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

#include <btSoftBody.h>

Inheritance diagram for btSoftBody:

Collaboration diagram for btSoftBody:

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 }

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 More...

	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) More...

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!) More...

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. More...

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

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) More...

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. More...

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

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. More...

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

int	getInternalType () const
	reserved for Bullet internal usage More...

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)

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:: More...

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

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. More...

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

int	getUserIndex () const

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

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

int	getUpdateRevisionInternal () 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 Member Functions inherited from btCollisionObject
virtual bool	checkCollideWithOverride (const btCollisionObject *) const

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 More...

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. More...

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. More...

int	m_collisionFlags

int	m_islandTag1

int	m_companionId

int	m_activationState1

btScalar	m_deactivationTime

btScalar	m_friction

btScalar	m_restitution

btScalar	m_rollingFriction

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

union {
void * m_userObjectPointer

int m_userIndex

};
	users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer More...

btScalar	m_hitFraction
	time of impact calculation More...

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

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

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

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

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

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

Definition at line 628 of file btSoftBody.h.

typedef btAlignedObjectArray<Anchor> btSoftBody::tAnchorArray

Definition at line 637 of file btSoftBody.h.

typedef btAlignedObjectArray<Cluster*> btSoftBody::tClusterArray

Definition at line 630 of file btSoftBody.h.

typedef btAlignedObjectArray<Face> btSoftBody::tFaceArray

Definition at line 635 of file btSoftBody.h.

typedef btAlignedObjectArray<Joint*> btSoftBody::tJointArray

Definition at line 641 of file btSoftBody.h.

typedef btAlignedObjectArray<btDbvtNode*> btSoftBody::tLeafArray

Definition at line 633 of file btSoftBody.h.

typedef btAlignedObjectArray<Link> btSoftBody::tLinkArray

Definition at line 634 of file btSoftBody.h.

typedef btAlignedObjectArray<Material*> btSoftBody::tMaterialArray

Definition at line 640 of file btSoftBody.h.

typedef btAlignedObjectArray<Node> btSoftBody::tNodeArray

Definition at line 632 of file btSoftBody.h.

typedef btAlignedObjectArray<Note> btSoftBody::tNoteArray

Definition at line 631 of file btSoftBody.h.

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

Definition at line 129 of file btSoftBody.h.

typedef btAlignedObjectArray<RContact> btSoftBody::tRContactArray

Definition at line 638 of file btSoftBody.h.

typedef btAlignedObjectArray<btScalar> btSoftBody::tScalarArray

Definition at line 181 of file btSoftBody.h.

typedef btAlignedObjectArray<SContact> btSoftBody::tSContactArray

Definition at line 639 of file btSoftBody.h.

typedef btAlignedObjectArray<btSoftBody*> btSoftBody::tSoftBodyArray

Definition at line 642 of file btSoftBody.h.

typedef btAlignedObjectArray<Tetra> btSoftBody::tTetraArray

Definition at line 636 of file btSoftBody.h.

typedef btAlignedObjectArray<btVector3> btSoftBody::tVector3Array

Definition at line 182 of file btSoftBody.h.

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

Definition at line 128 of file btSoftBody.h.

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

Definition at line 629 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

Definition at line 24 of file btSoftBody.cpp.

btSoftBody::btSoftBody ( btSoftBodyWorldInfo * worldInfo )

Definition at line 55 of file btSoftBody.cpp.

btSoftBody::~btSoftBody ( )

virtual

Definition at line 117 of file btSoftBody.cpp.

Member Function Documentation

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

Definition at line 545 of file btSoftBody.cpp.

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

Definition at line 456 of file btSoftBody.cpp.

void btSoftBody::addForce ( const btVector3 & force )

Definition at line 441 of file btSoftBody.cpp.

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

Definition at line 447 of file btSoftBody.cpp.

void btSoftBody::addVelocity ( const btVector3 & velocity )

Definition at line 642 of file btSoftBody.cpp.

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

Definition at line 662 of file btSoftBody.cpp.

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

Definition at line 361 of file btSoftBody.cpp.

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

Definition at line 368 of file btSoftBody.cpp.

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

Definition at line 414 of file btSoftBody.cpp.

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

Definition at line 429 of file btSoftBody.cpp.

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

Definition at line 435 of file btSoftBody.cpp.

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

Definition at line 297 of file btSoftBody.cpp.

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

Definition at line 308 of file btSoftBody.cpp.

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

Definition at line 388 of file btSoftBody.cpp.

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

Definition at line 402 of file btSoftBody.cpp.

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

Definition at line 408 of file btSoftBody.cpp.

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

Definition at line 260 of file btSoftBody.cpp.

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

Definition at line 271 of file btSoftBody.cpp.

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

Definition at line 280 of file btSoftBody.cpp.

btSoftBody::Material * btSoftBody::appendMaterial ( )

Definition at line 174 of file btSoftBody.cpp.

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

Definition at line 240 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 186 of file btSoftBody.cpp.

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

Definition at line 211 of file btSoftBody.cpp.

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

Definition at line 219 of file btSoftBody.cpp.

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

Definition at line 229 of file btSoftBody.cpp.

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

Definition at line 332 of file btSoftBody.cpp.

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

Definition at line 343 of file btSoftBody.cpp.

void btSoftBody::applyClusters ( bool drift )

Definition at line 2687 of file btSoftBody.cpp.

void btSoftBody::applyForces ( )

Definition at line 2933 of file btSoftBody.cpp.

int btSoftBody::calculateSerializeBufferSize ( ) const

virtual

Reimplemented from btCollisionObject.

Definition at line 3255 of file btSoftBody.cpp.

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

Definition at line 2246 of file btSoftBody.cpp.

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

Definition at line 153 of file btSoftBody.cpp.

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

Definition at line 131 of file btSoftBody.cpp.

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

Definition at line 137 of file btSoftBody.cpp.

void btSoftBody::cleanupClusters ( )

Definition at line 2654 of file btSoftBody.cpp.

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

static

Definition at line 1017 of file btSoftBody.cpp.

btVector3 btSoftBody::clusterCom ( const Cluster * cluster )

static

Definition at line 951 of file btSoftBody.cpp.

btVector3 btSoftBody::clusterCom ( int cluster ) const

Definition at line 962 of file btSoftBody.cpp.

int btSoftBody::clusterCount ( ) const

Definition at line 945 of file btSoftBody.cpp.

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

static

Definition at line 1009 of file btSoftBody.cpp.

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

static

Definition at line 1024 of file btSoftBody.cpp.

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

static

Definition at line 984 of file btSoftBody.cpp.

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

static

Definition at line 994 of file btSoftBody.cpp.

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

static

Definition at line 1001 of file btSoftBody.cpp.

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

static

Definition at line 968 of file btSoftBody.cpp.

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

static

Definition at line 974 of file btSoftBody.cpp.

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

Definition at line 1642 of file btSoftBody.cpp.

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

Definition at line 1636 of file btSoftBody.cpp.

void btSoftBody::dampClusters ( )

Definition at line 2738 of file btSoftBody.cpp.

void btSoftBody::defaultCollisionHandler ( const btCollisionObjectWrapper * pcoWrap )

Definition at line 3151 of file btSoftBody.cpp.

void btSoftBody::defaultCollisionHandler ( btSoftBody * psb )

Definition at line 3192 of file btSoftBody.cpp.

btVector3 btSoftBody::evaluateCom ( ) const

Definition at line 2232 of file btSoftBody.cpp.

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

generic Floyd's algorithm

Definition at line 1038 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 1192 of file btSoftBody.cpp.

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

inlinevirtual

Definition at line 948 of file btSoftBody.h.

btScalar btSoftBody::getMass ( int node ) const

Definition at line 679 of file btSoftBody.cpp.

btScalar btSoftBody::getRestLengthScale ( )

Definition at line 844 of file btSoftBody.cpp.

btSoftBodySolver* btSoftBody::getSoftBodySolver ( )

inline

Definition at line 913 of file btSoftBody.h.

btSoftBodySolver* btSoftBody::getSoftBodySolver ( ) const

inline

Definition at line 921 of file btSoftBody.h.

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

static

Definition at line 3118 of file btSoftBody.cpp.

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

static

Definition at line 3138 of file btSoftBody.cpp.

btScalar btSoftBody::getTotalMass ( ) const

Definition at line 685 of file btSoftBody.cpp.

btScalar btSoftBody::getVolume ( ) const

Definition at line 926 of file btSoftBody.cpp.

const btVector3 & btSoftBody::getWindVelocity ( )

Return the wind velocity for interaction with the air.

Definition at line 3248 of file btSoftBody.cpp.

btSoftBodyWorldInfo* btSoftBody::getWorldInfo ( )

inline

Definition at line 697 of file btSoftBody.h.

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

Definition at line 2098 of file btSoftBody.cpp.

void btSoftBody::initDefaults ( )

for now, create a collision shape internally

Definition at line 62 of file btSoftBody.cpp.

void btSoftBody::initializeClusters ( )

Definition at line 2470 of file btSoftBody.cpp.

void btSoftBody::initializeFaceTree ( )

Definition at line 2221 of file btSoftBody.cpp.

void btSoftBody::integrateMotion ( )

Definition at line 1988 of file btSoftBody.cpp.

void btSoftBody::pointersToIndices ( )

Definition at line 2055 of file btSoftBody.cpp.

void btSoftBody::predictMotion ( btScalar dt )

Definition at line 1739 of file btSoftBody.cpp.

void btSoftBody::prepareClusters ( int iterations )

Definition at line 2668 of file btSoftBody.cpp.

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

static

Definition at line 3002 of file btSoftBody.cpp.

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

static

Definition at line 3083 of file btSoftBody.cpp.

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

static

Definition at line 3022 of file btSoftBody.cpp.

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

static

Definition at line 3050 of file btSoftBody.cpp.

void btSoftBody::randomizeConstraints ( )

Definition at line 1158 of file btSoftBody.cpp.

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

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

Definition at line 1697 of file btSoftBody.cpp.

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

Definition at line 2142 of file btSoftBody.cpp.

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

Definition at line 1385 of file btSoftBody.cpp.

void btSoftBody::releaseCluster ( int index )

Definition at line 1176 of file btSoftBody.cpp.

void btSoftBody::releaseClusters ( )

Definition at line 1186 of file btSoftBody.cpp.

void btSoftBody::resetLinkRestLengths ( )

Definition at line 915 of file btSoftBody.cpp.

void btSoftBody::rotate ( const btQuaternion & rot )

Definition at line 815 of file btSoftBody.cpp.

void btSoftBody::scale ( const btVector3 & scl )

Definition at line 824 of file btSoftBody.cpp.

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 3262 of file btSoftBody.cpp.

virtual void btSoftBody::setCollisionShape ( btCollisionShape * collisionShape )

inlinevirtual

Reimplemented from btCollisionObject.

Definition at line 703 of file btSoftBody.h.

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

Definition at line 672 of file btSoftBody.cpp.

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

Definition at line 865 of file btSoftBody.cpp.

void btSoftBody::setRestLengthScale ( btScalar restLength )

Definition at line 850 of file btSoftBody.cpp.

void btSoftBody::setSoftBodySolver ( btSoftBodySolver * softBodySolver )

inline

Definition at line 905 of file btSoftBody.h.

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

Definition at line 1713 of file btSoftBody.cpp.

void btSoftBody::setTotalDensity ( btScalar density )

Definition at line 733 of file btSoftBody.cpp.

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

Definition at line 696 of file btSoftBody.cpp.

void btSoftBody::setVelocity ( const btVector3 & velocity )

Definition at line 648 of file btSoftBody.cpp.

void btSoftBody::setVolumeDensity ( btScalar density )

Definition at line 769 of file btSoftBody.cpp.

void btSoftBody::setVolumeMass ( btScalar mass )

Definition at line 739 of file btSoftBody.cpp.

void btSoftBody::setWindVelocity ( const btVector3 & velocity )

Set a wind velocity for interaction with the air.

Definition at line 3242 of file btSoftBody.cpp.

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

static

Definition at line 1959 of file btSoftBody.cpp.

void btSoftBody::solveClusters ( btScalar sor )

Definition at line 2678 of file btSoftBody.cpp.

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

static

placeholder

Definition at line 1953 of file btSoftBody.cpp.

void btSoftBody::solveConstraints ( )

Definition at line 1847 of file btSoftBody.cpp.

void btSoftBody::staticSolve ( int iterations )

Definition at line 1941 of file btSoftBody.cpp.

void btSoftBody::transform ( const btTransform & trs )

Definition at line 784 of file btSoftBody.cpp.

void btSoftBody::translate ( const btVector3 & trs )

Definition at line 806 of file btSoftBody.cpp.

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

inlinestatic

Definition at line 931 of file btSoftBody.h.

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

inlinestatic

Definition at line 937 of file btSoftBody.h.

void btSoftBody::updateArea ( bool averageArea = true )

Definition at line 2382 of file btSoftBody.cpp.

void btSoftBody::updateBounds ( )

Definition at line 2304 of file btSoftBody.cpp.

void btSoftBody::updateClusters ( )

Definition at line 2536 of file btSoftBody.cpp.

void btSoftBody::updateConstants ( )

Definition at line 2460 of file btSoftBody.cpp.

void btSoftBody::updateLinkConstants ( )

Definition at line 2447 of file btSoftBody.cpp.

void btSoftBody::updateNormals ( )

Definition at line 2275 of file btSoftBody.cpp.

void btSoftBody::updatePose ( )

Definition at line 2346 of file btSoftBody.cpp.

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

static

Definition at line 3105 of file btSoftBody.cpp.

Member Data Documentation

tAnchorArray btSoftBody::m_anchors

Definition at line 658 of file btSoftBody.h.

btVector3 btSoftBody::m_bounds[2]

Definition at line 664 of file btSoftBody.h.

bool btSoftBody::m_bUpdateRtCst

Definition at line 665 of file btSoftBody.h.

btDbvt btSoftBody::m_cdbvt

Definition at line 668 of file btSoftBody.h.

Config btSoftBody::m_cfg

Definition at line 648 of file btSoftBody.h.

btAlignedObjectArray<bool> btSoftBody::m_clusterConnectivity

Definition at line 671 of file btSoftBody.h.

tClusterArray btSoftBody::m_clusters

Definition at line 669 of file btSoftBody.h.

btAlignedObjectArray<const class btCollisionObject*> btSoftBody::m_collisionDisabledObjects

Definition at line 74 of file btSoftBody.h.

tFaceArray btSoftBody::m_faces

Definition at line 656 of file btSoftBody.h.

btDbvt btSoftBody::m_fdbvt

Definition at line 667 of file btSoftBody.h.

btTransform btSoftBody::m_initialWorldTransform

Definition at line 673 of file btSoftBody.h.

tJointArray btSoftBody::m_joints

Definition at line 661 of file btSoftBody.h.

tLinkArray btSoftBody::m_links

Definition at line 655 of file btSoftBody.h.

tMaterialArray btSoftBody::m_materials

Definition at line 662 of file btSoftBody.h.

btDbvt btSoftBody::m_ndbvt

Definition at line 666 of file btSoftBody.h.

tNodeArray btSoftBody::m_nodes

Definition at line 654 of file btSoftBody.h.

tNoteArray btSoftBody::m_notes

Definition at line 653 of file btSoftBody.h.

Pose btSoftBody::m_pose

Definition at line 650 of file btSoftBody.h.

tRContactArray btSoftBody::m_rcontacts

Definition at line 659 of file btSoftBody.h.

btScalar btSoftBody::m_restLengthScale

Definition at line 677 of file btSoftBody.h.

tSContactArray btSoftBody::m_scontacts

Definition at line 660 of file btSoftBody.h.

btSoftBodySolver* btSoftBody::m_softBodySolver

Definition at line 77 of file btSoftBody.h.

SolverState btSoftBody::m_sst

Definition at line 649 of file btSoftBody.h.

void* btSoftBody::m_tag

Definition at line 651 of file btSoftBody.h.

tTetraArray btSoftBody::m_tetras

Definition at line 657 of file btSoftBody.h.

btScalar btSoftBody::m_timeacc

Definition at line 663 of file btSoftBody.h.

btAlignedObjectArray<int> btSoftBody::m_userIndexMapping

Definition at line 695 of file btSoftBody.h.

btVector3 btSoftBody::m_windVelocity

Definition at line 675 of file btSoftBody.h.

btSoftBodyWorldInfo* btSoftBody::m_worldInfo

Definition at line 652 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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation