PxSoftBodyExt
Defined in include/extensions/PxSoftBodyExt.h
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class PxSoftBodyExt
Utility functions for use with PxSoftBody and subclasses.
Public Static Functions
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static void updateMass(PxSoftBody &softBody, const PxReal density, const PxReal maxInvMassRatio, PxVec4 *simPositionsPinned)
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 getSimPositionInvMassBufferD() and getSimVelocityBufferD()
The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh’s position buffer.
See also
PxSoftBody PxSoftBody::getSimPositionInvMassBufferD()
- Parameters
softBody – [in] The soft body which will get its mass updated
density – [in] The density to used to calculate the mass from the body’s volume
maxInvMassRatio – [in] 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
simPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
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static void setMass(PxSoftBody &softBody, const PxReal mass, const PxReal maxInvMassRatio, PxVec4 *simPositionsPinned)
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 getSimPositionInvMassBufferD()) and getSimVelocityBufferD()
The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh’s position buffer.
See also
PxSoftBody PxSoftBody::getSimPositionInvMassBufferD()
- Parameters
softBody – [in] The soft body which will get its mass updated
mass – [in] The SoftBody’s mass
maxInvMassRatio – [in] 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
simPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
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static void transform(PxSoftBody &softBody, const PxTransform &transform, const PxReal scale, PxVec4 *simPositionsPinned, PxVec4 *simVelocitiesPinned, PxVec4 *collPositionsPinned, PxVec4 *restPositionsPinned)
Transforms a SoftBody.
The buffers affected by this operation can be obtained from the SoftBody using the methods getSimPositionInvMassBufferD() and getSimVelocityBufferD()
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.
See also
PxSoftBody
- Parameters
softBody – [in] The soft body which is transformed
transform – [in] The transform to apply
scale – [in] A scaling factor
simPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
simVelocitiesPinned – [in] A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
collPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
restPositionsPinned – [in] A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
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static void updateEmbeddedCollisionMesh(PxSoftBody &softBody, PxVec4 *simPositionsPinned, PxVec4 *collPositionsPinned)
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 getPositionInvMassBufferD()
See also
PxSoftBody
- Parameters
softBody – [in] The soft body which will get its collision mesh vertices updated
simPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
collPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
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static void commit(PxSoftBody &softBody, PxSoftBodyDataFlags flags, PxVec4 *simPositionsPinned, PxVec4 *simVelocitiesPinned, PxVec4 *collPositionsPinned, PxVec4 *restPositionsPinned, CUstream stream = CUstream(0))
Uploads prepared SoftBody data to the GPU.
It ensures that the embedded collision mesh matches the simulation mesh’s transformation and scale.
- Deprecated:
Use copyToDevice() instead.
See also
PxSoftBody
- Parameters
softBody – [in] The soft body which will perform the data upload
flags – [in] Specifies which buffers the data transfer should include
simPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
simVelocitiesPinned – [in] A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
collPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
restPositionsPinned – [in] A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
stream – [in] A cuda stream to perform the copies.
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static void copyToDevice(PxSoftBody &softBody, PxSoftBodyDataFlags flags, PxVec4 *simPositionsPinned, PxVec4 *simVelocitiesPinned, PxVec4 *collPositionsPinned, PxVec4 *restPositionsPinned, CUstream stream = CUstream(0))
Uploads prepared SoftBody data to the GPU.
It ensures that the embedded collision mesh matches the simulation mesh’s transformation and scale.
See also
PxSoftBody
- Parameters
softBody – [in] The soft body which will perform the data upload
flags – [in] Specifies which buffers the data transfer should include
simPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
simVelocitiesPinned – [in] A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
collPositionsPinned – [in] A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
restPositionsPinned – [in] A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
stream – [in] A cuda stream to perform the copies.
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static PxSoftBodyMesh *createSoftBodyMesh(const PxCookingParams ¶ms, 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.
See also
PxSoftBodyMesh
- Parameters
params – [in] Cooking params instance required for mesh processing
surfaceMesh – [in] Input triangle mesh that represents the surface of the SoftBody
numVoxelsAlongLongestAABBAxis – [in] The number of voxels along the longest bounding box axis
insertionCallback – [in] The insertion interface from PxPhysics
validate – [in] If set to true the input triangle mesh will get analyzed to find possible deficiencies
- Returns
SoftBody mesh if cooking was successful, NULL otherwise
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static PxSoftBodyMesh *createSoftBodyMeshNoVoxels(const PxCookingParams ¶ms, 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.
See also
PxSoftBodyMesh
- Parameters
params – [in] Cooking params instance required for mesh processing
surfaceMesh – [in] Input triangle mesh that represents the surface of the SoftBody
insertionCallback – [in] The insertion interface from PxPhysics
maxWeightRatioInTet – [in] 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.
validate – [in] If set to true the input triangle mesh will get analyzed to find possible deficiencies
- Returns
SoftBody mesh if cooking was successful, NULL otherwise
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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.
See also
PxSoftBodyMesh, PxSoftBody
- Parameters
softBodyMesh – [in] The SoftBody mesh
transform – [in] The transform that defines initial position and orientation of the SoftBody
material – [in] The material
cudaContextManager – [in] A cuda context manager
density – [in] The density used to compute the mass properties
solverIterationCount – [in] The number of iterations the solver should apply during simulation
femParams – [in] Additional parameters to specify e. g. damping
scale – [in] The scaling of the SoftBody
- Returns
SoftBody instance
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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.
See also
PxSoftBodyMesh, PxSoftBody
- Parameters
transform – [in] The transform that defines initial position and orientation of the SoftBody
boxDimensions – [in] The dimensions (side lengths) of the box shape
material – [in] The material
cudaContextManager – [in] A cuda context manager
maxEdgeLength – [in] The maximal length of a triangle edge. Subdivision will get applied until the edge length criteria is matched. -1 means no subdivision is applied.
density – [in] The density used to compute the mass properties
solverIterationCount – [in] The number of iterations the solver should apply during simulation
femParams – [in] Additional parameters to specify e. g. damping
numVoxelsAlongLongestAABBAxis – [in] The number of voxels to use for the simulation mesh along the longest bounding box dimension
scale – [in] The scaling of the SoftBody
- Returns
SoftBody instance
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static void allocateAndInitializeHostMirror(PxSoftBody &softBody, PxCudaContextManager *cudaContextManager, PxVec4 *&simPositionInvMassPinned, PxVec4 *&simVelocityPinned, PxVec4 *&collPositionInvMassPinned, PxVec4 *&restPositionPinned)
allocates and initializes pinned host memory buffers from an actor with shape.
See also
PxSoftBody
- Parameters
softBody – [in] A PxSoftBody that has a valid shape attached to it.
cudaContextManager – [in] The PxCudaContextManager of the scene this soft body will be simulated in
simPositionInvMassPinned – [in] A reference to a pointer for the return value of the simPositionInvMassPinned buffer, will be set by this function.
simVelocityPinned – [in] A reference to a pointer for the return value of the simVelocityPinned buffer, will be set by this function.
collPositionInvMassPinned – [in] A reference to a pointer for the return value of the collPositionInvMassPinned buffer, will be set by this function.
restPositionPinned – [in] A reference to a pointer for the return value of the restPositionPinned buffer, will be set by this function.
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static void relaxSoftBodyMesh(const PxVec4 *verticesOriginal, PxVec4 *verticesDeformed, PxU32 nbVertices, const PxU32 *tetrahedra, PxU32 nbTetraheda, const bool *vertexIsFixed = NULL, PxU32 numIterations = 200)
Given a set of points and a set of tetrahedra, it finds the equilibrium state of the softbody.
Every input point is either fixed or can move freely.
- Parameters
verticesOriginal – [in] Mesh vertex positions in undeformed original state.
verticesDeformed – [in] Mesh vertex positions in new deformed state. Only fixed vertices must have their final location, all other locations will get updated by the method.
nbVertices – [in] The number of vertices.
tetrahedra – [in] The tetrahedra.
nbTetraheda – [in] The number of tetrahedra.
vertexIsFixed – [in] Optional input that specifies which vertex is fixed and which one can move to relax the tension. If not provided, vertices from verticesOriginal which have a .w value of 0 will be considered fixed.
numIterations – [in] The number of stress relaxation iterations to run.
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static void updateMass(PxSoftBody &softBody, const PxReal density, const PxReal maxInvMassRatio, PxVec4 *simPositionsPinned)