Bullet Collision Detection & Physics Library: btDeformableContactConstraint.h Source File

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btDeformableContactConstraint.h
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1/*
2 Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
3
4 Bullet Continuous Collision Detection and Physics Library
5 Copyright (c) 2019 Google Inc. http://bulletphysics.org
6 This software is provided 'as-is', without any express or implied warranty.
7 In no event will the authors be held liable for any damages arising from the use of this software.
8 Permission is granted to anyone to use this software for any purpose,
9 including commercial applications, and to alter it and redistribute it freely,
10 subject to the following restrictions:
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16#ifndef BT_DEFORMABLE_CONTACT_CONSTRAINT_H
17#define BT_DEFORMABLE_CONTACT_CONSTRAINT_H
18#include "btSoftBody.h"
19
20// btDeformableContactConstraint is an abstract class specifying the method that each type of contact constraint needs to implement
21 class btDeformableContactConstraint
22{
23public:
24 // True if the friction is static
25 // False if the friction is dynamic
26 bool m_static;
27 const btContactSolverInfo* m_infoGlobal;
28
29 // normal of the contact
30 btVector3 m_normal;
31
32 btDeformableContactConstraint(const btVector3& normal, const btContactSolverInfo& infoGlobal) : m_static(false), m_normal(normal), m_infoGlobal(&infoGlobal)
33 {
34 }
35
36 btDeformableContactConstraint(bool isStatic, const btVector3& normal, const btContactSolverInfo& infoGlobal) : m_static(isStatic), m_normal(normal), m_infoGlobal(&infoGlobal)
37 {
38 }
39
40 btDeformableContactConstraint() : m_static(false) {}
41
42 btDeformableContactConstraint(const btDeformableContactConstraint& other)
43 : m_static(other.m_static), m_normal(other.m_normal), m_infoGlobal(other.m_infoGlobal)
44 {
45 }
46
47 virtual ~btDeformableContactConstraint() {}
48
49 // solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence
50 // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact
51 virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal) = 0;
52
53 // get the velocity of the object A in the contact
54 virtual btVector3 getVa() const = 0;
55
56 // get the velocity of the object B in the contact
57 virtual btVector3 getVb() const = 0;
58
59 // get the velocity change of the soft body node in the constraint
60 virtual btVector3 getDv(const btSoftBody::Node*) const = 0;
61
62 // apply impulse to the soft body node and/or face involved
63 virtual void applyImpulse(const btVector3& impulse) = 0;
64
65 // scale the penetration depth by erp
66 virtual void setPenetrationScale(btScalar scale) = 0;
67};
68
69//
70// Constraint that a certain node in the deformable objects cannot move
71 class btDeformableStaticConstraint : public btDeformableContactConstraint
72{
73public:
74 btSoftBody::Node* m_node;
75
76 btDeformableStaticConstraint(btSoftBody::Node* node, const btContactSolverInfo& infoGlobal) : m_node(node), btDeformableContactConstraint(false, btVector3(0, 0, 0), infoGlobal)
77 {
78 }
79 btDeformableStaticConstraint() {}
80 btDeformableStaticConstraint(const btDeformableStaticConstraint& other)
81 : m_node(other.m_node), btDeformableContactConstraint(other)
82 {
83 }
84
85 virtual ~btDeformableStaticConstraint() {}
86
87 virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal)
88 {
89 return 0;
90 }
91
92 virtual btVector3 getVa() const
93 {
94 return btVector3(0, 0, 0);
95 }
96
97 virtual btVector3 getVb() const
98 {
99 return btVector3(0, 0, 0);
100 }
101
102 virtual btVector3 getDv(const btSoftBody::Node* n) const
103 {
104 return btVector3(0, 0, 0);
105 }
106
107 virtual void applyImpulse(const btVector3& impulse) {}
108 virtual void setPenetrationScale(btScalar scale) {}
109};
110
111//
112// Anchor Constraint between rigid and deformable node
113 class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint
114{
115public:
116 const btSoftBody::DeformableNodeRigidAnchor* m_anchor;
117
118 btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c, const btContactSolverInfo& infoGlobal);
119 btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other);
120 btDeformableNodeAnchorConstraint() {}
121 virtual ~btDeformableNodeAnchorConstraint()
122 {
123 }
124 virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
125
126 // object A is the rigid/multi body, and object B is the deformable node/face
127 virtual btVector3 getVa() const;
128 // get the velocity of the deformable node in contact
129 virtual btVector3 getVb() const;
130 virtual btVector3 getDv(const btSoftBody::Node* n) const
131 {
132 return btVector3(0, 0, 0);
133 }
134 virtual void applyImpulse(const btVector3& impulse);
135
136 virtual void setPenetrationScale(btScalar scale) {}
137};
138
139//
140// Constraint between rigid/multi body and deformable objects
141 class btDeformableRigidContactConstraint : public btDeformableContactConstraint
142{
143public:
144 btVector3 m_total_normal_dv;
145 btVector3 m_total_tangent_dv;
146 btScalar m_penetration;
147 btScalar m_total_split_impulse;
148 bool m_binding;
149 const btSoftBody::DeformableRigidContact* m_contact;
150
151 btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal);
152 btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other);
153 btDeformableRigidContactConstraint() : m_binding(false) {}
154 virtual ~btDeformableRigidContactConstraint()
155 {
156 }
157
158 // object A is the rigid/multi body, and object B is the deformable node/face
159 virtual btVector3 getVa() const;
160
161 // get the split impulse velocity of the deformable face at the contact point
162 virtual btVector3 getSplitVb() const = 0;
163
164 // get the split impulse velocity of the rigid/multibdoy at the contaft
165 virtual btVector3 getSplitVa() const;
166
167 virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
168
169 virtual void setPenetrationScale(btScalar scale)
170 {
171 m_penetration *= scale;
172 }
173
174 btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);
175
176 virtual void applySplitImpulse(const btVector3& impulse) = 0;
177};
178
179//
180// Constraint between rigid/multi body and deformable objects nodes
181 class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactConstraint
182{
183public:
184 // the deformable node in contact
185 btSoftBody::Node* m_node;
186
187 btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal);
188 btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other);
189 btDeformableNodeRigidContactConstraint() {}
190 virtual ~btDeformableNodeRigidContactConstraint()
191 {
192 }
193
194 // get the velocity of the deformable node in contact
195 virtual btVector3 getVb() const;
196
197 // get the split impulse velocity of the deformable face at the contact point
198 virtual btVector3 getSplitVb() const;
199
200 // get the velocity change of the input soft body node in the constraint
201 virtual btVector3 getDv(const btSoftBody::Node*) const;
202
203 // cast the contact to the desired type
204 const btSoftBody::DeformableNodeRigidContact* getContact() const
205 {
206 return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact);
207 }
208
209 virtual void applyImpulse(const btVector3& impulse);
210
211 virtual void applySplitImpulse(const btVector3& impulse);
212};
213
214//
215// Constraint between rigid/multi body and deformable objects faces
216 class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint
217{
218public:
219 btSoftBody::Face* m_face;
220 bool m_useStrainLimiting;
221 btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting);
222 btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other);
223 btDeformableFaceRigidContactConstraint() : m_useStrainLimiting(false) {}
224 virtual ~btDeformableFaceRigidContactConstraint()
225 {
226 }
227
228 // get the velocity of the deformable face at the contact point
229 virtual btVector3 getVb() const;
230
231 // get the split impulse velocity of the deformable face at the contact point
232 virtual btVector3 getSplitVb() const;
233
234 // get the velocity change of the input soft body node in the constraint
235 virtual btVector3 getDv(const btSoftBody::Node*) const;
236
237 // cast the contact to the desired type
238 const btSoftBody::DeformableFaceRigidContact* getContact() const
239 {
240 return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact);
241 }
242
243 virtual void applyImpulse(const btVector3& impulse);
244
245 virtual void applySplitImpulse(const btVector3& impulse);
246};
247
248//
249// Constraint between deformable objects faces and deformable objects nodes
250 class btDeformableFaceNodeContactConstraint : public btDeformableContactConstraint
251{
252public:
253 btSoftBody::Node* m_node;
254 btSoftBody::Face* m_face;
255 const btSoftBody::DeformableFaceNodeContact* m_contact;
256 btVector3 m_total_normal_dv;
257 btVector3 m_total_tangent_dv;
258
259 btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal);
260 btDeformableFaceNodeContactConstraint() {}
261 virtual ~btDeformableFaceNodeContactConstraint() {}
262
263 virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
264
265 // get the velocity of the object A in the contact
266 virtual btVector3 getVa() const;
267
268 // get the velocity of the object B in the contact
269 virtual btVector3 getVb() const;
270
271 // get the velocity change of the input soft body node in the constraint
272 virtual btVector3 getDv(const btSoftBody::Node*) const;
273
274 // cast the contact to the desired type
275 const btSoftBody::DeformableFaceNodeContact* getContact() const
276 {
277 return static_cast<const btSoftBody::DeformableFaceNodeContact*>(m_contact);
278 }
279
280 virtual void applyImpulse(const btVector3& impulse);
281
282 virtual void setPenetrationScale(btScalar scale) {}
283};
284#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSoftBody.h
btDeformableContactConstraint
Definition: btDeformableContactConstraint.h:22
btDeformableContactConstraint::setPenetrationScale
virtual void setPenetrationScale(btScalar scale)=0
btDeformableContactConstraint::m_infoGlobal
const btContactSolverInfo * m_infoGlobal
Definition: btDeformableContactConstraint.h:27
btDeformableContactConstraint::btDeformableContactConstraint
btDeformableContactConstraint(const btDeformableContactConstraint &other)
Definition: btDeformableContactConstraint.h:42
btDeformableContactConstraint::getVb
virtual btVector3 getVb() const =0
btDeformableContactConstraint::getDv
virtual btVector3 getDv(const btSoftBody::Node *) const =0
btDeformableContactConstraint::solveConstraint
virtual btScalar solveConstraint(const btContactSolverInfo &infoGlobal)=0
btDeformableContactConstraint::m_static
bool m_static
Definition: btDeformableContactConstraint.h:26
btDeformableContactConstraint::applyImpulse
virtual void applyImpulse(const btVector3 &impulse)=0
btDeformableContactConstraint::btDeformableContactConstraint
btDeformableContactConstraint()
Definition: btDeformableContactConstraint.h:40
btDeformableContactConstraint::btDeformableContactConstraint
btDeformableContactConstraint(const btVector3 &normal, const btContactSolverInfo &infoGlobal)
Definition: btDeformableContactConstraint.h:32
btDeformableContactConstraint::btDeformableContactConstraint
btDeformableContactConstraint(bool isStatic, const btVector3 &normal, const btContactSolverInfo &infoGlobal)
Definition: btDeformableContactConstraint.h:36
btDeformableContactConstraint::~btDeformableContactConstraint
virtual ~btDeformableContactConstraint()
Definition: btDeformableContactConstraint.h:47
btDeformableContactConstraint::m_normal
btVector3 m_normal
Definition: btDeformableContactConstraint.h:30
btDeformableContactConstraint::getVa
virtual btVector3 getVa() const =0
btDeformableFaceNodeContactConstraint
Definition: btDeformableContactConstraint.h:251
btDeformableFaceNodeContactConstraint::setPenetrationScale
virtual void setPenetrationScale(btScalar scale)
Definition: btDeformableContactConstraint.h:282
btDeformableFaceNodeContactConstraint::applyImpulse
virtual void applyImpulse(const btVector3 &impulse)
Definition: btDeformableContactConstraint.cpp:691
btDeformableFaceNodeContactConstraint::m_total_normal_dv
btVector3 m_total_normal_dv
Definition: btDeformableContactConstraint.h:256
btDeformableFaceNodeContactConstraint::m_contact
const btSoftBody::DeformableFaceNodeContact * m_contact
Definition: btDeformableContactConstraint.h:255
btDeformableFaceNodeContactConstraint::getVb
virtual btVector3 getVb() const
Definition: btDeformableContactConstraint.cpp:605
btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint
btDeformableFaceNodeContactConstraint()
Definition: btDeformableContactConstraint.h:260
btDeformableFaceNodeContactConstraint::getDv
virtual btVector3 getDv(const btSoftBody::Node *) const
Definition: btDeformableContactConstraint.cpp:612
btDeformableFaceNodeContactConstraint::m_face
btSoftBody::Face * m_face
Definition: btDeformableContactConstraint.h:254
btDeformableFaceNodeContactConstraint::~btDeformableFaceNodeContactConstraint
virtual ~btDeformableFaceNodeContactConstraint()
Definition: btDeformableContactConstraint.h:261
btDeformableFaceNodeContactConstraint::m_total_tangent_dv
btVector3 m_total_tangent_dv
Definition: btDeformableContactConstraint.h:257
btDeformableFaceNodeContactConstraint::getContact
const btSoftBody::DeformableFaceNodeContact * getContact() const
Definition: btDeformableContactConstraint.h:275
btDeformableFaceNodeContactConstraint::solveConstraint
virtual btScalar solveConstraint(const btContactSolverInfo &infoGlobal)
Definition: btDeformableContactConstraint.cpp:630
btDeformableFaceNodeContactConstraint::m_node
btSoftBody::Node * m_node
Definition: btDeformableContactConstraint.h:253
btDeformableFaceNodeContactConstraint::getVa
virtual btVector3 getVa() const
Definition: btDeformableContactConstraint.cpp:600
btDeformableFaceRigidContactConstraint
Definition: btDeformableContactConstraint.h:217
btDeformableFaceRigidContactConstraint::m_useStrainLimiting
bool m_useStrainLimiting
Definition: btDeformableContactConstraint.h:220
btDeformableFaceRigidContactConstraint::m_face
btSoftBody::Face * m_face
Definition: btDeformableContactConstraint.h:219
btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint
btDeformableFaceRigidContactConstraint()
Definition: btDeformableContactConstraint.h:223
btDeformableFaceRigidContactConstraint::applySplitImpulse
virtual void applySplitImpulse(const btVector3 &impulse)
Definition: btDeformableContactConstraint.cpp:567
btDeformableFaceRigidContactConstraint::getContact
const btSoftBody::DeformableFaceRigidContact * getContact() const
Definition: btDeformableContactConstraint.h:238
btDeformableFaceRigidContactConstraint::getVb
virtual btVector3 getVb() const
Definition: btDeformableContactConstraint.cpp:461
btDeformableFaceRigidContactConstraint::getDv
virtual btVector3 getDv(const btSoftBody::Node *) const
Definition: btDeformableContactConstraint.cpp:468
btDeformableFaceRigidContactConstraint::applyImpulse
virtual void applyImpulse(const btVector3 &impulse)
Definition: btDeformableContactConstraint.cpp:484
btDeformableFaceRigidContactConstraint::~btDeformableFaceRigidContactConstraint
virtual ~btDeformableFaceRigidContactConstraint()
Definition: btDeformableContactConstraint.h:224
btDeformableFaceRigidContactConstraint::getSplitVb
virtual btVector3 getSplitVb() const
Definition: btDeformableContactConstraint.cpp:560
btDeformableNodeAnchorConstraint
Definition: btDeformableContactConstraint.h:114
btDeformableNodeAnchorConstraint::getVb
virtual btVector3 getVb() const
Definition: btDeformableContactConstraint.cpp:123
btDeformableNodeAnchorConstraint::~btDeformableNodeAnchorConstraint
virtual ~btDeformableNodeAnchorConstraint()
Definition: btDeformableContactConstraint.h:121
btDeformableNodeAnchorConstraint::setPenetrationScale
virtual void setPenetrationScale(btScalar scale)
Definition: btDeformableContactConstraint.h:136
btDeformableNodeAnchorConstraint::solveConstraint
virtual btScalar solveConstraint(const btContactSolverInfo &infoGlobal)
Definition: btDeformableContactConstraint.cpp:80
btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint
btDeformableNodeAnchorConstraint()
Definition: btDeformableContactConstraint.h:120
btDeformableNodeAnchorConstraint::getVa
virtual btVector3 getVa() const
Definition: btDeformableContactConstraint.cpp:28
btDeformableNodeAnchorConstraint::getDv
virtual btVector3 getDv(const btSoftBody::Node *n) const
Definition: btDeformableContactConstraint.h:130
btDeformableNodeAnchorConstraint::applyImpulse
virtual void applyImpulse(const btVector3 &impulse)
Definition: btDeformableContactConstraint.cpp:128
btDeformableNodeAnchorConstraint::m_anchor
const btSoftBody::DeformableNodeRigidAnchor * m_anchor
Definition: btDeformableContactConstraint.h:116
btDeformableNodeRigidContactConstraint
Definition: btDeformableContactConstraint.h:182
btDeformableNodeRigidContactConstraint::applySplitImpulse
virtual void applySplitImpulse(const btVector3 &impulse)
Definition: btDeformableContactConstraint.cpp:443
btDeformableNodeRigidContactConstraint::getVb
virtual btVector3 getVb() const
Definition: btDeformableContactConstraint.cpp:421
btDeformableNodeRigidContactConstraint::applyImpulse
virtual void applyImpulse(const btVector3 &impulse)
Definition: btDeformableContactConstraint.cpp:436
btDeformableNodeRigidContactConstraint::m_node
btSoftBody::Node * m_node
Definition: btDeformableContactConstraint.h:185
btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint
btDeformableNodeRigidContactConstraint()
Definition: btDeformableContactConstraint.h:189
btDeformableNodeRigidContactConstraint::getDv
virtual btVector3 getDv(const btSoftBody::Node *) const
Definition: btDeformableContactConstraint.cpp:431
btDeformableNodeRigidContactConstraint::getSplitVb
virtual btVector3 getSplitVb() const
Definition: btDeformableContactConstraint.cpp:426
btDeformableNodeRigidContactConstraint::~btDeformableNodeRigidContactConstraint
virtual ~btDeformableNodeRigidContactConstraint()
Definition: btDeformableContactConstraint.h:190
btDeformableNodeRigidContactConstraint::getContact
const btSoftBody::DeformableNodeRigidContact * getContact() const
Definition: btDeformableContactConstraint.h:204
btDeformableRigidContactConstraint
Definition: btDeformableContactConstraint.h:142
btDeformableRigidContactConstraint::~btDeformableRigidContactConstraint
virtual ~btDeformableRigidContactConstraint()
Definition: btDeformableContactConstraint.h:154
btDeformableRigidContactConstraint::solveConstraint
virtual btScalar solveConstraint(const btContactSolverInfo &infoGlobal)
Definition: btDeformableContactConstraint.cpp:256
btDeformableRigidContactConstraint::getSplitVb
virtual btVector3 getSplitVb() const =0
btDeformableRigidContactConstraint::setPenetrationScale
virtual void setPenetrationScale(btScalar scale)
Definition: btDeformableContactConstraint.h:169
btDeformableRigidContactConstraint::m_total_normal_dv
btVector3 m_total_normal_dv
Definition: btDeformableContactConstraint.h:144
btDeformableRigidContactConstraint::getVa
virtual btVector3 getVa() const
Definition: btDeformableContactConstraint.cpp:153
btDeformableRigidContactConstraint::solveSplitImpulse
btScalar solveSplitImpulse(const btContactSolverInfo &infoGlobal)
Definition: btDeformableContactConstraint.cpp:356
btDeformableRigidContactConstraint::applySplitImpulse
virtual void applySplitImpulse(const btVector3 &impulse)=0
btDeformableRigidContactConstraint::btDeformableRigidContactConstraint
btDeformableRigidContactConstraint()
Definition: btDeformableContactConstraint.h:153
btDeformableRigidContactConstraint::m_total_split_impulse
btScalar m_total_split_impulse
Definition: btDeformableContactConstraint.h:147
btDeformableRigidContactConstraint::m_penetration
btScalar m_penetration
Definition: btDeformableContactConstraint.h:146
btDeformableRigidContactConstraint::m_contact
const btSoftBody::DeformableRigidContact * m_contact
Definition: btDeformableContactConstraint.h:149
btDeformableRigidContactConstraint::m_total_tangent_dv
btVector3 m_total_tangent_dv
Definition: btDeformableContactConstraint.h:145
btDeformableRigidContactConstraint::getSplitVa
virtual btVector3 getSplitVa() const
Definition: btDeformableContactConstraint.cpp:205
btDeformableRigidContactConstraint::m_binding
bool m_binding
Definition: btDeformableContactConstraint.h:148
btDeformableStaticConstraint
Definition: btDeformableContactConstraint.h:72
btDeformableStaticConstraint::btDeformableStaticConstraint
btDeformableStaticConstraint()
Definition: btDeformableContactConstraint.h:79
btDeformableStaticConstraint::getVa
virtual btVector3 getVa() const
Definition: btDeformableContactConstraint.h:92
btDeformableStaticConstraint::getVb
virtual btVector3 getVb() const
Definition: btDeformableContactConstraint.h:97
btDeformableStaticConstraint::getDv
virtual btVector3 getDv(const btSoftBody::Node *n) const
Definition: btDeformableContactConstraint.h:102
btDeformableStaticConstraint::applyImpulse
virtual void applyImpulse(const btVector3 &impulse)
Definition: btDeformableContactConstraint.h:107
btDeformableStaticConstraint::btDeformableStaticConstraint
btDeformableStaticConstraint(btSoftBody::Node *node, const btContactSolverInfo &infoGlobal)
Definition: btDeformableContactConstraint.h:76
btDeformableStaticConstraint::solveConstraint
virtual btScalar solveConstraint(const btContactSolverInfo &infoGlobal)
Definition: btDeformableContactConstraint.h:87
btDeformableStaticConstraint::btDeformableStaticConstraint
btDeformableStaticConstraint(const btDeformableStaticConstraint &other)
Definition: btDeformableContactConstraint.h:80
btDeformableStaticConstraint::m_node
btSoftBody::Node * m_node
Definition: btDeformableContactConstraint.h:74
btDeformableStaticConstraint::~btDeformableStaticConstraint
virtual ~btDeformableStaticConstraint()
Definition: btDeformableContactConstraint.h:85
btDeformableStaticConstraint::setPenetrationScale
virtual void setPenetrationScale(btScalar scale)
Definition: btDeformableContactConstraint.h:108
btSoftBody::DeformableFaceRigidContact
Definition: btSoftBody.h:391
btSoftBody::DeformableNodeRigidAnchor
Definition: btSoftBody.h:385
btSoftBody::DeformableNodeRigidContact
Definition: btSoftBody.h:379
btSoftBody::DeformableRigidContact
Definition: btSoftBody.h:360
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btContactSolverInfo
Definition: btContactSolverInfo.h:76
btSoftBody::DeformableFaceNodeContact
Definition: btSoftBody.h:400
btSoftBody::Face
Definition: btSoftBody.h:306
btSoftBody::Node
Definition: btSoftBody.h:268