utility functions for use with PxSoftBody and subclasses More...

#include <PxSoftBodyExt.h>

Static Public Member Functions
static void	updateMass (PxSoftBody &softBody, const PxReal density, const PxReal maxInvMassRatio)
	Computes the SoftBody's vertex masses from the provided density and the volume of the tetrahedra.

static void	setMass (PxSoftBody &softBody, const PxReal mass, const PxReal maxInvMassRatio)
	Computes the SoftBody's vertex masses such that the sum of all masses is equal to the provided mass.

static void	transform (PxSoftBody &softBody, const PxTransform &transform, const PxReal scale)
	Transforms a SoftBody.

static void	updateEmbeddedCollisionMesh (PxSoftBody &softBody)
	Updates the collision mesh's vertex positions to match the simulation mesh's transformation and scale.

static void	commit (PxSoftBody &softBody, PxSoftBodyDataFlags flags, bool flush=false)
	Uploads prepared SoftBody data to the GPU. It ensures that the embedded collision mesh matches the simulation mesh's transformation and scale.

static PxSoftBodyMesh *	createSoftBodyMesh (const PxCookingParams &params, const PxSimpleTriangleMesh &surfaceMesh, PxU32 numVoxelsAlongLongestAABBAxis, PxInsertionCallback &insertionCallback, const bool validate=true)
	Creates a full SoftBody mesh matching the shape given as input. Uses a voxel mesh for FEM simulation and a surface-matching mesh for collision detection.

static PxSoftBodyMesh *	createSoftBodyMeshNoVoxels (const PxCookingParams &params, const PxSimpleTriangleMesh &surfaceMesh, PxInsertionCallback &insertionCallback, PxReal maxWeightRatioInTet=1.5f, const bool validate=true)
	Creates a full SoftBody mesh matching the shape given as input. Uses the same surface-matching mesh for collision detection and FEM simulation.

static PxSoftBody *	createSoftBodyFromMesh (PxSoftBodyMesh *softBodyMesh, const PxTransform &transform, const PxFEMSoftBodyMaterial &material, PxCudaContextManager &cudaContextManager, PxReal density=100.0f, PxU32 solverIterationCount=30, const PxFEMParameters &femParams=PxFEMParameters(), PxReal scale=1.0f)
	Creates a SoftBody instance from a SoftBody mesh.

static PxSoftBody *	createSoftBodyBox (const PxTransform &transform, const PxVec3 &boxDimensions, const PxFEMSoftBodyMaterial &material, PxCudaContextManager &cudaContextManager, PxReal maxEdgeLength=-1.0f, PxReal density=100.0f, PxU32 solverIterationCount=30, const PxFEMParameters &femParams=PxFEMParameters(), PxU32 numVoxelsAlongLongestAABBAxis=10, PxReal scale=1.0f)
	Creates a SoftBody instance with a box shape.

Detailed Description

utility functions for use with PxSoftBody and subclasses

Member Function Documentation

◆ commit()

void PxSoftBodyExt::commit	(	PxSoftBody &	softBody,
		PxSoftBodyDataFlags	flags,
		bool	flush = `false`
	)

static

Uploads prepared SoftBody data to the GPU. It ensures that the embedded collision mesh matches the simulation mesh's transformation and scale.

Parameters

[in]	softBody	The soft body which will perform the data upload
[in]	flags	Specifies which buffers the data transfer should include
[in]	flush	If set to true, the upload will get processed immediately, otherwise it will take place before the data is needed for calculations on the GPU

See also: PxSoftBody

◆ createSoftBodyBox()

PxSoftBody * PxSoftBodyExt::createSoftBodyBox	(	const PxTransform &	transform,
		const PxVec3 &	boxDimensions,
		const PxFEMSoftBodyMaterial &	material,
		PxCudaContextManager &	cudaContextManager,
		PxReal	maxEdgeLength = `-1.0f`,
		PxReal	density = `100.0f`,
		PxU32	solverIterationCount = `30`,
		const PxFEMParameters &	femParams = `PxFEMParameters()`,
		PxU32	numVoxelsAlongLongestAABBAxis = `10`,
		PxReal	scale = `1.0f`
	)

static

Creates a SoftBody instance with a box shape.

Parameters

[in]	transform	The transform that defines initial position and orientation of the SoftBody
[in]	boxDimensions	The dimensions (side lengths) of the box shape
[in]	material	The material
[in]	cudaContextManager	A cuda context manager
[in]	maxEdgeLength	The maximal length of a triangle edge. Subdivision will get applied until the edge length criteria is matched. -1 means no subdivision is applied.
[in]	density	The density used to compute the mass properties
[in]	solverIterationCount	The number of iterations the solver should apply during simulation
[in]	femParams	Additional parameters to specify e. g. damping
[in]	numVoxelsAlongLongestAABBAxis	The number of voxels to use for the simulation mesh along the longest bounding box dimension
[in]	scale	The scaling of the SoftBody

Returns: SoftBody instance

See also: PxSoftBodyMesh, PxSoftBody

◆ createSoftBodyFromMesh()

PxSoftBody * PxSoftBodyExt::createSoftBodyFromMesh	(	PxSoftBodyMesh *	softBodyMesh,
		const PxTransform &	transform,
		const PxFEMSoftBodyMaterial &	material,
		PxCudaContextManager &	cudaContextManager,
		PxReal	density = `100.0f`,
		PxU32	solverIterationCount = `30`,
		const PxFEMParameters &	femParams = `PxFEMParameters()`,
		PxReal	scale = `1.0f`
	)

static

Creates a SoftBody instance from a SoftBody mesh.

Parameters

[in]	softBodyMesh	The SoftBody mesh
[in]	transform	The transform that defines initial position and orientation of the SoftBody
[in]	material	The material
[in]	cudaContextManager	A cuda context manager
[in]	density	The density used to compute the mass properties
[in]	solverIterationCount	The number of iterations the solver should apply during simulation
[in]	femParams	Additional parameters to specify e. g. damping
[in]	scale	The scaling of the SoftBody

Returns: SoftBody instance

See also: PxSoftBodyMesh, PxSoftBody

◆ createSoftBodyMesh()

PxSoftBodyMesh * PxSoftBodyExt::createSoftBodyMesh	(	const PxCookingParams &	params,
		const PxSimpleTriangleMesh &	surfaceMesh,
		PxU32	numVoxelsAlongLongestAABBAxis,
		PxInsertionCallback &	insertionCallback,
		const bool	validate = `true`
	)

static

Creates a full SoftBody mesh matching the shape given as input. Uses a voxel mesh for FEM simulation and a surface-matching mesh for collision detection.

Parameters

[in]	params	Cooking params instance required for mesh processing
[in]	surfaceMesh	Input triangle mesh that represents the surface of the SoftBody
[in]	numVoxelsAlongLongestAABBAxis	The number of voxels along the longest bounding box axis
[in]	insertionCallback	The insertion interface from PxPhysics
[in]	validate	If set to true the input triangle mesh will get analyzed to find possible deficiencies

Returns: SoftBody mesh if cooking was successful, NULL otherwise

See also: PxSoftBodyMesh

◆ createSoftBodyMeshNoVoxels()

PxSoftBodyMesh * PxSoftBodyExt::createSoftBodyMeshNoVoxels	(	const PxCookingParams &	params,
		const PxSimpleTriangleMesh &	surfaceMesh,
		PxInsertionCallback &	insertionCallback,
		PxReal	maxWeightRatioInTet = `1.5f`,
		const bool	validate = `true`
	)

static

Creates a full SoftBody mesh matching the shape given as input. Uses the same surface-matching mesh for collision detection and FEM simulation.

Parameters

[in]	params	Cooking params instance required for mesh processing
[in]	surfaceMesh	Input triangle mesh that represents the surface of the SoftBody
[in]	insertionCallback	The insertion interface from PxPhysics
[in]	maxWeightRatioInTet	Upper limit for the ratio of node weights that are adjacent to the same tetrahedron. The closer to one (while remaining larger than one), the more stable the simulation.
[in]	validate	If set to true the input triangle mesh will get analyzed to find possible deficiencies

Returns: SoftBody mesh if cooking was successful, NULL otherwise

See also: PxSoftBodyMesh

◆ setMass()

void PxSoftBodyExt::setMass	(	PxSoftBody &	softBody,
		const PxReal	mass,
		const PxReal	maxInvMassRatio
	)

static

Computes the SoftBody's vertex masses such that the sum of all masses is equal to the provided mass.

The buffers affected by this operation can be obtained from the SoftBody using the methods getSimPositionInvMassCPU() and getSimVelocityInvMassCPU()

The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh's position and velocity buffer. Performance optimizations are the reason why the mass inverse is stored in two locations.

Parameters

[in]	softBody	The soft body which will get its mass updated
[in]	mass	The SoftBody's mass
[in]	maxInvMassRatio	Maximum allowed ratio defined as max(vertexMasses) / min(vertexMasses) where vertexMasses is a list of float values with a mass for every vertex in the simulation mesh

See also: PxSoftBody PxSoftBody::getSimPositionInvMassCPU() PxSoftBody::getSimVelocityInvMassCPU()

◆ transform()

void PxSoftBodyExt::transform	(	PxSoftBody &	softBody,
		const PxTransform &	transform,
		const PxReal	scale
	)

static

Transforms a SoftBody.

The buffers affected by this operation can be obtained from the SoftBody using the methods getSimPositionInvMassCPU() and getSimVelocityInvMassCPU()

Applies a transformation to the simulation mesh's positions an velocities. Velocities only get rotated and scaled (translation is not applicable to direction vectors). It does not modify the body's mass. If the method is called multiple times, the transformation will compound with the ones previously applied.

Parameters

[in]	softBody	The soft body which is transformed
[in]	transform	The transform to apply
[in]	scale	A scaling factor

See also: PxSoftBody PxSoftBody::getSimPositionInvMassCPU() PxSoftBody::getSimVelocityInvMassCPU()

◆ updateEmbeddedCollisionMesh()

void PxSoftBodyExt::updateEmbeddedCollisionMesh ( PxSoftBody & softBody )

static

Updates the collision mesh's vertex positions to match the simulation mesh's transformation and scale.

The buffer affected by this operation can be obtained from the SoftBody using the method getPositionInvMassCPU()

Parameters

[in] softBody The soft body which will get its collision mesh vertices updated

See also: PxSoftBody PxSoftBody::getPositionInvMassCPU()

◆ updateMass()

void PxSoftBodyExt::updateMass	(	PxSoftBody &	softBody,
		const PxReal	density,
		const PxReal	maxInvMassRatio
	)

static

Computes the SoftBody's vertex masses from the provided density and the volume of the tetrahedra.

The buffers affected by this operation can be obtained from the SoftBody using the methods getSimPositionInvMassCPU() and getSimVelocityInvMassCPU()

The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh's position and velocity buffer. Performance optimizations are the reason why the mass inverse is stored in two locations.

Parameters

[in]	softBody	The soft body which will get its mass updated
[in]	density	The density to used to calculate the mass from the body's volume
[in]	maxInvMassRatio	Maximum allowed ratio defined as max(vertexMasses) / min(vertexMasses) where vertexMasses is a list of float values with a mass for every vertex in the simulation mesh

See also: PxSoftBody PxSoftBody::getSimPositionInvMassCPU() PxSoftBody::getSimVelocityInvMassCPU()

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

RavEngine/deps/physx/physx/include/extensions/PxSoftBodyExt.h
RavEngine/deps/physx/physx/source/physxextensions/src/ExtSoftBodyExt.cpp

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ commit()

◆ createSoftBodyBox()

◆ createSoftBodyFromMesh()

◆ createSoftBodyMesh()

◆ createSoftBodyMeshNoVoxels()

◆ setMass()

◆ transform()

◆ updateEmbeddedCollisionMesh()

◆ updateMass()