#include <btSoftBody.h>

Inherits btCollisionObject.

Classes
struct	AJoint

struct	Anchor

struct	Body

struct	CJoint

struct	Cluster

struct	Config

struct	DeformableFaceNodeContact

class	DeformableFaceRigidContact

class	DeformableNodeRigidAnchor

class	DeformableNodeRigidContact

class	DeformableRigidContact

struct	eAeroModel
	eAeroModel More...

struct	eFeature
	eFeature More...

struct	Element

struct	ePSolver
	ePSolver : positions solvers More...

struct	eSolverPresets
	eSolverPresets More...

struct	eVSolver
	eVSolver : velocities solvers More...

struct	Face

struct	fCollision
	fCollision More...

struct	Feature

struct	fMaterial
	fMaterial More...

struct	ImplicitFn

struct	Impulse

struct	Joint

struct	LJoint

struct	Material

struct	Node

struct	Note

struct	Pose

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

struct	RContact

struct	SContact

struct	sCti

struct	sMedium

struct	SolverState

struct	sRayCast

struct	Tetra

struct	TetraScratch

Public Types
typedef btAlignedObjectArray< eVSolver::_ >	tVSolverArray

typedef btAlignedObjectArray< ePSolver::_ >	tPSolverArray

typedef btAlignedObjectArray< btScalar >	tScalarArray

typedef btAlignedObjectArray< btVector3 >	tVector3Array

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

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

typedef btAlignedObjectArray< Cluster * >	tClusterArray

typedef btAlignedObjectArray< Note >	tNoteArray

typedef btAlignedObjectArray< Node >	tNodeArray

typedef btAlignedObjectArray< 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 )

◆ btSoftBody() [2/2]

btSoftBody::btSoftBody ( btSoftBodyWorldInfo * worldInfo )

Definition at line 164 of file btSoftBody.cpp.

References initDefaults().

◆ ~btSoftBody()

btSoftBody::~btSoftBody ( )

virtual

Definition at line 236 of file btSoftBody.cpp.

References btAlignedFree, m_collisionShape, m_fdbvnt, m_joints, m_materials, releaseClusters(), and btAlignedObjectArray< T >::size().

Member Function Documentation

◆ addAeroForceToFace()

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

◆ addAeroForceToNode()

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

◆ addForce() [1/2]

void btSoftBody::addForce ( const btVector3 & force )

Definition at line 689 of file btSoftBody.cpp.

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

Referenced by addForce().

◆ addForce() [2/2]

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

Definition at line 695 of file btSoftBody.cpp.

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

◆ addVelocity() [1/2]

void btSoftBody::addVelocity ( const btVector3 & velocity )

Definition at line 889 of file btSoftBody.cpp.

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

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 btSoftBody::Node::m_im, m_nodes, btSoftBody::Node::m_v, and node.

◆ advanceDeformation()

void btSoftBody::advanceDeformation ( )

Definition at line 3538 of file btSoftBody.cpp.

References m_tetras, m_tetraScratches, m_tetraScratchesTn, btAlignedObjectArray< T >::size(), 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(), m_nodes, and node.

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 btAlignedObjectArray< T >::findLinearSearch(), m_anchors, m_collisionDisabledObjects, btSoftBody::Anchor::m_node, m_nodes, node, btAlignedObjectArray< T >::push_back(), and btAlignedObjectArray< T >::size().

◆ 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(), 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, btAlignedObjectArray< T >::push_back(), 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.

◆ appendDeformableAnchor() [2/2]

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

Definition at line 527 of file btSoftBody.cpp.

References btCollisionShape, btMatrix3x3, btTransform, btSparseSdf< CELLSIZE >::Evaluate(), btRigidBody::getCollisionShape(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), ImpulseMatrix(), btSoftBody::Config::kCHR, btSoftBody::Config::kDF, btSoftBody::Config::kKHR, 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, btSoftBodyWorldInfo::m_sparsesdf, m_worldInfo, btSoftBody::Node::m_x, and node.

◆ 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, btAlignedObjectArray< T >::push_back(), 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, btSoftBody::Node::m_x, and btAlignedObjectArray< T >::size().

◆ 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(), 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, btAlignedObjectArray< T >::push_back(), 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, btAlignedObjectArray< T >::push_back(), 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, m_links, and btAlignedObjectArray< T >::size().

◆ appendMaterial()

btSoftBody::Material * btSoftBody::appendMaterial ( )

Definition at line 298 of file btSoftBody.cpp.

References btAlignedAlloc, m_materials, btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::size(), and ZeroInitialize().

Referenced by btSoftBody().

◆ appendNode()

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

◆ 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 btSoftBody::Note::m_coords, btSoftBody::Note::m_nodes, m_notes, btSoftBody::Note::m_offset, btSoftBody::Note::m_rank, btSoftBody::Note::m_text, btAlignedObjectArray< T >::push_back(), 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(), 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(), 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().

◆ 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, btAlignedObjectArray< T >::push_back(), 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, btAlignedObjectArray< T >::size(), and VolumeOf().

◆ applyClusters()

void btSoftBody::applyClusters ( bool drift )

◆ applyForces()

void btSoftBody::applyForces ( )

Definition at line 3717 of file btSoftBody.cpp.

References addAeroForceToFace(), addAeroForceToNode(), BT_PROFILE, btFabs(), getVolume(), btSoftBody::Config::kDG, btSoftBody::Config::kLF, btSoftBody::Config::kPR, btSoftBody::Config::kVC, btSoftBody::Node::m_area, m_cfg, btSoftBody::Node::m_f, m_faces, btSoftBody::Node::m_im, btSoftBody::Node::m_n, m_nodes, m_pose, btSoftBody::Pose::m_volume, m_windVelocity, and btAlignedObjectArray< T >::size().

Referenced by predictMotion().

◆ applyRepulsionForce()

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

inline

◆ BaryEval()

template<typename T >

static 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.

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, btSparseSdf< CELLSIZE >::Evaluate(), btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), btSoftBody::sCti::m_colObj, btSoftBody::sCti::m_normal, btSoftBody::sCti::m_offset, btSoftBodyWorldInfo::m_sparsesdf, and m_worldInfo.

Referenced by btSoftColliders::CollideSDF_RS::DoNode().

◆ 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 btCollisionShape, btTransform, btSparseSdf< CELLSIZE >::Evaluate(), btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), btSoftBody::sCti::m_colObj, btSoftBody::sCti::m_normal, btSoftBody::sCti::m_offset, btCollisionObjectWrapper::m_preTransform, btSoftBodyWorldInfo::m_sparsesdf, m_worldInfo, and NULL.

Referenced by btSoftColliders::CollideSDF_RD::DoNode().

◆ 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(), btCollisionShape, btConvexShape(), btTransform, btVector3, btGjkEpaSolver2::sResults::distance, btSparseSdf< CELLSIZE >::Evaluate(), getBarycentric(), btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btCollisionObjectWrapper::getWorldTransform(), 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, btSoftBodyWorldInfo::m_sparsesdf, m_worldInfo, btSoftBody::Node::m_x, btGjkEpaSolver2::sResults::normal, NULL, btGjkEpaSolver2::SignedDistance(), SIMD_INFINITY, btAlignedObjectArray< T >::size(), and btGjkEpaSolver2::sResults::witnesses.

Referenced by btSoftColliders::CollideSDF_RDF::DoNode().

◆ checkFace()

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

Definition at line 274 of file btSoftBody.cpp.

References m_faces, btSoftBody::Face::m_n, m_nodes, and btAlignedObjectArray< T >::size().

◆ checkLink() [1/2]

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

Definition at line 258 of file btSoftBody.cpp.

References l, m_links, and btAlignedObjectArray< T >::size().

◆ 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, m_joints, m_sst, btAlignedObjectArray< T >::remove(), btSoftBody::SolverState::sdt, and btAlignedObjectArray< T >::size().

◆ 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 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 clusterCom(), and m_clusters.

◆ clusterCount()

int btSoftBody::clusterCount ( ) const

Definition at line 1259 of file btSoftBody.cpp.

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

◆ clusterDAImpulse()

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

static

Definition at line 1326 of file btSoftBody.cpp.

References 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 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(), 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 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 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(), 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(), 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(), l, Lerp(), m_faces, m_links, btSoftBody::Face::m_n, m_n, m_ndbvt, m_nodes, btSoftBody::Node::m_v, MatchEdge(), btAlignedObjectArray< T >::pop_back(), btDbvt::remove(), btAlignedObjectArray< T >::size(), and v.

Referenced by cutLink().

◆ dampClusters()

void btSoftBody::dampClusters ( )

Definition at line 3409 of file btSoftBody.cpp.

References btCross(), 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, btSoftBody::Node::m_v, and btAlignedObjectArray< T >::size().

Referenced by solveConstraints().

◆ defaultCollisionHandler() [1/2]

void btSoftBody::defaultCollisionHandler ( btSoftBody * psb )

Definition at line 4134 of file btSoftBody.cpp.

References BT_PROFILE, 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, btDbvt::selfCollideT(), 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.

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 btSoftBody::Pose::m_bframe, m_nodes, m_pose, btSoftBody::Pose::m_wgh, and btAlignedObjectArray< T >::size().

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, btAlignedObjectArray< T >::findLinearSearch(), IDX, int, m_links, m_n, m_nodes, btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), and sum().

◆ 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(), ClusterMetric(), btAlignedObjectArray< T >::findLinearSearch(), initializeClusters(), int, length2(), m_clusterConnectivity, m_clusters, btSoftBody::Cluster::m_collide, m_faces, m_n, btSoftBody::Cluster::m_nodes, m_nodes, m_tetras, btAlignedObjectArray< T >::push_back(), releaseCluster(), releaseClusters(), btAlignedObjectArray< T >::resize(), SIMD_EPSILON, btAlignedObjectArray< T >::size(), updateClusters(), and w().

◆ geometricCollisionHandler()

void btSoftBody::geometricCollisionHandler ( btSoftBody * psb )

Definition at line 4234 of file btSoftBody.cpp.

References 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, btDbvt::selfCollideT(), 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 m_bounds.

Referenced by btSoftBodyTriangleCallback::setTimeStepAndCounters().

◆ getCenterOfMass()

btVector3 btSoftBody::getCenterOfMass ( ) const

inline

Definition at line 1011 of file btSoftBody.h.

References getMass(), getTotalMass(), m_nodes, and btAlignedObjectArray< T >::size().

Referenced by getRigidTransform(), and setAngularVelocity().

◆ getLinearVelocity()

btVector3 btSoftBody::getLinearVelocity ( )

Definition at line 1030 of file btSoftBody.cpp.

References btVector3, getTotalMass(), m_nodes, and btAlignedObjectArray< T >::size().

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, getCenterOfMass(), m_nodes, m_X, OuterProduct(), R, singularValueDecomposition(), btAlignedObjectArray< T >::size(), 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(), m_nodes, and btAlignedObjectArray< T >::size().

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

◆ getVolume()

btScalar btSoftBody::getVolume ( ) const

Definition at line 1240 of file btSoftBody.cpp.

References btCross(), btDot(), m_faces, btSoftBody::Face::m_n, m_nodes, btSoftBody::Node::m_x, and btAlignedObjectArray< T >::size().

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 m_windVelocity.

◆ getWorldInfo()

btSoftBodyWorldInfo * btSoftBody::getWorldInfo ( )

inline

Definition at line 862 of file btSoftBody.h.

References m_worldInfo.

Referenced by btSoftBodyTriangleCallback::clearCache(), and btDeformableMultiBodyDynamicsWorld::integrateTransforms().

◆ indicesToPointers()

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

Definition at line 2440 of file btSoftBody.cpp.

References IDX2PTR, m_anchors, m_faces, m_links, m_n, m_node, m_nodes, m_notes, and btAlignedObjectArray< T >::size().

Referenced by appendNode().

◆ initDefaults()

void btSoftBody::initDefaults ( )

for now, create a collision shape internally

Definition at line 170 of file btSoftBody.cpp.

Referenced by btSoftBody(), and btSoftBody().

◆ initializeClusters()

void btSoftBody::initializeClusters ( )

◆ initializeDmInverse()

void btSoftBody::initializeDmInverse ( )

Definition at line 3448 of file btSoftBody.cpp.

References b, btMatrix3x3, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Tetra::m_element_measure, btSoftBody::Tetra::m_n, btSoftBody::Tetra::m_P_inv, m_tetras, btSoftBody::Node::m_x, and btAlignedObjectArray< T >::size().

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(), btDbvt::clear(), copyToDbvnt(), btDbvtNode::data, l, m_faces, m_fdbvnt, m_fdbvt, btSoftBody::Face::m_leaf, m_n, btDbvt::m_root, node, NULL, btDbvtNode::parent, btAlignedObjectArray< T >::push_back(), rebuildNodeTree(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), updateFaceTree(), 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(), m_renderNodes, m_renderNodesInterpolationWeights, m_renderNodesParents, btSoftBody::Node::m_x, m_z, btAlignedObjectArray< T >::size(), and size().

Referenced by btDeformableMultiBodyDynamicsWorld::integrateTransforms().

◆ pointersToIndices()

void btSoftBody::pointersToIndices ( )

Definition at line 2397 of file btSoftBody.cpp.

References m_anchors, m_faces, m_links, m_n, m_node, m_nodes, m_notes, PTR2IDX, and btAlignedObjectArray< T >::size().

Referenced by appendNode().

◆ predictMotion()

void btSoftBody::predictMotion ( btScalar dt )

Definition at line 2080 of file btSoftBody.cpp.

References addVelocity(), applyForces(), ATTRIBUTE_ALIGNED16, btMatrix3x3, btVector3, btDbvt::clear(), btSoftBody::Config::collisions, btDbvt::empty(), btDbvtAabbMm::FromCR(), getCollisionShape(), initializeFaceTree(), btSoftBody::SolverState::isdt, btSoftBody::Config::kMT, Lerp(), btSoftBody::Pose::m_bframe, m_bUpdateRtCst, m_cdbvt, m_cfg, btSoftBody::Pose::m_com, btSoftBody::Node::m_f, m_faces, m_fdbvt, btSoftBodyWorldInfo::m_gravity, btSoftBody::Node::m_im, btSoftBody::Face::m_leaf, btSoftBody::Node::m_leaf, btSoftBodyWorldInfo::m_maxDisplacement, btSoftBody::Face::m_n, m_ndbvt, m_nodes, btSoftBody::Pose::m_pos, m_pose, btSoftBody::Node::m_q, m_rcontacts, btSoftBody::Pose::m_rot, m_scontacts, m_sst, btSoftBody::Node::m_v, m_worldInfo, btSoftBody::Node::m_x, btDbvt::optimizeIncremental(), btSoftBody::SolverState::radmrg, btAlignedObjectArray< T >::resize(), btSoftBody::SolverState::sdt, btAlignedObjectArray< T >::size(), btSoftBody::Config::timescale, btDbvt::update(), updateBounds(), updateClusters(), updateConstants(), updatePose(), btSoftBody::SolverState::updmrg, v, btSoftBody::SolverState::velmrg, btSoftBody::fCollision::VF_SS, and VolumeOf().

Referenced by btDefaultSoftBodySolver::predictMotion().

◆ prepareClusters()

void btSoftBody::prepareClusters ( int iterations )

Definition at line 3340 of file btSoftBody.cpp.

References m_joints, m_sst, btSoftBody::SolverState::sdt, and btAlignedObjectArray< T >::size().

◆ PSolve_Anchors()

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

static

Definition at line 3840 of file btSoftBody.cpp.

References BT_PROFILE, btTransform, btSoftBody::Config::kAHR, m_anchors, m_cfg, 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, l, len, m_links, 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(), btVector3, btRigidBody::getVelocityInLocalPoint(), 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::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(), m_faces, m_links, NEXTRAND, seed, and btAlignedObjectArray< T >::size().

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 int, btSoftBody::RayFromToCaster::m_face, m_faces, m_fdbvt, btSoftBody::RayFromToCaster::m_mint, btDbvt::m_root, 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, btDbvt::empty(), btSoftBody::sRayCast::fraction, btSoftBody::sRayCast::index, initializeFaceTree(), m_faces, m_fdbvt, rayFaceTest(), and btAlignedObjectArray< T >::size().

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 btDbvt::empty(), btSoftBody::eFeature::Face, int, btSoftBody::RayFromToCaster::m_face, m_faces, m_fdbvt, btSoftBody::RayFromToCaster::m_mint, btSoftBody::Face::m_n, btSoftBody::Tetra::m_n, btDbvt::m_root, m_tetras, btSoftBody::Node::m_x, btSoftBody::RayFromToCaster::rayFromToTriangle(), btDbvt::rayTest(), btAlignedObjectArray< T >::size(), 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, btDbvt::empty(), btSoftBody::sRayCast::feature, btSoftBody::sRayCast::fraction, btSoftBody::sRayCast::index, initializeFaceTree(), m_faces, m_fdbvt, btSoftBody::eFeature::None, rayTest(), and btAlignedObjectArray< T >::size().

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(), btDbvt::clear(), btDbvtNode::data, btDbvtAabbMm::FromCR(), l, btSoftBody::Node::m_leaf, m_links, m_ndbvt, m_nodes, btDbvt::m_root, btSoftBody::Node::m_x, node, NULL, btDbvtNode::parent, btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

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(), btSoftBody::ImplicitFn::Eval(), getMass(), ImplicitSolve(), int, l, Lerp(), m_bUpdateRtCst, m_faces, m_links, btSoftBody::Face::m_n, m_n, m_ndbvt, m_nodes, btSoftBody::Node::m_x, btAlignedObjectArray< T >::pop_back(), btAlignedObjectArray< T >::push_back(), btDbvt::remove(), btAlignedObjectArray< T >::resize(), SameSign(), btAlignedObjectArray< T >::size(), and v.

◆ releaseCluster()

void btSoftBody::releaseCluster ( int index )

Definition at line 1486 of file btSoftBody.cpp.

References btAlignedFree, m_cdbvt, m_clusters, btSoftBody::Cluster::m_leaf, btAlignedObjectArray< T >::remove(), and btDbvt::remove().

Referenced by generateClusters(), and releaseClusters().

◆ releaseClusters()

void btSoftBody::releaseClusters ( )

Definition at line 1496 of file btSoftBody.cpp.

References m_clusters, releaseCluster(), and btAlignedObjectArray< T >::size().

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

◆ removeAnchor()

void btSoftBody::removeAnchor ( int node )

Definition at line 562 of file btSoftBody.cpp.

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

◆ resetLinkRestLengths()

void btSoftBody::resetLinkRestLengths ( )

Definition at line 1229 of file btSoftBody.cpp.

References l, length(), m_links, and btAlignedObjectArray< T >::size().

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, btDbvtAabbMm::FromCR(), getCollisionShape(), initializeDmInverse(), btSoftBody::Node::m_leaf, m_ndbvt, m_nodes, btSoftBody::Node::m_q, btSoftBody::Node::m_x, btAlignedObjectArray< T >::size(), btDbvt::update(), 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.

◆ setAngularVelocity()

void btSoftBody::setAngularVelocity ( const btVector3 & angVel )

Definition at line 1052 of file btSoftBody.cpp.

References getCenterOfMass(), getLinearVelocity(), m_nodes, and btAlignedObjectArray< T >::size().

◆ setCollisionQuadrature()

void btSoftBody::setCollisionQuadrature ( int N )

Definition at line 3828 of file btSoftBody.cpp.

References btVector3, m_quads, N, and btAlignedObjectArray< T >::push_back().

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.

◆ 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 diff(), getLinearVelocity(), m_nodes, and btAlignedObjectArray< T >::size().

◆ setMass()

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

Definition at line 919 of file btSoftBody.cpp.

References m_bUpdateRtCst, m_nodes, and node.

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, and btSoftBody::Config::m_maxStress.

◆ setPose()

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

◆ setRestLengthScale()

void btSoftBody::setRestLengthScale ( btScalar restLength )

Definition at line 1166 of file btSoftBody.cpp.

References activate(), getActivationState(), ISLAND_SLEEPING, l, m_links, m_restLengthScale, and btAlignedObjectArray< T >::size().

◆ 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, btAlignedObjectArray< T >::clear(), btSoftBody::ePSolver::Linear, btSoftBody::eVSolver::Linear, m_cfg, btSoftBody::Config::m_dsequence, btSoftBody::Config::m_psequence, btSoftBody::Config::m_vsequence, btSoftBody::eSolverPresets::Positions, btAlignedObjectArray< T >::push_back(), 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 m_links, m_repulsionStiffness, and btAlignedObjectArray< T >::size().

◆ 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(), m_bUpdateRtCst, m_faces, btSoftBody::Node::m_im, btSoftBody::Face::m_n, m_nodes, btSoftBody::Node::m_x, and btAlignedObjectArray< T >::size().

Referenced by setTotalDensity(), and setVolumeMass().

◆ setVelocity()

void btSoftBody::setVelocity ( const btVector3 & velocity )

Definition at line 895 of file btSoftBody.cpp.

References btSoftBody::Node::m_im, m_nodes, btSoftBody::Node::m_v, btSoftBody::Node::m_vn, and btAlignedObjectArray< T >::size().

◆ setVolumeDensity()

void btSoftBody::setVolumeDensity ( btScalar density )

Definition at line 1015 of file btSoftBody.cpp.

References btFabs(), btSoftBody::Tetra::m_rv, m_tetras, setVolumeMass(), and btAlignedObjectArray< T >::size().

◆ setVolumeMass()

void btSoftBody::setVolumeMass ( btScalar mass )

Definition at line 985 of file btSoftBody.cpp.

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

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 m_windVelocity.

◆ setZeroVelocity()

void btSoftBody::setZeroVelocity ( )

Definition at line 4699 of file btSoftBody.cpp.

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

Referenced by btDeformableMultiBodyDynamicsWorld::updateActivationState().

◆ solveClusters() [1/2]

void btSoftBody::solveClusters ( btScalar sor )

Definition at line 3349 of file btSoftBody.cpp.

References m_joints, m_sst, btSoftBody::SolverState::sdt, and btAlignedObjectArray< T >::size().

◆ solveClusters() [2/2]

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

static

Definition at line 2300 of file btSoftBody.cpp.

References btMax(), btSoftBody::Config::citerations, 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.

◆ solveConstraints()

void btSoftBody::solveConstraints ( )

◆ staticSolve()

void btSoftBody::staticSolve ( int iterations )

Definition at line 2282 of file btSoftBody.cpp.

References getSolver(), m_cfg, btSoftBody::Config::m_psequence, and btAlignedObjectArray< T >::size().

◆ transform()

void btSoftBody::transform ( const btTransform & trs )

Definition at line 1099 of file btSoftBody.cpp.

References ATTRIBUTE_ALIGNED16, btDbvtAabbMm::FromCR(), getCollisionShape(), btSoftBody::Node::m_leaf, btSoftBody::Node::m_n, m_ndbvt, m_nodes, btSoftBody::Node::m_q, btSoftBody::Node::m_x, btAlignedObjectArray< T >::size(), btDbvt::update(), 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, and transform().

◆ upcast() [1/2]

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

inlinestatic

Definition at line 1134 of file btSoftBody.h.

References CO_SOFT_BODY.

◆ upcast() [2/2]

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

inlinestatic

Definition at line 1128 of file btSoftBody.h.

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

Referenced by updateConstants().

◆ updateBounds()

void btSoftBody::updateBounds ( )

Definition at line 2947 of file btSoftBody.cpp.

References btVector3, getBroadphaseHandle(), getCollisionShape(), m_bounds, btSoftBodyWorldInfo::m_broadphase, btSoftBodyWorldInfo::m_dispatcher, m_nodes, m_worldInfo, btBroadphaseInterface::setAabb(), and btAlignedObjectArray< T >::size().

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

◆ updateClusters()

void btSoftBody::updateClusters ( )

Definition at line 3210 of file btSoftBody.cpp.

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 ( )

◆ 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, btSoftBody::SolverState::radmrg, SAFE_EPSILON, btSoftBody::SolverState::sdt, 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, btDbvt::m_root, and updateFace().

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

◆ updateLinkConstants()

void btSoftBody::updateLinkConstants ( )

Definition at line 3122 of file btSoftBody.cpp.

References l, btSoftBody::Material::m_kLST, m_links, and btAlignedObjectArray< T >::size().

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, btDbvtAabbMm::FromCR(), btDbvtAabbMm::FromPoints(), m_sst, btSoftBody::Node::m_v, btSoftBody::Node::m_x, Merge(), pad, btSoftBody::SolverState::radmrg, SAFE_EPSILON, btSoftBody::SolverState::sdt, and updateNode().

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, btDbvt::m_root, and updateNode().

Referenced by btDeformableBodySolver::predictDeformableMotion().

◆ updateNormals()

void btSoftBody::updateNormals ( )

Definition at line 2918 of file btSoftBody.cpp.

References btCross(), len, m_faces, btSoftBody::Face::m_n, btSoftBody::Node::m_n, m_nodes, btSoftBody::Face::m_normal, btSoftBody::Node::m_x, SIMD_EPSILON, and btAlignedObjectArray< T >::size().

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(), btSoftBody::Pose::m_aqq, btSoftBody::Pose::m_bframe, 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, btSoftBody::Config::maxvolume, Mul(), PolarDecompose(), SIMD_EPSILON, and btAlignedObjectArray< T >::size().

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(), 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(), btSoftBodyCollisionShape::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.

◆ m_clusterConnectivity

btAlignedObjectArray<bool> btSoftBody::m_clusterConnectivity

Definition at line 838 of file btSoftBody.h.

Referenced by generateClusters(), and btSoftColliders::CollideCL_SS::Process().

◆ 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(), btSoftColliders::CollideCL_SS::Process(), 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(), btDeformableBodySolver::predictDeformableMotion(), btSoftColliders::CollideCCD::Process(), btSoftColliders::CollideVF_DD::Process(), btSoftColliders::CollideCCD::Repel(), and btSoftColliders::CollideFF_DD::Repel().

◆ m_faceRigidContacts

btAlignedObjectArray<DeformableFaceRigidContact> btSoftBody::m_faceRigidContacts

Definition at line 812 of file btSoftBody.h.

Referenced by btSoftColliders::CollideSDF_RDF::DoNode(), 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(), btSoftColliders::CollideCL_RS::Process(), btSoftColliders::CollideCL_SS::Process(), 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 btSoftColliders::CollideSDF_RD::DoNode(), btDeformableBodySolver::predictDeformableMotion(), and btDeformableContactProjection::setConstraints().

◆ m_nodes

tNodeArray btSoftBody::m_nodes

Definition at line 799 of file btSoftBody.h.

◆ 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 btSoftColliders::CollideSDF_RS::DoNode(), 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(), btSoftColliders::CollideVF_SS::Process(), 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 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

◆ 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(), 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:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ psolver_t

◆ tAnchorArray

◆ tClusterArray

◆ tFaceArray

◆ tJointArray

◆ tLeafArray

◆ tLinkArray

◆ tMaterialArray

◆ tNodeArray

◆ tNoteArray

◆ tPSolverArray

◆ tRContactArray

◆ tScalarArray

◆ tSContactArray

◆ tSoftBodyArray

◆ tTetraArray

◆ tVector3Array

◆ tVSolverArray

◆ vsolver_t

Constructor & Destructor Documentation

◆ btSoftBody() [1/2]

◆ btSoftBody() [2/2]

◆ ~btSoftBody()

Member Function Documentation

◆ addAeroForceToFace()

◆ addAeroForceToNode()

◆ addForce() [1/2]

◆ addForce() [2/2]

◆ addVelocity() [1/2]

◆ addVelocity() [2/2]

◆ advanceDeformation()

◆ appendAnchor() [1/2]

◆ appendAnchor() [2/2]

◆ appendAngularJoint() [1/3]

◆ appendAngularJoint() [2/3]

◆ appendAngularJoint() [3/3]

◆ appendDeformableAnchor() [1/2]

◆ appendDeformableAnchor() [2/2]

◆ appendFace() [1/2]

◆ appendFace() [2/2]

◆ appendLinearJoint() [1/3]

◆ appendLinearJoint() [2/3]

◆ appendLinearJoint() [3/3]

◆ appendLink() [1/3]

◆ appendLink() [2/3]

◆ appendLink() [3/3]

◆ appendMaterial()

◆ appendNode()

◆ appendNote() [1/4]

◆ appendNote() [2/4]

◆ appendNote() [3/4]

◆ appendNote() [4/4]

◆ appendTetra() [1/2]

◆ appendTetra() [2/2]

◆ applyClusters()

◆ applyForces()

◆ applyRepulsionForce()

◆ BaryEval()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateSerializeBufferSize()

◆ checkContact()

◆ checkDeformableContact()

◆ checkDeformableFaceContact()

◆ checkFace()

◆ checkLink() [1/2]

◆ checkLink() [2/2]

◆ cleanupClusters()

◆ clusterAImpulse()

◆ clusterCom() [1/2]

◆ clusterCom() [2/2]

◆ clusterCount()

◆ clusterDAImpulse()

◆ clusterDCImpulse()