Blender: btDeformableBackwardEulerObjective Class Reference

Blender V4.3

#include <btDeformableBackwardEulerObjective.h>

Public Types
typedef btAlignedObjectArray< btVector3 >	TVStack

Public Member Functions
	btDeformableBackwardEulerObjective (btAlignedObjectArray< btSoftBody * > &softBodies, const TVStack &backup_v)

virtual	~btDeformableBackwardEulerObjective ()

void	initialize ()

void	computeResidual (btScalar dt, TVStack &residual)

void	applyExplicitForce (TVStack &force)

void	applyForce (TVStack &force, bool setZero)

btScalar	computeNorm (const TVStack &residual) const

void	computeStep (TVStack &dv, const TVStack &residual, const btScalar &dt)

void	multiply (const TVStack &x, TVStack &b) const

void	initialGuess (TVStack &dv, const TVStack &residual)

void	reinitialize (bool nodeUpdated, btScalar dt)

void	setDt (btScalar dt)

void	applyDynamicFriction (TVStack &r)

void	updateVelocity (const TVStack &dv)

void	setConstraints (const btContactSolverInfo &infoGlobal)

void	project (TVStack &r)

void	precondition (const TVStack &x, TVStack &b)

virtual void	updateId ()

const btAlignedObjectArray< btSoftBody::Node * > *	getIndices () const

void	setImplicit (bool implicit)

btScalar	totalEnergy (btScalar dt)

void	addLagrangeMultiplier (const TVStack &vec, TVStack &extended_vec)

void	addLagrangeMultiplierRHS (const TVStack &residual, const TVStack &m_dv, TVStack &extended_residual)

void	calculateContactForce (const TVStack &dv, const TVStack &rhs, TVStack &f)

Public Attributes
btScalar	m_dt

btAlignedObjectArray< btDeformableLagrangianForce * >	m_lf

btAlignedObjectArray< btSoftBody * > &	m_softBodies

Preconditioner *	m_preconditioner

btDeformableContactProjection	m_projection

const TVStack &	m_backupVelocity

btAlignedObjectArray< btSoftBody::Node * >	m_nodes

bool	m_implicit

MassPreconditioner *	m_massPreconditioner

KKTPreconditioner *	m_KKTPreconditioner

Detailed Description

Definition at line 31 of file btDeformableBackwardEulerObjective.h.

Member Typedef Documentation

◆ TVStack

typedef btAlignedObjectArray<btVector3> btDeformableBackwardEulerObjective::TVStack

Definition at line 34 of file btDeformableBackwardEulerObjective.h.

Constructor & Destructor Documentation

◆ btDeformableBackwardEulerObjective()

btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective	(	btAlignedObjectArray< btSoftBody * > &	softBodies,
		const TVStack &	backup_v )

Definition at line 20 of file btDeformableBackwardEulerObjective.cpp.

References m_dt, m_implicit, m_KKTPreconditioner, m_lf, m_massPreconditioner, m_preconditioner, m_projection, and m_softBodies.

◆ ~btDeformableBackwardEulerObjective()

btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective ( )

virtual

Definition at line 28 of file btDeformableBackwardEulerObjective.cpp.

References m_KKTPreconditioner, and m_massPreconditioner.

Member Function Documentation

◆ addLagrangeMultiplier()

void btDeformableBackwardEulerObjective::addLagrangeMultiplier	(	const TVStack &	vec,
		TVStack &	extended_vec )

inline

Definition at line 136 of file btDeformableBackwardEulerObjective.h.

References btDeformableContactProjection::m_lagrangeMultipliers, m_projection, btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by btDeformableBodySolver::solveDeformableConstraints().

◆ addLagrangeMultiplierRHS()

void btDeformableBackwardEulerObjective::addLagrangeMultiplierRHS	(	const TVStack &	residual,
		const TVStack &	m_dv,
		TVStack &	extended_residual )

inline

Definition at line 150 of file btDeformableBackwardEulerObjective.h.

References LagrangeMultiplier::m_dirs, LagrangeMultiplier::m_indices, btDeformableContactProjection::m_lagrangeMultipliers, LagrangeMultiplier::m_num_constraints, LagrangeMultiplier::m_num_nodes, m_projection, LagrangeMultiplier::m_weights, btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by btDeformableBodySolver::solveDeformableConstraints().

◆ applyDynamicFriction()

void btDeformableBackwardEulerObjective::applyDynamicFriction ( TVStack & r )

Definition at line 293 of file btDeformableBackwardEulerObjective.cpp.

References btDeformableContactProjection::applyDynamicFriction(), and m_projection.

Referenced by btDeformableBodySolver::solveDeformableConstraints().

◆ applyExplicitForce()

void btDeformableBackwardEulerObjective::applyExplicitForce ( TVStack & force )

Definition at line 213 of file btDeformableBackwardEulerObjective.cpp.

References applyForce(), BT_GRAVITY_FORCE, m_dt, m_gravity, btSoftBody::m_gravityFactor, m_implicit, m_lf, btSoftBody::m_nodes, m_softBodies, and btAlignedObjectArray< T >::size().

Referenced by btDeformableBodySolver::predictMotion().

◆ applyForce()

void btDeformableBackwardEulerObjective::applyForce	(	TVStack &	force,
		bool	setZero )

Definition at line 137 of file btDeformableBackwardEulerObjective.cpp.

References m_implicit, btSoftBody::m_nodes, m_softBodies, setZero(), and btAlignedObjectArray< T >::size().

Referenced by applyExplicitForce().

◆ calculateContactForce()

void btDeformableBackwardEulerObjective::calculateContactForce	(	const TVStack &	dv,
		const TVStack &	rhs,
		TVStack &	f )

inline

Definition at line 172 of file btDeformableBackwardEulerObjective.h.

References btVector3, m_dt, m_lf, btSoftBody::m_nodes, m_softBodies, rhs, and btAlignedObjectArray< T >::size().

◆ computeNorm()

btScalar btDeformableBackwardEulerObjective::computeNorm ( const TVStack & residual ) const

Definition at line 193 of file btDeformableBackwardEulerObjective.cpp.

References btAlignedObjectArray< T >::size().

Referenced by btDeformableBodySolver::computeDescentStep(), and btDeformableBodySolver::solveDeformableConstraints().

◆ computeResidual()

void btDeformableBackwardEulerObjective::computeResidual	(	btScalar	dt,
		TVStack &	residual )

Definition at line 174 of file btDeformableBackwardEulerObjective.cpp.

References BT_MOUSE_PICKING_FORCE, BT_PROFILE, m_implicit, m_lf, and btAlignedObjectArray< T >::size().

Referenced by btDeformableBodySolver::solveDeformableConstraints().

◆ computeStep()

void btDeformableBackwardEulerObjective::computeStep	(	TVStack &	dv,
		const TVStack &	residual,
		const btScalar &	dt )

◆ getIndices()

const btAlignedObjectArray< btSoftBody::Node * > * btDeformableBackwardEulerObjective::getIndices ( ) const

inline

Definition at line 123 of file btDeformableBackwardEulerObjective.h.

References m_nodes.

Referenced by btDeformableMultiBodyDynamicsWorld::addForce().

◆ initialGuess()

void btDeformableBackwardEulerObjective::initialGuess	(	TVStack &	dv,
		const TVStack &	residual )

Definition at line 273 of file btDeformableBackwardEulerObjective.cpp.

References btSoftBody::m_nodes, m_softBodies, and btAlignedObjectArray< T >::size().

◆ initialize()

void btDeformableBackwardEulerObjective::initialize ( )

inline

Definition at line 50 of file btDeformableBackwardEulerObjective.h.

◆ multiply()

void btDeformableBackwardEulerObjective::multiply	(	const TVStack &	x,
		TVStack &	b ) const

◆ precondition()

void btDeformableBackwardEulerObjective::precondition	(	const TVStack &	x,
		TVStack &	b )

inline

Definition at line 95 of file btDeformableBackwardEulerObjective.h.

References b, m_preconditioner, and x.

◆ project()

void btDeformableBackwardEulerObjective::project ( TVStack & r )

inline

Definition at line 88 of file btDeformableBackwardEulerObjective.h.

References BT_PROFILE, m_projection, and btDeformableContactProjection::project().

◆ reinitialize()

void btDeformableBackwardEulerObjective::reinitialize	(	bool	nodeUpdated,
		btScalar	dt )

Definition at line 34 of file btDeformableBackwardEulerObjective.cpp.

References BT_PROFILE, btMatrix3x3, I, m_lf, btSoftBody::m_nodes, m_projection, m_softBodies, btDeformableContactProjection::reinitialize(), setDt(), btAlignedObjectArray< T >::size(), and updateId().

Referenced by btDeformableBodySolver::reinitialize().

◆ setConstraints()

void btDeformableBackwardEulerObjective::setConstraints ( const btContactSolverInfo & infoGlobal )

Definition at line 288 of file btDeformableBackwardEulerObjective.cpp.

References infoGlobal, m_projection, and btDeformableContactProjection::setConstraints().

Referenced by btDeformableBodySolver::setConstraints().

◆ setDt()

void btDeformableBackwardEulerObjective::setDt ( btScalar dt )

Definition at line 64 of file btDeformableBackwardEulerObjective.cpp.

References m_dt.

Referenced by reinitialize().

◆ setImplicit()

void btDeformableBackwardEulerObjective::setImplicit ( bool implicit )

inline

Definition at line 128 of file btDeformableBackwardEulerObjective.h.

References m_implicit.

Referenced by btDeformableBodySolver::setImplicit().

◆ totalEnergy()

btScalar btDeformableBackwardEulerObjective::totalEnergy ( btScalar dt )

Definition at line 203 of file btDeformableBackwardEulerObjective.cpp.

References e, m_lf, and btAlignedObjectArray< T >::size().

Referenced by btDeformableBodySolver::solveDeformableConstraints().

◆ updateId()

virtual void btDeformableBackwardEulerObjective::updateId ( )

inlinevirtual

Definition at line 101 of file btDeformableBackwardEulerObjective.h.

References btAlignedObjectArray< T >::clear(), btSoftBody::m_faces, m_nodes, btSoftBody::m_nodes, m_softBodies, btAlignedObjectArray< T >::push_back(), and btAlignedObjectArray< T >::size().

Referenced by reinitialize().

◆ updateVelocity()

void btDeformableBackwardEulerObjective::updateVelocity ( const TVStack & dv )

Definition at line 124 of file btDeformableBackwardEulerObjective.cpp.

References m_backupVelocity, btSoftBody::m_nodes, m_softBodies, and btAlignedObjectArray< T >::size().

Member Data Documentation

◆ m_backupVelocity

const TVStack& btDeformableBackwardEulerObjective::m_backupVelocity

Definition at line 40 of file btDeformableBackwardEulerObjective.h.

Referenced by updateVelocity().

◆ m_dt

btScalar btDeformableBackwardEulerObjective::m_dt

Definition at line 35 of file btDeformableBackwardEulerObjective.h.

Referenced by applyExplicitForce(), btDeformableBackwardEulerObjective(), calculateContactForce(), multiply(), and setDt().

◆ m_implicit

bool btDeformableBackwardEulerObjective::m_implicit

Definition at line 42 of file btDeformableBackwardEulerObjective.h.

Referenced by applyExplicitForce(), applyForce(), btDeformableBackwardEulerObjective(), computeResidual(), multiply(), and setImplicit().

◆ m_KKTPreconditioner

KKTPreconditioner* btDeformableBackwardEulerObjective::m_KKTPreconditioner

Definition at line 44 of file btDeformableBackwardEulerObjective.h.

Referenced by btDeformableBackwardEulerObjective(), btDeformableMultiBodyDynamicsWorld::reinitialize(), and ~btDeformableBackwardEulerObjective().

◆ m_lf

btAlignedObjectArray<btDeformableLagrangianForce*> btDeformableBackwardEulerObjective::m_lf

Definition at line 36 of file btDeformableBackwardEulerObjective.h.

Referenced by btDeformableMultiBodyDynamicsWorld::addForce(), applyExplicitForce(), btDeformableBackwardEulerObjective(), calculateContactForce(), computeResidual(), multiply(), reinitialize(), btDeformableMultiBodyDynamicsWorld::removeForce(), btDeformableMultiBodyDynamicsWorld::removeSoftBodyForce(), and totalEnergy().

◆ m_massPreconditioner

MassPreconditioner* btDeformableBackwardEulerObjective::m_massPreconditioner

Definition at line 43 of file btDeformableBackwardEulerObjective.h.

Referenced by btDeformableBackwardEulerObjective(), btDeformableMultiBodyDynamicsWorld::reinitialize(), and ~btDeformableBackwardEulerObjective().

◆ m_nodes

btAlignedObjectArray<btSoftBody::Node*> btDeformableBackwardEulerObjective::m_nodes

Definition at line 41 of file btDeformableBackwardEulerObjective.h.

Referenced by getIndices(), multiply(), and updateId().

◆ m_preconditioner

Preconditioner* btDeformableBackwardEulerObjective::m_preconditioner

Definition at line 38 of file btDeformableBackwardEulerObjective.h.

Referenced by btDeformableBackwardEulerObjective(), precondition(), btDeformableMultiBodyDynamicsWorld::reinitialize(), and btDeformableBodySolver::solveDeformableConstraints().

◆ m_projection

btDeformableContactProjection btDeformableBackwardEulerObjective::m_projection

Definition at line 39 of file btDeformableBackwardEulerObjective.h.

Referenced by addLagrangeMultiplier(), addLagrangeMultiplierRHS(), applyDynamicFriction(), btDeformableBackwardEulerObjective(), multiply(), project(), reinitialize(), btDeformableMultiBodyDynamicsWorld::reinitialize(), setConstraints(), btDeformableMultiBodyDynamicsWorld::solveConstraints(), and btDeformableBodySolver::solveContactConstraints().

◆ m_softBodies

btAlignedObjectArray<btSoftBody*>& btDeformableBackwardEulerObjective::m_softBodies

Definition at line 37 of file btDeformableBackwardEulerObjective.h.

Referenced by applyExplicitForce(), applyForce(), btDeformableBackwardEulerObjective(), calculateContactForce(), initialGuess(), multiply(), reinitialize(), updateId(), and updateVelocity().

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