btSoftBody Class Reference

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

#include <btSoftBody.h>

Inheritance diagram for btSoftBody:

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Collaboration diagram for btSoftBody:

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List of all members.

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 Member Functions
	btSoftBody (btSoftBodyWorldInfo worldInfo, int node_count, const btVector3 x, const btScalar *m)
	btSoftBody implementation by Nathanael Presson
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)
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	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)
void	setPose (bool bvolume, bool bframe)
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 (btCollisionObject *pco)
void	defaultCollisionHandler (btSoftBody *psb)
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 (btCollisionObject *colObj, const btVector3 &x, btScalar margin, btSoftBody::sCti &cti) const
void	updateNormals ()
void	updateBounds ()
void	updatePose ()
void	updateConstants ()
void	initializeClusters ()
void	updateClusters ()
void	cleanupClusters ()
void	prepareClusters (int iterations)
void	solveClusters (btScalar sor)
void	applyClusters (bool drift)
void	dampClusters ()
void	applyForces ()
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< class btCollisionObject * >	m_collisionDisabledObjects
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
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 49 of file btSoftBody.h.

Member Typedef Documentation

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

Definition at line 595 of file btSoftBody.h.

typedef btAlignedObjectArray<Anchor> btSoftBody::tAnchorArray

Definition at line 604 of file btSoftBody.h.

typedef btAlignedObjectArray<Cluster*> btSoftBody::tClusterArray

Definition at line 597 of file btSoftBody.h.

typedef btAlignedObjectArray<Face> btSoftBody::tFaceArray

Definition at line 602 of file btSoftBody.h.

typedef btAlignedObjectArray<Joint*> btSoftBody::tJointArray

Definition at line 608 of file btSoftBody.h.

typedef btAlignedObjectArray<btDbvtNode*> btSoftBody::tLeafArray

Definition at line 600 of file btSoftBody.h.

typedef btAlignedObjectArray<Link> btSoftBody::tLinkArray

Definition at line 601 of file btSoftBody.h.

typedef btAlignedObjectArray<Material*> btSoftBody::tMaterialArray

Definition at line 607 of file btSoftBody.h.

typedef btAlignedObjectArray<Node> btSoftBody::tNodeArray

Definition at line 599 of file btSoftBody.h.

typedef btAlignedObjectArray<Note> btSoftBody::tNoteArray

Definition at line 598 of file btSoftBody.h.

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

Definition at line 101 of file btSoftBody.h.

typedef btAlignedObjectArray<RContact> btSoftBody::tRContactArray

Definition at line 605 of file btSoftBody.h.

typedef btAlignedObjectArray<btScalar> btSoftBody::tScalarArray

Definition at line 153 of file btSoftBody.h.

typedef btAlignedObjectArray<SContact> btSoftBody::tSContactArray

Definition at line 606 of file btSoftBody.h.

typedef btAlignedObjectArray<btSoftBody*> btSoftBody::tSoftBodyArray

Definition at line 609 of file btSoftBody.h.

typedef btAlignedObjectArray<Tetra> btSoftBody::tTetraArray

Definition at line 603 of file btSoftBody.h.

typedef btAlignedObjectArray<btVector3> btSoftBody::tVector3Array

Definition at line 154 of file btSoftBody.h.

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

Definition at line 100 of file btSoftBody.h.

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

Definition at line 596 of file btSoftBody.h.

Constructor & Destructor Documentation

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

btSoftBody implementation by Nathanael Presson

for now, create a collision shape internally

Definition at line 20 of file btSoftBody.cpp.

btSoftBody::~btSoftBody ( ) [virtual]

Definition at line 94 of file btSoftBody.cpp.

Member Function Documentation

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

Definition at line 415 of file btSoftBody.cpp.

void btSoftBody::addForce ( const btVector3 & force )

Definition at line 409 of file btSoftBody.cpp.

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

Definition at line 445 of file btSoftBody.cpp.

void btSoftBody::addVelocity ( const btVector3 & velocity )

Definition at line 425 of file btSoftBody.cpp.

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

Definition at line 337 of file btSoftBody.cpp.

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

Definition at line 403 of file btSoftBody.cpp.

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

Definition at line 397 of file btSoftBody.cpp.

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

Definition at line 382 of file btSoftBody.cpp.

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

Definition at line 285 of file btSoftBody.cpp.

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

Definition at line 274 of file btSoftBody.cpp.

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

Definition at line 376 of file btSoftBody.cpp.

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

Definition at line 370 of file btSoftBody.cpp.

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

Definition at line 356 of file btSoftBody.cpp.

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

Definition at line 257 of file btSoftBody.cpp.

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

Definition at line 248 of file btSoftBody.cpp.

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

Definition at line 237 of file btSoftBody.cpp.

btSoftBody::Material * btSoftBody::appendMaterial ( )

Definition at line 151 of file btSoftBody.cpp.

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

Definition at line 217 of file btSoftBody.cpp.

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

Definition at line 206 of file btSoftBody.cpp.

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

Definition at line 196 of file btSoftBody.cpp.

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

Definition at line 188 of file btSoftBody.cpp.

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 163 of file btSoftBody.cpp.

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

Definition at line 320 of file btSoftBody.cpp.

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

Definition at line 309 of file btSoftBody.cpp.

void btSoftBody::applyClusters ( bool drift )

Definition at line 2327 of file btSoftBody.cpp.

void btSoftBody::applyForces ( )

Definition at line 2570 of file btSoftBody.cpp.

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

Definition at line 1946 of file btSoftBody.cpp.

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

Definition at line 130 of file btSoftBody.cpp.

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

Definition at line 114 of file btSoftBody.cpp.

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

Definition at line 108 of file btSoftBody.cpp.

void btSoftBody::cleanupClusters ( )

Definition at line 2294 of file btSoftBody.cpp.

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

Definition at line 767 of file btSoftBody.cpp.

btVector3 btSoftBody::clusterCom ( int cluster ) const

Definition at line 712 of file btSoftBody.cpp.

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

Definition at line 701 of file btSoftBody.cpp.

int btSoftBody::clusterCount ( ) const

Definition at line 695 of file btSoftBody.cpp.

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

Definition at line 759 of file btSoftBody.cpp.

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

Definition at line 774 of file btSoftBody.cpp.

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

Definition at line 734 of file btSoftBody.cpp.

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

Definition at line 744 of file btSoftBody.cpp.

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

Definition at line 751 of file btSoftBody.cpp.

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

Definition at line 718 of file btSoftBody.cpp.

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

Definition at line 724 of file btSoftBody.cpp.

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

Definition at line 1386 of file btSoftBody.cpp.

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

Definition at line 1392 of file btSoftBody.cpp.

void btSoftBody::dampClusters ( )

Definition at line 2375 of file btSoftBody.cpp.

void btSoftBody::defaultCollisionHandler ( btSoftBody * psb )

Definition at line 2885 of file btSoftBody.cpp.

void btSoftBody::defaultCollisionHandler ( btCollisionObject * pco )

Definition at line 2845 of file btSoftBody.cpp.

btVector3 btSoftBody::evaluateCom ( ) const

Definition at line 1932 of file btSoftBody.cpp.

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

generic Floyd's algorithm

Definition at line 788 of file btSoftBody.cpp.

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 942 of file btSoftBody.cpp.

virtual void btSoftBody::getAabb	(	btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)			const `[inline, virtual]`

Definition at line 851 of file btSoftBody.h.

btScalar btSoftBody::getMass ( int node ) const

Definition at line 462 of file btSoftBody.cpp.

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

Definition at line 2832 of file btSoftBody.cpp.

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

Definition at line 2812 of file btSoftBody.cpp.

btScalar btSoftBody::getTotalMass ( ) const

Definition at line 468 of file btSoftBody.cpp.

btScalar btSoftBody::getVolume ( ) const

Definition at line 676 of file btSoftBody.cpp.

btSoftBodyWorldInfo* btSoftBody::getWorldInfo ( ) [inline]

Definition at line 656 of file btSoftBody.h.

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

Definition at line 1830 of file btSoftBody.cpp.

void btSoftBody::initializeClusters ( )

Definition at line 2110 of file btSoftBody.cpp.

void btSoftBody::initializeFaceTree ( )

Definition at line 1921 of file btSoftBody.cpp.

void btSoftBody::integrateMotion ( )

Definition at line 1720 of file btSoftBody.cpp.

void btSoftBody::pointersToIndices ( )

Definition at line 1787 of file btSoftBody.cpp.

void btSoftBody::predictMotion ( btScalar dt )

Definition at line 1489 of file btSoftBody.cpp.

void btSoftBody::prepareClusters ( int iterations )

Definition at line 2308 of file btSoftBody.cpp.

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

Definition at line 2699 of file btSoftBody.cpp.

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

Definition at line 2779 of file btSoftBody.cpp.

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

Definition at line 2719 of file btSoftBody.cpp.

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

Definition at line 2746 of file btSoftBody.cpp.

void btSoftBody::randomizeConstraints ( )

Definition at line 908 of file btSoftBody.cpp.

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