PxDeformableVolumeExt

Defined in include/extensions/PxDeformableVolumeExt.h

class PxDeformableVolumeExt

Utility functions for use with PxDeformableVolume and subclasses.

Public Static Functions

static void updateMass(PxDeformableVolume &deformableVolume, const PxReal density, const PxReal maxInvMassRatio, PxVec4 *simPositionsPinned)

Computes the deformable volume’s vertex masses from the provided density and the volume of the tetrahedra.

The buffers affected by this operation can be obtained from the deformable volume 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

PxDeformableVolume PxDeformableVolume::getSimPositionInvMassBufferD()

Parameters

  • deformableVolume – [in] The deformable volume 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.

static void setMass(PxDeformableVolume &deformableVolume, const PxReal mass, const PxReal maxInvMassRatio, PxVec4 *simPositionsPinned)

Computes the deformable volume’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 deformable volume 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

PxDeformableVolume PxDeformableVolume::getSimPositionInvMassBufferD()

Parameters

  • deformableVolume – [in] The deformable volume which will get its mass updated

  • mass – [in] The deformable volume’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.

static void transform(PxDeformableVolume &deformableVolume, const PxTransform &transform, const PxReal scale, PxVec4 *simPositionsPinned, PxVec4 *simVelocitiesPinned, PxVec4 *collPositionsPinned, PxVec4 *restPositionsPinned)

Transforms a deformable volume.

The buffers affected by this operation can be obtained from the deformable volume 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

PxDeformableVolume

Parameters

  • deformableVolume – [in] The deformable volume 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.

static void updateEmbeddedCollisionMesh(PxDeformableVolume &deformableVolume, 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 deformable volume using the method getPositionInvMassBufferD()

See also

PxDeformableVolume

Parameters

  • deformableVolume – [in] The deformable volume 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.

static void copyToDevice(PxDeformableVolume &deformableVolume, PxDeformableVolumeDataFlags flags, PxVec4 *simPositionsPinned, PxVec4 *simVelocitiesPinned, PxVec4 *collPositionsPinned, PxVec4 *restPositionsPinned, CUstream stream = CUstream(0))

Uploads prepared deformable volume data to the GPU.

It ensures that the embedded collision mesh matches the simulation mesh’s transformation and scale.

See also

PxDeformableVolume

Parameters

  • deformableVolume – [in] The deformable volume 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.

static PxDeformableVolumeMesh *createDeformableVolumeMesh(const PxCookingParams &params, const PxSimpleTriangleMesh &surfaceMesh, PxU32 numVoxelsAlongLongestAABBAxis, PxInsertionCallback &insertionCallback, const bool validate = true)

Creates a full deformable volume mesh matching the shape given as input.

Uses a voxel mesh for FEM simulation and a surface-matching mesh for collision detection.

See also

PxDeformableVolumeMesh

Parameters

  • params – [in] Cooking params instance required for mesh processing

  • surfaceMesh – [in] Input triangle mesh that represents the surface of the deformable volume

  • 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

Deformable volume mesh if cooking was successful, NULL otherwise

static inline PxDeformableVolumeMesh *createSoftBodyMesh(const PxCookingParams &params, const PxSimpleTriangleMesh &surfaceMesh, PxU32 numVoxelsAlongLongestAABBAxis, PxInsertionCallback &insertionCallback, const bool validate = true)

Deprecated.

See also

createDeformableVolumeMesh

static PxDeformableVolumeMesh *createDeformableVolumeMeshNoVoxels(const PxCookingParams &params, const PxSimpleTriangleMesh &surfaceMesh, PxInsertionCallback &insertionCallback, PxReal maxWeightRatioInTet = 1.5f, const bool validate = true)

Creates a full deformable volume mesh matching the shape given as input.

Uses the same surface-matching mesh for collision detection and FEM simulation.

See also

PxDeformableVolumeMesh

Parameters

  • params – [in] Cooking params instance required for mesh processing

  • surfaceMesh – [in] Input triangle mesh that represents the surface of the deformable volume

  • 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

Deformable volume mesh if cooking was successful, NULL otherwise

static inline PxDeformableVolumeMesh *createSoftBodyMeshNoVoxels(const PxCookingParams &params, const PxSimpleTriangleMesh &surfaceMesh, PxInsertionCallback &insertionCallback, PxReal maxWeightRatioInTet = 1.5f, const bool validate = true)

Deprecated.

See also

createDeformableVolumeMeshNoVoxels

static PxDeformableVolume *createDeformableVolumeFromMesh(PxDeformableVolumeMesh *deformableVolumeMesh, const PxTransform &transform, const PxDeformableVolumeMaterial &material, PxCudaContextManager &cudaContextManager, PxReal density = 100.0f, PxReal scale = 1.0f)

Creates a deformable volume instance from a deformable volume mesh.

See also

PxDeformableVolumeMesh, PxDeformableVolume

Parameters

  • deformableVolumeMesh – [in] The deformable volume mesh

  • transform – [in] The transform that defines initial position and orientation of the deformable volume

  • material – [in] The material

  • cudaContextManager – [in] A cuda context manager

  • density – [in] The density used to compute the mass properties

  • scale – [in] The scaling of the deformable volume

Returns

Deformable volume instance

static inline PxDeformableVolume *createSoftBodyFromMesh(PxDeformableVolumeMesh *deformableVolumeMesh, const PxTransform &transform, const PxDeformableVolumeMaterial &material, PxCudaContextManager &cudaContextManager, PxReal density = 100.0f, PxU32 solverIterationCount = 30, const PxFEMParameters &femParams = PxFEMParameters(), PxReal scale = 1.0f)

Deprecated.

See also

createDeformableVolumeFromMesh

static PxDeformableVolume *createDeformableVolumeBox(const PxTransform &transform, const PxVec3 &boxDimensions, const PxDeformableVolumeMaterial &material, PxCudaContextManager &cudaContextManager, PxReal maxEdgeLength = -1.0f, PxReal density = 100.0f, PxU32 numVoxelsAlongLongestAABBAxis = 10, PxReal scale = 1.0f)

Creates a deformable volume instance with a box shape.

See also

PxDeformableVolumeMesh, PxDeformableVolume

Parameters

  • transform – [in] The transform that defines initial position and orientation of the deformable volume

  • 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

  • numVoxelsAlongLongestAABBAxis – [in] The number of voxels to use for the simulation mesh along the longest bounding box dimension

  • scale – [in] The scaling of the deformable volume

Returns

Deformable volume instance

static inline PxDeformableVolume *createSoftBodyBox(const PxTransform &transform, const PxVec3 &boxDimensions, const PxDeformableVolumeMaterial &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)

Deprecated.

See also

createDeformableVolumeBox

static void allocateAndInitializeHostMirror(PxDeformableVolume &deformableVolume, PxCudaContextManager *cudaContextManager, PxVec4 *&simPositionInvMassPinned, PxVec4 *&simVelocityPinned, PxVec4 *&collPositionInvMassPinned, PxVec4 *&restPositionPinned)

allocates and initializes pinned host memory buffers from an actor with shape.

See also

PxDeformableVolume

Parameters

  • deformableVolume – [in] A PxDeformableVolume that has a valid shape attached to it.

  • cudaContextManager – [in] The PxCudaContextManager of the scene this deformable volume 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.

static void relaxDeformableVolumeMesh(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 deformable volume.

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.

static inline void relaxSoftBodyMesh(const PxVec4 *verticesOriginal, PxVec4 *verticesDeformed, PxU32 nbVertices, const PxU32 *tetrahedra, PxU32 nbTetraheda, const bool *vertexIsFixed = NULL, PxU32 numIterations = 200)

Deprecated.

See also

relaxDeformableVolumeMesh

static void convertCollisionToSimulationTet(PxDeformableVolume &deformableVolume, PxU32 tetId, const PxVec4 &tetBarycentric, PxU32 &outTetId, PxVec4 &outTetBarycentric)

Converts the tet id and barycentric from the collision mesh to the tet id and barycentric of the simulation mesh.

Parameters

  • deformableVolume – [in] The deformable volume to perform the operation on.

  • tetId – [in] The tet id of the deformable volume’s collision mesh.

  • tetBarycentric – [in] The barycentric coordinates of the tetrahedron specified with tetId.

  • outTetId – [out] The tet id of the deformable volume’s simulation mesh.

  • outTetBarycentric – [out] The barycentric coordinates of the tetrahedron specified with outTetId.