com.bonzaiengine.physics

Class SoftBody

java.lang.Object

com.bonzaiengine.physics.CollisionObject

com.bonzaiengine.physics.SoftBody

All Implemented Interfaces:

INative

public class SoftBody
extends CollisionObject

From Bullet: The btSoftBody is an class to simulate cloth and volumetric soft bodies. There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject.

Nested Class Summary

Nested classes/interfaces inherited from class com.bonzaiengine.physics.CollisionObject

CollisionObject.ActivationState

Field Summary

Fields

Modifier and Type	Field and Description
static int	CL_RS Cluster vs convex rigid vs soft
static int	CL_SELF Cluster soft body self collision
static int	CL_SS Cluster vs cluster soft vs soft handling
static int	RVSmask Rigid versus soft mask
static int	SDF_RS SDF based rigid vs soft
static int	SVSmask Soft versus soft mask
static int	VF_SS Vertex vs face soft vs soft handling

Method Summary

Modifier and Type	Method and Description
void	addForce(Vec3 force) Add force (or gravity) to the entire body
void	addVelocity(Vec3 velocity) Add velocity to the entire body
void	appendAnchor(int node, RigidBody body, Vec3 localPivot, boolean disableCollisionBetweenLinkedBodies, float influence)
void	appendAngularJoint(Vec3 axis, float erp, float cfm, float split, SoftBody body)
void	appendLinearJoint(Vec3 position, float erp, float cfm, float split, SoftBody body)
void	destroy() Must call CollisionObject.nSetUserPointer(long, CollisionObject) and destroy native objects
void	generateBendingConstraints(int distance) Generate bending constraints based on distance in the adjency graph
void	generateClusters(int k) Generate clusters (K-mean) generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle otherwise an approximation will be used (better performance)
float	getAnchorHardness()
float	getAngularStiffness(int material)
int	getCollisionInteractionFlags()
float	getDamping()
float	getDrag()
float	getDynamicFriction()
float	getKineticContactHardness()
float	getLift()
float	getLinearStiffness(int material)
float	getMaxVolumeRatio()
ModelInstance	getModelInstance()
int	getNumSolverClusterIterations()
int	getNumSolverDriftIterations()
int	getNumSolverPositionIterations()
int	getNumSolverVelocityIterations()
float	getPoseMatching()
float	getPressure()
float	getRigidContactHardness()
float	getSoftContactHardness()
float	getSoftKineticClusterHardness()
float	getSoftKineticClusterImpulseSplit()
float	getSoftRigidClusterHardness()
float	getSoftRigidClusterImpulseSplit()
float	getSoftSoftClusterHardness()
float	getSoftSoftClusterImpulseSplit()
float	getTimeScale()
float	getTotalMass()
float	getVelocityCorrection()
float	getVolume()
float	getVolumeConversation()
float	getVolumeStiffness(int material)
Vec3	getWindVelocity(Vec3 dst)
boolean	isAutoUpdate()
void	randomizeConstraints() Generate bending constraints based on distance in the adjency graph
void	setAnchorHardness(float anchorHardness) Anchors hardness [0,1].
void	setAngularStiffness(int material, float angularStiffness) Area/Angular stiffness coefficient [0,1].
void	setAutoUpdate(boolean autoUpdate)
void	setCollisionInteractionFlags(int collisionInteractionFlags) Collisions flags
void	setCollisionShape(CollisionShape shape)
void	setDamping(float damping) Damping coefficient [0,1].
void	setDrag(float drag) Drag coefficient [0,+inf].
void	setDynamicFriction(float dynamicFriction) Dynamic friction coefficient [0,1].
void	setKineticContactHardness(float kineticContactHardness) Kinetic contacts hardness [0,1].
void	setLift(float lift) Lift coefficient [0,+inf].
void	setLinearStiffness(int material, float linearStiffness) Linear stiffness coefficient [0,1].
void	setMaxVolumeRatio(float maxVolumeRatio) Maximum volume ratio for pose
void	setNumSolverClusterIterations(int numSolverClusterIterations) Cluster solver iterations.
void	setNumSolverDriftIterations(int numSolverDriftIterations) Drift solver iterations.
void	setNumSolverPositionIterations(int numSolverPositionIterations) Positions solver iterations.
void	setNumSolverVelocityIterations(int numSolverVelocityIterations) Velocities solver iterations.
void	setPose(boolean bvolume, boolean bframe) Set current state as pose
void	setPoseMatching(float poseMatching) Pose matching coefficient [0,1].
void	setPressure(float pressure) Pressure coefficient [-inf,+inf].
void	setRigidContactHardness(float rigidContactHardness) Rigid contacts hardness [0,1].
void	setSoftContactHardness(float softContactHardness) Soft contacts hardness [0,1].
void	setSoftKineticClusterHardness(float softKineticClusterHardness) Soft vs kinetic hardness [0,1] (cluster only).
void	setSoftKineticClusterImpulseSplit(float softKineticClusterImpulseSplit) Soft vs kinetic impulse split [0,1] (cluster only).
void	setSoftRigidClusterHardness(float softRigidClusterHardness) Soft vs rigid hardness [0,1] (cluster only).
void	setSoftRigidClusterImpulseSplit(float softRigidClusterImpulseSplit) Soft vs rigid impulse split [0,1] (cluster only).
void	setSoftSoftClusterHardness(float softSoftClusterHardness) Soft vs soft hardness [0,1] (cluster only).
void	setSoftSoftClusterImpulseSplit(float softSoftClusterImpulseSplit) Soft vs soft impulse split [0,1] (cluster only).
void	setTimeScale(float timeScale) Time scale
void	setTotalDensity(float density) Set total density
void	setTotalMass(float mass, boolean fromFaces) Set total mass (weighted by previous masses)
void	setUpdateMode(boolean updateTangents, boolean smoothTangents)
void	setVelocity(Vec3 velocity) Set velocity for the entire body
void	setVelocityCorrection(float velocityCorrection) Velocities correction factor (Baumgarte).
void	setVolumeConversation(float volumeConversation) Volume conversation coefficient [0,+inf].
void	setVolumeStiffness(int material, float volumeStiffness) Volume stiffness coefficient [0,1].
void	setWindVelocity(Vec3 velocity)
void	transform(Transform transform)
void	update(long timePassedMs)

Methods inherited from class com.bonzaiengine.physics.CollisionObject

activate, getActivationState, getCollisionShape, getFriction, getRestitution, getRollingFriction, getTransform, getUserObject, getWorldTransform, hasContactResponse, isActive, isKinematicObject, isStaticObject, setActivationState, setContactResponse, setFriction, setRestitution, setRollingFriction, setTransform, setTransform, setUserObject, setWorldTransform, setWorldTransform

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

RVSmask

public static final int RVSmask

Rigid versus soft mask

See Also:

Constant Field Values

SDF_RS

public static final int SDF_RS

SDF based rigid vs soft

See Also:

Constant Field Values

CL_RS

public static final int CL_RS

Cluster vs convex rigid vs soft

See Also:

Constant Field Values

SVSmask

public static final int SVSmask

Soft versus soft mask

See Also:

Constant Field Values

VF_SS

public static final int VF_SS

Vertex vs face soft vs soft handling

See Also:

Constant Field Values

CL_SS

public static final int CL_SS

Cluster vs cluster soft vs soft handling

See Also:

Constant Field Values

CL_SELF

public static final int CL_SELF

Cluster soft body self collision

See Also:

Constant Field Values

Method Detail

destroy

public final void destroy()

Description copied from class: CollisionObject

Must call CollisionObject.nSetUserPointer(long, CollisionObject) and destroy native objects

Specified by:

destroy in interface INative

Overrides:

destroy in class CollisionObject

See Also:

CollisionObject.nSetUserPointer(long, CollisionObject)

isAutoUpdate

public final boolean isAutoUpdate()

Returns:

true if PhysicWorld update the ModelInstance for this SoftBody inside PhysicWorld.update(long). Default value: true

setAutoUpdate

public final void setAutoUpdate(boolean autoUpdate)

See Also:

isAutoUpdate()

setUpdateMode

public final void setUpdateMode(boolean updateTangents,
                                boolean smoothTangents)

Parameters:

updateTangents - Update ModelInstance tangents. Default value: true

smoothTangents - Smooth tangents during update. Default value: true

update

public final void update(long timePassedMs)

getModelInstance

public final ModelInstance getModelInstance()

setCollisionShape

public void setCollisionShape(CollisionShape shape)

Overrides:

setCollisionShape in class CollisionObject

Parameters:

shape - new CollisionShape for this RigidBody

randomizeConstraints

public void randomizeConstraints()

Generate bending constraints based on distance in the adjency graph

generateBendingConstraints

public void generateBendingConstraints(int distance)

Generate bending constraints based on distance in the adjency graph

generateClusters

public void generateClusters(int k)

Generate clusters (K-mean)
generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle otherwise an approximation will be used (better performance)

setPose

public void setPose(boolean bvolume,
                    boolean bframe)

Set current state as pose

getVolume

public float getVolume()

Returns:

the volume

getTotalMass

public float getTotalMass()

Returns:

total mass

setTotalMass

public void setTotalMass(float mass,
                         boolean fromFaces)

Set total mass (weighted by previous masses)

Parameters:

fromFaces - default value: false

setTotalDensity

public void setTotalDensity(float density)

Set total density

transform

public void transform(Transform transform)

addForce

public void addForce(Vec3 force)

Add force (or gravity) to the entire body

addVelocity

public void addVelocity(Vec3 velocity)

Add velocity to the entire body

setVelocity

public void setVelocity(Vec3 velocity)

Set velocity for the entire body

getWindVelocity

public Vec3 getWindVelocity(Vec3 dst)

Returns:

the wind velocity for interaction with the air

setWindVelocity

public void setWindVelocity(Vec3 velocity)

getLinearStiffness

public float getLinearStiffness(int material)

setLinearStiffness

public void setLinearStiffness(int material,
                               float linearStiffness)

Linear stiffness coefficient [0,1]. Default value: 1

getVolumeStiffness

public float getVolumeStiffness(int material)

setVolumeStiffness

public void setVolumeStiffness(int material,
                               float volumeStiffness)

Volume stiffness coefficient [0,1]. Default value: 1

getAngularStiffness

public float getAngularStiffness(int material)

setAngularStiffness

public void setAngularStiffness(int material,
                                float angularStiffness)

Area/Angular stiffness coefficient [0,1]. Default value: 1

getVelocityCorrection

public float getVelocityCorrection()

setVelocityCorrection

public void setVelocityCorrection(float velocityCorrection)

Velocities correction factor (Baumgarte). Default value: 1

getDamping

public float getDamping()

setDamping

public void setDamping(float damping)

Damping coefficient [0,1]. Default value: 0

getDrag

public float getDrag()

setDrag

public void setDrag(float drag)

Drag coefficient [0,+inf]. Default value: 0

getLift

public float getLift()

setLift

public void setLift(float lift)

Lift coefficient [0,+inf]. Default value: 0

getPressure

public float getPressure()

setPressure

public void setPressure(float pressure)

Pressure coefficient [-inf,+inf]. Default value: 0

getVolumeConversation

public float getVolumeConversation()

setVolumeConversation

public void setVolumeConversation(float volumeConversation)

Volume conversation coefficient [0,+inf]. Default value: 0

getDynamicFriction

public float getDynamicFriction()

setDynamicFriction

public void setDynamicFriction(float dynamicFriction)

Dynamic friction coefficient [0,1]. Default value: 0.2

getPoseMatching

public float getPoseMatching()

setPoseMatching

public void setPoseMatching(float poseMatching)

Pose matching coefficient [0,1]. Default value: 0

getRigidContactHardness

public float getRigidContactHardness()

setRigidContactHardness

public void setRigidContactHardness(float rigidContactHardness)

Rigid contacts hardness [0,1]. Default value: 1

getKineticContactHardness

public float getKineticContactHardness()

setKineticContactHardness

public void setKineticContactHardness(float kineticContactHardness)

Kinetic contacts hardness [0,1]. Default value: 0.1

getSoftContactHardness

public float getSoftContactHardness()

setSoftContactHardness

public void setSoftContactHardness(float softContactHardness)

Soft contacts hardness [0,1]. Default value: 1

getAnchorHardness

public float getAnchorHardness()

setAnchorHardness

public void setAnchorHardness(float anchorHardness)

Anchors hardness [0,1]. Default value: 0.7

getNumSolverVelocityIterations

public int getNumSolverVelocityIterations()

setNumSolverVelocityIterations

public void setNumSolverVelocityIterations(int numSolverVelocityIterations)

Velocities solver iterations. Default value: 0

getNumSolverPositionIterations

public int getNumSolverPositionIterations()

setNumSolverPositionIterations

public void setNumSolverPositionIterations(int numSolverPositionIterations)

Positions solver iterations. Default value: 1

getNumSolverDriftIterations

public int getNumSolverDriftIterations()

setNumSolverDriftIterations

public void setNumSolverDriftIterations(int numSolverDriftIterations)

Drift solver iterations. Default value: 0

getNumSolverClusterIterations

public int getNumSolverClusterIterations()

setNumSolverClusterIterations

public void setNumSolverClusterIterations(int numSolverClusterIterations)

Cluster solver iterations. Default value: 4

getSoftRigidClusterHardness

public float getSoftRigidClusterHardness()

setSoftRigidClusterHardness

public void setSoftRigidClusterHardness(float softRigidClusterHardness)

Soft vs rigid hardness [0,1] (cluster only). Default value: 0.1

getSoftKineticClusterHardness

public float getSoftKineticClusterHardness()

setSoftKineticClusterHardness

public void setSoftKineticClusterHardness(float softKineticClusterHardness)

Soft vs kinetic hardness [0,1] (cluster only). Default value: 1

getSoftSoftClusterHardness

public float getSoftSoftClusterHardness()

setSoftSoftClusterHardness

public void setSoftSoftClusterHardness(float softSoftClusterHardness)

Soft vs soft hardness [0,1] (cluster only). Default value: 0.5

getSoftRigidClusterImpulseSplit

public float getSoftRigidClusterImpulseSplit()

setSoftRigidClusterImpulseSplit

public void setSoftRigidClusterImpulseSplit(float softRigidClusterImpulseSplit)

Soft vs rigid impulse split [0,1] (cluster only). Default value: 0.5

getSoftKineticClusterImpulseSplit

public float getSoftKineticClusterImpulseSplit()

setSoftKineticClusterImpulseSplit

public void setSoftKineticClusterImpulseSplit(float softKineticClusterImpulseSplit)

Soft vs kinetic impulse split [0,1] (cluster only). Default value: 0.5

getSoftSoftClusterImpulseSplit

public float getSoftSoftClusterImpulseSplit()

setSoftSoftClusterImpulseSplit

public void setSoftSoftClusterImpulseSplit(float softSoftClusterImpulseSplit)

Soft vs soft impulse split [0,1] (cluster only). Default value: 0.5

getCollisionInteractionFlags

public int getCollisionInteractionFlags()

setCollisionInteractionFlags

public void setCollisionInteractionFlags(int collisionInteractionFlags)

Collisions flags

See Also:

RVSmask, SDF_RS, CL_RS, SVSmask, VF_SS, CL_SS, CL_SELF

getTimeScale

public float getTimeScale()

setTimeScale

public void setTimeScale(float timeScale)

Time scale

getMaxVolumeRatio

public float getMaxVolumeRatio()

setMaxVolumeRatio

public void setMaxVolumeRatio(float maxVolumeRatio)

Maximum volume ratio for pose

appendAnchor

public void appendAnchor(int node,
                         RigidBody body,
                         Vec3 localPivot,
                         boolean disableCollisionBetweenLinkedBodies,
                         float influence)

Parameters:

influence - default value 1

appendLinearJoint

public void appendLinearJoint(Vec3 position,
                              float erp,
                              float cfm,
                              float split,
                              SoftBody body)

Parameters:

erp - default value 1

cfm - default value 1

split - default value 1

appendAngularJoint

public void appendAngularJoint(Vec3 axis,
                               float erp,
                               float cfm,
                               float split,
                               SoftBody body)

Parameters:

erp - default value 1

cfm - default value 1

split - default value 1