#include <btReducedDeformableBody.h>

Inheritance diagram for btReducedDeformableBody:

Collaboration diagram for btReducedDeformableBody:

[legend]

Public Types
typedef btAlignedObjectArray< btVector3 >	TVStack

typedef btAlignedObjectArray< btScalar >	tDenseArray

typedef btAlignedObjectArray< btAlignedObjectArray< btScalar > >	tDenseMatrix

Public Types inherited from btSoftBody
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
	btReducedDeformableBody (btSoftBodyWorldInfo worldInfo, int node_count, const btVector3 x, const btScalar *m)

	~btReducedDeformableBody ()

void	internalInitialization ()

void	setReducedModes (int num_modes, int full_size)

void	setMassProps (const tDenseArray &mass_array)

void	setInertiaProps ()

void	setRigidVelocity (const btVector3 &v)

void	setRigidAngularVelocity (const btVector3 &omega)

void	setStiffnessScale (const btScalar ks)

void	setMassScale (const btScalar rho)

void	setFixedNodes (const int n_node)

void	setDamping (const btScalar alpha, const btScalar beta)

void	disableReducedModes (const bool rigid_only)

virtual void	setTotalMass (btScalar mass, bool fromfaces=false)

virtual void	transformTo (const btTransform &trs)

virtual void	transform (const btTransform &trs)

virtual void	scale (const btVector3 &scl)

void	updateLocalMomentArm ()

void	predictIntegratedTransform (btScalar dt, btTransform &predictedTransform)

void	updateExternalForceProjectMatrix (bool initialized)

void	endOfTimeStepZeroing ()

void	applyInternalVelocityChanges ()

void	updateReducedDofs (btScalar solverdt)

void	updateReducedVelocity (btScalar solverdt)

void	mapToFullPosition (const btTransform &ref_trans)

void	mapToFullVelocity (const btTransform &ref_trans)

const btVector3	computeTotalAngularMomentum () const

const btVector3	computeNodeFullVelocity (const btTransform &ref_trans, int n_node) const

const btVector3	internalComputeNodeDeltaVelocity (const btTransform &ref_trans, int n_node) const

void	applyDamping (btScalar timeStep)

void	applyCentralImpulse (const btVector3 &impulse)

void	applyTorqueImpulse (const btVector3 &torque)

void	proceedToTransform (btScalar dt, bool end_of_time_step)

void	internalApplyRigidImpulse (const btVector3 &impulse, const btVector3 &rel_pos)

void	internalApplyFullSpaceImpulse (const btVector3 &impulse, const btVector3 &rel_pos, int n_node, btScalar dt)

void	applyFullSpaceNodalForce (const btVector3 &f_ext, int n_node)

void	applyRigidGravity (const btVector3 &gravity, btScalar dt)

void	applyReducedElasticForce (const tDenseArray &reduce_dofs)

void	applyReducedDampingForce (const tDenseArray &reduce_vel)

virtual btMatrix3x3	getImpulseFactor (int n_node)

btVector3	getRelativePos (int n_node)

bool	isReducedModesOFF () const

btScalar	getTotalMass () const

btTransform &	getRigidTransform ()

const btVector3 &	getLinearVelocity () const

const btVector3 &	getAngularVelocity () const

Public Member Functions inherited from btSoftBody
	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) More...

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!) More...

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. More...

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

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) More...

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. More...

btScalar	getContactProcessingThreshold () const

bool	isStaticObject () const

bool	isKinematicObject () const

bool	isStaticOrKinematicObject () const

bool	hasContactResponse () const

	btCollisionObject ()

virtual	~btCollisionObject ()

virtual void	setCollisionShape (btCollisionShape *collisionShape)

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. More...

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. More...

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 More...

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:: More...

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

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. More...

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

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 More...

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

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 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) More...

virtual void	serializeSingleObject (class btSerializer *serializer) const

Public Attributes
int	m_nReduced

int	m_nFull

tDenseMatrix	m_modes

tDenseArray	m_reducedDofs

tDenseArray	m_reducedDofsBuffer

tDenseArray	m_reducedVelocity

tDenseArray	m_reducedVelocityBuffer

tDenseArray	m_reducedForceExternal

tDenseArray	m_reducedForceElastic

tDenseArray	m_reducedForceDamping

tDenseArray	m_eigenvalues

tDenseArray	m_Kr

TVStack	m_x0

tDenseArray	m_nodalMass

btAlignedObjectArray< int >	m_fixedNodes

int	m_nodeIndexOffset

btAlignedObjectArray< int >	m_contactNodesList

Public Attributes inherited from btSoftBody
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

Protected Attributes
btScalar	m_mass

btScalar	m_inverseMass

btVector3	m_linearVelocity

btVector3	m_angularVelocity

btScalar	m_linearDamping

btScalar	m_angularDamping

btVector3	m_linearFactor

btVector3	m_angularFactor

btMatrix3x3	m_invInertiaLocal

btTransform	m_rigidTransformWorld

btMatrix3x3	m_invInertiaTensorWorldInitial

btMatrix3x3	m_invInertiaTensorWorld

btMatrix3x3	m_interpolateInvInertiaTensorWorld

btVector3	m_initialCoM

btScalar	m_dampingAlpha

btScalar	m_dampingBeta

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 More...

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. More...

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. More...

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. More...

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

int	m_userIndex2

int	m_userIndex

int	m_userIndex3

btScalar	m_hitFraction
	time of impact calculation More...

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

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

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

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. More...

btVector3	m_customDebugColorRGB

Private Member Functions
void	updateRestNodalPositions ()

void	updateInitialInertiaTensor (const btMatrix3x3 &rotation)

void	updateLocalInertiaTensorFromNodes ()

void	updateInertiaTensor ()

void	updateModesByRotation (const btMatrix3x3 &rotation)

Additional Inherited Members
Static Public Member Functions inherited from btSoftBody
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)

Detailed Description

Definition at line 11 of file btReducedDeformableBody.h.

Member Typedef Documentation

◆ tDenseArray

typedef btAlignedObjectArray<btScalar> btReducedDeformableBody::tDenseArray

Definition at line 19 of file btReducedDeformableBody.h.

◆ tDenseMatrix

typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > btReducedDeformableBody::tDenseMatrix

Definition at line 20 of file btReducedDeformableBody.h.

◆ TVStack

typedef btAlignedObjectArray<btVector3> btReducedDeformableBody::TVStack

Definition at line 17 of file btReducedDeformableBody.h.

Constructor & Destructor Documentation

◆ btReducedDeformableBody()

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

Definition at line 8 of file btReducedDeformableBody.cpp.

◆ ~btReducedDeformableBody()

btReducedDeformableBody::~btReducedDeformableBody ( )

inline

Definition at line 104 of file btReducedDeformableBody.h.

Member Function Documentation

◆ applyCentralImpulse()

void btReducedDeformableBody::applyCentralImpulse ( const btVector3 & impulse )

Definition at line 596 of file btReducedDeformableBody.cpp.

◆ applyDamping()

void btReducedDeformableBody::applyDamping ( btScalar timeStep )

Definition at line 590 of file btReducedDeformableBody.cpp.

◆ applyFullSpaceNodalForce()

void btReducedDeformableBody::applyFullSpaceNodalForce	(	const btVector3 &	f_ext,
		int	n_node
	)

Definition at line 721 of file btReducedDeformableBody.cpp.

◆ applyInternalVelocityChanges()

void btReducedDeformableBody::applyInternalVelocityChanges ( )

Definition at line 233 of file btReducedDeformableBody.cpp.

◆ applyReducedDampingForce()

void btReducedDeformableBody::applyReducedDampingForce ( const tDenseArray & reduce_vel )

Definition at line 756 of file btReducedDeformableBody.cpp.

◆ applyReducedElasticForce()

void btReducedDeformableBody::applyReducedElasticForce ( const tDenseArray & reduce_dofs )

Definition at line 748 of file btReducedDeformableBody.cpp.

◆ applyRigidGravity()

void btReducedDeformableBody::applyRigidGravity	(	const btVector3 &	gravity,
		btScalar	dt
	)

Definition at line 742 of file btReducedDeformableBody.cpp.

◆ applyTorqueImpulse()

void btReducedDeformableBody::applyTorqueImpulse ( const btVector3 & torque )

Definition at line 604 of file btReducedDeformableBody.cpp.

◆ computeNodeFullVelocity()

const btVector3 btReducedDeformableBody::computeNodeFullVelocity	(	const btTransform &	ref_trans,
		int	n_node
	)		const

Definition at line 353 of file btReducedDeformableBody.cpp.

◆ computeTotalAngularMomentum()

const btVector3 btReducedDeformableBody::computeTotalAngularMomentum ( ) const

Definition at line 327 of file btReducedDeformableBody.cpp.

◆ disableReducedModes()

void btReducedDeformableBody::disableReducedModes ( const bool rigid_only )

Definition at line 784 of file btReducedDeformableBody.cpp.

◆ endOfTimeStepZeroing()

void btReducedDeformableBody::endOfTimeStepZeroing ( )

Definition at line 219 of file btReducedDeformableBody.cpp.

◆ getAngularVelocity()

const btVector3 & btReducedDeformableBody::getAngularVelocity ( ) const

Definition at line 779 of file btReducedDeformableBody.cpp.

◆ getImpulseFactor()

btMatrix3x3 btReducedDeformableBody::getImpulseFactor ( int n_node )

virtual

Reimplemented from btSoftBody.

Definition at line 633 of file btReducedDeformableBody.cpp.

◆ getLinearVelocity()

const btVector3 & btReducedDeformableBody::getLinearVelocity ( ) const

Definition at line 774 of file btReducedDeformableBody.cpp.

◆ getRelativePos()

btVector3 btReducedDeformableBody::getRelativePos ( int n_node )

Definition at line 626 of file btReducedDeformableBody.cpp.

◆ getRigidTransform()

btTransform & btReducedDeformableBody::getRigidTransform ( )

Definition at line 769 of file btReducedDeformableBody.cpp.

◆ getTotalMass()

btScalar btReducedDeformableBody::getTotalMass ( ) const

Definition at line 764 of file btReducedDeformableBody.cpp.

◆ internalApplyFullSpaceImpulse()

void btReducedDeformableBody::internalApplyFullSpaceImpulse	(	const btVector3 &	impulse,
		const btVector3 &	rel_pos,
		int	n_node,
		btScalar	dt
	)

Definition at line 693 of file btReducedDeformableBody.cpp.

◆ internalApplyRigidImpulse()

void btReducedDeformableBody::internalApplyRigidImpulse	(	const btVector3 &	impulse,
		const btVector3 &	rel_pos
	)

Definition at line 612 of file btReducedDeformableBody.cpp.

◆ internalComputeNodeDeltaVelocity()

const btVector3 btReducedDeformableBody::internalComputeNodeDeltaVelocity	(	const btTransform &	ref_trans,
		int	n_node
	)		const

Definition at line 372 of file btReducedDeformableBody.cpp.

◆ internalInitialization()

void btReducedDeformableBody::internalInitialization ( )

Definition at line 133 of file btReducedDeformableBody.cpp.

◆ isReducedModesOFF()

bool btReducedDeformableBody::isReducedModesOFF ( ) const

Definition at line 789 of file btReducedDeformableBody.cpp.

◆ mapToFullPosition()

void btReducedDeformableBody::mapToFullPosition ( const btTransform & ref_trans )

Definition at line 259 of file btReducedDeformableBody.cpp.

◆ mapToFullVelocity()

void btReducedDeformableBody::mapToFullVelocity ( const btTransform & ref_trans )

Definition at line 285 of file btReducedDeformableBody.cpp.

◆ predictIntegratedTransform()

void btReducedDeformableBody::predictIntegratedTransform	(	btScalar	dt,
		btTransform &	predictedTransform
	)

Definition at line 246 of file btReducedDeformableBody.cpp.

◆ proceedToTransform()

void btReducedDeformableBody::proceedToTransform	(	btScalar	dt,
		bool	end_of_time_step
	)

Definition at line 393 of file btReducedDeformableBody.cpp.

◆ scale()

void btReducedDeformableBody::scale ( const btVector3 & scl )

virtual

Reimplemented from btSoftBody.

Definition at line 455 of file btReducedDeformableBody.cpp.

◆ setDamping()

void btReducedDeformableBody::setDamping	(	const btScalar	alpha,
		const btScalar	beta
	)

Definition at line 127 of file btReducedDeformableBody.cpp.

◆ setFixedNodes()

void btReducedDeformableBody::setFixedNodes ( const int n_node )

Definition at line 121 of file btReducedDeformableBody.cpp.

◆ setInertiaProps()

void btReducedDeformableBody::setInertiaProps ( )

Definition at line 80 of file btReducedDeformableBody.cpp.

◆ setMassProps()

void btReducedDeformableBody::setMassProps ( const tDenseArray & mass_array )

Definition at line 61 of file btReducedDeformableBody.cpp.

◆ setMassScale()

void btReducedDeformableBody::setMassScale ( const btScalar rho )

Definition at line 116 of file btReducedDeformableBody.cpp.

◆ setReducedModes()

void btReducedDeformableBody::setReducedModes	(	int	num_modes,
		int	full_size
	)

Definition at line 45 of file btReducedDeformableBody.cpp.

◆ setRigidAngularVelocity()

void btReducedDeformableBody::setRigidAngularVelocity ( const btVector3 & omega )

Definition at line 106 of file btReducedDeformableBody.cpp.

◆ setRigidVelocity()

void btReducedDeformableBody::setRigidVelocity ( const btVector3 & v )

Definition at line 101 of file btReducedDeformableBody.cpp.

◆ setStiffnessScale()

void btReducedDeformableBody::setStiffnessScale ( const btScalar ks )

Definition at line 111 of file btReducedDeformableBody.cpp.

◆ setTotalMass()

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

virtual

Definition at line 494 of file btReducedDeformableBody.cpp.

◆ transform()

void btReducedDeformableBody::transform ( const btTransform & trs )

virtual

Reimplemented from btSoftBody.

Definition at line 410 of file btReducedDeformableBody.cpp.

◆ transformTo()

void btReducedDeformableBody::transformTo ( const btTransform & trs )

virtual

Reimplemented from btSoftBody.

Definition at line 402 of file btReducedDeformableBody.cpp.

◆ updateExternalForceProjectMatrix()

void btReducedDeformableBody::updateExternalForceProjectMatrix ( bool initialized )

Definition at line 166 of file btReducedDeformableBody.cpp.

◆ updateInertiaTensor()

void btReducedDeformableBody::updateInertiaTensor ( )

private

Definition at line 585 of file btReducedDeformableBody.cpp.

◆ updateInitialInertiaTensor()

void btReducedDeformableBody::updateInitialInertiaTensor ( const btMatrix3x3 & rotation )

private

Definition at line 562 of file btReducedDeformableBody.cpp.

◆ updateLocalInertiaTensorFromNodes()

void btReducedDeformableBody::updateLocalInertiaTensorFromNodes ( )

private

Definition at line 533 of file btReducedDeformableBody.cpp.

◆ updateLocalMomentArm()

void btReducedDeformableBody::updateLocalMomentArm ( )

Definition at line 145 of file btReducedDeformableBody.cpp.

◆ updateModesByRotation()

void btReducedDeformableBody::updateModesByRotation ( const btMatrix3x3 & rotation )

private

Definition at line 568 of file btReducedDeformableBody.cpp.

◆ updateReducedDofs()

void btReducedDeformableBody::updateReducedDofs ( btScalar solverdt )

Definition at line 251 of file btReducedDeformableBody.cpp.

◆ updateReducedVelocity()

void btReducedDeformableBody::updateReducedVelocity ( btScalar solverdt )

Definition at line 272 of file btReducedDeformableBody.cpp.

◆ updateRestNodalPositions()

void btReducedDeformableBody::updateRestNodalPositions ( )

private

Definition at line 521 of file btReducedDeformableBody.cpp.

Member Data Documentation

◆ m_angularDamping

btScalar btReducedDeformableBody::m_angularDamping

protected

Definition at line 56 of file btReducedDeformableBody.h.

◆ m_angularFactor

btVector3 btReducedDeformableBody::m_angularFactor

protected

Definition at line 58 of file btReducedDeformableBody.h.

◆ m_angularVelocity

btVector3 btReducedDeformableBody::m_angularVelocity

protected

Definition at line 54 of file btReducedDeformableBody.h.

◆ m_angularVelocityFromReduced

btVector3 btReducedDeformableBody::m_angularVelocityFromReduced

private

Definition at line 46 of file btReducedDeformableBody.h.

◆ m_contactNodesList

btAlignedObjectArray<int> btReducedDeformableBody::m_contactNodesList

Definition at line 97 of file btReducedDeformableBody.h.

◆ m_dampingAlpha

btScalar btReducedDeformableBody::m_dampingAlpha

protected

Definition at line 68 of file btReducedDeformableBody.h.

◆ m_dampingBeta

btScalar btReducedDeformableBody::m_dampingBeta

protected

Definition at line 69 of file btReducedDeformableBody.h.

◆ m_eigenvalues

tDenseArray btReducedDeformableBody::m_eigenvalues

Definition at line 87 of file btReducedDeformableBody.h.

◆ m_fixedNodes

btAlignedObjectArray<int> btReducedDeformableBody::m_fixedNodes

Definition at line 93 of file btReducedDeformableBody.h.

◆ m_initialCoM

btVector3 btReducedDeformableBody::m_initialCoM

protected

Definition at line 65 of file btReducedDeformableBody.h.

◆ m_internalDeltaAngularVelocity

btVector3 btReducedDeformableBody::m_internalDeltaAngularVelocity

private

Definition at line 42 of file btReducedDeformableBody.h.

◆ m_internalDeltaAngularVelocityFromReduced

btVector3 btReducedDeformableBody::m_internalDeltaAngularVelocityFromReduced

private

Definition at line 47 of file btReducedDeformableBody.h.

◆ m_internalDeltaLinearVelocity

btVector3 btReducedDeformableBody::m_internalDeltaLinearVelocity

private

Definition at line 41 of file btReducedDeformableBody.h.

◆ m_internalDeltaReducedVelocity

tDenseArray btReducedDeformableBody::m_internalDeltaReducedVelocity

private

Definition at line 43 of file btReducedDeformableBody.h.

◆ m_interpolateInvInertiaTensorWorld

btMatrix3x3 btReducedDeformableBody::m_interpolateInvInertiaTensorWorld

protected

Definition at line 64 of file btReducedDeformableBody.h.

◆ m_inverseMass

btScalar btReducedDeformableBody::m_inverseMass

protected

Definition at line 52 of file btReducedDeformableBody.h.

◆ m_invInertiaLocal

btMatrix3x3 btReducedDeformableBody::m_invInertiaLocal

protected

Definition at line 60 of file btReducedDeformableBody.h.

◆ m_invInertiaTensorWorld

btMatrix3x3 btReducedDeformableBody::m_invInertiaTensorWorld

protected

Definition at line 63 of file btReducedDeformableBody.h.

◆ m_invInertiaTensorWorldInitial

btMatrix3x3 btReducedDeformableBody::m_invInertiaTensorWorldInitial

protected

Definition at line 62 of file btReducedDeformableBody.h.

◆ m_Kr

tDenseArray btReducedDeformableBody::m_Kr

Definition at line 88 of file btReducedDeformableBody.h.

◆ m_ksScale

btScalar btReducedDeformableBody::m_ksScale

private

Definition at line 31 of file btReducedDeformableBody.h.

◆ m_linearDamping

btScalar btReducedDeformableBody::m_linearDamping

protected

Definition at line 55 of file btReducedDeformableBody.h.

◆ m_linearFactor

btVector3 btReducedDeformableBody::m_linearFactor

protected

Definition at line 57 of file btReducedDeformableBody.h.

◆ m_linearVelocity

btVector3 btReducedDeformableBody::m_linearVelocity

protected

Definition at line 53 of file btReducedDeformableBody.h.

◆ m_linearVelocityFromReduced

btVector3 btReducedDeformableBody::m_linearVelocityFromReduced

private

Definition at line 45 of file btReducedDeformableBody.h.

◆ m_localMomentArm

TVStack btReducedDeformableBody::m_localMomentArm

private

Definition at line 39 of file btReducedDeformableBody.h.

◆ m_mass

btScalar btReducedDeformableBody::m_mass

protected

Definition at line 51 of file btReducedDeformableBody.h.

◆ m_modes

tDenseMatrix btReducedDeformableBody::m_modes

Definition at line 79 of file btReducedDeformableBody.h.

◆ m_MrInvSTP

tDenseArray btReducedDeformableBody::m_MrInvSTP

private

Definition at line 37 of file btReducedDeformableBody.h.

◆ m_nFull

int btReducedDeformableBody::m_nFull

Definition at line 78 of file btReducedDeformableBody.h.

◆ m_nodalMass

tDenseArray btReducedDeformableBody::m_nodalMass

Definition at line 92 of file btReducedDeformableBody.h.

◆ m_nodeIndexOffset

int btReducedDeformableBody::m_nodeIndexOffset

Definition at line 94 of file btReducedDeformableBody.h.

◆ m_nReduced

int btReducedDeformableBody::m_nReduced

Definition at line 77 of file btReducedDeformableBody.h.

◆ m_projCq

tDenseMatrix btReducedDeformableBody::m_projCq

private

Definition at line 35 of file btReducedDeformableBody.h.

◆ m_projPA

tDenseMatrix btReducedDeformableBody::m_projPA

private

Definition at line 34 of file btReducedDeformableBody.h.

◆ m_reducedDofs

tDenseArray btReducedDeformableBody::m_reducedDofs

Definition at line 80 of file btReducedDeformableBody.h.

◆ m_reducedDofsBuffer

tDenseArray btReducedDeformableBody::m_reducedDofsBuffer

Definition at line 81 of file btReducedDeformableBody.h.

◆ m_reducedForceDamping

tDenseArray btReducedDeformableBody::m_reducedForceDamping

Definition at line 86 of file btReducedDeformableBody.h.

◆ m_reducedForceElastic

tDenseArray btReducedDeformableBody::m_reducedForceElastic

Definition at line 85 of file btReducedDeformableBody.h.

◆ m_reducedForceExternal

tDenseArray btReducedDeformableBody::m_reducedForceExternal

Definition at line 84 of file btReducedDeformableBody.h.

◆ m_reducedVelocity

tDenseArray btReducedDeformableBody::m_reducedVelocity

Definition at line 82 of file btReducedDeformableBody.h.

◆ m_reducedVelocityBuffer

tDenseArray btReducedDeformableBody::m_reducedVelocityBuffer

Definition at line 83 of file btReducedDeformableBody.h.

◆ m_rhoScale

btScalar btReducedDeformableBody::m_rhoScale

private

Definition at line 30 of file btReducedDeformableBody.h.

◆ m_rigidOnly

bool btReducedDeformableBody::m_rigidOnly

private

Definition at line 24 of file btReducedDeformableBody.h.

◆ m_rigidTransformWorld

btTransform btReducedDeformableBody::m_rigidTransformWorld

protected

Definition at line 61 of file btReducedDeformableBody.h.

◆ m_STP

tDenseArray btReducedDeformableBody::m_STP

private

Definition at line 36 of file btReducedDeformableBody.h.

◆ m_transform_lock

bool btReducedDeformableBody::m_transform_lock

private

Definition at line 27 of file btReducedDeformableBody.h.

◆ m_x0

TVStack btReducedDeformableBody::m_x0

Definition at line 91 of file btReducedDeformableBody.h.

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

Private Attributes
bool	m_rigidOnly

bool	m_transform_lock

btScalar	m_rhoScale

btScalar	m_ksScale

tDenseMatrix	m_projPA

tDenseMatrix	m_projCq

tDenseArray	m_STP

tDenseArray	m_MrInvSTP

TVStack	m_localMomentArm

btVector3	m_internalDeltaLinearVelocity

btVector3	m_internalDeltaAngularVelocity

tDenseArray	m_internalDeltaReducedVelocity

btVector3	m_linearVelocityFromReduced

btVector3	m_angularVelocityFromReduced

btVector3	m_internalDeltaAngularVelocityFromReduced

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ tDenseArray

◆ tDenseMatrix

◆ TVStack

Constructor & Destructor Documentation

◆ btReducedDeformableBody()

◆ ~btReducedDeformableBody()

Member Function Documentation

◆ applyCentralImpulse()

◆ applyDamping()

◆ applyFullSpaceNodalForce()

◆ applyInternalVelocityChanges()

◆ applyReducedDampingForce()

◆ applyReducedElasticForce()

◆ applyRigidGravity()

◆ applyTorqueImpulse()

◆ computeNodeFullVelocity()

◆ computeTotalAngularMomentum()

◆ disableReducedModes()

◆ endOfTimeStepZeroing()

◆ getAngularVelocity()

◆ getImpulseFactor()

◆ getLinearVelocity()

◆ getRelativePos()

◆ getRigidTransform()

◆ getTotalMass()

◆ internalApplyFullSpaceImpulse()

◆ internalApplyRigidImpulse()

◆ internalComputeNodeDeltaVelocity()

◆ internalInitialization()

◆ isReducedModesOFF()

◆ mapToFullPosition()

◆ mapToFullVelocity()

◆ predictIntegratedTransform()

◆ proceedToTransform()

◆ scale()

◆ setDamping()

◆ setFixedNodes()

◆ setInertiaProps()

◆ setMassProps()

◆ setMassScale()

◆ setReducedModes()

◆ setRigidAngularVelocity()

◆ setRigidVelocity()

◆ setStiffnessScale()

◆ setTotalMass()

◆ transform()

◆ transformTo()

◆ updateExternalForceProjectMatrix()

◆ updateInertiaTensor()

◆ updateInitialInertiaTensor()

◆ updateLocalInertiaTensorFromNodes()

◆ updateLocalMomentArm()

◆ updateModesByRotation()

◆ updateReducedDofs()

◆ updateReducedVelocity()

◆ updateRestNodalPositions()

Member Data Documentation

◆ m_angularDamping

◆ m_angularFactor

◆ m_angularVelocity

◆ m_angularVelocityFromReduced

◆ m_contactNodesList

◆ m_dampingAlpha

◆ m_dampingBeta

◆ m_eigenvalues

◆ m_fixedNodes

◆ m_initialCoM

◆ m_internalDeltaAngularVelocity

◆ m_internalDeltaAngularVelocityFromReduced

◆ m_internalDeltaLinearVelocity

◆ m_internalDeltaReducedVelocity