#include <btDeformableBodySolver.h>

Inheritance diagram for btDeformableBodySolver:

Collaboration diagram for btDeformableBodySolver:

[legend]

Public Member Functions
	btDeformableBodySolver ()

virtual	~btDeformableBodySolver ()

virtual SolverTypes	getSolverType () const
	Return the type of the solver.

virtual void	updateSoftBodies ()
	Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes.

virtual btScalar	solveContactConstraints (btCollisionObject **deformableBodies, int numDeformableBodies, const btContactSolverInfo &infoGlobal)

virtual void	solveDeformableConstraints (btScalar solverdt)

void	reinitialize (const btAlignedObjectArray< btSoftBody * > &softBodies, btScalar dt)

void	setConstraints (const btContactSolverInfo &infoGlobal)

virtual void	predictMotion (btScalar solverdt)
	Predict motion of soft bodies into next timestep.

void	predictDeformableMotion (btSoftBody *psb, btScalar dt)

void	backupVelocity ()

void	setupDeformableSolve (bool implicit)

void	revertVelocity ()

void	updateVelocity ()

bool	updateNodes ()

void	computeStep (TVStack &ddv, const TVStack &residual)

btScalar	computeDescentStep (TVStack &ddv, const TVStack &residual, bool verbose=false)

virtual void	copySoftBodyToVertexBuffer (const btSoftBody const softBody, btVertexBufferDescriptor vertexBuffer)

virtual void	processCollision (btSoftBody softBody, const btCollisionObjectWrapper collisionObjectWrap)

virtual void	processCollision (btSoftBody softBody, btSoftBody otherSoftBody)
	Process a collision between two soft bodies.

void	setImplicit (bool implicit)

void	setLineSearch (bool lineSearch)

void	updateState ()

void	updateDv (btScalar scale=1)

void	updateTempPosition ()

void	backupDv ()

void	revertDv ()

void	updateEnergy (btScalar scale)

btScalar	kineticEnergy ()

virtual void	optimize (btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate=false)
	Optimize soft bodies in this solver.

virtual void	solveConstraints (btScalar dt)
	Solve constraints for a set of soft bodies.

virtual bool	checkInitialized ()
	Ensure that this solver is initialized.

virtual void	copyBackToSoftBodies (bool bMove=true)
	Copy necessary data back to the original soft body source objects.

Public Member Functions inherited from btSoftBodySolver
	btSoftBodySolver ()

virtual	~btSoftBodySolver ()

virtual void	processCollision (btSoftBody , const struct btCollisionObjectWrapper )=0
	Process a collision between one of the world's soft bodies and another collision object.

virtual void	setNumberOfPositionIterations (int iterations)
	Set the number of velocity constraint solver iterations this solver uses.

virtual int	getNumberOfPositionIterations ()
	Get the number of velocity constraint solver iterations this solver uses.

virtual void	setNumberOfVelocityIterations (int iterations)
	Set the number of velocity constraint solver iterations this solver uses.

virtual int	getNumberOfVelocityIterations ()
	Get the number of velocity constraint solver iterations this solver uses.

float	getTimeScale ()
	Return the timescale that the simulation is using.

Public Attributes
btDeformableBackwardEulerObjective *	m_objective

bool	m_useProjection

Protected Attributes
int	m_numNodes

TVStack	m_dv

TVStack	m_backup_dv

TVStack	m_ddv

TVStack	m_residual

btAlignedObjectArray< btSoftBody * >	m_softBodies

TVStack	m_backupVelocity

btScalar	m_dt

btConjugateGradient< btDeformableBackwardEulerObjective >	m_cg

btConjugateResidual< btDeformableBackwardEulerObjective >	m_cr

bool	m_implicit

int	m_maxNewtonIterations

btScalar	m_newtonTolerance

bool	m_lineSearch

Protected Attributes inherited from btSoftBodySolver
int	m_numberOfPositionIterations

int	m_numberOfVelocityIterations

float	m_timeScale

Private Types
typedef btAlignedObjectArray< btVector3 >	TVStack

Additional Inherited Members
Public Types inherited from btSoftBodySolver
enum	SolverTypes { DEFAULT_SOLVER , CPU_SOLVER , CL_SOLVER , CL_SIMD_SOLVER , DX_SOLVER , DX_SIMD_SOLVER , DEFORMABLE_SOLVER }

Detailed Description

Definition at line 30 of file btDeformableBodySolver.h.

Member Typedef Documentation

◆ TVStack

typedef btAlignedObjectArray<btVector3> btDeformableBodySolver::TVStack

private

Definition at line 32 of file btDeformableBodySolver.h.

Constructor & Destructor Documentation

◆ btDeformableBodySolver()

btDeformableBodySolver::btDeformableBodySolver ( )

Definition at line 22 of file btDeformableBodySolver.cpp.

◆ ~btDeformableBodySolver()

btDeformableBodySolver::~btDeformableBodySolver ( )

virtual

Definition at line 28 of file btDeformableBodySolver.cpp.

Member Function Documentation

◆ backupDv()

void btDeformableBodySolver::backupDv ( )

Definition at line 139 of file btDeformableBodySolver.cpp.

◆ backupVelocity()

void btDeformableBodySolver::backupVelocity ( )

Definition at line 316 of file btDeformableBodySolver.cpp.

◆ checkInitialized()

virtual bool btDeformableBodySolver::checkInitialized ( )

inlinevirtual

Ensure that this solver is initialized.

Implements btSoftBodySolver.

Definition at line 156 of file btDeformableBodySolver.h.

◆ computeDescentStep()

btScalar btDeformableBodySolver::computeDescentStep	(	TVStack &	ddv,
		const TVStack &	residual,
		bool	verbose = `false`
	)

Definition at line 165 of file btDeformableBodySolver.cpp.

◆ computeStep()

void btDeformableBodySolver::computeStep	(	TVStack &	ddv,
		const TVStack &	residual
	)

Definition at line 213 of file btDeformableBodySolver.cpp.

◆ copyBackToSoftBodies()

virtual void btDeformableBodySolver::copyBackToSoftBodies ( bool bMove = true )

inlinevirtual

Copy necessary data back to the original soft body source objects.

Implements btSoftBodySolver.

Definition at line 157 of file btDeformableBodySolver.h.

◆ copySoftBodyToVertexBuffer()

virtual void btDeformableBodySolver::copySoftBodyToVertexBuffer	(	const btSoftBody *const	softBody,
		btVertexBufferDescriptor *	vertexBuffer
	)

inlinevirtual

Definition at line 105 of file btDeformableBodySolver.h.

◆ getSolverType()

virtual SolverTypes btDeformableBodySolver::getSolverType ( ) const

inlinevirtual

Return the type of the solver.

Implements btSoftBodySolver.

Definition at line 58 of file btDeformableBodySolver.h.

◆ kineticEnergy()

btScalar btDeformableBodySolver::kineticEnergy ( )

Definition at line 121 of file btDeformableBodySolver.cpp.

◆ optimize()

virtual void btDeformableBodySolver::optimize	(	btAlignedObjectArray< btSoftBody * > &	softBodies,
		bool	forceUpdate = `false`
	)

inlinevirtual

Optimize soft bodies in this solver.

Implements btSoftBodySolver.

Definition at line 154 of file btDeformableBodySolver.h.

◆ predictDeformableMotion()

void btDeformableBodySolver::predictDeformableMotion	(	btSoftBody *	psb,
		btScalar	dt
	)

Definition at line 417 of file btDeformableBodySolver.cpp.

◆ predictMotion()

void btDeformableBodySolver::predictMotion ( btScalar solverdt )

virtual

Predict motion of soft bodies into next timestep.

Implements btSoftBodySolver.

Definition at line 387 of file btDeformableBodySolver.cpp.

◆ processCollision() [1/2]

virtual void btDeformableBodySolver::processCollision	(	btSoftBody *	,
		btSoftBody *
	)

inlinevirtual

Process a collision between two soft bodies.

Implements btSoftBodySolver.

Definition at line 114 of file btDeformableBodySolver.h.

◆ processCollision() [2/2]

virtual void btDeformableBodySolver::processCollision	(	btSoftBody *	softBody,
		const btCollisionObjectWrapper *	collisionObjectWrap
	)

inlinevirtual

Definition at line 108 of file btDeformableBodySolver.h.

◆ reinitialize()

void btDeformableBodySolver::reinitialize	(	const btAlignedObjectArray< btSoftBody * > &	softBodies,
		btScalar	dt
	)

Definition at line 221 of file btDeformableBodySolver.cpp.

◆ revertDv()

void btDeformableBodySolver::revertDv ( )

Definition at line 148 of file btDeformableBodySolver.cpp.

◆ revertVelocity()

void btDeformableBodySolver::revertVelocity ( )

Definition at line 361 of file btDeformableBodySolver.cpp.

◆ setConstraints()

void btDeformableBodySolver::setConstraints ( const btContactSolverInfo & infoGlobal )

Definition at line 250 of file btDeformableBodySolver.cpp.

◆ setImplicit()

void btDeformableBodySolver::setImplicit ( bool implicit )

Definition at line 497 of file btDeformableBodySolver.cpp.

◆ setLineSearch()

void btDeformableBodySolver::setLineSearch ( bool lineSearch )

Definition at line 503 of file btDeformableBodySolver.cpp.

◆ setupDeformableSolve()

void btDeformableBodySolver::setupDeformableSolve ( bool implicit )

Definition at line 329 of file btDeformableBodySolver.cpp.

◆ solveConstraints()

virtual void btDeformableBodySolver::solveConstraints ( btScalar solverdt )

inlinevirtual

Solve constraints for a set of soft bodies.

Implements btSoftBodySolver.

Definition at line 155 of file btDeformableBodySolver.h.

◆ solveContactConstraints()

btScalar btDeformableBodySolver::solveContactConstraints	(	btCollisionObject **	deformableBodies,
		int	numDeformableBodies,
		const btContactSolverInfo &	infoGlobal
	)

virtual

Definition at line 256 of file btDeformableBodySolver.cpp.

◆ solveDeformableConstraints()

void btDeformableBodySolver::solveDeformableConstraints ( btScalar solverdt )

virtual

Definition at line 33 of file btDeformableBodySolver.cpp.

◆ updateDv()

void btDeformableBodySolver::updateDv ( btScalar scale = 1 )

Definition at line 205 of file btDeformableBodySolver.cpp.

◆ updateEnergy()

void btDeformableBodySolver::updateEnergy ( btScalar scale )

Definition at line 156 of file btDeformableBodySolver.cpp.

◆ updateNodes()

bool btDeformableBodySolver::updateNodes ( )

Definition at line 374 of file btDeformableBodySolver.cpp.

◆ updateSoftBodies()

void btDeformableBodySolver::updateSoftBodies ( )

virtual

Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes.

Implements btSoftBodySolver.

Definition at line 484 of file btDeformableBodySolver.cpp.

◆ updateState()

void btDeformableBodySolver::updateState ( )

Definition at line 199 of file btDeformableBodySolver.cpp.

◆ updateTempPosition()

void btDeformableBodySolver::updateTempPosition ( )

Definition at line 296 of file btDeformableBodySolver.cpp.

◆ updateVelocity()

void btDeformableBodySolver::updateVelocity ( )

Definition at line 263 of file btDeformableBodySolver.cpp.

Member Data Documentation

◆ m_backup_dv

TVStack btDeformableBodySolver::m_backup_dv

protected

Definition at line 37 of file btDeformableBodySolver.h.

◆ m_backupVelocity

TVStack btDeformableBodySolver::m_backupVelocity

protected

Definition at line 41 of file btDeformableBodySolver.h.

◆ m_cg

btConjugateGradient<btDeformableBackwardEulerObjective> btDeformableBodySolver::m_cg

protected

Definition at line 43 of file btDeformableBodySolver.h.

◆ m_cr

btConjugateResidual<btDeformableBackwardEulerObjective> btDeformableBodySolver::m_cr

protected

Definition at line 44 of file btDeformableBodySolver.h.

◆ m_ddv

TVStack btDeformableBodySolver::m_ddv

protected

Definition at line 38 of file btDeformableBodySolver.h.

◆ m_dt

btScalar btDeformableBodySolver::m_dt

protected

Definition at line 42 of file btDeformableBodySolver.h.

◆ m_dv

TVStack btDeformableBodySolver::m_dv

protected

Definition at line 36 of file btDeformableBodySolver.h.

◆ m_implicit

bool btDeformableBodySolver::m_implicit

protected

Definition at line 45 of file btDeformableBodySolver.h.

◆ m_lineSearch

bool btDeformableBodySolver::m_lineSearch

protected

Definition at line 48 of file btDeformableBodySolver.h.

◆ m_maxNewtonIterations

int btDeformableBodySolver::m_maxNewtonIterations

protected

Definition at line 46 of file btDeformableBodySolver.h.

◆ m_newtonTolerance

btScalar btDeformableBodySolver::m_newtonTolerance

protected

Definition at line 47 of file btDeformableBodySolver.h.

◆ m_numNodes

int btDeformableBodySolver::m_numNodes

protected

Definition at line 35 of file btDeformableBodySolver.h.

◆ m_objective

btDeformableBackwardEulerObjective* btDeformableBodySolver::m_objective

Definition at line 51 of file btDeformableBodySolver.h.

◆ m_residual

TVStack btDeformableBodySolver::m_residual

protected

Definition at line 39 of file btDeformableBodySolver.h.

◆ m_softBodies

btAlignedObjectArray<btSoftBody*> btDeformableBodySolver::m_softBodies

protected

Definition at line 40 of file btDeformableBodySolver.h.

◆ m_useProjection

bool btDeformableBodySolver::m_useProjection

Definition at line 52 of file btDeformableBodySolver.h.

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

Public Member Functions

Public Attributes

Protected Attributes

Private Types

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ TVStack

Constructor & Destructor Documentation

◆ btDeformableBodySolver()

◆ ~btDeformableBodySolver()

Member Function Documentation

◆ backupDv()

◆ backupVelocity()

◆ checkInitialized()

◆ computeDescentStep()

◆ computeStep()

◆ copyBackToSoftBodies()

◆ copySoftBodyToVertexBuffer()

◆ getSolverType()

◆ kineticEnergy()

◆ optimize()

◆ predictDeformableMotion()

◆ predictMotion()

◆ processCollision() [1/2]

◆ processCollision() [2/2]

◆ reinitialize()

◆ revertDv()

◆ revertVelocity()

◆ setConstraints()

◆ setImplicit()

◆ setLineSearch()

◆ setupDeformableSolve()

◆ solveConstraints()

◆ solveContactConstraints()

◆ solveDeformableConstraints()

◆ updateDv()

◆ updateEnergy()

◆ updateNodes()

◆ updateSoftBodies()

◆ updateState()

◆ updateTempPosition()

◆ updateVelocity()

Member Data Documentation

◆ m_backup_dv

◆ m_backupVelocity

◆ m_cg

◆ m_cr

◆ m_ddv

◆ m_dt

◆ m_dv

◆ m_implicit

◆ m_lineSearch

◆ m_maxNewtonIterations

◆ m_newtonTolerance

◆ m_numNodes

◆ m_objective

◆ m_residual

◆ m_softBodies

◆ m_useProjection