btSoftBody Class Reference

#include <btSoftBody.h>

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 void(*	psolver_t )(btSoftBody *, btScalar, btScalar)
typedef btAlignedObjectArray < Anchor >	tAnchorArray
typedef btAlignedObjectArray < Cluster * >	tClusterArray
typedef btAlignedObjectArray < Face >	tFaceArray
typedef btAlignedObjectArray < Joint * >	tJointArray
typedef btAlignedObjectArray < btDbvtNode * >	tLeafArray
typedef btAlignedObjectArray < Link >	tLinkArray
typedef btAlignedObjectArray < Material * >	tMaterialArray
typedef btAlignedObjectArray < Node >	tNodeArray
typedef btAlignedObjectArray < Note >	tNoteArray
typedef btAlignedObjectArray < ePSolver::_ >	tPSolverArray
typedef btAlignedObjectArray < RContact >	tRContactArray
typedef btAlignedObjectArray < btScalar >	tScalarArray
typedef btAlignedObjectArray < SContact >	tSContactArray
typedef btAlignedObjectArray < btSoftBody * >	tSoftBodyArray
typedef btAlignedObjectArray < Tetra >	tTetraArray
typedef btAlignedObjectArray < btVector3 >	tVector3Array
typedef btAlignedObjectArray < eVSolver::_ >	tVSolverArray
typedef void(*	vsolver_t )(btSoftBody *, btScalar)
Public Member Functions
void	addForce (const btVector3 &force, int node)
void	addForce (const btVector3 &force)
void	addVelocity (const btVector3 &velocity, int node)
void	addVelocity (const btVector3 &velocity)
void	appendAnchor (int node, btRigidBody *body, bool disableCollisionBetweenLinkedBodies=false)
void	appendAngularJoint (const AJoint::Specs &specs, btSoftBody *body)
void	appendAngularJoint (const AJoint::Specs &specs, Body body=Body())
void	appendAngularJoint (const AJoint::Specs &specs, Cluster *body0, Body body1)
void	appendFace (int node0, int node1, int node2, Material *mat=0)
void	appendFace (int model=-1, Material *mat=0)
void	appendLinearJoint (const LJoint::Specs &specs, btSoftBody *body)
void	appendLinearJoint (const LJoint::Specs &specs, Body body=Body())
void	appendLinearJoint (const LJoint::Specs &specs, Cluster *body0, Body body1)
void	appendLink (Node node0, Node node1, Material *mat=0, bool bcheckexist=false)
void	appendLink (int node0, int node1, Material *mat=0, bool bcheckexist=false)
void	appendLink (int model=-1, Material *mat=0)
Material *	appendMaterial ()
void	appendNode (const btVector3 &x, btScalar m)
void	appendNote (const char text, const btVector3 &o, Face feature)
void	appendNote (const char text, const btVector3 &o, Link feature)
void	appendNote (const char text, const btVector3 &o, Node feature)
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	appendTetra (int node0, int node1, int node2, int node3, Material *mat=0)
void	appendTetra (int model, Material *mat)
void	applyClusters (bool drift)
void	applyForces ()
	btSoftBody (btSoftBodyWorldInfo worldInfo, int node_count, const btVector3 x, const btScalar *m)
bool	checkContact (btCollisionObject *colObj, const btVector3 &x, btScalar margin, btSoftBody::sCti &cti) const
bool	checkFace (int node0, int node1, int node2) const
bool	checkLink (const Node node0, const Node node1) const
bool	checkLink (int node0, int node1) const
void	cleanupClusters ()
btVector3	clusterCom (int cluster) const
int	clusterCount () const
bool	cutLink (const Node node0, const Node node1, btScalar position)
bool	cutLink (int node0, int node1, btScalar position)
void	dampClusters ()
void	defaultCollisionHandler (btSoftBody *psb)
void	defaultCollisionHandler (btCollisionObject *pco)
btVector3	evaluateCom () const
int	generateBendingConstraints (int distance, Material *mat=0)
int	generateClusters (int k, int maxiterations=8192)
virtual void	getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
btScalar	getMass (int node) const
btScalar	getTotalMass () const
btScalar	getVolume () const
btSoftBodyWorldInfo *	getWorldInfo ()
void	indicesToPointers (const int *map=0)
void	initializeClusters ()
void	initializeFaceTree ()
void	integrateMotion ()
void	pointersToIndices ()
void	predictMotion (btScalar dt)
void	prepareClusters (int iterations)
void	randomizeConstraints ()
int	rayTest (const btVector3 &rayFrom, const btVector3 &rayTo, btScalar &mint, eFeature::_ &feature, int &index, bool bcountonly) const
bool	rayTest (const btVector3 &rayFrom, const btVector3 &rayTo, sRayCast &results)
	Ray casting using rayFrom and rayTo in worldspace, (not direction!).
void	refine (ImplicitFn *ifn, btScalar accurary, bool cut)
void	releaseCluster (int index)
void	releaseClusters ()
void	rotate (const btQuaternion &rot)
void	scale (const btVector3 &scl)
virtual void	setCollisionShape (btCollisionShape *collisionShape)
void	setMass (int node, btScalar mass)
void	setPose (bool bvolume, bool bframe)
void	setSolver (eSolverPresets::_ preset)
void	setTotalDensity (btScalar density)
void	setTotalMass (btScalar mass, bool fromfaces=false)
void	setVelocity (const btVector3 &velocity)
void	setVolumeDensity (btScalar density)
void	setVolumeMass (btScalar mass)
void	solveClusters (btScalar sor)
void	solveConstraints ()
void	staticSolve (int iterations)
void	transform (const btTransform &trs)
void	translate (const btVector3 &trs)
void	updateBounds ()
void	updateClusters ()
void	updateConstants ()
void	updateNormals ()
void	updatePose ()
virtual	~btSoftBody ()
Static Public Member Functions
static void	clusterAImpulse (Cluster *cluster, const Impulse &impulse)
static btVector3	clusterCom (const Cluster *cluster)
static void	clusterDAImpulse (Cluster *cluster, const btVector3 &impulse)
static void	clusterDCImpulse (Cluster *cluster, 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 btVector3	clusterVelocity (const Cluster *cluster, const btVector3 &rpos)
static void	clusterVImpulse (Cluster *cluster, const btVector3 &rpos, const btVector3 &impulse)
static vsolver_t	getSolver (eVSolver::_ solver)
static psolver_t	getSolver (ePSolver::_ solver)
static void	PSolve_Anchors (btSoftBody *psb, btScalar kst, btScalar ti)
static void	PSolve_Links (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	solveClusters (const btAlignedObjectArray< btSoftBody * > &bodies)
static void	solveCommonConstraints (btSoftBody **bodies, int count, int iterations)
static btSoftBody *	upcast (btCollisionObject *colObj)
static const btSoftBody *	upcast (const btCollisionObject *colObj)
static void	VSolve_Links (btSoftBody *psb, btScalar kst)
Public Attributes
tAnchorArray	m_anchors
btVector3	m_bounds [2]
bool	m_bUpdateRtCst
btDbvt	m_cdbvt
Config	m_cfg
btAlignedObjectArray< bool >	m_clusterConnectivity
tClusterArray	m_clusters
btAlignedObjectArray< class btCollisionObject * >	m_collisionDisabledObjects
tFaceArray	m_faces
btDbvt	m_fdbvt
btTransform	m_initialWorldTransform
tJointArray	m_joints
tLinkArray	m_links
tMaterialArray	m_materials
btDbvt	m_ndbvt
tNodeArray	m_nodes
tNoteArray	m_notes
Pose	m_pose
tRContactArray	m_rcontacts
tSContactArray	m_scontacts
SolverState	m_sst
void *	m_tag
tTetraArray	m_tetras
btScalar	m_timeacc
btAlignedObjectArray< int >	m_userIndexMapping
btSoftBodyWorldInfo *	m_worldInfo

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
	)

virtual btSoftBody::~btSoftBody ( ) [virtual]

Member Function Documentation

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

void btSoftBody::addForce ( const btVector3 & force )

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

void btSoftBody::addVelocity ( const btVector3 & velocity )

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

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

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

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

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

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

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

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

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

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

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

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

Material* btSoftBody::appendMaterial ( )

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

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

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

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

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`
	)

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

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

void btSoftBody::applyClusters ( bool drift )

void btSoftBody::applyForces ( )

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

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

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

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

void btSoftBody::cleanupClusters ( )

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

btVector3 btSoftBody::clusterCom ( int cluster ) const

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

int btSoftBody::clusterCount ( ) const

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

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

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

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

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

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

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

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

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

void btSoftBody::dampClusters ( )

void btSoftBody::defaultCollisionHandler ( btSoftBody * psb )

void btSoftBody::defaultCollisionHandler ( btCollisionObject * pco )

btVector3 btSoftBody::evaluateCom ( ) const

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

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)

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

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

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

btScalar btSoftBody::getTotalMass ( ) const

btScalar btSoftBody::getVolume ( ) const

btSoftBodyWorldInfo* btSoftBody::getWorldInfo ( ) [inline]

Definition at line 656 of file btSoftBody.h.

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

void btSoftBody::initializeClusters ( )

void btSoftBody::initializeFaceTree ( )

void btSoftBody::integrateMotion ( )

void btSoftBody::pointersToIndices ( )

void btSoftBody::predictMotion ( btScalar dt )

void btSoftBody::prepareClusters ( int iterations )

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

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

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

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

void btSoftBody::randomizeConstraints ( )

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