Blender V5.0
Classes | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
btSoftBody Class Reference

#include <btSoftBody.h>

Inherits btCollisionObject.

Classes

struct  eAeroModel
 eAeroModel More...
struct  eVSolver
 eVSolver : velocities solvers More...
struct  ePSolver
 ePSolver : positions solvers More...
struct  eSolverPresets
 eSolverPresets More...
struct  eFeature
 eFeature More...
struct  fCollision
 fCollision More...
struct  fMaterial
 fMaterial More...
struct  sRayCast
struct  ImplicitFn
struct  sCti
struct  sMedium
struct  Element
struct  Material
struct  Feature
struct  Node
struct  Face
struct  Tetra
struct  TetraScratch
struct  RContact
class  DeformableRigidContact
class  DeformableNodeRigidContact
class  DeformableNodeRigidAnchor
class  DeformableFaceRigidContact
struct  DeformableFaceNodeContact
struct  SContact
struct  Anchor
struct  Note
struct  Pose
struct  Cluster
struct  Impulse
struct  Body
struct  Joint
struct  LJoint
struct  AJoint
struct  CJoint
struct  Config
struct  SolverState
struct  RayFromToCaster
 RayFromToCaster takes a ray from, ray to (instead of direction!). More...

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< btDbvtNode * > tLeafArray
typedef btAlignedObjectArray< Link > tLinkArray
typedef btAlignedObjectArray< Face > tFaceArray
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

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 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 ()
void transformTo (const btTransform &trs)
void transform (const btTransform &trs)
void translate (const btVector3 &trs)
void rotate (const btQuaternion &rot)
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 releaseCluster (int index)
void releaseClusters ()
int generateClusters (int k, int maxiterations=8192)
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 ()
void setWindVelocity (const btVector3 &velocity)
const btVector3 & getWindVelocity ()
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 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)

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
Link : Feature { btVector3 m_c3
Node * m_n [2]
btScalar m_rl
int m_bbending: 1
btScalar m_c0
btScalar m_c1
btScalar m_c2
Config m_cfg
SolverState m_sst
Pose m_pose
void * m_tag
btSoftBodyWorldInfo * m_worldInfo
tNoteArray m_notes
tNodeArray m_nodes
tNodeArray m_renderNodes
tLinkArray m_links
tFaceArray m_faces
tFaceArray 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
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
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
btAlignedObjectArray< int > m_userIndexMapping

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 773 of file btSoftBody.h.

◆ tAnchorArray

typedef btAlignedObjectArray<Anchor> btSoftBody::tAnchorArray

Definition at line 782 of file btSoftBody.h.

◆ tClusterArray

typedef btAlignedObjectArray<Cluster*> btSoftBody::tClusterArray

Definition at line 775 of file btSoftBody.h.

◆ tFaceArray

typedef btAlignedObjectArray<Face> btSoftBody::tFaceArray

Definition at line 780 of file btSoftBody.h.

◆ tJointArray

typedef btAlignedObjectArray<Joint*> btSoftBody::tJointArray

Definition at line 786 of file btSoftBody.h.

◆ tLeafArray

typedef btAlignedObjectArray<btDbvtNode*> btSoftBody::tLeafArray

Definition at line 778 of file btSoftBody.h.

◆ tLinkArray

typedef btAlignedObjectArray<Link> btSoftBody::tLinkArray

Definition at line 779 of file btSoftBody.h.

◆ tMaterialArray

typedef btAlignedObjectArray<Material*> btSoftBody::tMaterialArray

Definition at line 785 of file btSoftBody.h.

◆ tNodeArray

typedef btAlignedObjectArray<Node> btSoftBody::tNodeArray

Definition at line 777 of file btSoftBody.h.

◆ tNoteArray

typedef btAlignedObjectArray<Note> btSoftBody::tNoteArray

Definition at line 776 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 783 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 784 of file btSoftBody.h.

◆ tSoftBodyArray

typedef btAlignedObjectArray<btSoftBody*> btSoftBody::tSoftBodyArray

Definition at line 787 of file btSoftBody.h.

◆ tTetraArray

typedef btAlignedObjectArray<Tetra> btSoftBody::tTetraArray

Definition at line 781 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 774 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.

References appendMaterial(), btVector3, btSoftBody::fMaterial::Default, btDbvtAabbMm::FromCR(), getCollisionShape(), i, initDefaults(), m_fdbvnt, btSoftBody::Material::m_flags, btSoftBody::Node::m_im, btSoftBody::Material::m_kAST, btSoftBody::Material::m_kLST, btSoftBody::Material::m_kVST, btSoftBody::Node::m_leaf, btSoftBody::Feature::m_material, m_ndbvt, m_nodes, btSoftBody::Node::m_q, m_softBodySolver, m_worldInfo, m_X, btSoftBody::Node::m_x, setCollisionQuadrature(), updateBounds(), x, and ZeroInitialize().

Referenced by appendAngularJoint(), appendLinearJoint(), defaultCollisionHandler(), geometricCollisionHandler(), PSolve_Anchors(), PSolve_Links(), PSolve_RContacts(), PSolve_SContacts(), solveCommonConstraints(), upcast(), upcast(), and VSolve_Links().

◆ btSoftBody() [2/2]

btSoftBody::btSoftBody ( btSoftBodyWorldInfo * worldInfo)

Definition at line 164 of file btSoftBody.cpp.

References initDefaults(), and m_worldInfo.

◆ ~btSoftBody()

btSoftBody::~btSoftBody ( )
virtual

Definition at line 236 of file btSoftBody.cpp.

References btAlignedFree, i, m_collisionShape, m_fdbvnt, m_joints, m_materials, and releaseClusters().

Member Function Documentation

◆ addAeroForceToFace()

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

Definition at line 793 of file btSoftBody.cpp.

References ApplyClampedForce(), btDot(), btSqrt(), btVector3, cross, EvaluateMedium(), btSoftBody::eAeroModel::F_OneSided, btSoftBody::eAeroModel::F_TwoSided, btSoftBody::eAeroModel::F_TwoSidedLiftDrag, m_cfg, btSoftBody::sMedium::m_density, btSoftBody::Node::m_f, m_faces, btSoftBody::Node::m_im, btSoftBody::Face::m_n, btSoftBody::Face::m_normal, btSoftBody::Face::m_ra, m_sst, btSoftBody::Node::m_v, btSoftBody::sMedium::m_velocity, m_worldInfo, btSoftBody::Node::m_x, SIMD_EPSILON, v, and x.

Referenced by applyForces().

◆ addAeroForceToNode()

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

Definition at line 704 of file btSoftBody.cpp.

References ApplyClampedForce(), btAssert, btDot(), btSqrt(), btVector3, cross, EvaluateMedium(), btSoftBody::eAeroModel::F_TwoSided, m_cfg, btSoftBody::sMedium::m_density, m_nodes, m_sst, btSoftBody::sMedium::m_velocity, m_worldInfo, SIMD_EPSILON, btSoftBody::eAeroModel::V_OneSided, btSoftBody::eAeroModel::V_Point, btSoftBody::eAeroModel::V_TwoSided, and btSoftBody::eAeroModel::V_TwoSidedLiftDrag.

Referenced by applyForces().

◆ addForce() [1/2]

void btSoftBody::addForce ( const btVector3 & force)

Definition at line 689 of file btSoftBody.cpp.

References addForce(), btVector3, i, and m_nodes.

Referenced by addForce().

◆ addForce() [2/2]

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

Definition at line 695 of file btSoftBody.cpp.

References btVector3, btSoftBody::Node::m_f, btSoftBody::Node::m_im, and m_nodes.

◆ addVelocity() [1/2]

void btSoftBody::addVelocity ( const btVector3 & velocity)

Definition at line 889 of file btSoftBody.cpp.

References addVelocity(), btVector3, i, and m_nodes.

Referenced by addVelocity(), and predictMotion().

◆ addVelocity() [2/2]

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

Definition at line 909 of file btSoftBody.cpp.

References btVector3, btSoftBody::Node::m_im, m_nodes, and btSoftBody::Node::m_v.

◆ advanceDeformation()

void btSoftBody::advanceDeformation ( )

Definition at line 3538 of file btSoftBody.cpp.

References i, m_tetras, m_tetraScratches, m_tetraScratchesTn, and updateDeformation().

◆ appendAnchor() [1/2]

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

Definition at line 500 of file btSoftBody.cpp.

References appendAnchor(), btVector3, and m_nodes.

Referenced by appendAnchor().

◆ appendAnchor() [2/2]

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

Definition at line 507 of file btSoftBody.cpp.

References btVector3, m_anchors, btSoftBody::Node::m_battach, btSoftBody::Anchor::m_body, m_collisionDisabledObjects, btSoftBody::Anchor::m_influence, btSoftBody::Anchor::m_local, btSoftBody::Anchor::m_node, and m_nodes.

◆ appendAngularJoint() [1/3]

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

Definition at line 677 of file btSoftBody.cpp.

References appendAngularJoint(), and m_clusters.

◆ appendAngularJoint() [2/3]

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

Definition at line 683 of file btSoftBody.cpp.

References appendAngularJoint(), btSoftBody(), and m_clusters.

◆ appendAngularJoint() [3/3]

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

Definition at line 662 of file btSoftBody.cpp.

References btSoftBody::AJoint::Specs::axis, btAlignedAlloc, btSoftBody::Joint::Specs::cfm, btSoftBody::Joint::Specs::erp, btSoftBody::AJoint::Specs::icontrol, btSoftBody::Joint::m_bodies, btSoftBody::Joint::m_cfm, btSoftBody::Joint::m_erp, btSoftBody::AJoint::m_icontrol, m_joints, btSoftBody::Joint::m_refs, btSoftBody::Joint::m_split, btSoftBody::Joint::Specs::split, and btSoftBody::Body::xform().

Referenced by appendAngularJoint(), and appendAngularJoint().

◆ appendDeformableAnchor() [1/2]

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

Definition at line 580 of file btSoftBody.cpp.

References btCollisionShape, btCross(), btMatrix3x3, btTransform, btVector3, Diagonal(), findJacobian(), generateUnitOrthogonalVector(), inverse, btSoftBody::DeformableRigidContact::jacobianData_normal, btSoftBody::DeformableRigidContact::jacobianData_t1, btSoftBody::DeformableRigidContact::jacobianData_t2, btSoftBody::Node::m_battach, btSoftBody::DeformableRigidContact::m_c0, btSoftBody::DeformableRigidContact::m_c1, btSoftBody::DeformableRigidContact::m_c2, btSoftBody::DeformableRigidContact::m_c3, btSoftBody::DeformableRigidContact::m_c4, m_cfg, btSoftBody::sCti::m_colObj, btSoftBody::DeformableRigidContact::m_cti, m_deformableAnchors, btMultiBodyJacobianData::m_deltaVelocitiesUnitImpulse, btSoftBody::Node::m_im, btMultiBodyJacobianData::m_jacobians, btSoftBody::DeformableNodeRigidAnchor::m_local, btMultiBodyLinkCollider::m_multiBody, btSoftBody::DeformableNodeRigidContact::m_node, m_nodes, btSoftBody::sCti::m_normal, btSoftBody::sCti::m_offset, m_worldInfo, btSoftBody::Node::m_x, OuterProduct(), rot, btSoftBody::DeformableRigidContact::t1, and btSoftBody::DeformableRigidContact::t2.

◆ appendDeformableAnchor() [2/2]

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

Definition at line 527 of file btSoftBody.cpp.

References btCollisionShape, btMatrix3x3, btTransform, btVector3, btRigidBody::getCollisionShape(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), ImpulseMatrix(), btSoftBody::Node::m_battach, btSoftBody::DeformableRigidContact::m_c0, btSoftBody::DeformableRigidContact::m_c1, btSoftBody::DeformableRigidContact::m_c2, btSoftBody::DeformableRigidContact::m_c3, btSoftBody::DeformableRigidContact::m_c4, m_cfg, btSoftBody::sCti::m_colObj, btSoftBody::DeformableRigidContact::m_cti, m_deformableAnchors, btSoftBody::Node::m_im, btSoftBody::DeformableNodeRigidAnchor::m_local, btSoftBody::DeformableNodeRigidContact::m_node, m_nodes, btSoftBody::sCti::m_normal, btSoftBody::sCti::m_offset, m_worldInfo, and btSoftBody::Node::m_x.

◆ appendFace() [1/2]

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

Definition at line 428 of file btSoftBody.cpp.

References m_faces, btSoftBody::Feature::m_material, m_materials, and ZeroInitialize().

Referenced by appendFace(), btSoftBodyHelpers::CreateFromConvexHull(), btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromTriMesh(), btSoftBodyHelpers::CreatePatch(), btSoftBodyHelpers::CreatePatchUV(), cutLink(), btSoftBodyHelpers::generateBoundaryFaces(), and refine().

◆ appendFace() [2/2]

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

Definition at line 444 of file btSoftBody.cpp.

References appendFace(), AreaOf(), btAssert, m_bUpdateRtCst, m_faces, btSoftBody::Face::m_n, m_nodes, btSoftBody::Face::m_ra, and btSoftBody::Node::m_x.

◆ appendLinearJoint() [1/3]

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

Definition at line 650 of file btSoftBody.cpp.

References appendLinearJoint(), and m_clusters.

◆ appendLinearJoint() [2/3]

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

Definition at line 656 of file btSoftBody.cpp.

References appendLinearJoint(), btSoftBody(), and m_clusters.

◆ appendLinearJoint() [3/3]

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

Definition at line 636 of file btSoftBody.cpp.

References btAlignedAlloc, btSoftBody::Joint::Specs::cfm, btSoftBody::Joint::Specs::erp, btSoftBody::Joint::m_bodies, btSoftBody::Joint::m_cfm, btSoftBody::Joint::m_erp, m_joints, btSoftBody::Joint::m_refs, btSoftBody::Joint::m_split, btSoftBody::LJoint::Specs::position, btSoftBody::Joint::Specs::split, and btSoftBody::Body::xform().

Referenced by appendLinearJoint(), and appendLinearJoint().

◆ appendLink() [1/3]

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

Definition at line 388 of file btSoftBody.cpp.

References l, m_links, m_materials, and ZeroInitialize().

Referenced by appendLink(), appendLink(), btSoftBodyHelpers::CreateFromConvexHull(), btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromTriMesh(), btSoftBodyHelpers::CreateFromVtkFile(), btSoftBodyHelpers::CreatePatch(), btSoftBodyHelpers::CreatePatchUV(), btSoftBodyHelpers::CreateRope(), cutLink(), generateBendingConstraints(), and refine().

◆ appendLink() [2/3]

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

Definition at line 402 of file btSoftBody.cpp.

References appendLink(), and m_nodes.

◆ appendLink() [3/3]

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

Definition at line 411 of file btSoftBody.cpp.

References appendLink(), checkLink(), l, length(), m_bUpdateRtCst, and m_links.

◆ appendMaterial()

btSoftBody::Material * btSoftBody::appendMaterial ( )

Definition at line 298 of file btSoftBody.cpp.

References btAlignedAlloc, m_materials, and ZeroInitialize().

Referenced by btSoftBody().

◆ appendNode()

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

Definition at line 368 of file btSoftBody.cpp.

References btVector3, btDbvtAabbMm::FromCR(), getCollisionShape(), indicesToPointers(), btSoftBody::Node::m_im, btSoftBody::Node::m_leaf, btSoftBody::Feature::m_material, m_materials, m_ndbvt, m_nodes, btSoftBody::Node::m_q, btSoftBody::Node::m_x, pointersToIndices(), x, and ZeroInitialize().

Referenced by cutLink(), and refine().

◆ 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 310 of file btSoftBody.cpp.

References btVector3, btSoftBody::Note::m_coords, btSoftBody::Note::m_nodes, m_notes, btSoftBody::Note::m_offset, btSoftBody::Note::m_rank, btSoftBody::Note::m_text, and ZeroInitialize().

Referenced by appendNote(), appendNote(), and appendNote().

◆ appendNote() [2/4]

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

Definition at line 357 of file btSoftBody.cpp.

References appendNote(), btVector3, btSoftBody::Face::m_n, and w().

◆ appendNote() [3/4]

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

Definition at line 347 of file btSoftBody.cpp.

References appendNote(), btVector3, and w().

◆ appendNote() [4/4]

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

Definition at line 339 of file btSoftBody.cpp.

References appendNote(), and btVector3.

◆ appendTetra() [1/2]

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

Definition at line 468 of file btSoftBody.cpp.

References btSoftBody::Feature::m_material, m_materials, m_tetras, and ZeroInitialize().

Referenced by appendTetra(), btSoftBodyHelpers::CreateFromTetGenData(), and btSoftBodyHelpers::CreateFromVtkFile().

◆ appendTetra() [2/2]

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

Definition at line 482 of file btSoftBody.cpp.

References appendTetra(), m_bUpdateRtCst, btSoftBody::Tetra::m_n, m_nodes, btSoftBody::Tetra::m_rv, m_tetras, btSoftBody::Node::m_x, and VolumeOf().

◆ applyClusters()

void btSoftBody::applyClusters ( bool drift)

Definition at line 3358 of file btSoftBody.cpp.

References BT_PROFILE, btCross(), btVector3, i, m_clusters, btSoftBody::Cluster::m_com, btSoftBody::Cluster::m_dimpulses, btSoftBody::Cluster::m_masses, btSoftBody::Cluster::m_ndimpulses, btSoftBody::Cluster::m_nodes, m_nodes, btSoftBody::Cluster::m_nvimpulses, m_sst, btSoftBody::Cluster::m_vimpulses, btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), v, w(), and x.

Referenced by solveConstraints().

◆ applyForces()

void btSoftBody::applyForces ( )

Definition at line 3717 of file btSoftBody.cpp.

References addAeroForceToFace(), addAeroForceToNode(), BT_PROFILE, btFabs(), getVolume(), i, btSoftBody::Node::m_area, m_cfg, btSoftBody::Node::m_f, m_faces, btSoftBody::Node::m_im, btSoftBody::Node::m_n, m_nodes, m_pose, and m_windVelocity.

Referenced by predictMotion().

◆ applyRepulsionForce()

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

Definition at line 1287 of file btSoftBody.h.

References BaryEval(), btDot(), btMax(), btMin(), btSwap(), btVector3, I, i, indices, l, btSoftBody::DeformableFaceNodeContact::m_bary, btSoftBody::Node::m_constrained, btSoftBody::DeformableFaceNodeContact::m_face, m_faceNodeContacts, btSoftBody::DeformableFaceNodeContact::m_friction, btSoftBody::Node::m_im, btSoftBody::DeformableFaceNodeContact::m_margin, btSoftBody::Face::m_n, btSoftBody::DeformableFaceNodeContact::m_node, btSoftBody::DeformableFaceNodeContact::m_normal, m_repulsionStiffness, btSoftBody::Node::m_v, btSoftBody::Node::m_x, NEXTRAND, OVERLAP_REDUCTION_FACTOR, SIMD_EPSILON, and w().

Referenced by btDeformableMultiBodyDynamicsWorld::applyRepulsionForce(), and btDeformableMultiBodyDynamicsWorld::performGeometricCollisions().

◆ BaryEval()

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

Definition at line 1279 of file btSoftBody.h.

References b, btVector3, and T.

Referenced by applyRepulsionForce(), checkDeformableFaceContact(), and PSolve_SContacts().

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btSoftBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateSerializeBufferSize()

int btSoftBody::calculateSerializeBufferSize ( ) const
virtual

Definition at line 4296 of file btSoftBody.cpp.

References btSoftBodyData.

◆ checkContact()

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

Definition at line 2729 of file btSoftBody.cpp.

References btCollisionShape, btDot(), btTransform, btVector3, btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), btSoftBody::sCti::m_colObj, btSoftBody::sCti::m_normal, btSoftBody::sCti::m_offset, m_worldInfo, and x.

◆ checkDeformableContact()

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

Definition at line 2758 of file btSoftBody.cpp.

References btCollisionObject, btCollisionShape, btTransform, btVector3, btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), btSoftBody::sCti::m_colObj, btSoftBody::sCti::m_normal, btSoftBody::sCti::m_offset, btCollisionObjectWrapper::m_preTransform, m_worldInfo, and x.

◆ 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 2806 of file btSoftBody.cpp.

References BaryEval(), btCollisionObject, btCollisionShape, btConvexShape(), btTransform, btTriangleShape(), btVector3, btGjkEpaSolver2::sResults::distance, getBarycentric(), btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), i, btSoftBody::sCti::m_colObj, btSoftBody::Face::m_n, btSoftBody::sCti::m_normal, btSoftBody::sCti::m_offset, btSoftBody::Face::m_pcontact, btCollisionObjectWrapper::m_preTransform, btSoftBody::Node::m_q, m_quads, m_worldInfo, btSoftBody::Node::m_x, btGjkEpaSolver2::sResults::normal, btGjkEpaSolver2::SignedDistance(), SIMD_INFINITY, and btGjkEpaSolver2::sResults::witnesses.

◆ checkFace()

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

Definition at line 274 of file btSoftBody.cpp.

References i, m_faces, btSoftBody::Face::m_n, and m_nodes.

◆ checkLink() [1/2]

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

Definition at line 258 of file btSoftBody.cpp.

References i, l, and m_links.

◆ checkLink() [2/2]

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

Definition at line 252 of file btSoftBody.cpp.

References checkLink(), and m_nodes.

Referenced by appendLink(), and checkLink().

◆ cleanupClusters()

void btSoftBody::cleanupClusters ( )

Definition at line 3326 of file btSoftBody.cpp.

References btAlignedFree, i, m_joints, and m_sst.

◆ clusterAImpulse()

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

Definition at line 1334 of file btSoftBody.cpp.

References clusterDAImpulse(), clusterVAImpulse(), btSoftBody::Impulse::m_asDrift, btSoftBody::Impulse::m_asVelocity, btSoftBody::Impulse::m_drift, and btSoftBody::Impulse::m_velocity.

◆ clusterCom() [1/2]

btVector3 btSoftBody::clusterCom ( const Cluster * cluster)
static

Definition at line 1265 of file btSoftBody.cpp.

References btVector3, i, btSoftBody::Cluster::m_imass, btSoftBody::Cluster::m_masses, and btSoftBody::Cluster::m_nodes.

Referenced by clusterCom(), initializeClusters(), and updateClusters().

◆ clusterCom() [2/2]

btVector3 btSoftBody::clusterCom ( int cluster) const

Definition at line 1276 of file btSoftBody.cpp.

References btVector3, clusterCom(), and m_clusters.

◆ clusterCount()

int btSoftBody::clusterCount ( ) const

Definition at line 1259 of file btSoftBody.cpp.

References m_clusters.

◆ clusterDAImpulse()

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

Definition at line 1326 of file btSoftBody.cpp.

References btVector3, btSoftBody::Cluster::m_dimpulses, btSoftBody::Cluster::m_invwi, and btSoftBody::Cluster::m_ndimpulses.

Referenced by btSoftBody::Body::applyDAImpulse(), and clusterAImpulse().

◆ clusterDCImpulse()

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

Definition at line 1341 of file btSoftBody.cpp.

References btVector3, btSoftBody::Cluster::m_dimpulses, btSoftBody::Cluster::m_imass, and btSoftBody::Cluster::m_ndimpulses.

Referenced by btSoftBody::Body::applyDCImpulse().

◆ clusterDImpulse()

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

Definition at line 1300 of file btSoftBody.cpp.

References btCross(), btVector3, btSoftBody::Cluster::m_dimpulses, btSoftBody::Cluster::m_imass, btSoftBody::Cluster::m_invwi, and btSoftBody::Cluster::m_ndimpulses.

Referenced by btSoftBody::Body::applyDImpulse(), and clusterImpulse().

◆ clusterImpulse()

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

Definition at line 1310 of file btSoftBody.cpp.

References btVector3, clusterDImpulse(), clusterVImpulse(), btSoftBody::Impulse::m_asDrift, btSoftBody::Impulse::m_asVelocity, btSoftBody::Impulse::m_drift, and btSoftBody::Impulse::m_velocity.

◆ clusterVAImpulse()

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

Definition at line 1317 of file btSoftBody.cpp.

References btVector3, btSoftBody::Cluster::m_av, btSoftBody::Cluster::m_invwi, btSoftBody::Cluster::m_nvimpulses, and btSoftBody::Cluster::m_vimpulses.

Referenced by btSoftBody::Body::applyVAImpulse(), and clusterAImpulse().

◆ clusterVelocity()

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

Definition at line 1282 of file btSoftBody.cpp.

References btCross(), btVector3, btSoftBody::Cluster::m_av, and btSoftBody::Cluster::m_lv.

◆ clusterVImpulse()

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

Definition at line 1288 of file btSoftBody.cpp.

References btCross(), btVector3, btSoftBody::Cluster::m_av, btSoftBody::Cluster::m_imass, btSoftBody::Cluster::m_invwi, btSoftBody::Cluster::m_lv, btSoftBody::Cluster::m_nvimpulses, and btSoftBody::Cluster::m_vimpulses.

Referenced by btSoftBody::Body::applyVImpulse(), and clusterImpulse().

◆ cutLink() [1/2]

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

Definition at line 1959 of file btSoftBody.cpp.

References cutLink(), and m_nodes.

◆ cutLink() [2/2]

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

Definition at line 1965 of file btSoftBody.cpp.

References appendFace(), appendLink(), appendNode(), btVector3, i, l, Lerp(), m_faces, m_links, btSoftBody::Face::m_n, m_n, m_ndbvt, m_nodes, btSoftBody::Node::m_v, MatchEdge(), v, and x.

Referenced by cutLink().

◆ dampClusters()

void btSoftBody::dampClusters ( )

Definition at line 3409 of file btSoftBody.cpp.

References btCross(), btVector3, i, btSoftBody::Cluster::m_av, m_clusters, btSoftBody::Cluster::m_com, btSoftBody::Node::m_im, btSoftBody::Cluster::m_lv, btSoftBody::Cluster::m_ndamping, btSoftBody::Cluster::m_nodes, and btSoftBody::Node::m_v.

Referenced by solveConstraints().

◆ defaultCollisionHandler() [1/2]

void btSoftBody::defaultCollisionHandler ( btSoftBody * psb)

Definition at line 4134 of file btSoftBody.cpp.

References BT_PROFILE, btSoftBody(), calculateNormalCone(), btSoftBody::fCollision::CL_SELF, btSoftBody::fCollision::CL_SS, btDbvt::collideTT(), btSoftBody::Config::collisions, getCollisionShape(), m_cfg, m_fdbvnt, m_fdbvt, m_ndbvt, btDbvt::m_root, m_softSoftCollision, m_tetras, btSoftColliders::CollideFF_DD::mrg, btSoftColliders::CollideVF_DD::mrg, btSoftColliders::CollideVF_SS::mrg, btSoftColliders::CollideCL_SS::ProcessSoftSoft(), btSoftColliders::CollideFF_DD::psb, btSoftColliders::CollideVF_DD::psb, btSoftColliders::CollideVF_SS::psb, btAlignedObjectArray< T >::size(), btSoftBody::fCollision::SVSmask, btSoftColliders::CollideFF_DD::useFaceNormal, btSoftColliders::CollideVF_DD::useFaceNormal, useSelfCollision(), btSoftBody::fCollision::VF_DD, and btSoftBody::fCollision::VF_SS.

◆ defaultCollisionHandler() [2/2]

void btSoftBody::defaultCollisionHandler ( const btCollisionObjectWrapper * pcoWrap)

Definition at line 4052 of file btSoftBody.cpp.

References ATTRIBUTE_ALIGNED16, btTransform, btVector3, btSoftBody::fCollision::CL_RS, CO_FEATHERSTONE_LINK, CO_RIGID_BODY, btSoftColliders::CollideSDF_RD::dynmargin, btSoftColliders::CollideSDF_RDF::dynmargin, btSoftColliders::CollideSDF_RS::dynmargin, btDbvtAabbMm::FromMM(), btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), m_cfg, btSoftColliders::CollideSDF_RD::m_colObj1Wrap, btSoftColliders::CollideSDF_RDF::m_colObj1Wrap, btSoftColliders::CollideSDF_RS::m_colObj1Wrap, m_fdbvt, m_ndbvt, btSoftColliders::CollideSDF_RD::m_rigidBody, btSoftColliders::CollideSDF_RDF::m_rigidBody, btSoftColliders::CollideSDF_RS::m_rigidBody, btSoftColliders::CollideCL_RS::ProcessColObj(), btSoftColliders::CollideSDF_RD::psb, btSoftColliders::CollideSDF_RDF::psb, btSoftColliders::CollideSDF_RS::psb, btSoftBody::fCollision::RVSmask, btSoftBody::fCollision::SDF_MDF, btSoftBody::fCollision::SDF_RD, btSoftBody::fCollision::SDF_RDF, btSoftBody::fCollision::SDF_RDN, btSoftBody::fCollision::SDF_RS, btSoftColliders::CollideSDF_RD::stamargin, btSoftColliders::CollideSDF_RDF::stamargin, btSoftColliders::CollideSDF_RS::stamargin, and btRigidBody::upcast().

Referenced by btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation(), btSoftRigidDynamicsWorld::internalSingleStepSimulation(), btDefaultSoftBodySolver::processCollision(), btDefaultSoftBodySolver::processCollision(), btDeformableBodySolver::processCollision(), btDeformableBodySolver::processCollision(), and btDeformableMultiBodyDynamicsWorld::softBodySelfCollision().

◆ evaluateCom()

btVector3 btSoftBody::evaluateCom ( ) const

Definition at line 2716 of file btSoftBody.cpp.

References btVector3, i, m_nodes, and m_pose.

Referenced by setPose(), and updatePose().

◆ generateBendingConstraints()

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

generic Floyd's algorithm

Definition at line 1353 of file btSoftBody.cpp.

References appendLink(), btAssert, distance(), i, IDX, m_links, m_n, m_nodes, btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), sum(), and unsigned.

◆ 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 1502 of file btSoftBody.cpp.

References btAlignedAlloc, btMin(), btSwap(), btVector3, ClusterMetric(), i, initializeClusters(), m_clusterConnectivity, m_clusters, btSoftBody::Cluster::m_collide, m_faces, m_n, btSoftBody::Cluster::m_nodes, m_nodes, m_tetras, releaseCluster(), releaseClusters(), btAlignedObjectArray< T >::resize(), SIMD_EPSILON, updateClusters(), and w().

◆ geometricCollisionHandler()

void btSoftBody::geometricCollisionHandler ( btSoftBody * psb)

Definition at line 4234 of file btSoftBody.cpp.

References btSoftBody(), calculateNormalCone(), btDbvt::collideTT(), btSoftColliders::CollideCCD::dt, m_fdbvnt, m_fdbvt, m_ndbvt, btDbvt::m_root, m_sst, m_tetras, btSoftColliders::CollideCCD::mrg, btSoftColliders::CollideCCD::psb, SAFE_EPSILON, btSoftBody::SolverState::sdt, btAlignedObjectArray< T >::size(), btSoftColliders::CollideCCD::useFaceNormal, and useSelfCollision().

◆ getAabb()

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

Definition at line 1145 of file btSoftBody.h.

References btVector3, and m_bounds.

◆ getCenterOfMass()

btVector3 btSoftBody::getCenterOfMass ( ) const
inline

Definition at line 1011 of file btSoftBody.h.

References btVector3, getMass(), getTotalMass(), i, and m_nodes.

Referenced by getRigidTransform(), and setAngularVelocity().

◆ getLinearVelocity()

btVector3 btSoftBody::getLinearVelocity ( )

Definition at line 1030 of file btSoftBody.cpp.

References btVector3, getTotalMass(), i, and m_nodes.

Referenced by setAngularVelocity(), and setLinearVelocity().

◆ getMass()

btScalar btSoftBody::getMass ( int node) const

Definition at line 926 of file btSoftBody.cpp.

References m_nodes.

Referenced by getCenterOfMass(), getTotalMass(), and refine().

◆ getRestLengthScale()

btScalar btSoftBody::getRestLengthScale ( )

Definition at line 1160 of file btSoftBody.cpp.

References m_restLengthScale.

◆ getRigidTransform()

btTransform btSoftBody::getRigidTransform ( )

Definition at line 1063 of file btSoftBody.cpp.

References btMatrix3x3, btTransform, btVector3, getCenterOfMass(), i, m_nodes, m_X, OuterProduct(), R, singularValueDecomposition(), U, and V.

Referenced by transformTo().

◆ getSoftBodySolver() [1/2]

btSoftBodySolver * btSoftBody::getSoftBodySolver ( )
inline

Definition at line 1111 of file btSoftBody.h.

References m_softBodySolver.

Referenced by btSoftRigidCollisionAlgorithm::processCollision(), and btSoftSoftCollisionAlgorithm::processCollision().

◆ getSoftBodySolver() [2/2]

btSoftBodySolver * btSoftBody::getSoftBodySolver ( ) const
inline

Definition at line 1119 of file btSoftBody.h.

References m_softBodySolver.

◆ getSolver() [1/2]

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

Definition at line 4008 of file btSoftBody.cpp.

References btSoftBody::ePSolver::Anchors, btSoftBody::ePSolver::Linear, PSolve_Anchors(), PSolve_Links(), PSolve_RContacts(), PSolve_SContacts(), btSoftBody::ePSolver::RContacts, and btSoftBody::ePSolver::SContacts.

Referenced by solveConstraints(), and staticSolve().

◆ getSolver() [2/2]

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

Definition at line 4028 of file btSoftBody.cpp.

References btSoftBody::eVSolver::Linear, and VSolve_Links().

◆ getTotalMass()

btScalar btSoftBody::getTotalMass ( ) const

Definition at line 932 of file btSoftBody.cpp.

References getMass(), i, and m_nodes.

Referenced by getCenterOfMass(), getLinearVelocity(), setPose(), and setTotalMass().

◆ getVolume()

btScalar btSoftBody::getVolume ( ) const

Definition at line 1240 of file btSoftBody.cpp.

References btCross(), btDot(), btVector3, i, m_faces, btSoftBody::Face::m_n, m_nodes, and btSoftBody::Node::m_x.

Referenced by applyForces(), setPose(), and setTotalDensity().

◆ getWindVelocity()

const btVector3 & btSoftBody::getWindVelocity ( )

Return the wind velocity for interaction with the air.

Definition at line 4291 of file btSoftBody.cpp.

References btVector3, and m_windVelocity.

◆ getWorldInfo()

btSoftBodyWorldInfo * btSoftBody::getWorldInfo ( )
inline

Definition at line 862 of file btSoftBody.h.

References m_worldInfo.

Referenced by btDeformableMultiBodyDynamicsWorld::integrateTransforms().

◆ indicesToPointers()

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

Definition at line 2440 of file btSoftBody.cpp.

References i, IDX2PTR, m_anchors, m_faces, m_links, m_n, m_node, m_nodes, and m_notes.

Referenced by appendNode().

◆ initDefaults()

void btSoftBody::initDefaults ( )

for now, create a collision shape internally

Definition at line 170 of file btSoftBody.cpp.

References btVector3, CO_SOFT_BODY, btSoftBody::fCollision::Default, m_bounds, m_bUpdateRtCst, m_cfg, m_collisionFlags, m_collisionShape, m_dampingCoefficient, m_fdbvnt, m_gravityFactor, m_internalType, m_maxSpeedSquared, m_pose, m_repulsionStiffness, m_restLengthScale, m_sleepingThreshold, m_softSoftCollision, m_tag, m_timeacc, m_useSelfCollision, m_windVelocity, m_worldTransform, btSoftBody::eSolverPresets::Positions, setSolver(), and btSoftBody::eAeroModel::V_Point.

Referenced by btSoftBody(), and btSoftBody().

◆ initializeClusters()

void btSoftBody::initializeClusters ( )

Definition at line 3143 of file btSoftBody.cpp.

References BT_LARGE_FLOAT, btMatrix3x3, btVector3, clusterCom(), i, btSoftBody::Cluster::m_av, m_clusters, btSoftBody::Cluster::m_com, btSoftBody::Cluster::m_containsAnchor, btSoftBody::Cluster::m_framerefs, btSoftBody::Cluster::m_framexform, btSoftBody::Cluster::m_imass, btSoftBody::Cluster::m_leaf, btSoftBody::Cluster::m_locii, btSoftBody::Cluster::m_lv, btSoftBody::Cluster::m_masses, btSoftBody::Cluster::m_nodes, btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by generateClusters().

◆ initializeDmInverse()

void btSoftBody::initializeDmInverse ( )

Definition at line 3448 of file btSoftBody.cpp.

References b, btMatrix3x3, btVector3, i, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Tetra::m_element_measure, btSoftBody::Tetra::m_n, btSoftBody::Tetra::m_P_inv, m_tetras, and btSoftBody::Node::m_x.

Referenced by btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromVtkFile(), and scale().

◆ initializeFaceTree()

void btSoftBody::initializeFaceTree ( )

Definition at line 2623 of file btSoftBody.cpp.

References ATTRIBUTE_ALIGNED16, BT_PROFILE, btAlignedAlloc, buildTreeBottomUp(), btDbvtNode::childs, copyToDbvnt(), btDbvtNode::data, i, l, m_faces, m_fdbvnt, m_fdbvt, btSoftBody::Face::m_leaf, m_n, btDbvtNode::parent, btAlignedObjectArray< T >::push_back(), rebuildNodeTree(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), updateFaceTree(), btDbvtNode::volume, and VolumeOf().

Referenced by btDeformableBodySolver::predictDeformableMotion(), predictMotion(), rayFaceTest(), and rayTest().

◆ integrateMotion()

void btSoftBody::integrateMotion ( )

Definition at line 2329 of file btSoftBody.cpp.

References updateNormals().

Referenced by btDefaultSoftBodySolver::updateSoftBodies().

◆ interpolateRenderMesh()

void btSoftBody::interpolateRenderMesh ( )

Definition at line 3791 of file btSoftBody.cpp.

References btCross(), btVector3, i, m_renderNodes, m_renderNodesInterpolationWeights, m_renderNodesParents, btSoftBody::Node::m_x, m_z, and size().

Referenced by btDeformableMultiBodyDynamicsWorld::integrateTransforms().

◆ pointersToIndices()

void btSoftBody::pointersToIndices ( )

Definition at line 2397 of file btSoftBody.cpp.

References i, m_anchors, m_faces, m_links, m_n, m_node, m_nodes, m_notes, and PTR2IDX.

Referenced by appendNode().

◆ predictMotion()

void btSoftBody::predictMotion ( btScalar dt)

Definition at line 2080 of file btSoftBody.cpp.

References addVelocity(), applyForces(), ATTRIBUTE_ALIGNED16, btMatrix3x3, btVector3, btDbvtAabbMm::FromCR(), getCollisionShape(), i, initializeFaceTree(), Lerp(), m_bUpdateRtCst, m_cdbvt, m_cfg, btSoftBody::Node::m_f, m_faces, m_fdbvt, btSoftBody::Node::m_im, btSoftBody::Face::m_leaf, btSoftBody::Node::m_leaf, btSoftBody::Face::m_n, m_ndbvt, m_nodes, m_pose, btSoftBody::Node::m_q, m_rcontacts, m_scontacts, m_sst, btSoftBody::Node::m_v, m_worldInfo, btSoftBody::Node::m_x, updateBounds(), updateClusters(), updateConstants(), updatePose(), v, btSoftBody::fCollision::VF_SS, VolumeOf(), and x.

Referenced by btDefaultSoftBodySolver::predictMotion().

◆ prepareClusters()

void btSoftBody::prepareClusters ( int iterations)

Definition at line 3340 of file btSoftBody.cpp.

References i, m_joints, and m_sst.

◆ PSolve_Anchors()

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

Definition at line 3840 of file btSoftBody.cpp.

References btRigidBody::applyImpulse(), BT_PROFILE, btSoftBody(), btTransform, btVector3, btRigidBody::getVelocityInLocalPoint(), i, btSoftBody::Config::kAHR, m_anchors, btSoftBody::Anchor::m_body, btSoftBody::Anchor::m_c0, btSoftBody::Anchor::m_c1, btSoftBody::Anchor::m_c2, m_cfg, btSoftBody::Anchor::m_influence, btSoftBody::Anchor::m_local, btSoftBody::Anchor::m_node, btSoftBody::Node::m_q, m_sst, btSoftBody::Node::m_x, btSoftBody::SolverState::sdt, and btAlignedObjectArray< T >::size().

Referenced by getSolver().

◆ PSolve_Links()

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

Definition at line 3971 of file btSoftBody.cpp.

References b, BT_PROFILE, btSoftBody(), btVector3, i, l, len, btSoftBody::Node::m_im, m_links, btSoftBody::Node::m_x, SIMD_EPSILON, and btAlignedObjectArray< T >::size().

Referenced by getSolver().

◆ PSolve_RContacts()

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

Definition at line 3861 of file btSoftBody.cpp.

References btRigidBody::applyImpulse(), BT_PROFILE, btDot(), btMin(), btSoftBody(), btVector3, btRigidBody::getVelocityInLocalPoint(), i, btSoftBody::RContact::m_c0, btSoftBody::RContact::m_c1, btSoftBody::RContact::m_c2, btSoftBody::RContact::m_c3, btSoftBody::RContact::m_c4, btSoftBody::sCti::m_colObj, btSoftBody::RContact::m_cti, btMultiBodyJacobianData::m_deltaVelocitiesUnitImpulse, btMultiBodyJacobianData::m_jacobians, btMultiBodyLinkCollider::m_link, btMultiBodyLinkCollider::m_multiBody, btSoftBody::RContact::m_node, btSoftBody::sCti::m_normal, btSoftBody::sCti::m_offset, btSoftBody::Node::m_q, m_rcontacts, m_sst, btSoftBody::Node::m_x, btAlignedObjectArray< T >::resize(), btMultiBodyJacobianData::scratch_m, btMultiBodyJacobianData::scratch_r, btMultiBodyJacobianData::scratch_v, btSoftBody::SolverState::sdt, SIMD_EPSILON, btAlignedObjectArray< T >::size(), btMultiBodyLinkCollider::upcast(), and btRigidBody::upcast().

Referenced by getSolver().

◆ PSolve_SContacts()

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

Definition at line 3936 of file btSoftBody.cpp.

References BaryEval(), BT_PROFILE, btDot(), btSoftBody(), btVector3, dot(), i, btSoftBody::SContact::m_cfm, btSoftBody::SContact::m_face, btSoftBody::SContact::m_friction, btSoftBody::SContact::m_margin, btSoftBody::Face::m_n, btSoftBody::SContact::m_node, btSoftBody::SContact::m_normal, btSoftBody::Node::m_q, m_scontacts, btSoftBody::SContact::m_weights, btSoftBody::Node::m_x, ProjectOnPlane(), and btAlignedObjectArray< T >::size().

Referenced by getSolver().

◆ randomizeConstraints()

void btSoftBody::randomizeConstraints ( )

Definition at line 1468 of file btSoftBody.cpp.

References btSwap(), i, m_faces, m_links, NEXTRAND, and seed.

Referenced by btSoftBodyHelpers::CreateFromConvexHull(), and btSoftBodyHelpers::CreateFromTriMesh().

◆ rayFaceTest() [1/2]

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

Definition at line 2558 of file btSoftBody.cpp.

References btVector3, btSoftBody::RayFromToCaster::m_face, m_faces, m_fdbvt, btSoftBody::RayFromToCaster::m_mint, and btDbvt::rayTest().

◆ rayFaceTest() [2/2]

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

Definition at line 2035 of file btSoftBody.cpp.

References btSoftBody::sRayCast::body, btVector3, btSoftBody::sRayCast::fraction, btSoftBody::sRayCast::index, initializeFaceTree(), m_faces, m_fdbvt, and rayFaceTest().

Referenced by rayFaceTest(), and btDeformableMultiBodyDynamicsWorld::rayTestSingle().

◆ rayTest() [1/2]

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

Definition at line 2483 of file btSoftBody.cpp.

References btVector3, btSoftBody::eFeature::Face, i, btSoftBody::RayFromToCaster::m_face, m_faces, m_fdbvt, btSoftBody::RayFromToCaster::m_mint, btSoftBody::Face::m_n, btSoftBody::Tetra::m_n, m_tetras, btSoftBody::Node::m_x, btSoftBody::RayFromToCaster::rayFromToTriangle(), btDbvt::rayTest(), btSoftBody::eFeature::Tetra, and v2.

◆ 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 2020 of file btSoftBody.cpp.

References btSoftBody::sRayCast::body, btVector3, btSoftBody::sRayCast::feature, btSoftBody::sRayCast::fraction, btSoftBody::sRayCast::index, initializeFaceTree(), m_faces, m_fdbvt, btSoftBody::eFeature::None, and rayTest().

Referenced by rayTest(), btSoftMultiBodyDynamicsWorld::rayTestSingle(), and btSoftRigidDynamicsWorld::rayTestSingle().

◆ rebuildNodeTree()

void btSoftBody::rebuildNodeTree ( )

Definition at line 2678 of file btSoftBody.cpp.

References ATTRIBUTE_ALIGNED16, btAlignedAlloc, buildTreeBottomUp(), btDbvtNode::childs, btDbvtNode::data, btDbvtAabbMm::FromCR(), i, l, btSoftBody::Node::m_leaf, m_links, m_ndbvt, m_nodes, btSoftBody::Node::m_x, btDbvtNode::parent, btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::resize(), and btDbvtNode::volume.

Referenced by initializeFaceTree().

◆ refine()

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

Definition at line 1695 of file btSoftBody.cpp.

References appendFace(), appendLink(), appendNode(), b, btFabs(), btSwap(), btVector3, btSoftBody::ImplicitFn::Eval(), getMass(), i, ImplicitSolve(), l, Lerp(), m_bUpdateRtCst, m_faces, btSoftBody::Node::m_im, m_links, btSoftBody::Face::m_n, m_n, m_ndbvt, m_nodes, btSoftBody::Node::m_v, btSoftBody::Node::m_x, btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::resize(), SameSign(), btAlignedObjectArray< T >::size(), v, and x.

◆ releaseCluster()

void btSoftBody::releaseCluster ( int index)

Definition at line 1486 of file btSoftBody.cpp.

References btAlignedFree, m_cdbvt, m_clusters, and btSoftBody::Cluster::m_leaf.

Referenced by generateClusters(), and releaseClusters().

◆ releaseClusters()

void btSoftBody::releaseClusters ( )

Definition at line 1496 of file btSoftBody.cpp.

References m_clusters, and releaseCluster().

Referenced by generateClusters(), and ~btSoftBody().

◆ removeAnchor()

void btSoftBody::removeAnchor ( int node)

Definition at line 562 of file btSoftBody.cpp.

References i, m_deformableAnchors, btSoftBody::DeformableNodeRigidContact::m_node, and m_nodes.

◆ resetLinkRestLengths()

void btSoftBody::resetLinkRestLengths ( )

Definition at line 1229 of file btSoftBody.cpp.

References i, l, length(), and m_links.

Referenced by updateConstants().

◆ rotate()

void btSoftBody::rotate ( const btQuaternion & rot)

Definition at line 1130 of file btSoftBody.cpp.

References btTransform, rot, and transform().

◆ scale()

void btSoftBody::scale ( const btVector3 & scl)

Definition at line 1139 of file btSoftBody.cpp.

References ATTRIBUTE_ALIGNED16, btVector3, btDbvtAabbMm::FromCR(), getCollisionShape(), i, initializeDmInverse(), btSoftBody::Node::m_leaf, m_ndbvt, m_nodes, btSoftBody::Node::m_q, btSoftBody::Node::m_x, updateBounds(), updateConstants(), and updateNormals().

◆ serialize()

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

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

Definition at line 4303 of file btSoftBody.cpp.

References btSerializer::allocate(), BT_ARRAY_CODE, BT_JOINT_COLLISION_OBJECT, BT_JOINT_RIGID_BODY, BT_JOINT_SOFT_BODY_CLUSTER, BT_SBMATERIAL_CODE, BT_SBNODE_CODE, btAssert, btRigidBodyData, btSoftBodyData, btSoftBodyDataName, btVector3Data, btSerializer::finalizeChunk(), btHashMap< Key, Value >::find(), btSerializer::findPointer(), float, btSerializer::getUniquePointer(), i, btHashMap< Key, Value >::insert(), SoftBodyNodeData::m_accumulatedForce, SoftBodyClusterData::m_adamping, m_anchors, SoftBodyMaterialData::m_angularStiffness, SoftBodyPoseData::m_aqq, SoftBodyNodeData::m_area, SoftBodyNodeData::m_attach, SoftBodyClusterData::m_av, SoftBodyLinkData::m_bbending, SoftBodyPoseData::m_bframe, btSoftBodyJointData::m_bodyA, btSoftBodyJointData::m_bodyAtype, btSoftBodyJointData::m_bodyB, btSoftBodyJointData::m_bodyBtype, SoftBodyPoseData::m_bvolume, SoftBodyTetraData::m_c0, SoftRigidAnchorData::m_c0, SoftBodyTetraData::m_c1, SoftRigidAnchorData::m_c1, SoftBodyTetraData::m_c2, SoftRigidAnchorData::m_c2, m_cfg, btSoftBodyJointData::m_cfm, SoftBodyClusterData::m_clusterIndex, m_clusters, SoftBodyClusterData::m_collide, SoftBodyClusterData::m_com, SoftBodyPoseData::m_com, SoftBodyClusterData::m_containsAnchor, btSoftBodyJointData::m_delete, SoftBodyClusterData::m_dimpulses, btSoftBodyJointData::m_erp, m_erp, m_faces, btSoftBody::Material::m_flags, SoftBodyMaterialData::m_flags, btVector3FloatData::m_floats, SoftBodyClusterData::m_framerefs, SoftBodyClusterData::m_framexform, SoftBodyClusterData::m_idmass, SoftBodyClusterData::m_imass, SoftBodyNodeData::m_inverseMass, SoftBodyClusterData::m_invwi, m_joints, btSoftBodyJointData::m_jointType, btSoftBody::Material::m_kAST, btSoftBody::Material::m_kLST, btSoftBody::Material::m_kVST, SoftBodyClusterData::m_ldamping, SoftBodyMaterialData::m_linearStiffness, m_links, SoftRigidAnchorData::m_localFrame, SoftBodyClusterData::m_locii, SoftBodyClusterData::m_lv, SoftBodyClusterData::m_masses, SoftBodyClusterData::m_matching, SoftBodyFaceData::m_material, SoftBodyLinkData::m_material, SoftBodyNodeData::m_material, SoftBodyTetraData::m_material, m_materials, SoftBodyClusterData::m_maxSelfCollisionImpulse, SoftBodyClusterData::m_ndamping, SoftBodyClusterData::m_ndimpulses, SoftRigidAnchorData::m_nodeIndex, SoftBodyClusterData::m_nodeIndices, SoftBodyFaceData::m_nodeIndices, SoftBodyLinkData::m_nodeIndices, SoftBodyTetraData::m_nodeIndices, m_nodes, SoftBodyFaceData::m_normal, SoftBodyNodeData::m_normal, SoftBodyClusterData::m_numFrameRefs, SoftBodyClusterData::m_numMasses, SoftBodyClusterData::m_numNodes, SoftBodyPoseData::m_numPositions, SoftBodyPoseData::m_numWeigts, SoftBodyClusterData::m_nvimpulses, btChunk::m_oldPtr, m_pose, SoftBodyNodeData::m_position, SoftBodyPoseData::m_positions, SoftBodyNodeData::m_previousPosition, btSoftBodyJointData::m_refs, btSoftBodyJointData::m_relPosition, SoftBodyFaceData::m_restArea, SoftBodyLinkData::m_restLength, SoftBodyPoseData::m_restVolume, SoftBodyTetraData::m_restVolume, SoftRigidAnchorData::m_rigidBody, SoftBodyPoseData::m_rot, SoftBodyPoseData::m_scale, SoftBodyClusterData::m_selfCollisionImpulseFactor, btSoftBodyJointData::m_split, m_tetras, SoftBodyNodeData::m_velocity, SoftBodyClusterData::m_vimpulses, SoftBodyMaterialData::m_volumeStiffness, and SoftBodyPoseData::m_weights.

◆ setAngularVelocity()

void btSoftBody::setAngularVelocity ( const btVector3 & angVel)

Definition at line 1052 of file btSoftBody.cpp.

References btVector3, getCenterOfMass(), getLinearVelocity(), i, and m_nodes.

◆ setCollisionQuadrature()

void btSoftBody::setCollisionQuadrature ( int N)

Definition at line 3828 of file btSoftBody.cpp.

References btVector3, i, m_quads, and N.

Referenced by btSoftBody().

◆ setCollisionShape()

virtual void btSoftBody::setCollisionShape ( btCollisionShape * collisionShape)
inlinevirtual
Todo
: avoid internal softbody shape hack and move collision code to collision library

Definition at line 873 of file btSoftBody.h.

References btCollisionShape.

◆ setDampingCoefficient()

void btSoftBody::setDampingCoefficient ( btScalar damping_coeff)
inline

Definition at line 867 of file btSoftBody.h.

References m_dampingCoefficient.

◆ setGravityFactor()

void btSoftBody::setGravityFactor ( btScalar gravFactor)

Definition at line 3443 of file btSoftBody.cpp.

References m_gravityFactor.

◆ setLinearVelocity()

void btSoftBody::setLinearVelocity ( const btVector3 & linVel)

Definition at line 1043 of file btSoftBody.cpp.

References btVector3, diff(), getLinearVelocity(), i, and m_nodes.

◆ setMass()

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

Definition at line 919 of file btSoftBody.cpp.

References m_bUpdateRtCst, and m_nodes.

Referenced by btSoftBodyHelpers::CreatePatch(), btSoftBodyHelpers::CreatePatchUV(), and btSoftBodyHelpers::CreateRope().

◆ setMaxStress()

void btSoftBody::setMaxStress ( btScalar maxStress)

Definition at line 3785 of file btSoftBody.cpp.

References m_cfg.

◆ setPose()

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

Definition at line 1181 of file btSoftBody.cpp.

References btVector3, evaluateCom(), getTotalMass(), getVolume(), i, btSoftBody::Node::m_im, m_nodes, m_pose, and updateConstants().

◆ setRestLengthScale()

void btSoftBody::setRestLengthScale ( btScalar restLength)

Definition at line 1166 of file btSoftBody.cpp.

References activate(), getActivationState(), i, ISLAND_SLEEPING, l, m_links, and m_restLengthScale.

◆ setSelfCollision()

void btSoftBody::setSelfCollision ( bool useSelfCollision)

Definition at line 4041 of file btSoftBody.cpp.

References m_useSelfCollision, and useSelfCollision().

◆ setSoftBodySolver()

void btSoftBody::setSoftBodySolver ( btSoftBodySolver * softBodySolver)
inline

Definition at line 1103 of file btSoftBody.h.

References m_softBodySolver.

Referenced by btDeformableMultiBodyDynamicsWorld::addSoftBody(), btSoftMultiBodyDynamicsWorld::addSoftBody(), and btSoftRigidDynamicsWorld::addSoftBody().

◆ setSolver()

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

Definition at line 2055 of file btSoftBody.cpp.

References btSoftBody::ePSolver::Anchors, btSoftBody::ePSolver::Linear, btSoftBody::eVSolver::Linear, m_cfg, btSoftBody::eSolverPresets::Positions, btSoftBody::ePSolver::RContacts, btSoftBody::ePSolver::SContacts, and btSoftBody::eSolverPresets::Velocities.

Referenced by initDefaults().

◆ setSpringStiffness()

void btSoftBody::setSpringStiffness ( btScalar k)

Definition at line 3434 of file btSoftBody.cpp.

References i, m_links, and m_repulsionStiffness.

◆ setTotalDensity()

void btSoftBody::setTotalDensity ( btScalar density)

Definition at line 979 of file btSoftBody.cpp.

References getVolume(), and setTotalMass().

◆ setTotalMass()

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

Definition at line 943 of file btSoftBody.cpp.

References AreaOf(), getTotalMass(), i, m_bUpdateRtCst, m_faces, btSoftBody::Node::m_im, btSoftBody::Face::m_n, m_nodes, and btSoftBody::Node::m_x.

Referenced by setTotalDensity(), and setVolumeMass().

◆ setVelocity()

void btSoftBody::setVelocity ( const btVector3 & velocity)

Definition at line 895 of file btSoftBody.cpp.

References btVector3, i, btSoftBody::Node::m_im, m_nodes, btSoftBody::Node::m_v, and btSoftBody::Node::m_vn.

◆ setVolumeDensity()

void btSoftBody::setVolumeDensity ( btScalar density)

Definition at line 1015 of file btSoftBody.cpp.

References btFabs(), i, btSoftBody::Tetra::m_rv, m_tetras, and setVolumeMass().

◆ setVolumeMass()

void btSoftBody::setVolumeMass ( btScalar mass)

Definition at line 985 of file btSoftBody.cpp.

References btFabs(), i, btSoftBody::Node::m_im, btSoftBody::Tetra::m_n, m_nodes, btSoftBody::Tetra::m_rv, m_tetras, btAlignedObjectArray< T >::resize(), and setTotalMass().

Referenced by setVolumeDensity().

◆ setWindVelocity()

void btSoftBody::setWindVelocity ( const btVector3 & velocity)

Set a wind velocity for interaction with the air.

Definition at line 4286 of file btSoftBody.cpp.

References btVector3, and m_windVelocity.

◆ setZeroVelocity()

void btSoftBody::setZeroVelocity ( )

Definition at line 4699 of file btSoftBody.cpp.

References i, and m_nodes.

Referenced by btDeformableMultiBodyDynamicsWorld::updateActivationState().

◆ solveClusters() [1/2]

void btSoftBody::solveClusters ( btScalar sor)

Definition at line 3349 of file btSoftBody.cpp.

References i, m_joints, and m_sst.

◆ solveClusters() [2/2]

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

Definition at line 2300 of file btSoftBody.cpp.

References btMax(), i, m_cfg, and btAlignedObjectArray< T >::size().

Referenced by btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints(), and btSoftRigidDynamicsWorld::solveSoftBodiesConstraints().

◆ solveCommonConstraints()

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

placeholder

Definition at line 2294 of file btSoftBody.cpp.

References btSoftBody().

◆ solveConstraints()

void btSoftBody::solveConstraints ( )

Definition at line 2189 of file btSoftBody.cpp.

References applyClusters(), btVector3, dampClusters(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), getSolver(), i, ImpulseMatrix(), l, m_anchors, btSoftBody::Anchor::m_body, btSoftBody::Anchor::m_c0, btSoftBody::Anchor::m_c1, btSoftBody::Anchor::m_c2, m_cfg, btSoftBody::Node::m_f, btSoftBody::Node::m_im, m_links, btSoftBody::Anchor::m_local, btSoftBody::Anchor::m_node, m_nodes, btSoftBody::Node::m_q, m_sst, btSoftBody::Node::m_v, and btSoftBody::Node::m_x.

Referenced by btDefaultSoftBodySolver::solveConstraints().

◆ staticSolve()

void btSoftBody::staticSolve ( int iterations)

Definition at line 2282 of file btSoftBody.cpp.

References getSolver(), and m_cfg.

◆ transform()

void btSoftBody::transform ( const btTransform & trs)

Definition at line 1099 of file btSoftBody.cpp.

References ATTRIBUTE_ALIGNED16, btTransform, btDbvtAabbMm::FromCR(), getCollisionShape(), i, btSoftBody::Node::m_leaf, btSoftBody::Node::m_n, m_ndbvt, m_nodes, btSoftBody::Node::m_q, btSoftBody::Node::m_x, updateBounds(), updateConstants(), and updateNormals().

Referenced by rotate(), transformTo(), and translate().

◆ transformTo()

void btSoftBody::transformTo ( const btTransform & trs)

Definition at line 1089 of file btSoftBody.cpp.

References btTransform, getRigidTransform(), and transform().

◆ translate()

void btSoftBody::translate ( const btVector3 & trs)

Definition at line 1121 of file btSoftBody.cpp.

References btTransform, btVector3, and transform().

◆ upcast() [1/2]

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

Definition at line 1134 of file btSoftBody.h.

References btCollisionObject, btSoftBody(), and CO_SOFT_BODY.

◆ upcast() [2/2]

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

Definition at line 1128 of file btSoftBody.h.

References btCollisionObject, btSoftBody(), and CO_SOFT_BODY.

Referenced by btDeformableMultiBodyDynamicsWorld::rayTestSingle(), btSoftMultiBodyDynamicsWorld::rayTestSingle(), btSoftRigidDynamicsWorld::rayTestSingle(), btDeformableMultiBodyDynamicsWorld::removeCollisionObject(), btSoftMultiBodyDynamicsWorld::removeCollisionObject(), and btSoftRigidDynamicsWorld::removeCollisionObject().

◆ updateArea()

void btSoftBody::updateArea ( bool averageArea = true)

Definition at line 3058 of file btSoftBody.cpp.

References AreaOf(), btFabs(), i, btSoftBody::Node::m_area, m_faces, btSoftBody::Face::m_n, m_nodes, btSoftBody::Face::m_ra, btSoftBody::Node::m_x, and btAlignedObjectArray< T >::resize().

Referenced by updateConstants().

◆ updateBounds()

void btSoftBody::updateBounds ( )

Definition at line 2947 of file btSoftBody.cpp.

References btVector3, getBroadphaseHandle(), getCollisionShape(), i, m_bounds, m_nodes, and m_worldInfo.

Referenced by btSoftBody(), btDeformableBodySolver::predictDeformableMotion(), predictMotion(), scale(), and transform().

◆ updateClusters()

void btSoftBody::updateClusters ( )

Definition at line 3210 of file btSoftBody.cpp.

References ATTRIBUTE_ALIGNED16, b, bounds(), BT_PROFILE, btCross(), btFabs(), btMatrix3x3, btVector3, clusterCom(), eps, btDbvtAabbMm::FromMM(), i, Lerp(), btSoftBody::Cluster::m_adamping, btSoftBody::Cluster::m_av, m_cdbvt, m_clusters, btSoftBody::Cluster::m_collide, btSoftBody::Cluster::m_com, btSoftBody::Cluster::m_dimpulses, btSoftBody::Cluster::m_framerefs, btSoftBody::Cluster::m_framexform, btSoftBody::Cluster::m_imass, btSoftBody::Cluster::m_invwi, btSoftBody::Cluster::m_ldamping, btSoftBody::Cluster::m_leaf, btSoftBody::Cluster::m_locii, btSoftBody::Cluster::m_lv, btSoftBody::Cluster::m_masses, btSoftBody::Cluster::m_matching, btSoftBody::Cluster::m_ndimpulses, btSoftBody::Cluster::m_nodes, btSoftBody::Cluster::m_nvimpulses, m_sst, btSoftBody::Cluster::m_vimpulses, btSoftBody::Node::m_x, PolarDecompose(), SIMD_EPSILON, v, and x.

Referenced by generateClusters(), and predictMotion().

◆ updateConstants()

void btSoftBody::updateConstants ( )

Definition at line 3135 of file btSoftBody.cpp.

References resetLinkRestLengths(), updateArea(), and updateLinkConstants().

Referenced by btDeformableBodySolver::predictDeformableMotion(), predictMotion(), scale(), setPose(), and transform().

◆ updateDeactivation()

void btSoftBody::updateDeactivation ( btScalar timeStep)

Definition at line 4683 of file btSoftBody.cpp.

References DISABLE_DEACTIVATION, getActivationState(), ISLAND_SLEEPING, m_deactivationTime, m_maxSpeedSquared, m_sleepingThreshold, and setActivationState().

Referenced by btDeformableMultiBodyDynamicsWorld::updateActivationState().

◆ updateDeformation()

void btSoftBody::updateDeformation ( )

Definition at line 3500 of file btSoftBody.cpp.

References B, b, btMatrix3x3, btVector3, C, Dot4(), i, btSoftBody::TetraScratch::m_cofF, btSoftBody::TetraScratch::m_corotation, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Tetra::m_F, btSoftBody::TetraScratch::m_F, btSoftBody::TetraScratch::m_J, btSoftBody::Tetra::m_n, btSoftBody::Tetra::m_P_inv, btSoftBody::Node::m_q, m_tetras, m_tetraScratches, btSoftBody::TetraScratch::m_trace, and btQuaternion::setRotation().

Referenced by advanceDeformation(), btDeformableLagrangianForce::testDerivative(), btDeformableLagrangianForce::testHessian(), and btDeformableBodySolver::updateTempPosition().

◆ updateFace()

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

Definition at line 1234 of file btSoftBody.h.

References ATTRIBUTE_ALIGNED16, btVector3, btDbvtAabbMm::FromPoints(), btSoftBody::Face::m_n, m_sst, btSoftBody::Node::m_v, btSoftBody::Node::m_x, Merge(), pad, SAFE_EPSILON, and updateFace().

Referenced by updateFace(), and updateFaceTree().

◆ updateFaceTree()

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

Definition at line 1270 of file btSoftBody.h.

References m_fdbvnt, m_fdbvt, and updateFace().

Referenced by initializeFaceTree(), and btDeformableBodySolver::predictDeformableMotion().

◆ updateLinkConstants()

void btSoftBody::updateLinkConstants ( )

Definition at line 3122 of file btSoftBody.cpp.

References i, l, btSoftBody::Material::m_kLST, and m_links.

Referenced by updateConstants().

◆ updateNode()

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

Definition at line 1195 of file btSoftBody.h.

References ATTRIBUTE_ALIGNED16, btVector3, btDbvtNode::childs, btDbvtNode::data, btDbvtAabbMm::FromCR(), btDbvtAabbMm::FromPoints(), btDbvtNode::isleaf(), m_sst, btSoftBody::Node::m_v, btSoftBody::Node::m_x, Merge(), pad, SAFE_EPSILON, updateNode(), and btDbvtNode::volume.

Referenced by updateNode(), and updateNodeTree().

◆ updateNodeTree()

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

Definition at line 1227 of file btSoftBody.h.

References m_ndbvt, and updateNode().

Referenced by btDeformableBodySolver::predictDeformableMotion().

◆ updateNormals()

void btSoftBody::updateNormals ( )

Definition at line 2918 of file btSoftBody.cpp.

References btCross(), btVector3, i, len, m_faces, btSoftBody::Face::m_n, btSoftBody::Node::m_n, m_nodes, btSoftBody::Face::m_normal, btSoftBody::Node::m_x, and SIMD_EPSILON.

Referenced by integrateMotion(), scale(), transform(), and btDeformableBodySolver::updateSoftBodies().

◆ updatePose()

void btSoftBody::updatePose ( )

Definition at line 3021 of file btSoftBody.cpp.

References b, btMatrix3x3, btVector3, Clamp(), eps, evaluateCom(), i, btSoftBody::Pose::m_aqq, m_cfg, btSoftBody::Pose::m_com, m_nodes, btSoftBody::Pose::m_pos, m_pose, btSoftBody::Pose::m_rot, btSoftBody::Pose::m_scl, btSoftBody::Pose::m_wgh, Mul(), PolarDecompose(), and SIMD_EPSILON.

Referenced by predictMotion().

◆ useSelfCollision()

bool btSoftBody::useSelfCollision ( )

Definition at line 4046 of file btSoftBody.cpp.

References m_useSelfCollision.

Referenced by defaultCollisionHandler(), geometricCollisionHandler(), and setSelfCollision().

◆ VSolve_Links()

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

Definition at line 3994 of file btSoftBody.cpp.

References BT_PROFILE, btDot(), btSoftBody(), i, l, btSoftBody::Node::m_im, m_links, btSoftBody::Node::m_v, and btAlignedObjectArray< T >::size().

Referenced by getSolver().

◆ wantsSleeping()

bool btSoftBody::wantsSleeping ( )

Definition at line 4707 of file btSoftBody.cpp.

References DISABLE_DEACTIVATION, gDeactivationTime, gDisableDeactivation, getActivationState(), ISLAND_SLEEPING, m_deactivationTime, and WANTS_DEACTIVATION.

Referenced by btDeformableMultiBodyDynamicsWorld::updateActivationState().

Member Data Documentation

◆ __pad0__

Link btSoftBody::__pad0__

Definition at line 281 of file btSoftBody.h.

◆ m_anchors

tAnchorArray btSoftBody::m_anchors

Definition at line 807 of file btSoftBody.h.

Referenced by appendAnchor(), btSoftBodyHelpers::Draw(), indicesToPointers(), pointersToIndices(), PSolve_Anchors(), serialize(), and solveConstraints().

◆ m_bbending

int btSoftBody::m_bbending

Definition at line 286 of file btSoftBody.h.

◆ m_bounds

btVector3 btSoftBody::m_bounds[2]

Definition at line 817 of file btSoftBody.h.

Referenced by getAabb(), initDefaults(), btDeformableBodySolver::predictDeformableMotion(), and updateBounds().

◆ m_bUpdateRtCst

bool btSoftBody::m_bUpdateRtCst

Definition at line 818 of file btSoftBody.h.

Referenced by appendFace(), appendLink(), appendTetra(), initDefaults(), btDeformableBodySolver::predictDeformableMotion(), predictMotion(), refine(), setMass(), and setTotalMass().

◆ m_c0

btScalar btSoftBody::m_c0

Definition at line 287 of file btSoftBody.h.

◆ m_c1

btScalar btSoftBody::m_c1

Definition at line 288 of file btSoftBody.h.

◆ m_c2

btScalar btSoftBody::m_c2

Definition at line 289 of file btSoftBody.h.

◆ m_cdbvt

btDbvt btSoftBody::m_cdbvt

Definition at line 822 of file btSoftBody.h.

Referenced by btSoftBodyHelpers::DrawClusterTree(), predictMotion(), btSoftColliders::CollideCL_RS::ProcessColObj(), btSoftColliders::CollideCL_SS::ProcessSoftSoft(), releaseCluster(), and updateClusters().

◆ m_cfg

Config btSoftBody::m_cfg

Definition at line 793 of file btSoftBody.h.

Referenced by addAeroForceToFace(), addAeroForceToNode(), btDeformableLinearElasticityForce::addScaledElasticForce(), btDeformableNeoHookeanForce::addScaledElasticForce(), appendDeformableAnchor(), appendDeformableAnchor(), applyForces(), defaultCollisionHandler(), defaultCollisionHandler(), initDefaults(), btDeformableBodySolver::predictDeformableMotion(), predictMotion(), btSoftColliders::CollideCL_SS::ProcessSoftSoft(), PSolve_Anchors(), serialize(), setMaxStress(), setSolver(), solveClusters(), solveConstraints(), staticSolve(), and updatePose().

◆ m_clusterConnectivity

btAlignedObjectArray<bool> btSoftBody::m_clusterConnectivity

Definition at line 838 of file btSoftBody.h.

Referenced by generateClusters().

◆ m_clusters

tClusterArray btSoftBody::m_clusters

Definition at line 823 of file btSoftBody.h.

Referenced by appendAngularJoint(), appendAngularJoint(), appendLinearJoint(), appendLinearJoint(), applyClusters(), clusterCom(), clusterCount(), dampClusters(), btSoftBodyHelpers::Draw(), generateClusters(), initializeClusters(), releaseCluster(), releaseClusters(), serialize(), and updateClusters().

◆ m_collisionDisabledObjects

btAlignedObjectArray<const class btCollisionObject*> btSoftBody::m_collisionDisabledObjects

Definition at line 77 of file btSoftBody.h.

Referenced by appendAnchor(), and btSoftRigidCollisionAlgorithm::processCollision().

◆ m_dampingCoefficient

btScalar btSoftBody::m_dampingCoefficient

Definition at line 824 of file btSoftBody.h.

Referenced by initDefaults(), and setDampingCoefficient().

◆ m_deformableAnchors

btAlignedObjectArray<DeformableNodeRigidAnchor> btSoftBody::m_deformableAnchors

Definition at line 808 of file btSoftBody.h.

Referenced by appendDeformableAnchor(), appendDeformableAnchor(), btDeformableMultiBodyDynamicsWorld::integrateTransforms(), removeAnchor(), and btDeformableContactProjection::setConstraints().

◆ m_faceNodeContacts

btAlignedObjectArray<DeformableFaceNodeContact> btSoftBody::m_faceNodeContacts

Definition at line 811 of file btSoftBody.h.

Referenced by applyRepulsionForce(), btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(), and btDeformableBodySolver::predictDeformableMotion().

◆ m_faceRigidContacts

btAlignedObjectArray<DeformableFaceRigidContact> btSoftBody::m_faceRigidContacts

Definition at line 812 of file btSoftBody.h.

Referenced by btDeformableBodySolver::predictDeformableMotion(), and btDeformableContactProjection::setConstraints().

◆ m_faces

tFaceArray btSoftBody::m_faces

Definition at line 802 of file btSoftBody.h.

Referenced by addAeroForceToFace(), appendFace(), appendFace(), applyForces(), checkFace(), btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromVtkFile(), cutLink(), btSoftBodyHelpers::Draw(), btSoftBodyHelpers::extrapolateBarycentricWeights(), generateClusters(), getVolume(), indicesToPointers(), initializeFaceTree(), btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(), pointersToIndices(), predictMotion(), randomizeConstraints(), rayFaceTest(), rayFaceTest(), rayTest(), rayTest(), btDeformableMultiBodyDynamicsWorld::rayTestSingle(), btSoftMultiBodyDynamicsWorld::rayTestSingle(), btSoftRigidDynamicsWorld::rayTestSingle(), refine(), serialize(), setTotalMass(), updateArea(), btDeformableBackwardEulerObjective::updateId(), updateNormals(), and btSoftBodyHelpers::writeObj().

◆ m_fdbvnt

btDbvntNode* btSoftBody::m_fdbvnt

Definition at line 821 of file btSoftBody.h.

Referenced by btSoftBody(), defaultCollisionHandler(), geometricCollisionHandler(), initDefaults(), initializeFaceTree(), updateFaceTree(), and ~btSoftBody().

◆ m_fdbvt

btDbvt btSoftBody::m_fdbvt

Definition at line 820 of file btSoftBody.h.

Referenced by defaultCollisionHandler(), defaultCollisionHandler(), btSoftBodyHelpers::DrawFaceTree(), geometricCollisionHandler(), initializeFaceTree(), btDeformableBodySolver::predictDeformableMotion(), predictMotion(), rayFaceTest(), rayFaceTest(), rayTest(), rayTest(), and updateFaceTree().

◆ m_gravityFactor

btScalar btSoftBody::m_gravityFactor

Definition at line 829 of file btSoftBody.h.

Referenced by btDeformableBackwardEulerObjective::applyExplicitForce(), initDefaults(), and setGravityFactor().

◆ m_joints

tJointArray btSoftBody::m_joints

Definition at line 814 of file btSoftBody.h.

Referenced by appendAngularJoint(), appendLinearJoint(), cleanupClusters(), btSoftBodyHelpers::Draw(), prepareClusters(), serialize(), solveClusters(), and ~btSoftBody().

◆ m_links

tLinkArray btSoftBody::m_links

Definition at line 801 of file btSoftBody.h.

Referenced by btDeformableMassSpringForce::addScaledDampingForce(), btDeformableMassSpringForce::addScaledDampingForceDifferential(), btDeformableMassSpringForce::addScaledElasticForce(), btDeformableMassSpringForce::addScaledElasticForceDifferential(), appendLink(), appendLink(), btDeformableMassSpringForce::buildDampingForceDifferentialDiagonal(), checkLink(), btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromVtkFile(), cutLink(), btSoftBodyHelpers::Draw(), generateBendingConstraints(), indicesToPointers(), pointersToIndices(), PSolve_Links(), randomizeConstraints(), rebuildNodeTree(), refine(), btSoftBodyHelpers::ReoptimizeLinkOrder(), resetLinkRestLengths(), serialize(), setRestLengthScale(), setSpringStiffness(), solveConstraints(), btDeformableMassSpringForce::totalElasticEnergy(), updateLinkConstants(), and VSolve_Links().

◆ m_materials

tMaterialArray btSoftBody::m_materials

Definition at line 815 of file btSoftBody.h.

Referenced by appendFace(), appendLink(), appendMaterial(), appendNode(), appendTetra(), serialize(), and ~btSoftBody().

◆ m_maxSpeedSquared

btScalar btSoftBody::m_maxSpeedSquared

Definition at line 826 of file btSoftBody.h.

Referenced by initDefaults(), updateDeactivation(), and btDeformableBodySolver::updateVelocity().

◆ m_n

Node* btSoftBody::m_n[2]

Definition at line 284 of file btSoftBody.h.

Referenced by cutLink(), generateBendingConstraints(), generateClusters(), indicesToPointers(), initializeFaceTree(), pointersToIndices(), and refine().

◆ m_ndbvt

btDbvt btSoftBody::m_ndbvt

Definition at line 819 of file btSoftBody.h.

Referenced by appendNode(), btSoftBody(), cutLink(), defaultCollisionHandler(), defaultCollisionHandler(), btSoftBodyHelpers::DrawNodeTree(), geometricCollisionHandler(), predictMotion(), rebuildNodeTree(), refine(), scale(), transform(), and updateNodeTree().

◆ m_nodeRigidContacts

btAlignedObjectArray<DeformableNodeRigidContact> btSoftBody::m_nodeRigidContacts

Definition at line 810 of file btSoftBody.h.

Referenced by btDeformableBodySolver::predictDeformableMotion(), and btDeformableContactProjection::setConstraints().

◆ m_nodes

tNodeArray btSoftBody::m_nodes

Definition at line 799 of file btSoftBody.h.

Referenced by addAeroForceToNode(), addForce(), addForce(), btDeformableLinearElasticityForce::addScaledDampingForce(), btDeformableLinearElasticityForce::addScaledDampingForceDifferential(), btDeformableGravityForce::addScaledGravityForce(), btDeformableLinearElasticityForce::addScaledHessian(), addVelocity(), addVelocity(), appendAnchor(), appendAnchor(), appendDeformableAnchor(), appendDeformableAnchor(), appendFace(), appendLink(), appendNode(), appendTetra(), applyClusters(), btDeformableBackwardEulerObjective::applyExplicitForce(), btDeformableBackwardEulerObjective::applyForce(), applyForces(), btDeformableBodySolver::backupVelocity(), btSoftBody(), KKTPreconditioner::buildDiagonalA(), btDeformableBackwardEulerObjective::calculateContactForce(), checkFace(), checkLink(), btDefaultSoftBodySolver::copySoftBodyToVertexBuffer(), btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromVtkFile(), cutLink(), cutLink(), btSoftBodyHelpers::Draw(), btSoftBodyHelpers::DrawInfos(), evaluateCom(), generateBendingConstraints(), btSoftBodyHelpers::generateBoundaryFaces(), generateClusters(), getCenterOfMass(), getLinearVelocity(), getMass(), getRigidTransform(), getTotalMass(), getVolume(), indicesToPointers(), btDeformableBackwardEulerObjective::initialGuess(), btDeformableMultiBodyDynamicsWorld::integrateTransforms(), btDeformableBodySolver::kineticEnergy(), btDeformableBackwardEulerObjective::multiply(), btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(), pointersToIndices(), btDeformableBodySolver::predictDeformableMotion(), btDeformableBodySolver::predictMotion(), predictMotion(), rebuildNodeTree(), refine(), btDeformableBackwardEulerObjective::reinitialize(), KKTPreconditioner::reinitialize(), MassPreconditioner::reinitialize(), removeAnchor(), btSoftBodyHelpers::ReoptimizeLinkOrder(), btDeformableBodySolver::revertVelocity(), scale(), serialize(), setAngularVelocity(), btDeformableContactProjection::setConstraints(), setLinearVelocity(), setMass(), setPose(), setTotalMass(), btDeformableBodySolver::setupDeformableSolve(), setVelocity(), setVolumeMass(), setZeroVelocity(), solveConstraints(), btDeformableBodySolver::solveDeformableConstraints(), btDeformableLagrangianForce::testDerivative(), btDeformableLagrangianForce::testHessian(), btDeformableLinearElasticityForce::totalDampingEnergy(), btDeformableMassSpringForce::totalDampingEnergy(), btDeformableNeoHookeanForce::totalDampingEnergy(), btDeformableGravityForce::totalEnergy(), transform(), updateArea(), updateBounds(), btDeformableBackwardEulerObjective::updateId(), updateNormals(), updatePose(), btDeformableBodySolver::updateTempPosition(), btDeformableBackwardEulerObjective::updateVelocity(), btDeformableBodySolver::updateVelocity(), and btSoftBodyHelpers::writeObj().

◆ m_notes

tNoteArray btSoftBody::m_notes

Definition at line 798 of file btSoftBody.h.

Referenced by appendNote(), btSoftBodyHelpers::Draw(), indicesToPointers(), and pointersToIndices().

◆ m_pose

Pose btSoftBody::m_pose

Definition at line 795 of file btSoftBody.h.

Referenced by applyForces(), btSoftBodyHelpers::DrawFrame(), evaluateCom(), initDefaults(), predictMotion(), serialize(), setPose(), and updatePose().

◆ m_quads

btAlignedObjectArray<btVector3> btSoftBody::m_quads

Definition at line 827 of file btSoftBody.h.

Referenced by checkDeformableFaceContact(), and setCollisionQuadrature().

◆ m_rcontacts

tRContactArray btSoftBody::m_rcontacts

Definition at line 809 of file btSoftBody.h.

Referenced by btSoftBodyHelpers::Draw(), predictMotion(), and PSolve_RContacts().

◆ m_renderFaces

tFaceArray btSoftBody::m_renderFaces

Definition at line 803 of file btSoftBody.h.

◆ m_renderNodes

tNodeArray btSoftBody::m_renderNodes

Definition at line 800 of file btSoftBody.h.

Referenced by btSoftBodyHelpers::extrapolateBarycentricWeights(), btSoftBodyHelpers::interpolateBarycentricWeights(), and interpolateRenderMesh().

◆ m_renderNodesInterpolationWeights

btAlignedObjectArray<btVector4> btSoftBody::m_renderNodesInterpolationWeights

Definition at line 832 of file btSoftBody.h.

Referenced by btSoftBodyHelpers::extrapolateBarycentricWeights(), btSoftBodyHelpers::interpolateBarycentricWeights(), and interpolateRenderMesh().

◆ m_renderNodesParents

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

Definition at line 833 of file btSoftBody.h.

Referenced by btSoftBodyHelpers::extrapolateBarycentricWeights(), btSoftBodyHelpers::interpolateBarycentricWeights(), and interpolateRenderMesh().

◆ m_repulsionStiffness

btScalar btSoftBody::m_repulsionStiffness

Definition at line 828 of file btSoftBody.h.

Referenced by applyRepulsionForce(), initDefaults(), and setSpringStiffness().

◆ m_restLengthScale

btScalar btSoftBody::m_restLengthScale

Definition at line 842 of file btSoftBody.h.

Referenced by getRestLengthScale(), initDefaults(), and setRestLengthScale().

◆ m_rl

btScalar btSoftBody::m_rl

Definition at line 285 of file btSoftBody.h.

◆ m_scontacts

tSContactArray btSoftBody::m_scontacts

Definition at line 813 of file btSoftBody.h.

Referenced by predictMotion(), and PSolve_SContacts().

◆ m_sleepingThreshold

btScalar btSoftBody::m_sleepingThreshold

Definition at line 825 of file btSoftBody.h.

Referenced by initDefaults(), and updateDeactivation().

◆ m_softBodySolver

btSoftBodySolver* btSoftBody::m_softBodySolver

Definition at line 80 of file btSoftBody.h.

Referenced by btSoftBody(), getSoftBodySolver(), getSoftBodySolver(), and setSoftBodySolver().

◆ m_softSoftCollision

bool btSoftBody::m_softSoftCollision

Definition at line 836 of file btSoftBody.h.

Referenced by defaultCollisionHandler(), and initDefaults().

◆ m_sst

SolverState btSoftBody::m_sst

Definition at line 794 of file btSoftBody.h.

Referenced by addAeroForceToFace(), addAeroForceToNode(), applyClusters(), cleanupClusters(), geometricCollisionHandler(), btDeformableBodySolver::predictDeformableMotion(), predictMotion(), prepareClusters(), btSoftColliders::CollideCL_RS::ProcessColObj(), btSoftColliders::CollideCL_SS::ProcessSoftSoft(), PSolve_Anchors(), PSolve_RContacts(), solveClusters(), solveConstraints(), updateClusters(), updateFace(), and updateNode().

◆ m_tag

void* btSoftBody::m_tag

Definition at line 796 of file btSoftBody.h.

Referenced by initDefaults().

◆ m_tetras

tTetraArray btSoftBody::m_tetras

Definition at line 804 of file btSoftBody.h.

Referenced by btDeformableLinearElasticityForce::addScaledDampingForce(), btDeformableNeoHookeanForce::addScaledDampingForce(), btDeformableLinearElasticityForce::addScaledDampingForceDifferential(), btDeformableNeoHookeanForce::addScaledDampingForceDifferential(), btDeformableCorotatedForce::addScaledElasticForce(), btDeformableLinearElasticityForce::addScaledElasticForce(), btDeformableNeoHookeanForce::addScaledElasticForce(), btDeformableLinearElasticityForce::addScaledElasticForceDifferential(), btDeformableNeoHookeanForce::addScaledElasticForceDifferential(), btDeformableLinearElasticityForce::addScaledHessian(), advanceDeformation(), appendTetra(), appendTetra(), btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromVtkFile(), defaultCollisionHandler(), btSoftBodyHelpers::Draw(), btSoftBodyHelpers::generateBoundaryFaces(), generateClusters(), geometricCollisionHandler(), initializeDmInverse(), btSoftBodyHelpers::interpolateBarycentricWeights(), rayTest(), serialize(), setVolumeDensity(), setVolumeMass(), btDeformableLinearElasticityForce::totalElasticEnergy(), btDeformableNeoHookeanForce::totalElasticEnergy(), updateDeformation(), and btSoftBodyHelpers::writeObj().

◆ m_tetraScratches

btAlignedObjectArray<TetraScratch> btSoftBody::m_tetraScratches

Definition at line 805 of file btSoftBody.h.

Referenced by btDeformableLinearElasticityForce::addScaledDampingForce(), btDeformableLinearElasticityForce::addScaledDampingForceDifferential(), btDeformableLinearElasticityForce::addScaledElasticForce(), btDeformableNeoHookeanForce::addScaledElasticForce(), btDeformableLinearElasticityForce::addScaledElasticForceDifferential(), btDeformableNeoHookeanForce::addScaledElasticForceDifferential(), btDeformableLinearElasticityForce::addScaledHessian(), advanceDeformation(), btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromVtkFile(), btDeformableLinearElasticityForce::totalElasticEnergy(), btDeformableNeoHookeanForce::totalElasticEnergy(), and updateDeformation().

◆ m_tetraScratchesTn

btAlignedObjectArray<TetraScratch> btSoftBody::m_tetraScratchesTn

Definition at line 806 of file btSoftBody.h.

Referenced by advanceDeformation(), btSoftBodyHelpers::CreateFromTetGenData(), and btSoftBodyHelpers::CreateFromVtkFile().

◆ m_timeacc

btScalar btSoftBody::m_timeacc

Definition at line 816 of file btSoftBody.h.

Referenced by initDefaults().

◆ m_userIndexMapping

btAlignedObjectArray<int> btSoftBody::m_userIndexMapping

Definition at line 860 of file btSoftBody.h.

◆ m_useSelfCollision

bool btSoftBody::m_useSelfCollision

Definition at line 835 of file btSoftBody.h.

Referenced by initDefaults(), setSelfCollision(), and useSelfCollision().

◆ m_windVelocity

btVector3 btSoftBody::m_windVelocity

Definition at line 840 of file btSoftBody.h.

Referenced by applyForces(), getWindVelocity(), initDefaults(), and setWindVelocity().

◆ m_worldInfo

btSoftBodyWorldInfo* btSoftBody::m_worldInfo

Definition at line 797 of file btSoftBody.h.

Referenced by addAeroForceToFace(), addAeroForceToNode(), appendDeformableAnchor(), appendDeformableAnchor(), btSoftBody(), btSoftBody(), checkContact(), checkDeformableContact(), checkDeformableFaceContact(), getWorldInfo(), btDeformableMultiBodyDynamicsWorld::integrateTransforms(), predictMotion(), and updateBounds().

◆ m_X

btAlignedObjectArray<btVector3> btSoftBody::m_X

Definition at line 830 of file btSoftBody.h.

Referenced by btSoftBody(), and getRigidTransform().

◆ m_z

btAlignedObjectArray<btScalar> btSoftBody::m_z

Definition at line 834 of file btSoftBody.h.

Referenced by btSoftBodyHelpers::extrapolateBarycentricWeights(), btSoftBodyHelpers::interpolateBarycentricWeights(), and interpolateRenderMesh().

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