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

#include <btSoftBody.h>

Inheritance diagram for btSoftBody:

Collaboration diagram for btSoftBody:

[legend]

Classes
struct	AJoint

struct	Anchor

struct	Body

struct	CJoint

struct	Cluster

struct	Config

struct	eAeroModel
	eAeroModel More...

struct	eFeature
	eFeature More...

struct	Element

struct	ePSolver
	ePSolver : positions solvers More...

struct	eSolverPresets
	eSolverPresets More...

struct	eVSolver
	eVSolver : velocities solvers More...

struct	Face

struct	fCollision
	fCollision More...

struct	Feature

struct	fMaterial
	fMaterial More...

struct	ImplicitFn

struct	Impulse

struct	Joint

struct	Link

struct	LJoint

struct	Material

struct	Node

struct	Note

struct	Pose

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

struct	RContact

struct	SContact

struct	sCti

struct	sMedium

struct	SolverState

struct	sRayCast

struct	Tetra

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

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

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

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

	btSoftBody (btSoftBodyWorldInfo *worldInfo)

void	initDefaults ()

virtual	~btSoftBody ()

btSoftBodyWorldInfo *	getWorldInfo ()

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	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	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)

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

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

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

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

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

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

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

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

void	setSoftBodySolver (btSoftBodySolver *softBodySolver)

btSoftBodySolver *	getSoftBodySolver ()

btSoftBodySolver *	getSoftBodySolver () const

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

void	pointersToIndices ()

void	indicesToPointers (const int *map=0)

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

void	initializeFaceTree ()

btVector3	evaluateCom () 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	applyForces ()

virtual int	calculateSerializeBufferSize () const

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

Public Member Functions inherited from btCollisionObject
	BT_DECLARE_ALIGNED_ALLOCATOR ()

bool	mergesSimulationIslands () const

const btVector3 &	getAnisotropicFriction () const

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

bool	hasAnisotropicFriction (int frictionMode=CF_ANISOTROPIC_FRICTION) const

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

btScalar	getContactProcessingThreshold () const

bool	isStaticObject () const

bool	isKinematicObject () const

bool	isStaticOrKinematicObject () const

bool	hasContactResponse () const

	btCollisionObject ()

virtual	~btCollisionObject ()

const btCollisionShape *	getCollisionShape () const

btCollisionShape *	getCollisionShape ()

void	setIgnoreCollisionCheck (const btCollisionObject *co, bool ignoreCollisionCheck)

virtual bool	checkCollideWithOverride (const btCollisionObject *co) const

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

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

int	getActivationState () const

void	setActivationState (int newState) const

void	setDeactivationTime (btScalar time)

btScalar	getDeactivationTime () const

void	forceActivationState (int newState) const

void	activate (bool forceActivation=false) const

bool	isActive () const

void	setRestitution (btScalar rest)

btScalar	getRestitution () const

void	setFriction (btScalar frict)

btScalar	getFriction () const

void	setRollingFriction (btScalar frict)

btScalar	getRollingFriction () const

void	setSpinningFriction (btScalar frict)

btScalar	getSpinningFriction () const

void	setContactStiffnessAndDamping (btScalar stiffness, btScalar damping)

btScalar	getContactStiffness () const

btScalar	getContactDamping () const

int	getInternalType () const
	reserved for Bullet internal usage

btTransform &	getWorldTransform ()

const btTransform &	getWorldTransform () const

void	setWorldTransform (const btTransform &worldTrans)

btBroadphaseProxy *	getBroadphaseHandle ()

const btBroadphaseProxy *	getBroadphaseHandle () const

void	setBroadphaseHandle (btBroadphaseProxy *handle)

const btTransform &	getInterpolationWorldTransform () const

btTransform &	getInterpolationWorldTransform ()

void	setInterpolationWorldTransform (const btTransform &trans)

void	setInterpolationLinearVelocity (const btVector3 &linvel)

void	setInterpolationAngularVelocity (const btVector3 &angvel)

const btVector3 &	getInterpolationLinearVelocity () const

const btVector3 &	getInterpolationAngularVelocity () const

int	getIslandTag () const

void	setIslandTag (int tag)

int	getCompanionId () const

void	setCompanionId (int id)

int	getWorldArrayIndex () const

void	setWorldArrayIndex (int ix)

btScalar	getHitFraction () const

void	setHitFraction (btScalar hitFraction)

int	getCollisionFlags () const

void	setCollisionFlags (int flags)

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

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

btScalar	getCcdMotionThreshold () const

btScalar	getCcdSquareMotionThreshold () const

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

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

int	getUserIndex () const

int	getUserIndex2 () const

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

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

void	setUserIndex2 (int index)

int	getUpdateRevisionInternal () const

void	setCustomDebugColor (const btVector3 &colorRGB)

void	removeCustomDebugColor ()

bool	getCustomDebugColor (btVector3 &colorRGB) const

bool	checkCollideWith (const btCollisionObject *co) const

virtual void	serializeSingleObject (class btSerializer *serializer) const

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

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

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

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

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

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

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

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

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

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

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

static const btSoftBody *	upcast (const btCollisionObject *colObj)

static btSoftBody *	upcast (btCollisionObject *colObj)

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

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

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

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

static void	VSolve_Links (btSoftBody *psb, btScalar kst)

static psolver_t	getSolver (ePSolver::_ solver)

static vsolver_t	getSolver (eVSolver::_ solver)

Public Attributes
btAlignedObjectArray< const class btCollisionObject * >	m_collisionDisabledObjects

btSoftBodySolver *	m_softBodySolver

Config	m_cfg

SolverState	m_sst

Pose	m_pose

void *	m_tag

btSoftBodyWorldInfo *	m_worldInfo

tNoteArray	m_notes

tNodeArray	m_nodes

tLinkArray	m_links

tFaceArray	m_faces

tTetraArray	m_tetras

tAnchorArray	m_anchors

tRContactArray	m_rcontacts

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

btDbvt	m_cdbvt

tClusterArray	m_clusters

btAlignedObjectArray< bool >	m_clusterConnectivity

btTransform	m_initialWorldTransform

btVector3	m_windVelocity

btScalar	m_restLengthScale

btAlignedObjectArray< int >	m_userIndexMapping

Additional Inherited Members
Protected Attributes inherited from btCollisionObject
btTransform	m_worldTransform

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

btVector3	m_interpolationLinearVelocity

btVector3	m_interpolationAngularVelocity

btVector3	m_anisotropicFriction

int	m_hasAnisotropicFriction

btScalar	m_contactProcessingThreshold

btBroadphaseProxy *	m_broadphaseHandle

btCollisionShape *	m_collisionShape

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

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

int	m_collisionFlags

int	m_islandTag1

int	m_companionId

int	m_worldArrayIndex

int	m_activationState1

btScalar	m_deactivationTime

btScalar	m_friction

btScalar	m_restitution

btScalar	m_rollingFriction

btScalar	m_spinningFriction

btScalar	m_contactDamping

btScalar	m_contactStiffness

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

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

int	m_userIndex2

int	m_userIndex

btScalar	m_hitFraction
	time of impact calculation

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

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

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

btAlignedObjectArray< const btCollisionObject * >	m_objectsWithoutCollisionCheck

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

btVector3	m_customDebugColorRGB

Detailed Description

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

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

Definition at line 71 of file btSoftBody.h.

Member Typedef Documentation

◆ psolver_t

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

Definition at line 633 of file btSoftBody.h.

◆ tAnchorArray

typedef btAlignedObjectArray<Anchor> btSoftBody::tAnchorArray

Definition at line 642 of file btSoftBody.h.

◆ tClusterArray

typedef btAlignedObjectArray<Cluster*> btSoftBody::tClusterArray

Definition at line 635 of file btSoftBody.h.

◆ tFaceArray

typedef btAlignedObjectArray<Face> btSoftBody::tFaceArray

Definition at line 640 of file btSoftBody.h.

◆ tJointArray

typedef btAlignedObjectArray<Joint*> btSoftBody::tJointArray

Definition at line 646 of file btSoftBody.h.

◆ tLeafArray

typedef btAlignedObjectArray<btDbvtNode*> btSoftBody::tLeafArray

Definition at line 638 of file btSoftBody.h.

◆ tLinkArray

typedef btAlignedObjectArray<Link> btSoftBody::tLinkArray

Definition at line 639 of file btSoftBody.h.

◆ tMaterialArray

typedef btAlignedObjectArray<Material*> btSoftBody::tMaterialArray

Definition at line 645 of file btSoftBody.h.

◆ tNodeArray

typedef btAlignedObjectArray<Node> btSoftBody::tNodeArray

Definition at line 637 of file btSoftBody.h.

◆ tNoteArray

typedef btAlignedObjectArray<Note> btSoftBody::tNoteArray

Definition at line 636 of file btSoftBody.h.

◆ tPSolverArray

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

Definition at line 129 of file btSoftBody.h.

◆ tRContactArray

typedef btAlignedObjectArray<RContact> btSoftBody::tRContactArray

Definition at line 643 of file btSoftBody.h.

◆ tScalarArray

typedef btAlignedObjectArray<btScalar> btSoftBody::tScalarArray

Definition at line 182 of file btSoftBody.h.

◆ tSContactArray

typedef btAlignedObjectArray<SContact> btSoftBody::tSContactArray

Definition at line 644 of file btSoftBody.h.

◆ tSoftBodyArray

typedef btAlignedObjectArray<btSoftBody*> btSoftBody::tSoftBodyArray

Definition at line 647 of file btSoftBody.h.

◆ tTetraArray

typedef btAlignedObjectArray<Tetra> btSoftBody::tTetraArray

Definition at line 641 of file btSoftBody.h.

◆ tVector3Array

typedef btAlignedObjectArray<btVector3> btSoftBody::tVector3Array

Definition at line 183 of file btSoftBody.h.

◆ tVSolverArray

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

Definition at line 128 of file btSoftBody.h.

◆ vsolver_t

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

Definition at line 634 of file btSoftBody.h.

Constructor & Destructor Documentation

◆ btSoftBody() [1/2]

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

btSoftBody implementation by Nathanael Presson

Definition at line 26 of file btSoftBody.cpp.

◆ btSoftBody() [2/2]

btSoftBody::btSoftBody ( btSoftBodyWorldInfo * worldInfo )

Definition at line 57 of file btSoftBody.cpp.

◆ ~btSoftBody()

btSoftBody::~btSoftBody ( )

virtual

Definition at line 119 of file btSoftBody.cpp.

Member Function Documentation

◆ addAeroForceToFace()

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

Definition at line 547 of file btSoftBody.cpp.

◆ addAeroForceToNode()

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

Definition at line 458 of file btSoftBody.cpp.

◆ addForce() [1/2]

void btSoftBody::addForce ( const btVector3 & force )

Definition at line 443 of file btSoftBody.cpp.

◆ addForce() [2/2]

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

Definition at line 449 of file btSoftBody.cpp.

◆ addVelocity() [1/2]

void btSoftBody::addVelocity ( const btVector3 & velocity )

Definition at line 644 of file btSoftBody.cpp.

◆ addVelocity() [2/2]

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

Definition at line 664 of file btSoftBody.cpp.

◆ appendAnchor() [1/2]

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

Definition at line 363 of file btSoftBody.cpp.

◆ appendAnchor() [2/2]

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

Definition at line 370 of file btSoftBody.cpp.

◆ appendAngularJoint() [1/3]

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

Definition at line 431 of file btSoftBody.cpp.

◆ appendAngularJoint() [2/3]

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

Definition at line 437 of file btSoftBody.cpp.

◆ appendAngularJoint() [3/3]

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

Definition at line 416 of file btSoftBody.cpp.

◆ appendFace() [1/2]

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

Definition at line 299 of file btSoftBody.cpp.

◆ appendFace() [2/2]

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

Definition at line 310 of file btSoftBody.cpp.

◆ appendLinearJoint() [1/3]

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

Definition at line 404 of file btSoftBody.cpp.

◆ appendLinearJoint() [2/3]

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

Definition at line 410 of file btSoftBody.cpp.

◆ appendLinearJoint() [3/3]

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

Definition at line 390 of file btSoftBody.cpp.

◆ appendLink() [1/3]

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

Definition at line 262 of file btSoftBody.cpp.

◆ appendLink() [2/3]

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

Definition at line 273 of file btSoftBody.cpp.

◆ appendLink() [3/3]

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

Definition at line 282 of file btSoftBody.cpp.

◆ appendMaterial()

btSoftBody::Material * btSoftBody::appendMaterial ( )

Definition at line 176 of file btSoftBody.cpp.

◆ appendNode()

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

Definition at line 242 of file btSoftBody.cpp.

◆ appendNote() [1/4]

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

Definition at line 188 of file btSoftBody.cpp.

◆ appendNote() [2/4]

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

Definition at line 231 of file btSoftBody.cpp.

◆ appendNote() [3/4]

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

Definition at line 221 of file btSoftBody.cpp.

◆ appendNote() [4/4]

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

Definition at line 213 of file btSoftBody.cpp.

◆ appendTetra() [1/2]

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

Definition at line 334 of file btSoftBody.cpp.

◆ appendTetra() [2/2]

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

Definition at line 345 of file btSoftBody.cpp.

◆ applyClusters()

void btSoftBody::applyClusters ( bool drift )

Definition at line 2689 of file btSoftBody.cpp.

◆ applyForces()

void btSoftBody::applyForces ( )

Definition at line 2935 of file btSoftBody.cpp.

◆ calculateSerializeBufferSize()

int btSoftBody::calculateSerializeBufferSize ( ) const

virtual

Reimplemented from btCollisionObject.

Definition at line 3309 of file btSoftBody.cpp.

◆ checkContact()

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

Definition at line 2248 of file btSoftBody.cpp.

◆ checkFace()

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

Definition at line 155 of file btSoftBody.cpp.

◆ checkLink() [1/2]

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

Definition at line 139 of file btSoftBody.cpp.

◆ checkLink() [2/2]

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

Definition at line 133 of file btSoftBody.cpp.

◆ cleanupClusters()

void btSoftBody::cleanupClusters ( )

Definition at line 2656 of file btSoftBody.cpp.

◆ clusterAImpulse()

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

static

Definition at line 1019 of file btSoftBody.cpp.

◆ clusterCom() [1/2]

btVector3 btSoftBody::clusterCom ( const Cluster * cluster )

static

Definition at line 953 of file btSoftBody.cpp.

◆ clusterCom() [2/2]

btVector3 btSoftBody::clusterCom ( int cluster ) const

Definition at line 964 of file btSoftBody.cpp.

◆ clusterCount()

int btSoftBody::clusterCount ( ) const

Definition at line 947 of file btSoftBody.cpp.

◆ clusterDAImpulse()

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

static

Definition at line 1011 of file btSoftBody.cpp.

◆ clusterDCImpulse()

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

static

Definition at line 1026 of file btSoftBody.cpp.

◆ clusterDImpulse()

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

static

Definition at line 986 of file btSoftBody.cpp.

◆ clusterImpulse()

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

static

Definition at line 996 of file btSoftBody.cpp.

◆ clusterVAImpulse()

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

static

Definition at line 1003 of file btSoftBody.cpp.

◆ clusterVelocity()

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

static

Definition at line 970 of file btSoftBody.cpp.

◆ clusterVImpulse()

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

static

Definition at line 976 of file btSoftBody.cpp.

◆ cutLink() [1/2]

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

Definition at line 1638 of file btSoftBody.cpp.

◆ cutLink() [2/2]

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

Definition at line 1644 of file btSoftBody.cpp.

◆ dampClusters()

void btSoftBody::dampClusters ( )

Definition at line 2740 of file btSoftBody.cpp.

◆ defaultCollisionHandler() [1/2]

void btSoftBody::defaultCollisionHandler ( btSoftBody * psb )

Definition at line 3246 of file btSoftBody.cpp.

◆ defaultCollisionHandler() [2/2]

void btSoftBody::defaultCollisionHandler ( const btCollisionObjectWrapper * pcoWrap )

Definition at line 3205 of file btSoftBody.cpp.

◆ evaluateCom()

btVector3 btSoftBody::evaluateCom ( ) const

Definition at line 2234 of file btSoftBody.cpp.

◆ generateBendingConstraints()

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

generic Floyd's algorithm

Definition at line 1040 of file btSoftBody.cpp.

◆ generateClusters()

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

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

Definition at line 1194 of file btSoftBody.cpp.

◆ getAabb()

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

inlinevirtual

Definition at line 953 of file btSoftBody.h.

◆ getMass()

btScalar btSoftBody::getMass ( int node ) const

Definition at line 681 of file btSoftBody.cpp.

◆ getRestLengthScale()

btScalar btSoftBody::getRestLengthScale ( )

Definition at line 846 of file btSoftBody.cpp.

◆ getSoftBodySolver() [1/2]

btSoftBodySolver * btSoftBody::getSoftBodySolver ( )

inline

Definition at line 918 of file btSoftBody.h.

◆ getSoftBodySolver() [2/2]

btSoftBodySolver * btSoftBody::getSoftBodySolver ( ) const

inline

Definition at line 926 of file btSoftBody.h.

◆ getSolver() [1/2]

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

static

Definition at line 3172 of file btSoftBody.cpp.

◆ getSolver() [2/2]

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

static

Definition at line 3192 of file btSoftBody.cpp.

◆ getTotalMass()

btScalar btSoftBody::getTotalMass ( ) const

Definition at line 687 of file btSoftBody.cpp.

◆ getVolume()

btScalar btSoftBody::getVolume ( ) const

Definition at line 928 of file btSoftBody.cpp.

◆ getWindVelocity()

const btVector3 & btSoftBody::getWindVelocity ( )

Return the wind velocity for interaction with the air.

Definition at line 3302 of file btSoftBody.cpp.

◆ getWorldInfo()

btSoftBodyWorldInfo * btSoftBody::getWorldInfo ( )

inline

Definition at line 702 of file btSoftBody.h.

◆ indicesToPointers()

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

Definition at line 2100 of file btSoftBody.cpp.

◆ initDefaults()

void btSoftBody::initDefaults ( )

for now, create a collision shape internally

Definition at line 64 of file btSoftBody.cpp.

◆ initializeClusters()

void btSoftBody::initializeClusters ( )

Definition at line 2472 of file btSoftBody.cpp.

◆ initializeFaceTree()

void btSoftBody::initializeFaceTree ( )

Definition at line 2223 of file btSoftBody.cpp.

◆ integrateMotion()

void btSoftBody::integrateMotion ( )

Definition at line 1990 of file btSoftBody.cpp.

◆ pointersToIndices()

void btSoftBody::pointersToIndices ( )

Definition at line 2057 of file btSoftBody.cpp.

◆ predictMotion()

void btSoftBody::predictMotion ( btScalar dt )

Definition at line 1741 of file btSoftBody.cpp.

◆ prepareClusters()

void btSoftBody::prepareClusters ( int iterations )

Definition at line 2670 of file btSoftBody.cpp.

◆ PSolve_Anchors()

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

static

Definition at line 3004 of file btSoftBody.cpp.

◆ PSolve_Links()

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

static

Definition at line 3135 of file btSoftBody.cpp.

◆ PSolve_RContacts()

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

static

Definition at line 3026 of file btSoftBody.cpp.

◆ PSolve_SContacts()

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

static

Definition at line 3100 of file btSoftBody.cpp.

◆ randomizeConstraints()

void btSoftBody::randomizeConstraints ( )

Definition at line 1160 of file btSoftBody.cpp.

◆ rayTest() [1/2]

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

Definition at line 2144 of file btSoftBody.cpp.

◆ rayTest() [2/2]

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

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

Definition at line 1699 of file btSoftBody.cpp.

◆ refine()

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

Definition at line 1387 of file btSoftBody.cpp.

◆ releaseCluster()

void btSoftBody::releaseCluster ( int index )

Definition at line 1178 of file btSoftBody.cpp.

◆ releaseClusters()

void btSoftBody::releaseClusters ( )

Definition at line 1188 of file btSoftBody.cpp.

◆ resetLinkRestLengths()

void btSoftBody::resetLinkRestLengths ( )

Definition at line 917 of file btSoftBody.cpp.

◆ rotate()

void btSoftBody::rotate ( const btQuaternion & rot )

Definition at line 817 of file btSoftBody.cpp.

◆ scale()

void btSoftBody::scale ( const btVector3 & scl )

Definition at line 826 of file btSoftBody.cpp.

◆ serialize()

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

virtual

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

Reimplemented from btCollisionObject.

Definition at line 3316 of file btSoftBody.cpp.

◆ setCollisionShape()

virtual void btSoftBody::setCollisionShape ( btCollisionShape * collisionShape )

inlinevirtual

Reimplemented from btCollisionObject.

Definition at line 708 of file btSoftBody.h.

◆ setMass()

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

Definition at line 674 of file btSoftBody.cpp.

◆ setPose()

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

Definition at line 867 of file btSoftBody.cpp.

◆ setRestLengthScale()

void btSoftBody::setRestLengthScale ( btScalar restLength )

Definition at line 852 of file btSoftBody.cpp.

◆ setSoftBodySolver()

void btSoftBody::setSoftBodySolver ( btSoftBodySolver * softBodySolver )

inline

Definition at line 910 of file btSoftBody.h.

◆ setSolver()

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

Definition at line 1715 of file btSoftBody.cpp.

◆ setTotalDensity()

void btSoftBody::setTotalDensity ( btScalar density )

Definition at line 735 of file btSoftBody.cpp.

◆ setTotalMass()

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

Definition at line 698 of file btSoftBody.cpp.

◆ setVelocity()

void btSoftBody::setVelocity ( const btVector3 & velocity )

Definition at line 650 of file btSoftBody.cpp.

◆ setVolumeDensity()

void btSoftBody::setVolumeDensity ( btScalar density )

Definition at line 771 of file btSoftBody.cpp.

◆ setVolumeMass()

void btSoftBody::setVolumeMass ( btScalar mass )

Definition at line 741 of file btSoftBody.cpp.

◆ setWindVelocity()

void btSoftBody::setWindVelocity ( const btVector3 & velocity )

Set a wind velocity for interaction with the air.

Definition at line 3296 of file btSoftBody.cpp.

◆ solveClusters() [1/2]

void btSoftBody::solveClusters ( btScalar sor )

Definition at line 2680 of file btSoftBody.cpp.

◆ solveClusters() [2/2]

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

static

Definition at line 1961 of file btSoftBody.cpp.

◆ solveCommonConstraints()

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

static

placeholder

Definition at line 1955 of file btSoftBody.cpp.

◆ solveConstraints()

void btSoftBody::solveConstraints ( )

Definition at line 1849 of file btSoftBody.cpp.

◆ staticSolve()

void btSoftBody::staticSolve ( int iterations )

Definition at line 1943 of file btSoftBody.cpp.

◆ transform()

void btSoftBody::transform ( const btTransform & trs )

Definition at line 786 of file btSoftBody.cpp.

◆ translate()

void btSoftBody::translate ( const btVector3 & trs )

Definition at line 808 of file btSoftBody.cpp.

◆ upcast() [1/2]

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

inlinestatic

Definition at line 942 of file btSoftBody.h.

◆ upcast() [2/2]

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

inlinestatic

Definition at line 936 of file btSoftBody.h.

◆ updateArea()

void btSoftBody::updateArea ( bool averageArea = true )

Definition at line 2384 of file btSoftBody.cpp.

◆ updateBounds()

void btSoftBody::updateBounds ( )

Definition at line 2306 of file btSoftBody.cpp.

◆ updateClusters()

void btSoftBody::updateClusters ( )

Definition at line 2538 of file btSoftBody.cpp.

◆ updateConstants()

void btSoftBody::updateConstants ( )

Definition at line 2462 of file btSoftBody.cpp.

◆ updateLinkConstants()

void btSoftBody::updateLinkConstants ( )

Definition at line 2449 of file btSoftBody.cpp.

◆ updateNormals()

void btSoftBody::updateNormals ( )

Definition at line 2277 of file btSoftBody.cpp.

◆ updatePose()

void btSoftBody::updatePose ( )

Definition at line 2348 of file btSoftBody.cpp.

◆ VSolve_Links()

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

static

Definition at line 3158 of file btSoftBody.cpp.

Member Data Documentation

◆ m_anchors

tAnchorArray btSoftBody::m_anchors

Definition at line 663 of file btSoftBody.h.

◆ m_bounds

btVector3 btSoftBody::m_bounds[2]

Definition at line 669 of file btSoftBody.h.

◆ m_bUpdateRtCst

bool btSoftBody::m_bUpdateRtCst

Definition at line 670 of file btSoftBody.h.

◆ m_cdbvt

btDbvt btSoftBody::m_cdbvt

Definition at line 673 of file btSoftBody.h.

◆ m_cfg

Config btSoftBody::m_cfg

Definition at line 653 of file btSoftBody.h.

◆ m_clusterConnectivity

btAlignedObjectArray<bool> btSoftBody::m_clusterConnectivity

Definition at line 676 of file btSoftBody.h.

◆ m_clusters

tClusterArray btSoftBody::m_clusters

Definition at line 674 of file btSoftBody.h.

◆ m_collisionDisabledObjects

btAlignedObjectArray<const class btCollisionObject*> btSoftBody::m_collisionDisabledObjects

Definition at line 74 of file btSoftBody.h.

◆ m_faces

tFaceArray btSoftBody::m_faces

Definition at line 661 of file btSoftBody.h.

◆ m_fdbvt

btDbvt btSoftBody::m_fdbvt

Definition at line 672 of file btSoftBody.h.

◆ m_initialWorldTransform

btTransform btSoftBody::m_initialWorldTransform

Definition at line 678 of file btSoftBody.h.

◆ m_joints

tJointArray btSoftBody::m_joints

Definition at line 666 of file btSoftBody.h.

◆ m_links

tLinkArray btSoftBody::m_links

Definition at line 660 of file btSoftBody.h.

◆ m_materials

tMaterialArray btSoftBody::m_materials

Definition at line 667 of file btSoftBody.h.

◆ m_ndbvt

btDbvt btSoftBody::m_ndbvt

Definition at line 671 of file btSoftBody.h.

◆ m_nodes

tNodeArray btSoftBody::m_nodes

Definition at line 659 of file btSoftBody.h.

◆ m_notes

tNoteArray btSoftBody::m_notes

Definition at line 658 of file btSoftBody.h.

◆ m_pose

Pose btSoftBody::m_pose

Definition at line 655 of file btSoftBody.h.

◆ m_rcontacts

tRContactArray btSoftBody::m_rcontacts

Definition at line 664 of file btSoftBody.h.

◆ m_restLengthScale

btScalar btSoftBody::m_restLengthScale

Definition at line 682 of file btSoftBody.h.

◆ m_scontacts

tSContactArray btSoftBody::m_scontacts

Definition at line 665 of file btSoftBody.h.

◆ m_softBodySolver

btSoftBodySolver* btSoftBody::m_softBodySolver

Definition at line 77 of file btSoftBody.h.

◆ m_sst

SolverState btSoftBody::m_sst

Definition at line 654 of file btSoftBody.h.

◆ m_tag

void* btSoftBody::m_tag

Definition at line 656 of file btSoftBody.h.

◆ m_tetras

tTetraArray btSoftBody::m_tetras

Definition at line 662 of file btSoftBody.h.

◆ m_timeacc

btScalar btSoftBody::m_timeacc

Definition at line 668 of file btSoftBody.h.

◆ m_userIndexMapping

btAlignedObjectArray<int> btSoftBody::m_userIndexMapping

Definition at line 700 of file btSoftBody.h.

◆ m_windVelocity

btVector3 btSoftBody::m_windVelocity

Definition at line 680 of file btSoftBody.h.

◆ m_worldInfo

btSoftBodyWorldInfo* btSoftBody::m_worldInfo

Definition at line 657 of file btSoftBody.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ psolver_t

◆ tAnchorArray

◆ tClusterArray

◆ 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]

◆ appendAnchor() [1/2]

◆ appendAnchor() [2/2]

◆ appendAngularJoint() [1/3]

◆ appendAngularJoint() [2/3]

◆ appendAngularJoint() [3/3]

◆ 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()

◆ calculateSerializeBufferSize()

◆ checkContact()

◆ checkFace()

◆ checkLink() [1/2]

◆ checkLink() [2/2]

◆ cleanupClusters()

◆ clusterAImpulse()

◆ clusterCom() [1/2]

◆ clusterCom() [2/2]

◆ clusterCount()

◆ clusterDAImpulse()

◆ clusterDCImpulse()

◆ clusterDImpulse()

◆ clusterImpulse()

◆ clusterVAImpulse()

◆ clusterVelocity()

◆ clusterVImpulse()

◆ cutLink() [1/2]

◆ cutLink() [2/2]