SoftBodyMotionProperties Class Reference

This class contains the runtime information of a soft body. More...

#include <SoftBodyMotionProperties.h>

Inheritance diagram for SoftBodyMotionProperties:

Public Types
enum class	EStatus { NoWork = 1 << 0 , DidWork = 1 << 1 , Done = 1 << 2 }
	Return code for ParallelUpdate. More...
using	Vertex = SoftBodyVertex
using	Edge = SoftBodySharedSettings::Edge
using	Face = SoftBodySharedSettings::Face
using	DihedralBend = SoftBodySharedSettings::DihedralBend
using	Volume = SoftBodySharedSettings::Volume
using	InvBind = SoftBodySharedSettings::InvBind
using	SkinWeight = SoftBodySharedSettings::SkinWeight
using	Skinned = SoftBodySharedSettings::Skinned
using	LRA = SoftBodySharedSettings::LRA

Public Member Functions
void	Initialize (const SoftBodyCreationSettings &inSettings)
	Initialize the soft body motion properties.
const SoftBodySharedSettings *	GetSettings () const
	Get the shared settings of the soft body.
const Array< Vertex > &	GetVertices () const
	Get the vertices of the soft body.
Array< Vertex > &	GetVertices ()
const Vertex &	GetVertex (uint inIndex) const
	Access an individual vertex.
Vertex &	GetVertex (uint inIndex)
const PhysicsMaterialList &	GetMaterials () const
	Get the materials of the soft body.
const Array< Face > &	GetFaces () const
	Get the faces of the soft body.
const Face &	GetFace (uint inIndex) const
	Access to an individual face.
uint32	GetNumIterations () const
	Get the number of solver iterations.
void	SetNumIterations (uint32 inNumIterations)
float	GetPressure () const
	Get the pressure of the soft body.
void	SetPressure (float inPressure)
bool	GetUpdatePosition () const
	Update the position of the body while simulating (set to false for something that is attached to the static world)
void	SetUpdatePosition (bool inUpdatePosition)
bool	GetEnableSkinConstraints () const
	Global setting to turn on/off skin constraints.
void	SetEnableSkinConstraints (bool inEnableSkinConstraints)
float	GetSkinnedMaxDistanceMultiplier () const
	Multiplier applied to Skinned::mMaxDistance to allow tightening or loosening of the skin constraints. 0 to hard skin all vertices.
void	SetSkinnedMaxDistanceMultiplier (float inSkinnedMaxDistanceMultiplier)
const AABox &	GetLocalBounds () const
	Get local bounding box.
float	GetVolume () const
	Get the volume of the soft body. Note can become negative if the shape is inside out!
void	CalculateMassAndInertia ()
	Calculate the total mass and inertia of this body based on the current state of the vertices.
void	DrawVertices (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform) const
	Draw the state of a soft body.
void	DrawVertexVelocities (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform) const
void	DrawEdgeConstraints (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
void	DrawBendConstraints (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
void	DrawVolumeConstraints (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
void	DrawSkinConstraints (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
void	DrawLRAConstraints (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
void	DrawPredictedBounds (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform) const
void	SaveState (StateRecorder &inStream) const
	Saving state for replay.
void	RestoreState (StateRecorder &inStream)
	Restoring state for replay.
void	SkinVertices (RMat44Arg inCenterOfMassTransform, const Mat44 *inJointMatrices, uint inNumJoints, bool inHardSkinAll, TempAllocator &ioTempAllocator)
void	CustomUpdate (float inDeltaTime, Body &ioSoftBody, PhysicsSystem &inSystem)
void	InitializeUpdateContext (float inDeltaTime, Body &inSoftBody, const PhysicsSystem &inSystem, SoftBodyUpdateContext &ioContext)
	Initialize the update context. Not part of the public API.
void	DetermineCollidingShapes (const SoftBodyUpdateContext &inContext, const PhysicsSystem &inSystem, const BodyLockInterface &inBodyLockInterface)
	Do a broad phase check and collect all bodies that can possibly collide with this soft body. Not part of the public API.
EStatus	ParallelUpdate (SoftBodyUpdateContext &ioContext, const PhysicsSettings &inPhysicsSettings)
	Update the soft body, will process a batch of work. Not part of the public API.
void	UpdateRigidBodyVelocities (const SoftBodyUpdateContext &inContext, BodyInterface &inBodyInterface)
	Update the velocities of all rigid bodies that we collided with. Not part of the public API.
Public Member Functions inherited from MotionProperties
JPH_OVERRIDE_NEW_DELETE EMotionQuality	GetMotionQuality () const
	Motion quality, or how well it detects collisions when it has a high velocity.
EAllowedDOFs	GetAllowedDOFs () const
	Get the allowed degrees of freedom that this body has (this can be changed by calling SetMassProperties)
bool	GetAllowSleeping () const
	If this body can go to sleep.
Vec3	GetLinearVelocity () const
	Get world space linear velocity of the center of mass.
void	SetLinearVelocity (Vec3Arg inLinearVelocity)
	Set world space linear velocity of the center of mass.
void	SetLinearVelocityClamped (Vec3Arg inLinearVelocity)
	Set world space linear velocity of the center of mass, will make sure the value is clamped against the maximum linear velocity.
Vec3	GetAngularVelocity () const
	Get world space angular velocity of the center of mass.
void	SetAngularVelocity (Vec3Arg inAngularVelocity)
	Set world space angular velocity of the center of mass.
void	SetAngularVelocityClamped (Vec3Arg inAngularVelocity)
	Set world space angular velocity of the center of mass, will make sure the value is clamped against the maximum angular velocity.
void	MoveKinematic (Vec3Arg inDeltaPosition, QuatArg inDeltaRotation, float inDeltaTime)
	Set velocity of body such that it will be rotate/translate by inDeltaPosition/Rotation in inDeltaTime seconds.
void	ClampLinearVelocity ()
	Clamp velocity according to limit.
void	ClampAngularVelocity ()
float	GetLinearDamping () const
	Get linear damping: dv/dt = -c * v. c must be between 0 and 1 but is usually close to 0.
void	SetLinearDamping (float inLinearDamping)
float	GetAngularDamping () const
	Get angular damping: dw/dt = -c * w. c must be between 0 and 1 but is usually close to 0.
void	SetAngularDamping (float inAngularDamping)
float	GetGravityFactor () const
	Get gravity factor (1 = normal gravity, 0 = no gravity)
void	SetGravityFactor (float inGravityFactor)
void	SetMassProperties (EAllowedDOFs inAllowedDOFs, const MassProperties &inMassProperties)
	Set the mass and inertia tensor.
float	GetInverseMass () const
	Get inverse mass (1 / mass). Should only be called on a dynamic object (static or kinematic bodies have infinite mass so should be treated as 1 / mass = 0)
float	GetInverseMassUnchecked () const
void	SetInverseMass (float inInverseMass)
Vec3	GetInverseInertiaDiagonal () const
	Diagonal of inverse inertia matrix: D. Should only be called on a dynamic object (static or kinematic bodies have infinite mass so should be treated as D = 0)
Quat	GetInertiaRotation () const
	Rotation (R) that takes inverse inertia diagonal to local space: \(I_{body}^{-1} = R \: D \: R^{-1}\).
void	SetInverseInertia (Vec3Arg inDiagonal, QuatArg inRot)
void	ScaleToMass (float inMass)
Mat44	GetLocalSpaceInverseInertia () const
	Get inverse inertia matrix ( \(I_{body}^{-1}\)). Will be a matrix of zeros for a static or kinematic object.
Mat44	GetLocalSpaceInverseInertiaUnchecked () const
	Same as GetLocalSpaceInverseInertia() but doesn't check if the body is dynamic.
Mat44	GetInverseInertiaForRotation (Mat44Arg inRotation) const
	Get inverse inertia matrix ( \(I^{-1}\)) for a given object rotation (translation will be ignored). Zero if object is static or kinematic.
JPH_INLINE Vec3	MultiplyWorldSpaceInverseInertiaByVector (QuatArg inBodyRotation, Vec3Arg inV) const
	Multiply a vector with the inverse world space inertia tensor ( \(I_{world}^{-1}\)). Zero if object is static or kinematic.
JPH_INLINE Vec3	GetPointVelocityCOM (Vec3Arg inPointRelativeToCOM) const
	Velocity of point inPoint (in center of mass space, e.g. on the surface of the body) of the body (unit: m/s)
JPH_INLINE Vec3	GetAccumulatedForce () const
JPH_INLINE Vec3	GetAccumulatedTorque () const
JPH_INLINE void	ResetForce ()
JPH_INLINE void	ResetTorque ()
JPH_INLINE void	ResetMotion ()
JPH_INLINE UVec4	GetLinearDOFsMask () const
	Returns a vector where the linear components that are not allowed by mAllowedDOFs are set to 0 and the rest to 0xffffffff.
JPH_INLINE Vec3	LockTranslation (Vec3Arg inV) const
	Takes a translation vector inV and returns a vector where the components that are not allowed by mAllowedDOFs are set to 0.
JPH_INLINE UVec4	GetAngularDOFsMask () const
	Returns a vector where the angular components that are not allowed by mAllowedDOFs are set to 0 and the rest to 0xffffffff.
JPH_INLINE Vec3	LockAngular (Vec3Arg inV) const
	Takes an angular velocity / torque vector inV and returns a vector where the components that are not allowed by mAllowedDOFs are set to 0.
void	SetNumVelocityStepsOverride (uint inN)
	Used only when this body is dynamic and colliding. Override for the number of solver velocity iterations to run, 0 means use the default in PhysicsSettings::mNumVelocitySteps. The number of iterations to use is the max of all contacts and constraints in the island.
uint	GetNumVelocityStepsOverride () const
void	SetNumPositionStepsOverride (uint inN)
	Used only when this body is dynamic and colliding. Override for the number of solver position iterations to run, 0 means use the default in PhysicsSettings::mNumPositionSteps. The number of iterations to use is the max of all contacts and constraints in the island.
uint	GetNumPositionStepsOverride () const
void	ApplyGyroscopicForceInternal (QuatArg inBodyRotation, float inDeltaTime)
	Apply the gyroscopic force (aka Dzhanibekov effect, see https://en.wikipedia.org/wiki/Tennis_racket_theorem)
void	ApplyForceTorqueAndDragInternal (QuatArg inBodyRotation, Vec3Arg inGravity, float inDeltaTime)
	Apply all accumulated forces, torques and drag (should only be called by the PhysicsSystem)
uint32	GetIslandIndexInternal () const
	Access to the island index.
void	SetIslandIndexInternal (uint32 inIndex)
uint32	GetIndexInActiveBodiesInternal () const
	Access to the index in the active bodies array.
void	ResetSleepTestSpheres (const RVec3 *inPoints)
	Reset spheres to center around inPoints with radius 0.
void	ResetSleepTestTimer ()
	Reset the sleep test timer without resetting the sleep test spheres.
ECanSleep	AccumulateSleepTime (float inDeltaTime, float inTimeBeforeSleep)
	Accumulate sleep time and return if a body can go to sleep.
void	SaveState (StateRecorder &inStream) const
	Saving state for replay.
void	RestoreState (StateRecorder &inStream)
	Restoring state for replay.
float	GetMaxLinearVelocity () const
	Maximum linear velocity that a body can achieve. Used to prevent the system from exploding.
void	SetMaxLinearVelocity (float inLinearVelocity)
float	GetMaxAngularVelocity () const
	Maximum angular velocity that a body can achieve. Used to prevent the system from exploding.
void	SetMaxAngularVelocity (float inAngularVelocity)
void	AddLinearVelocityStep (Vec3Arg inLinearVelocityChange)
void	SubLinearVelocityStep (Vec3Arg inLinearVelocityChange)
void	AddAngularVelocityStep (Vec3Arg inAngularVelocityChange)
void	SubAngularVelocityStep (Vec3Arg inAngularVelocityChange)

Friends
class	SoftBodyManifold

Additional Inherited Members
Static Public Attributes inherited from MotionProperties
static constexpr uint32	cInactiveIndex = uint32(-1)
	Constant indicating that body is not active.

Detailed Description

This class contains the runtime information of a soft body.

Member Typedef Documentation

DihedralBend

using SoftBodyMotionProperties::DihedralBend = SoftBodySharedSettings::DihedralBend

Edge

using SoftBodyMotionProperties::Edge = SoftBodySharedSettings::Edge

Face

using SoftBodyMotionProperties::Face = SoftBodySharedSettings::Face

InvBind

using SoftBodyMotionProperties::InvBind = SoftBodySharedSettings::InvBind

LRA

using SoftBodyMotionProperties::LRA = SoftBodySharedSettings::LRA

Skinned

using SoftBodyMotionProperties::Skinned = SoftBodySharedSettings::Skinned

SkinWeight

using SoftBodyMotionProperties::SkinWeight = SoftBodySharedSettings::SkinWeight

Vertex

using SoftBodyMotionProperties::Vertex = SoftBodyVertex

Volume

using SoftBodyMotionProperties::Volume = SoftBodySharedSettings::Volume

Member Enumeration Documentation

EStatus

enum class SoftBodyMotionProperties::EStatus

strong

Return code for ParallelUpdate.

Enumerator
NoWork	No work was done because other threads were still working on a batch that cannot run concurrently.
DidWork	Work was done to progress the update.
Done	All work is done.

Member Function Documentation

CalculateMassAndInertia()

void SoftBodyMotionProperties::CalculateMassAndInertia

(

)

Calculate the total mass and inertia of this body based on the current state of the vertices.

CustomUpdate()

void SoftBodyMotionProperties::CustomUpdate	(	float	inDeltaTime,
		Body &	ioSoftBody,
		PhysicsSystem &	inSystem
	)

This function allows you to update the soft body immediately without going through the PhysicsSystem. This is useful if the soft body is teleported and needs to 'settle' or it can be used if a the soft body is not added to the PhysicsSystem and needs to be updated manually. One reason for not adding it to the PhysicsSystem is that you might want to update a soft body immediately after updating an animated object that has the soft body attached to it. If the soft body is added to the PhysicsSystem it will be updated by it, so calling this function will effectively update it twice. Note that when you use this function, only the current thread will be used, whereas if you update through the PhysicsSystem, multiple threads may be used. Note that this will bypass any sleep checks. Since the dynamic objects that the soft body touches will not move during this call, there can be simulation artifacts if you call this function multiple times without running the physics simulation step.

DetermineCollidingShapes()

void SoftBodyMotionProperties::DetermineCollidingShapes	(	const SoftBodyUpdateContext &	inContext,
		const PhysicsSystem &	inSystem,
		const BodyLockInterface &	inBodyLockInterface
	)

Do a broad phase check and collect all bodies that can possibly collide with this soft body. Not part of the public API.

DrawBendConstraints()

void SoftBodyMotionProperties::DrawBendConstraints	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform,
		ESoftBodyConstraintColor	inConstraintColor
	)		const

DrawEdgeConstraints()

void SoftBodyMotionProperties::DrawEdgeConstraints	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform,
		ESoftBodyConstraintColor	inConstraintColor
	)		const

DrawLRAConstraints()

void SoftBodyMotionProperties::DrawLRAConstraints	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform,
		ESoftBodyConstraintColor	inConstraintColor
	)		const

DrawPredictedBounds()

void SoftBodyMotionProperties::DrawPredictedBounds	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform
	)		const

DrawSkinConstraints()

void SoftBodyMotionProperties::DrawSkinConstraints	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform,
		ESoftBodyConstraintColor	inConstraintColor
	)		const

DrawVertexVelocities()

void SoftBodyMotionProperties::DrawVertexVelocities	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform
	)		const

DrawVertices()

void SoftBodyMotionProperties::DrawVertices	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform
	)		const

Draw the state of a soft body.

DrawVolumeConstraints()

void SoftBodyMotionProperties::DrawVolumeConstraints	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform,
		ESoftBodyConstraintColor	inConstraintColor
	)		const

GetEnableSkinConstraints()

bool SoftBodyMotionProperties::GetEnableSkinConstraints ( ) const

inline

Global setting to turn on/off skin constraints.

GetFace()

const Face & SoftBodyMotionProperties::GetFace ( uint  inIndex ) const

inline

Access to an individual face.

GetFaces()

const Array< Face > & SoftBodyMotionProperties::GetFaces ( ) const

inline

Get the faces of the soft body.

GetLocalBounds()

const AABox & SoftBodyMotionProperties::GetLocalBounds ( ) const

inline

Get local bounding box.

GetMaterials()

const PhysicsMaterialList & SoftBodyMotionProperties::GetMaterials ( ) const

inline

Get the materials of the soft body.

GetNumIterations()

uint32 SoftBodyMotionProperties::GetNumIterations ( ) const

inline

Get the number of solver iterations.

GetPressure()

float SoftBodyMotionProperties::GetPressure ( ) const

inline

Get the pressure of the soft body.

GetSettings()

const SoftBodySharedSettings * SoftBodyMotionProperties::GetSettings ( ) const

inline

Get the shared settings of the soft body.

GetSkinnedMaxDistanceMultiplier()

float SoftBodyMotionProperties::GetSkinnedMaxDistanceMultiplier ( ) const

inline

Multiplier applied to Skinned::mMaxDistance to allow tightening or loosening of the skin constraints. 0 to hard skin all vertices.

GetUpdatePosition()

bool SoftBodyMotionProperties::GetUpdatePosition ( ) const

inline

Update the position of the body while simulating (set to false for something that is attached to the static world)

GetVertex() [1/2]

Vertex & SoftBodyMotionProperties::GetVertex ( uint  inIndex )

inline

GetVertex() [2/2]

const Vertex & SoftBodyMotionProperties::GetVertex ( uint  inIndex ) const

inline

Access an individual vertex.

GetVertices() [1/2]

Array< Vertex > & SoftBodyMotionProperties::GetVertices ( )

inline

GetVertices() [2/2]

const Array< Vertex > & SoftBodyMotionProperties::GetVertices ( ) const

inline

Get the vertices of the soft body.

GetVolume()

float SoftBodyMotionProperties::GetVolume ( ) const

inline

Get the volume of the soft body. Note can become negative if the shape is inside out!

Initialize()

void SoftBodyMotionProperties::Initialize

(

const SoftBodyCreationSettings &

inSettings

)

Initialize the soft body motion properties.

InitializeUpdateContext()

void SoftBodyMotionProperties::InitializeUpdateContext	(	float	inDeltaTime,
		Body &	inSoftBody,
		const PhysicsSystem &	inSystem,
		SoftBodyUpdateContext &	ioContext
	)

Initialize the update context. Not part of the public API.

ParallelUpdate()

SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelUpdate	(	SoftBodyUpdateContext &	ioContext,
		const PhysicsSettings &	inPhysicsSettings
	)

Update the soft body, will process a batch of work. Not part of the public API.

RestoreState()

void SoftBodyMotionProperties::RestoreState

(

StateRecorder &

inStream

)

Restoring state for replay.

SaveState()

void SoftBodyMotionProperties::SaveState

(

StateRecorder &

inStream

)

const

Saving state for replay.

SetEnableSkinConstraints()

void SoftBodyMotionProperties::SetEnableSkinConstraints ( bool  inEnableSkinConstraints )

inline

SetNumIterations()

void SoftBodyMotionProperties::SetNumIterations ( uint32  inNumIterations )

inline

SetPressure()

void SoftBodyMotionProperties::SetPressure ( float  inPressure )

inline

SetSkinnedMaxDistanceMultiplier()

void SoftBodyMotionProperties::SetSkinnedMaxDistanceMultiplier ( float  inSkinnedMaxDistanceMultiplier )

inline

SetUpdatePosition()

void SoftBodyMotionProperties::SetUpdatePosition ( bool  inUpdatePosition )

inline

SkinVertices()

void SoftBodyMotionProperties::SkinVertices	(	RMat44Arg	inCenterOfMassTransform,
		const Mat44 *	inJointMatrices,
		uint	inNumJoints,
		bool	inHardSkinAll,
		TempAllocator &	ioTempAllocator
	)

Skin vertices to supplied joints, information is used by the skinned constraints.

Parameters

inCenterOfMassTransform	Value of Body::GetCenterOfMassTransform().
inJointMatrices	The joint matrices must be expressed relative to inCenterOfMassTransform.
inNumJoints	Indicates how large the inJointMatrices array is (used only for validating out of bounds).
inHardSkinAll	Can be used to position all vertices on the skinned vertices and can be used to hard reset the soft body.
ioTempAllocator	Allocator.

UpdateRigidBodyVelocities()

void SoftBodyMotionProperties::UpdateRigidBodyVelocities	(	const SoftBodyUpdateContext &	inContext,
		BodyInterface &	inBodyInterface
	)

Update the velocities of all rigid bodies that we collided with. Not part of the public API.

Friends And Related Symbol Documentation

SoftBodyManifold

friend class SoftBodyManifold

friend

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

• Jolt/Physics/SoftBody/SoftBodyMotionProperties.h
• Jolt/Physics/SoftBody/SoftBodyMotionProperties.cpp