#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 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
	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)
void	appendAnchor (int node, btRigidBody *body, const btVector3 &localPivot, 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)
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)
void	setWindVelocity (const btVector3 &velocity)
const btVector3 &	getWindVelocity ()
void	setSoftBodySolver (btSoftBodySolver *softBodySolver)
btSoftBodySolver *	getSoftBodySolver ()
btSoftBodySolver *	getSoftBodySolver () const
virtual void	getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
void	pointersToIndices ()
void	indicesToPointers (const int *map=0)
int	rayTest (const btVector3 &rayFrom, const btVector3 &rayTo, btScalar &mint, eFeature::_ &feature, int &index, bool bcountonly) const
void	initializeFaceTree ()
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 ()
virtual int	calculateSerializeBufferSize () const
virtual const char *	serialize (void dataBuffer, class btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
Static Public Member Functions
static btVector3	clusterCom (const Cluster *cluster)
static btVector3	clusterVelocity (const Cluster *cluster, const btVector3 &rpos)
static void	clusterVImpulse (Cluster *cluster, const btVector3 &rpos, const btVector3 &impulse)
static void	clusterDImpulse (Cluster *cluster, const btVector3 &rpos, const btVector3 &impulse)
static void	clusterImpulse (Cluster *cluster, const btVector3 &rpos, const Impulse &impulse)
static void	clusterVAImpulse (Cluster *cluster, const btVector3 &impulse)
static void	clusterDAImpulse (Cluster *cluster, const btVector3 &impulse)
static void	clusterAImpulse (Cluster *cluster, const Impulse &impulse)
static void	clusterDCImpulse (Cluster *cluster, const btVector3 &impulse)
static void	solveCommonConstraints (btSoftBody **bodies, int count, int iterations)
static void	solveClusters (const btAlignedObjectArray< btSoftBody * > &bodies)
static const btSoftBody *	upcast (const btCollisionObject *colObj)
static btSoftBody *	upcast (btCollisionObject *colObj)
static void	PSolve_Anchors (btSoftBody *psb, btScalar kst, btScalar ti)
static void	PSolve_RContacts (btSoftBody *psb, btScalar kst, btScalar ti)
static void	PSolve_SContacts (btSoftBody *psb, btScalar, btScalar ti)
static void	PSolve_Links (btSoftBody *psb, btScalar kst, btScalar ti)
static void	VSolve_Links (btSoftBody *psb, btScalar kst)
static psolver_t	getSolver (ePSolver::_ solver)
static vsolver_t	getSolver (eVSolver::_ solver)
Public Attributes
btAlignedObjectArray< 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
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 69 of file btSoftBody.h.

Member Typedef Documentation

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

Definition at line 622 of file btSoftBody.h.

typedef btAlignedObjectArray<Anchor> btSoftBody::tAnchorArray

Definition at line 631 of file btSoftBody.h.

typedef btAlignedObjectArray<Cluster*> btSoftBody::tClusterArray

Definition at line 624 of file btSoftBody.h.

typedef btAlignedObjectArray<Face> btSoftBody::tFaceArray

Definition at line 629 of file btSoftBody.h.

typedef btAlignedObjectArray<Joint*> btSoftBody::tJointArray

Definition at line 635 of file btSoftBody.h.

typedef btAlignedObjectArray<btDbvtNode*> btSoftBody::tLeafArray

Definition at line 627 of file btSoftBody.h.

typedef btAlignedObjectArray<Link> btSoftBody::tLinkArray

Definition at line 628 of file btSoftBody.h.

typedef btAlignedObjectArray<Material*> btSoftBody::tMaterialArray

Definition at line 634 of file btSoftBody.h.

typedef btAlignedObjectArray<Node> btSoftBody::tNodeArray

Definition at line 626 of file btSoftBody.h.

typedef btAlignedObjectArray<Note> btSoftBody::tNoteArray

Definition at line 625 of file btSoftBody.h.

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

Definition at line 124 of file btSoftBody.h.

typedef btAlignedObjectArray<RContact> btSoftBody::tRContactArray

Definition at line 632 of file btSoftBody.h.

typedef btAlignedObjectArray<btScalar> btSoftBody::tScalarArray

Definition at line 176 of file btSoftBody.h.

typedef btAlignedObjectArray<SContact> btSoftBody::tSContactArray

Definition at line 633 of file btSoftBody.h.

typedef btAlignedObjectArray<btSoftBody*> btSoftBody::tSoftBodyArray

Definition at line 636 of file btSoftBody.h.

typedef btAlignedObjectArray<Tetra> btSoftBody::tTetraArray

Definition at line 630 of file btSoftBody.h.

typedef btAlignedObjectArray<btVector3> btSoftBody::tVector3Array

Definition at line 177 of file btSoftBody.h.

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

Definition at line 123 of file btSoftBody.h.

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

Definition at line 623 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 23 of file btSoftBody.cpp.

References appendMaterial(), btSoftBody::fMaterial::Default, btDbvtAabbMm::FromCR(), i, initDefaults(), btDbvt::insert(), btSoftBody::Material::m_flags, btSoftBody::Node::m_im, btSoftBody::Material::m_kAST, btSoftBody::Material::m_kLST, btSoftBody::Material::m_kVST, btSoftBody::Node::m_leaf, btSoftBody::Feature::m_material, m_ndbvt, m_nodes, btSoftBody::Node::m_q, btSoftBody::Node::m_x, btAlignedObjectArray< T >::resize(), updateBounds(), and ZeroInitialize().

btSoftBody::btSoftBody ( btSoftBodyWorldInfo * worldInfo )

Definition at line 54 of file btSoftBody.cpp.

References initDefaults().

btSoftBody::~btSoftBody ( ) [virtual]

Definition at line 116 of file btSoftBody.cpp.

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

Member Function Documentation

void btSoftBody::addForce ( const btVector3 & force )

Definition at line 439 of file btSoftBody.cpp.

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

Referenced by CcdPhysicsController::ApplyForce().

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

Definition at line 445 of file btSoftBody.cpp.

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

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

Definition at line 475 of file btSoftBody.cpp.

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

void btSoftBody::addVelocity ( const btVector3 & velocity )

Definition at line 455 of file btSoftBody.cpp.

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

Referenced by predictMotion().

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

Definition at line 367 of file btSoftBody.cpp.

References btAlignedObjectArray< T >::findLinearSearch(), m_anchors, btSoftBody::Node::m_battach, btSoftBody::Anchor::m_body, m_collisionDisabledObjects, btSoftBody::Anchor::m_local, btSoftBody::Anchor::m_node, m_nodes, btAlignedObjectArray< T >::push_back(), and btAlignedObjectArray< T >::size().

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

Definition at line 360 of file btSoftBody.cpp.

References m_nodes.

Referenced by CcdPhysicsEnvironment::createConstraint().

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

Definition at line 427 of file btSoftBody.cpp.

References appendAngularJoint(), and m_clusters.

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

Definition at line 433 of file btSoftBody.cpp.

References appendAngularJoint(), and m_clusters.

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

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

Definition at line 296 of file btSoftBody.cpp.

References m_faces, btSoftBody::Feature::m_material, m_materials, btAlignedObjectArray< T >::push_back(), and ZeroInitialize().

Referenced by appendFace(), btSoftBodyHelpers::CreateFromConvexHull(), btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromTriMesh(), btSoftBodyHelpers::CreatePatch(), btSoftBodyHelpers::CreatePatchUV(), CcdPhysicsController::CreateSoftbody(), cutLink(), and refine().

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

Definition at line 307 of file btSoftBody.cpp.

References appendFace(), AreaOf(), btAssert, m_bUpdateRtCst, m_faces, btSoftBody::Face::m_n, m_nodes, btSoftBody::Face::m_ra, btSoftBody::Node::m_x, and btAlignedObjectArray< T >::size().

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

Definition at line 386 of file btSoftBody.cpp.

References btAlignedAlloc, btSoftBody::Joint::Specs::cfm, btSoftBody::Joint::Specs::erp, btTransform::inverse(), btSoftBody::Joint::m_bodies, btSoftBody::Joint::m_cfm, btSoftBody::Joint::m_erp, m_joints, btSoftBody::Joint::m_refs, btSoftBody::Joint::m_split, btSoftBody::LJoint::Specs::position, btAlignedObjectArray< T >::push_back(), btSoftBody::Joint::Specs::split, and btSoftBody::Body::xform().

Referenced by appendLinearJoint().

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

Definition at line 400 of file btSoftBody.cpp.

References appendLinearJoint(), and m_clusters.

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

Definition at line 406 of file btSoftBody.cpp.

References appendLinearJoint(), and m_clusters.

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

Definition at line 259 of file btSoftBody.cpp.

References m_links, btSoftBody::Feature::m_material, m_materials, btAlignedObjectArray< T >::push_back(), and ZeroInitialize().

Referenced by appendLink(), btSoftBodyHelpers::CreateFromConvexHull(), btSoftBodyHelpers::CreateFromTetGenData(), btSoftBodyHelpers::CreateFromTriMesh(), btSoftBodyHelpers::CreatePatch(), btSoftBodyHelpers::CreatePatchUV(), btSoftBodyHelpers::CreateRope(), CcdPhysicsController::CreateSoftbody(), cutLink(), generateBendingConstraints(), and refine().

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

Definition at line 270 of file btSoftBody.cpp.

References appendLink(), and m_nodes.

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

Definition at line 279 of file btSoftBody.cpp.

References appendLink(), checkLink(), length(), m_bUpdateRtCst, m_links, btSoftBody::Link::m_n, btSoftBody::Link::m_rl, btSoftBody::Node::m_x, and btAlignedObjectArray< T >::size().

btSoftBody::Material * btSoftBody::appendMaterial ( )

Definition at line 173 of file btSoftBody.cpp.

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

Referenced by btSoftBody().

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

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 185 of file btSoftBody.cpp.

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

Referenced by appendNote().

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

Definition at line 210 of file btSoftBody.cpp.

References appendNote().

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

Definition at line 218 of file btSoftBody.cpp.

References appendNote(), btSoftBody::Link::m_n, and simple_enum_gen::w.

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

Definition at line 228 of file btSoftBody.cpp.

References appendNote(), btSoftBody::Face::m_n, and simple_enum_gen::w.

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

Definition at line 331 of file btSoftBody.cpp.

References btSoftBody::Feature::m_material, m_materials, m_tetras, btAlignedObjectArray< T >::push_back(), and ZeroInitialize().

Referenced by appendTetra(), and btSoftBodyHelpers::CreateFromTetGenData().

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

Definition at line 342 of file btSoftBody.cpp.

References appendTetra(), m_bUpdateRtCst, btSoftBody::Tetra::m_n, m_nodes, btSoftBody::Tetra::m_rv, m_tetras, btSoftBody::Node::m_x, btAlignedObjectArray< T >::size(), and VolumeOf().

void btSoftBody::applyClusters ( bool drift )

void btSoftBody::applyForces ( )

Definition at line 2621 of file btSoftBody.cpp.

References btSoftBody::Config::aeromodel, btSoftBodyWorldInfo::air_density, ApplyClampedForce(), BT_PROFILE, btDot(), btFabs(), EvaluateMedium(), btSoftBody::eAeroModel::F_TwoSided, getVolume(), i, btSoftBody::Config::kDG, btSoftBody::Config::kLF, btSoftBody::Config::kPR, btSoftBody::Config::kVC, btSoftBody::Node::m_area, m_cfg, btSoftBody::sMedium::m_density, btSoftBody::Node::m_f, m_faces, btSoftBody::Node::m_im, btSoftBody::Face::m_n, btSoftBody::Node::m_n, m_nodes, btSoftBody::Face::m_normal, m_pose, btSoftBody::Face::m_ra, m_sst, btSoftBody::Node::m_v, btSoftBody::sMedium::m_velocity, btSoftBody::Pose::m_volume, m_windVelocity, m_worldInfo, btSoftBody::Node::m_x, NormalizeAny(), btSoftBody::SolverState::sdt, SIMD_EPSILON, btAlignedObjectArray< T >::size(), btSoftBody::eAeroModel::V_Point, and btSoftBody::eAeroModel::V_TwoSided.

Referenced by predictMotion().

int btSoftBody::calculateSerializeBufferSize ( ) const [virtual]

Definition at line 3008 of file btSoftBody.cpp.

References btSoftBodyData.

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

Definition at line 1979 of file btSoftBody.cpp.

References btDot(), btSparseSdf< CELLSIZE >::Evaluate(), btTransform::getBasis(), btTransform::invXform(), btSoftBody::sCti::m_colObj, btSoftBody::sCti::m_normal, btSoftBody::sCti::m_offset, btSoftBodyWorldInfo::m_sparsesdf, m_worldInfo, and upcast().

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

Definition at line 152 of file btSoftBody.cpp.

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

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

Definition at line 136 of file btSoftBody.cpp.

References i, m_links, btSoftBody::Link::m_n, and btAlignedObjectArray< T >::size().

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

Definition at line 130 of file btSoftBody.cpp.

References m_nodes.

Referenced by appendLink().

void btSoftBody::cleanupClusters ( )

Definition at line 2342 of file btSoftBody.cpp.

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

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

Definition at line 798 of file btSoftBody.cpp.

References clusterDAImpulse(), clusterVAImpulse(), btSoftBody::Impulse::m_asDrift, btSoftBody::Impulse::m_asVelocity, btSoftBody::Impulse::m_drift, and btSoftBody::Impulse::m_velocity.

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

Definition at line 732 of file btSoftBody.cpp.

References i, btSoftBody::Cluster::m_imass, btSoftBody::Cluster::m_masses, btSoftBody::Cluster::m_nodes, and btAlignedObjectArray< T >::size().

Referenced by clusterCom(), initializeClusters(), and updateClusters().

btVector3 btSoftBody::clusterCom ( int cluster ) const

Definition at line 743 of file btSoftBody.cpp.

References clusterCom(), and m_clusters.

int btSoftBody::clusterCount ( ) const

Definition at line 726 of file btSoftBody.cpp.

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

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

Definition at line 790 of file btSoftBody.cpp.

References btSoftBody::Cluster::m_dimpulses, btSoftBody::Cluster::m_invwi, and btSoftBody::Cluster::m_ndimpulses.

Referenced by btSoftBody::Body::applyDAImpulse(), and clusterAImpulse().

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

Definition at line 805 of file btSoftBody.cpp.

References btSoftBody::Cluster::m_dimpulses, btSoftBody::Cluster::m_imass, and btSoftBody::Cluster::m_ndimpulses.

Referenced by btSoftBody::Body::applyDCImpulse().

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

Definition at line 765 of file btSoftBody.cpp.

References btCross(), btSoftBody::Cluster::m_dimpulses, btSoftBody::Cluster::m_imass, btSoftBody::Cluster::m_invwi, and btSoftBody::Cluster::m_ndimpulses.

Referenced by btSoftBody::Body::applyDImpulse(), and clusterImpulse().

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

Definition at line 775 of file btSoftBody.cpp.

References clusterDImpulse(), clusterVImpulse(), btSoftBody::Impulse::m_asDrift, btSoftBody::Impulse::m_asVelocity, btSoftBody::Impulse::m_drift, and btSoftBody::Impulse::m_velocity.

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

Definition at line 782 of file btSoftBody.cpp.

References btSoftBody::Cluster::m_av, btSoftBody::Cluster::m_invwi, btSoftBody::Cluster::m_nvimpulses, and btSoftBody::Cluster::m_vimpulses.

Referenced by btSoftBody::Body::applyVAImpulse(), and clusterAImpulse().

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

Definition at line 749 of file btSoftBody.cpp.

References btCross(), btSoftBody::Cluster::m_av, and btSoftBody::Cluster::m_lv.

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

Definition at line 755 of file btSoftBody.cpp.

References btCross(), btSoftBody::Cluster::m_av, btSoftBody::Cluster::m_imass, btSoftBody::Cluster::m_invwi, btSoftBody::Cluster::m_lv, btSoftBody::Cluster::m_nvimpulses, and btSoftBody::Cluster::m_vimpulses.

Referenced by btSoftBody::Body::applyVImpulse(), and clusterImpulse().

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

Definition at line 1417 of file btSoftBody.cpp.

References cutLink(), and m_nodes.

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

Definition at line 1423 of file btSoftBody.cpp.

References appendFace(), appendLink(), appendNode(), simple_enum_gen::d, i, Lerp(), m_faces, m_links, btSoftBody::Face::m_n, btSoftBody::Link::m_n, m_ndbvt, m_nodes, btSoftBody::Node::m_v, MatchEdge(), btAlignedObjectArray< T >::pop_back(), btDbvt::remove(), and btAlignedObjectArray< T >::size().

Referenced by cutLink().

void btSoftBody::dampClusters ( )

Definition at line 2426 of file btSoftBody.cpp.

References btCross(), i, btSoftBody::Cluster::m_av, m_clusters, btSoftBody::Cluster::m_com, btSoftBody::Node::m_im, btSoftBody::Cluster::m_lv, btSoftBody::Cluster::m_ndamping, btSoftBody::Cluster::m_nodes, btSoftBody::Node::m_v, and btAlignedObjectArray< T >::size().

Referenced by solveConstraints().

void btSoftBody::defaultCollisionHandler ( btCollisionObject * pco )

void btSoftBody::defaultCollisionHandler ( btSoftBody * psb )

Definition at line 2945 of file btSoftBody.cpp.

References btSoftBody::fCollision::CL_SELF, btSoftBody::fCollision::CL_SS, btDbvt::collideTT(), btSoftBody::Config::collisions, m_cfg, m_fdbvt, m_ndbvt, btDbvt::m_root, btSoftColliders::CollideVF_SS::mrg, btSoftColliders::CollideCL_SS::Process(), btSoftColliders::CollideVF_SS::psb, btSoftBody::fCollision::SVSmask, and btSoftBody::fCollision::VF_SS.

btVector3 btSoftBody::evaluateCom ( ) const

Definition at line 1965 of file btSoftBody.cpp.

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

Referenced by setPose(), and updatePose().

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

generic Floyd's algorithm

Definition at line 819 of file btSoftBody.cpp.

References appendLink(), btAssert, btAlignedObjectArray< T >::findLinearSearch(), i, IDX, m_links, m_nodes, btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), and sum().

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 973 of file btSoftBody.cpp.

References btAlignedAlloc, btMin(), btSwap(), ClusterMetric(), simple_enum_gen::d, btAlignedObjectArray< T >::findLinearSearch(), i, initializeClusters(), m_clusterConnectivity, m_clusters, btSoftBody::Cluster::m_collide, m_faces, m_nodes, btSoftBody::Cluster::m_nodes, m_tetras, btAlignedObjectArray< T >::push_back(), releaseCluster(), releaseClusters(), btAlignedObjectArray< T >::reserve(), btAlignedObjectArray< T >::resize(), SIMD_EPSILON, btAlignedObjectArray< T >::size(), updateClusters(), and simple_enum_gen::w.

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

Definition at line 927 of file btSoftBody.h.

References m_bounds.

Referenced by btSoftBodyTriangleCallback::setTimeStepAndCounters(), and CcdPhysicsController::SynchronizeMotionStates().

btScalar btSoftBody::getMass ( int node ) const

Definition at line 492 of file btSoftBody.cpp.

References m_nodes.

Referenced by getTotalMass(), and refine().

btSoftBodySolver* btSoftBody::getSoftBodySolver ( ) [inline]

Definition at line 892 of file btSoftBody.h.

References m_softBodySolver.

Referenced by btSoftRigidCollisionAlgorithm::processCollision(), and btSoftSoftCollisionAlgorithm::processCollision().

btSoftBodySolver* btSoftBody::getSoftBodySolver ( ) const [inline]

Definition at line 900 of file btSoftBody.h.

References m_softBodySolver.

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

Definition at line 2871 of file btSoftBody.cpp.

References btSoftBody::ePSolver::Anchors, btSoftBody::ePSolver::Linear, PSolve_Anchors(), PSolve_Links(), PSolve_RContacts(), PSolve_SContacts(), btSoftBody::ePSolver::RContacts, and btSoftBody::ePSolver::SContacts.

Referenced by solveConstraints(), and staticSolve().

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

Definition at line 2891 of file btSoftBody.cpp.

References btSoftBody::eVSolver::Linear, and VSolve_Links().

btScalar btSoftBody::getTotalMass ( ) const

Definition at line 498 of file btSoftBody.cpp.

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

Referenced by setPose(), and setTotalMass().

btScalar btSoftBody::getVolume ( ) const

Definition at line 707 of file btSoftBody.cpp.

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

Referenced by applyForces(), setPose(), and setTotalDensity().

const btVector3 & btSoftBody::getWindVelocity ( )

Return the wind velocity for interaction with the air.

Definition at line 3001 of file btSoftBody.cpp.

References m_windVelocity.

btSoftBodyWorldInfo* btSoftBody::getWorldInfo ( ) [inline]

Definition at line 688 of file btSoftBody.h.

References m_worldInfo.

Referenced by btSoftBodyTriangleCallback::clearCache().

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

Definition at line 1863 of file btSoftBody.cpp.

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

Referenced by appendNode().

void btSoftBody::initDefaults ( )

for now, create a collision shape internally

Definition at line 61 of file btSoftBody.cpp.

Referenced by btSoftBody().

void btSoftBody::initializeClusters ( )

void btSoftBody::initializeFaceTree ( )

Definition at line 1954 of file btSoftBody.cpp.

References btDbvt::clear(), i, btDbvt::insert(), m_faces, m_fdbvt, btSoftBody::Face::m_leaf, btAlignedObjectArray< T >::size(), and VolumeOf().

Referenced by predictMotion(), and rayTest().

void btSoftBody::integrateMotion ( )

Definition at line 1753 of file btSoftBody.cpp.

References updateNormals().

Referenced by btDefaultSoftBodySolver::updateSoftBodies().

void btSoftBody::pointersToIndices ( )

Definition at line 1820 of file btSoftBody.cpp.

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

Referenced by appendNode().

void btSoftBody::predictMotion ( btScalar dt )

Definition at line 1520 of file btSoftBody.cpp.

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

Referenced by btDefaultSoftBodySolver::predictMotion().

void btSoftBody::prepareClusters ( int iterations )

Definition at line 2356 of file btSoftBody.cpp.

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

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

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

Definition at line 2836 of file btSoftBody.cpp.

References i, len(), btSoftBody::Link::m_c0, btSoftBody::Link::m_c1, btSoftBody::Node::m_im, m_links, btSoftBody::Link::m_n, btSoftBody::Node::m_x, SIMD_EPSILON, and btAlignedObjectArray< T >::size().

Referenced by getSolver().

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

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

Definition at line 2803 of file btSoftBody.cpp.

References BaryEval(), btDot(), dot(), i, btSoftBody::SContact::m_cfm, btSoftBody::SContact::m_face, btSoftBody::SContact::m_friction, btSoftBody::SContact::m_margin, btSoftBody::Face::m_n, btSoftBody::SContact::m_node, btSoftBody::SContact::m_normal, btSoftBody::Node::m_q, m_scontacts, btSoftBody::SContact::m_weights, btSoftBody::Node::m_x, p, ProjectOnPlane(), and btAlignedObjectArray< T >::size().

Referenced by getSolver().

void btSoftBody::randomizeConstraints ( )

Definition at line 939 of file btSoftBody.cpp.

References btSwap(), i, m_faces, m_links, NEXTRAND, and btAlignedObjectArray< T >::size().

Referenced by btSoftBodyHelpers::CreateFromConvexHull(), and btSoftBodyHelpers::CreateFromTriMesh().

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

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

Definition at line 1478 of file btSoftBody.cpp.

References btSoftBody::sRayCast::body, btDbvt::empty(), btSoftBody::sRayCast::feature, btSoftBody::sRayCast::fraction, btSoftBody::sRayCast::index, initializeFaceTree(), m_faces, m_fdbvt, btSoftBody::eFeature::None, and btAlignedObjectArray< T >::size().

Referenced by rayTest(), and btSoftRigidDynamicsWorld::rayTestSingle().

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