftBody **	bodies,
		int	count,
		int	iterations
	)

static

placeholder

Definition at line 2313 of file btSoftBody.cpp.

◆ solveConstraints()

void btSoftBody::solveConstraints ( )

Definition at line 2208 of file btSoftBody.cpp.

◆ staticSolve()

void btSoftBody::staticSolve ( int iterations )

Definition at line 2301 of file btSoftBody.cpp.

◆ transform()

void btSoftBody::transform ( const btTransform & trs )

virtual

Reimplemented in btReducedDeformableBody.

Definition at line 1103 of file btSoftBody.cpp.

◆ transformTo()

void btSoftBody::transformTo ( const btTransform & trs )

virtual

Reimplemented in btReducedDeformableBody.

Definition at line 1093 of file btSoftBody.cpp.

◆ translate()

void btSoftBody::translate ( const btVector3 & trs )

virtual

Definition at line 1125 of file btSoftBody.cpp.

◆ upcast() [1/2]

static btSoftBody * btSoftBody::upcast ( btCollisionObject * colObj )

inlinestatic

Definition at line 1163 of file btSoftBody.h.

◆ upcast() [2/2]

static const btSoftBody * btSoftBody::upcast ( const btCollisionObject * colObj )

inlinestatic

Definition at line 1157 of file btSoftBody.h.

◆ updateArea()

void btSoftBody::updateArea ( bool averageArea = true )

Definition at line 3077 of file btSoftBody.cpp.

◆ updateBounds()

void btSoftBody::updateBounds ( )

Definition at line 2966 of file btSoftBody.cpp.

◆ updateClusters()

void btSoftBody::updateClusters ( )

Definition at line 3229 of file btSoftBody.cpp.

◆ updateConstants()

void btSoftBody::updateConstants ( )

Definition at line 3154 of file btSoftBody.cpp.

◆ updateDeactivation()

void btSoftBody::updateDeactivation ( btScalar timeStep )

Definition at line 4707 of file btSoftBody.cpp.

◆ updateDeformation()

void btSoftBody::updateDeformation ( )

Definition at line 3524 of file btSoftBody.cpp.

◆ updateFace()

template<class DBVTNODE >

void btSoftBody::updateFace	(	DBVTNODE *	node,
		bool	use_velocity,
		bool	margin
	)

inline

Definition at line 1264 of file btSoftBody.h.

◆ updateFaceTree()

void btSoftBody::updateFaceTree	(	bool	use_velocity,
		bool	margin
	)

inline

Definition at line 1300 of file btSoftBody.h.

◆ updateLinkConstants()

void btSoftBody::updateLinkConstants ( )

Definition at line 3141 of file btSoftBody.cpp.

◆ updateNode()

void btSoftBody::updateNode	(	btDbvtNode *	node,
		bool	use_velocity,
		bool	margin
	)

inline

Definition at line 1225 of file btSoftBody.h.

◆ updateNodeTree()

void btSoftBody::updateNodeTree	(	bool	use_velocity,
		bool	margin
	)

inline

Definition at line 1257 of file btSoftBody.h.

◆ updateNormals()

void btSoftBody::updateNormals ( )

Definition at line 2937 of file btSoftBody.cpp.

◆ updatePose()

void btSoftBody::updatePose ( )

Definition at line 3040 of file btSoftBody.cpp.

◆ updateState()

void btSoftBody::updateState	(	const btAlignedObjectArray< btVector3 > &	qs,
		const btAlignedObjectArray< btVector3 > &	vs
	)

Definition at line 1489 of file btSoftBody.cpp.

◆ useSelfCollision()

bool btSoftBody::useSelfCollision ( )

Definition at line 4070 of file btSoftBody.cpp.

◆ VSolve_Links()

void btSoftBody::VSolve_Links	(	btSoftBody *	psb,
		btScalar	kst
	)

static

Definition at line 4018 of file btSoftBody.cpp.

◆ wantsSleeping()

bool btSoftBody::wantsSleeping ( )

Definition at line 4731 of file btSoftBody.cpp.

Member Data Documentation

◆ m_anchors

tAnchorArray btSoftBody::m_anchors

Definition at line 822 of file btSoftBody.h.

◆ m_bounds

btVector3 btSoftBody::m_bounds[2]

Definition at line 833 of file btSoftBody.h.

◆ m_bUpdateRtCst

bool btSoftBody::m_bUpdateRtCst

Definition at line 834 of file btSoftBody.h.

◆ m_cacheBarycenter

bool btSoftBody::m_cacheBarycenter

Definition at line 846 of file btSoftBody.h.

◆ m_cdbvt

btDbvt btSoftBody::m_cdbvt

Definition at line 838 of file btSoftBody.h.

◆ m_cfg

Config btSoftBody::m_cfg

Definition at line 808 of file btSoftBody.h.

◆ m_clusterConnectivity

btAlignedObjectArray<bool> btSoftBody::m_clusterConnectivity

Definition at line 855 of file btSoftBody.h.

◆ m_clusters

tClusterArray btSoftBody::m_clusters

Definition at line 839 of file btSoftBody.h.

◆ m_collisionDisabledObjects

btAlignedObjectArray<const class btCollisionObject*> btSoftBody::m_collisionDisabledObjects

Definition at line 77 of file btSoftBody.h.

◆ m_dampingCoefficient

btScalar btSoftBody::m_dampingCoefficient

Definition at line 840 of file btSoftBody.h.

◆ m_deformableAnchors

btAlignedObjectArray<DeformableNodeRigidAnchor> btSoftBody::m_deformableAnchors

Definition at line 823 of file btSoftBody.h.

◆ m_faceNodeContacts

btAlignedObjectArray<DeformableFaceNodeContact> btSoftBody::m_faceNodeContacts

Definition at line 826 of file btSoftBody.h.

◆ m_faceNodeContactsCCD

btAlignedObjectArray<DeformableFaceNodeContact> btSoftBody::m_faceNodeContactsCCD

Definition at line 828 of file btSoftBody.h.

◆ m_faceRigidContacts

btAlignedObjectArray<DeformableFaceRigidContact> btSoftBody::m_faceRigidContacts

Definition at line 827 of file btSoftBody.h.

◆ m_faces

tFaceArray btSoftBody::m_faces

Definition at line 817 of file btSoftBody.h.

◆ m_fdbvnt

btDbvntNode* btSoftBody::m_fdbvnt

Definition at line 837 of file btSoftBody.h.

◆ m_fdbvt

btDbvt btSoftBody::m_fdbvt

Definition at line 836 of file btSoftBody.h.

◆ m_gravityFactor

btScalar btSoftBody::m_gravityFactor

Definition at line 845 of file btSoftBody.h.

◆ m_joints

tJointArray btSoftBody::m_joints

Definition at line 830 of file btSoftBody.h.

◆ m_links

tLinkArray btSoftBody::m_links

Definition at line 816 of file btSoftBody.h.

◆ m_materials

tMaterialArray btSoftBody::m_materials

Definition at line 831 of file btSoftBody.h.

◆ m_maxSpeedSquared

btScalar btSoftBody::m_maxSpeedSquared

Definition at line 842 of file btSoftBody.h.

◆ m_ndbvt

btDbvt btSoftBody::m_ndbvt

Definition at line 835 of file btSoftBody.h.

◆ m_nodeRigidContacts

btAlignedObjectArray<DeformableNodeRigidContact> btSoftBody::m_nodeRigidContacts

Definition at line 825 of file btSoftBody.h.

◆ m_nodes

tNodeArray btSoftBody::m_nodes

Definition at line 814 of file btSoftBody.h.

◆ m_notes

tNoteArray btSoftBody::m_notes

Definition at line 813 of file btSoftBody.h.

◆ m_pose

Pose btSoftBody::m_pose

Definition at line 810 of file btSoftBody.h.

◆ m_quads

btAlignedObjectArray<btVector3> btSoftBody::m_quads

Definition at line 843 of file btSoftBody.h.

◆ m_rcontacts

tRContactArray btSoftBody::m_rcontacts

Definition at line 824 of file btSoftBody.h.

◆ m_reducedModel

bool btSoftBody::m_reducedModel

Definition at line 861 of file btSoftBody.h.

◆ m_renderFaces

tRenderFaceArray btSoftBody::m_renderFaces

Definition at line 818 of file btSoftBody.h.

◆ m_renderNodes

tRenderNodeArray btSoftBody::m_renderNodes

Definition at line 815 of file btSoftBody.h.

◆ m_renderNodesInterpolationWeights

btAlignedObjectArray<btVector4> btSoftBody::m_renderNodesInterpolationWeights

Definition at line 849 of file btSoftBody.h.

◆ m_renderNodesParents

btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > btSoftBody::m_renderNodesParents

Definition at line 850 of file btSoftBody.h.

◆ m_repulsionStiffness

btScalar btSoftBody::m_repulsionStiffness

Definition at line 844 of file btSoftBody.h.

◆ m_restLengthScale

btScalar btSoftBody::m_restLengthScale

Definition at line 859 of file btSoftBody.h.

◆ m_scontacts

tSContactArray btSoftBody::m_scontacts

Definition at line 829 of file btSoftBody.h.

◆ m_sleepingThreshold

btScalar btSoftBody::m_sleepingThreshold

Definition at line 841 of file btSoftBody.h.

◆ m_softBodySolver

btSoftBodySolver* btSoftBody::m_softBodySolver

Definition at line 80 of file btSoftBody.h.

◆ m_softSoftCollision

bool btSoftBody::m_softSoftCollision

Definition at line 853 of file btSoftBody.h.

◆ m_sst

SolverState btSoftBody::m_sst

Definition at line 809 of file btSoftBody.h.

◆ m_tag

void* btSoftBody::m_tag

Definition at line 811 of file btSoftBody.h.

◆ m_tetras

tTetraArray btSoftBody::m_tetras

Definition at line 819 of file btSoftBody.h.

◆ m_tetraScratches

btAlignedObjectArray<TetraScratch> btSoftBody::m_tetraScratches

Definition at line 820 of file btSoftBody.h.

◆ m_tetraScratchesTn

btAlignedObjectArray<TetraScratch> btSoftBody::m_tetraScratchesTn

Definition at line 821 of file btSoftBody.h.

◆ m_timeacc

btScalar btSoftBody::m_timeacc

Definition at line 832 of file btSoftBody.h.

◆ m_userIndexMapping

btAlignedObjectArray<int> btSoftBody::m_userIndexMapping

Definition at line 879 of file btSoftBody.h.

◆ m_useSelfCollision

bool btSoftBody::m_useSelfCollision

Definition at line 852 of file btSoftBody.h.

◆ m_windVelocity

btVector3 btSoftBody::m_windVelocity

Definition at line 857 of file btSoftBody.h.

◆ m_worldInfo

btSoftBodyWorldInfo* btSoftBody::m_worldInfo

Definition at line 812 of file btSoftBody.h.

◆ m_X

btAlignedObjectArray<btVector3> btSoftBody::m_X

Definition at line 847 of file btSoftBody.h.

◆ m_z

btAlignedObjectArray<btScalar> btSoftBody::m_z

Definition at line 851 of file btSoftBody.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ psolver_t

◆ tAnchorArray

◆ tClusterArray

◆ tDenseMatrix

◆ tFaceArray

◆ tJointArray

◆ tLeafArray

◆ tLinkArray

◆ tMaterialArray

◆ tNodeArray

◆ tNoteArray

◆ tPSolverArray

◆ tRContactArray

◆ tRenderFaceArray

◆ tRenderNodeArray

◆ tScalarArray

◆ tSContactArray

◆ tSoftBodyArray

◆ tTetraArray

◆ tVector3Array

◆ tVSolverArray

◆ vsolver_t

Constructor & Destructor Documentation

◆ btSoftBody() [1/2]

◆ btSoftBody() [2/2]

◆ ~btSoftBody()

Member Function Documentation

◆ addAeroForceToFace()

◆ addAeroForceToNode()

◆ addForce() [1/2]

◆ addForce() [2/2]

◆ addVelocity() [1/2]

◆ addVelocity() [2/2]

◆ advanceDeformation()

◆ appendAnchor() [1/2]

◆ appendAnchor() [2/2]

◆ appendAngularJoint() [1/3]

◆ appendAngularJoint() [2/3]

◆ appendAngularJoint() [3/3]

◆ appendDeformableAnchor() [1/2]

◆ appendDeformableAnchor() [2/2]

◆ appendFace() [1/2]

◆ appendFace() [2/2]

◆ appendLinearJoint() [1/3]

◆ appendLinearJoint() [2/3]

◆ appendLinearJoint() [3/3]

◆ appendLink() [1/3]

◆ appendLink() [2/3]

◆ appendLink() [3/3]

◆ appendMaterial()

◆ appendNode()

◆ appendNote() [1/4]

◆ appendNote() [2/4]

◆ appendNote() [3/4]

◆ appendNote() [4/4]

◆ appendTetra() [1/2]

◆ appendTetra() [2/2]

◆ applyClusters()

◆ applyForces()

◆ applyRepulsionForce()

◆ BaryEval()

◆ calculateSerializeBufferSize()

◆ checkContact()

◆ checkDeformableContact()

◆ checkDeformableFaceContact()

◆ checkFace()

◆ checkLink() [1/2]

◆ checkLink() [2/2]

◆ cleanupClusters()

◆ clusterAImpulse()

◆ clusterCom() [1/2]

◆ clusterCom() [2/2]