PhysicsSoftBody (Libbulletjme API)

java.lang.Object
- com.jme3.bullet.NativePhysicsObject
- - com.jme3.bullet.collision.PhysicsCollisionObject
  - - com.jme3.bullet.objects.PhysicsBody
    - - com.jme3.bullet.objects.PhysicsSoftBody

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>

Direct Known Subclasses:

ReducedDeformableBody
```
public class PhysicsSoftBody
extends PhysicsBody
```
A collision object to simulate a soft body, based on Bullet's btSoftBody. It is modeled as a mesh of nodes. Unlike other collision objects, the CollisionShape is ignored and is typically null.

Field Summary

Fields
Modifier and Type Field and Description

static java.util.logging.Logger logger2
message logger for this class
- Fields inherited from class com.jme3.bullet.objects.PhysicsBody
  massForStatic
- Fields inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
  COLLISION_GROUP_01, COLLISION_GROUP_02, COLLISION_GROUP_03, COLLISION_GROUP_04, COLLISION_GROUP_05, COLLISION_GROUP_06, COLLISION_GROUP_07, COLLISION_GROUP_08, COLLISION_GROUP_09, COLLISION_GROUP_10, COLLISION_GROUP_11, COLLISION_GROUP_12, COLLISION_GROUP_13, COLLISION_GROUP_14, COLLISION_GROUP_15, COLLISION_GROUP_16, COLLISION_GROUP_NONE, logger
- Fields inherited from class com.jme3.bullet.NativePhysicsObject
  loggerN

Fields
Modifier and Type	Field and Description
`static java.util.logging.Logger`	`logger2` message logger for this class

Constructor Summary

Constructors
Modifier	Constructor and Description
	`PhysicsSoftBody()` Instantiate an empty soft body.
`protected`	`PhysicsSoftBody(boolean unused)` Instantiate an uninitialized soft body, for internal use.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addVelocity(Vector3f velocity)` Add velocity to this entire body.
`void`	`addVelocity(Vector3f velocity, int nodeIndex)` Add velocity to the indexed node of this body.
`void`	`appendFaces(IndexBuffer nodeIndices)` Append faces to this body.
`void`	`appendLinks(IndexBuffer nodeIndices)` Append links to this body.
`void`	`appendNodes(java.nio.FloatBuffer nodeLocations)` Append nodes to this body, each with mass=1.
`void`	`appendTetras(IndexBuffer tetrahedra)` Append tetrahedra to this body.
`void`	`applyForce(Vector3f force)` Apply a force that acts uniformly across the entire body.
`void`	`applyForce(Vector3f force, int nodeIndex)` Apply a force to the indexed node of this body.
`void`	`applyRotation(Quaternion rotation)` Rotate this body.
`void`	`applyScale(Vector3f factors)` Scale this body.
`void`	`applyTransform(Transform transform)` Transform this body.
`void`	`applyTranslation(Vector3f offset)` Translate this body.
`BoundingBox`	`boundingBox(BoundingBox storeResult)` Calculate the axis-aligned bounding box for this body.
`Vector3f`	`clusterCenter(int clusterIndex, Vector3f storeResult)` Copy the center location of the indexed cluster.
`java.nio.FloatBuffer`	`copyClusterCenters(java.nio.FloatBuffer storeResult)` Copy the center-of-mass locations of all clusters in this body.
`java.nio.FloatBuffer`	`copyClusterMasses(java.nio.FloatBuffer storeResult)` Copy the masses of all clusters in this body.
`java.nio.FloatBuffer`	`copyClusterVelocities(java.nio.FloatBuffer storeResult)` Copy the (linear) velocities of all clusters in this body.
`java.nio.IntBuffer`	`copyFaces(java.nio.IntBuffer storeResult)` Copy the node indices of all faces in this body.
`java.nio.IntBuffer`	`copyLinks(java.nio.IntBuffer storeResult)` Copy the node indices of all links in this body.
`java.nio.FloatBuffer`	`copyLocations(java.nio.FloatBuffer storeResult)` Copy the locations of all nodes in this body.
`java.nio.FloatBuffer`	`copyMasses(java.nio.FloatBuffer storeResult)` Copy the masses of all nodes in this body.
`java.nio.FloatBuffer`	`copyNormals(java.nio.FloatBuffer storeResult)` Copy the normal vectors of all nodes in this body.
`java.nio.IntBuffer`	`copyTetras(java.nio.IntBuffer storeResult)` Copy the node indices of all tetrahedra in this body.
`java.nio.FloatBuffer`	`copyVelocities(java.nio.FloatBuffer storeResult)` Copy the (linear) velocities of all nodes in this body.
`int`	`countClusters()` Count the clusters in this body.
`int`	`countFaces()` Count the faces in this body.
`int`	`countLinks()` Count the links in this body.
`int`	`countNodes()` Count the nodes in this body.
`int`	`countNodesInCluster(int clusterIndex)` Count the nodes in the indexed cluster.
`int`	`countPinnedNodes()` Count the pinned nodes in this body.
`int`	`countTetras()` Count the tetrahedra in this body.
`boolean`	`cutLink(int nodeIndex0, int nodeIndex1, float cutLocation)` Cut a pre-existing link in this body.
`protected void`	`destroySoftBody()` Destroy the pre-existing btSoftBody (if any) except for its worldInfo.
`void`	`generateBendingConstraints(int numHops, SoftBodyMaterial material)` Generate bending constraints based on hops in the adjacency graph.
`void`	`generateClusters()` Generate one cluster per tetrahedron (or one per face if there are no tetrahedra).
`void`	`generateClusters(int k, int maxIterations)` Generate clusters (K-mean).
`float`	`get(Cluster parameter, int clusterIndex)` Read the specified parameter of the indexed cluster.
`Vector3f`	`getGravity(Vector3f storeResult)` Copy this body's gravitational acceleration.
`float`	`getMass()` Determine the total mass of this body.
`Vector3f`	`getPhysicsLocation(Vector3f storeResult)` Locate the center of this body's axis-aligned bounding box.
`Vec3d`	`getPhysicsLocationDp(Vec3d storeResult)` Locate the center of this body's axis-aligned bounding box.
`Quaternion`	`getPhysicsRotation(Quaternion storeResult)` Copy the orientation (rotation) of this body to a Quaternion.
`Quatd`	`getPhysicsRotationDp(Quatd storeResult)` Copy the orientation (rotation) of this body to a Quatd.
`Matrix3f`	`getPhysicsRotationMatrix(Matrix3f storeResult)` Copy the orientation of this body (the basis of its local coordinate system) to a Matrix3f.
`Matrix3d`	`getPhysicsRotationMatrixDp(Matrix3d storeResult)` Copy the orientation of this body (the basis of its local coordinate system) to a Matrix3d.
`Vector3f`	`getScale(Vector3f storeResult)` Copy the scale factors of this object.
`SoftBodyConfig`	`getSoftConfig()` Access the SoftBodyConfig of this body.
`SoftBodyMaterial`	`getSoftMaterial()` Access the Material of this body.
`SoftBodyWorldInfo`	`getWorldInfo()` Access the world info.
`protected void`	`initDefault()` Reinitialize the btSoftBody to the default values.
`boolean`	`isCollisionAllowed(long pcoId)` Test whether collisions are allowed between this body and the identified collision object.
`boolean`	`isEmpty()` Test whether this body is empty.
`boolean`	`isWorldInfoProtected()` Test whether this body's world info should be replaced when added to a space.
`java.nio.IntBuffer`	`listNodesInCluster(int clusterIndex, java.nio.IntBuffer storeResult)` List all nodes in the indexed cluster.
`float`	`margin()` Read the collision margin of this body.
`protected void`	`newEmptySoftBody()` Create an empty `btSoftBody` for this PhysicsSoftBody, using the pre-existing worldInfo.
`Vector3f`	`nodeLocation(int nodeIndex, Vector3f storeResult)` Copy the location of the indexed node.
`float`	`nodeMass(int nodeIndex)` Read the mass of the indexed node.
`Vector3f`	`nodeNormal(int nodeIndex, Vector3f storeResult)` Copy the normal vector of the indexed node.
`Vector3f`	`nodeVelocity(int nodeIndex, Vector3f storeResult)` Copy the velocity of the indexed node.
`void`	`randomizeConstraints()` Randomize constraints to reduce solver bias.
`void`	`releaseAllClusters()` Release all clusters.
`void`	`releaseCluster(int clusterIndex)` Release the indexed cluster.
`void`	`resetRestingLengths()` Set the resting lengths of all links to their current lengths.
`float`	`restingLengthsScale()` Read the scale factor for resting lengths.
`void`	`set(Cluster parameter, int clusterIndex, float value)` Alter the specified parameter of the indexed cluster.
`protected void`	`setConfig(SoftBodyConfig newConfig)` Replace the configuration properties.
`void`	`setGravity(Vector3f acceleration)` Alter this body's gravitational acceleration.
`void`	`setMargin(float margin)` Alter the collision margin of this body.
`void`	`setMass(float totalMass)` Alter the total mass for this body, distributing it in proportion to the current mass of each node.
`void`	`setMassByArea(float totalMass)` Alter the total mass for this body, distributing it based on the area of each face.
`void`	`setMassByCurrent(float totalMass)` Alter the total mass for this body, distributing it to nodes in proportion to their current masses.
`void`	`setMasses(java.nio.FloatBuffer masses)` Alter the masses of all nodes.
`void`	`setMassFromDensity(float density)` Alter the total mass of this body, weighted by volume.
`void`	`setNodeMass(int nodeIndex, float mass)` Alter the mass of the indexed node.
`void`	`setNodeVelocity(int nodeIndex, Vector3f velocity)` Alter the velocity of the indexed node.
`void`	`setNormals(java.nio.FloatBuffer normals)` Alter the normal vectors of all nodes.
`void`	`setPhysicsLocation(Vector3f location)` Directly relocate the center of this body's bounding box.
`void`	`setPhysicsLocationDp(Vec3d location)` Directly relocate the center of this body's bounding box.
`void`	`setPose(boolean setVolumePose, boolean setFramePose)` Set the "default pose" (lowest energy state) of this body based on its current pose.
`void`	`setProtectWorldInfo(boolean newState)` Alter whether this body's world info should be replaced when the body gets added to a space.
`void`	`setRestingLengthScale(float scale)` Alter the scale factor for resting lengths.
`void`	`setVelocities(java.nio.FloatBuffer velocities)` Alter the velocities of all nodes.
`void`	`setVelocity(Vector3f velocity)` Alter the velocities of all nodes to make them identical.
`void`	`setVolumeDensity(float density)` Set volume density (using tetrahedra) TODO clarify semantics
`void`	`setVolumeMass(float mass)` Set volume mass (using tetrahedra) TODO clarify semantics
`void`	`setWindVelocity(Vector3f velocity)` Alter the wind velocity.
`void`	`setWorldInfo(SoftBodyWorldInfo worldInfo)` Replace the world info of this body.
`protected void`	`setWorldInfoInternal(SoftBodyWorldInfo newInfo)` Replace the world-dependent info.
`float`	`volume()` Calculate the volume of this body.
`Vector3f`	`windVelocity(Vector3f storeResult)` Copy the wind velocity.

Methods inherited from class com.jme3.bullet.objects.PhysicsBody
addJoint, countJoints, getDeactivationDeadline, isDeactivationEnabled, listJoints, removeJoint, setDeactivationDeadline, setDeactivationEnabled

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
activate, addCollideWithGroup, addToIgnoreList, attachCollisionShape, clearIgnoreList, collisionFlags, copyPcoProperties, countIgnored, finalizeNative, findInstance, getActivationState, getAnisotropicFriction, getCcdMotionThreshold, getCcdSquareMotionThreshold, getCcdSweptSphereRadius, getCollideWithGroups, getCollisionGroup, getCollisionShape, getCollisionSpace, getContactDamping, getContactProcessingThreshold, getContactStiffness, getDeactivationTime, getFriction, getInternalType, getRestitution, getRollingFriction, getSpinningFriction, getTransform, getTransformDp, getUserObject, hasAnisotropicFriction, ignores, initUserPointer, isActive, isContactResponse, isInWorld, isStatic, listIgnoredPcos, proxyGroup, proxyMask, removeCollideWithGroup, removeFromIgnoreList, setActivationState, setAnisotropicFriction, setCcdMotionThreshold, setCcdSweptSphereRadius, setCollideWithGroups, setCollisionFlags, setCollisionGroup, setCollisionShape, setContactDamping, setContactProcessingThreshold, setContactStiffness, setDeactivationTime, setFriction, setIgnoreList, setLocationAndBasis, setRestitution, setRollingFriction, setSpinningFriction, setUserIndex, setUserIndex2, setUserIndex3, setUserObject, spaceId, toString, userIndex, userIndex2, userIndex3

Methods inherited from class com.jme3.bullet.NativePhysicsObject
compareTo, countTrackers, dumpTrackers, equals, freeUnusedObjects, hasAssignedNativeObject, hashCode, nativeId, reassignNativeId, setNativeId, setNativeIdNotTracked, unassignNativeObject

Methods inherited from class java.lang.Object
clone, finalize, getClass, notify, notifyAll, wait, wait, wait

- Field Detail
  - logger2
```
public static final java.util.logging.Logger logger2
```
    message logger for this class
- Constructor Detail
  - PhysicsSoftBody
```
public PhysicsSoftBody()
```
    Instantiate an empty soft body. The new body is not added to any physics space.
  - PhysicsSoftBody
```
protected PhysicsSoftBody(boolean unused)
```
    Instantiate an uninitialized soft body, for internal use.
    
    Parameters:
    
    unused - to distinguish from the no-arg constructor
- Method Detail
  - addVelocity
```
public void addVelocity(Vector3f velocity)
```
    Add velocity to this entire body.
    
    Parameters:
    
    velocity - the velocity to add (in physics-space coordinates, not null, unaffected)
  - addVelocity
```
public void addVelocity(Vector3f velocity,
                        int nodeIndex)
```
    Add velocity to the indexed node of this body.
    
    Parameters:
    
    velocity - the velocity to add (in physics-space coordinates, not null, unaffected)
    
    nodeIndex - which node to add it to (≥0, <numNodes)
  - appendFaces
```
public void appendFaces(IndexBuffer nodeIndices)
```
    Append faces to this body. A Face is a triangle connecting 3 nodes.
    
    Parameters:
    
    nodeIndices - a face is created for every 3 indices in this buffer (not null, direct, size a multiple of 3)
  - appendLinks
```
public void appendLinks(IndexBuffer nodeIndices)
```
    Append links to this body. A link is an interaction (or force) between 2 nodes.
    
    Parameters:
    
    nodeIndices - a link is created for each pair of indices in this buffer (not null, direct, size a multiple of 2)
  - appendNodes
```
public void appendNodes(java.nio.FloatBuffer nodeLocations)
```
    Append nodes to this body, each with mass=1. Nodes provide the shape of a soft body. Each node has its own location, velocity, mass, etcetera.
    
    Parameters:
    
    nodeLocations - a node is created for every 3 floats in this buffer (not null, direct, limit a multiple of 3)
  - appendTetras
```
public void appendTetras(IndexBuffer tetrahedra)
```
    Append tetrahedra to this body. A tetrahedron defines a volume between 4 nodes.
    
    Parameters:
    
    tetrahedra - a tetrahedron is created for every 4 indices in this buffer (not null, direct, size a multiple of 4)
  - applyForce
```
public void applyForce(Vector3f force)
```
    Apply a force that acts uniformly across the entire body.
    
    Parameters:
    
    force - the force to add (in physics-space coordinates, not null, unaffected)
  - applyForce
```
public void applyForce(Vector3f force,
                       int nodeIndex)
```
    Apply a force to the indexed node of this body.
    
    Parameters:
    
    force - the force to add (in physics-space coordinates, not null, unaffected)
    
    nodeIndex - which node to add it to (≥0, <numNodes)
  - applyRotation
```
public void applyRotation(Quaternion rotation)
```
    Rotate this body.
    
    Parameters:
    
    rotation - the rotation to apply (not null, unaffected)
  - applyScale
```
public void applyScale(Vector3f factors)
```
    Scale this body.
    
    Parameters:
    
    factors - the scale factor to apply to each axis (not null, unaffected)
  - applyTransform
```
public void applyTransform(Transform transform)
```
    Transform this body.
    
    Parameters:
    
    transform - the transform to apply (not null, unaffected)
  - applyTranslation
```
public void applyTranslation(Vector3f offset)
```
    Translate this body.
    
    Parameters:
    
    offset - the translation to apply to each axis (not null, unaffected)
  - clusterCenter
```
public Vector3f clusterCenter(int clusterIndex,
                              Vector3f storeResult)
```
    Copy the center location of the indexed cluster.
    
    Parameters:
    
    clusterIndex - which cluster (≥0, <numClusters)
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a location vector (in physics-space coordinates, either storeResult or a new vector)
  - copyClusterCenters
```
public java.nio.FloatBuffer copyClusterCenters(java.nio.FloatBuffer storeResult)
```
    Copy the center-of-mass locations of all clusters in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing 3 floats per cluster (in physics-space coordinates, either storeResult or a new buffer)
  - copyClusterMasses
```
public java.nio.FloatBuffer copyClusterMasses(java.nio.FloatBuffer storeResult)
```
    Copy the masses of all clusters in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing a float value per cluster (either storeResult or a new buffer)
  - copyClusterVelocities
```
public java.nio.FloatBuffer copyClusterVelocities(java.nio.FloatBuffer storeResult)
```
    Copy the (linear) velocities of all clusters in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing 3 floats per cluster (in physics-space coordinates, either storeResult or a new buffer)
  - copyFaces
```
public java.nio.IntBuffer copyFaces(java.nio.IntBuffer storeResult)
```
    Copy the node indices of all faces in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing 3 indices per face (either storeResult or a new buffer)
  - copyLinks
```
public java.nio.IntBuffer copyLinks(java.nio.IntBuffer storeResult)
```
    Copy the node indices of all links in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing 2 indices per link (either storeResult or a new buffer)
  - copyLocations
```
public java.nio.FloatBuffer copyLocations(java.nio.FloatBuffer storeResult)
```
    Copy the locations of all nodes in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing 3 floats per node (in physics-space coordinates, either storeResult or a new buffer)
  - copyMasses
```
public java.nio.FloatBuffer copyMasses(java.nio.FloatBuffer storeResult)
```
    Copy the masses of all nodes in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing a float value per node (either storeResult or a new buffer)
  - copyNormals
```
public java.nio.FloatBuffer copyNormals(java.nio.FloatBuffer storeResult)
```
    Copy the normal vectors of all nodes in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing 3 floats per node (in physics-space coordinates, either storeResult or a new buffer)
  - copyTetras
```
public java.nio.IntBuffer copyTetras(java.nio.IntBuffer storeResult)
```
    Copy the node indices of all tetrahedra in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing 4 indices per tetrahedron (either storeResult or a new buffer)
  - copyVelocities
```
public java.nio.FloatBuffer copyVelocities(java.nio.FloatBuffer storeResult)
```
    Copy the (linear) velocities of all nodes in this body.
    
    Parameters:
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing 3 floats per node (in physics-space coordinates, either storeResult or a new buffer)
  - countClusters
```
public final int countClusters()
```
    Count the clusters in this body.
    
    Returns:
    
    the number of clusters (≥0)
  - countFaces
```
public final int countFaces()
```
    Count the faces in this body.
    
    Returns:
    
    the number of faces (≥0)
  - countLinks
```
public final int countLinks()
```
    Count the links in this body.
    
    Returns:
    
    the number of links (≥0)
  - countNodes
```
public final int countNodes()
```
    Count the nodes in this body.
    
    Returns:
    
    the number of nodes (≥0)
  - countNodesInCluster
```
public int countNodesInCluster(int clusterIndex)
```
    Count the nodes in the indexed cluster.
    
    Parameters:
    
    clusterIndex - which cluster (≥0, <numClusters)
    
    Returns:
    
    the number of nodes (≥0)
  - countPinnedNodes
```
public final int countPinnedNodes()
```
    Count the pinned nodes in this body.
    
    Returns:
    
    the number of pinned nodes (≥0)
  - countTetras
```
public final int countTetras()
```
    Count the tetrahedra in this body.
    
    Returns:
    
    the number of tetrahedra (≥0)
  - cutLink
```
public boolean cutLink(int nodeIndex0,
                       int nodeIndex1,
                       float cutLocation)
```
    Cut a pre-existing link in this body. TODO clarify the semantics
    
    Parameters:
    
    nodeIndex0 - the index of a node in the link (≥0,<numNodes)
    
    nodeIndex1 - the index of the other node in the link (≥0,<numNodes)
    
    cutLocation - where to cut the link
    
    Returns:
    
    true if successful, otherwise false
  - generateBendingConstraints
```
public void generateBendingConstraints(int numHops,
                                       SoftBodyMaterial material)
```
    Generate bending constraints based on hops in the adjacency graph. This may increase the number of links.
    
    Parameters:
    
    numHops - (in links, ≥2)
    
    material - the material for appending links (not null)
  - generateClusters
```
public void generateClusters()
```
    Generate one cluster per tetrahedron (or one per face if there are no tetrahedra). Any pre-existing clusters are released.
  - generateClusters
```
public void generateClusters(int k,
                             int maxIterations)
```
    Generate clusters (K-mean). Any pre-existing clusters are released.
    
    Parameters:
    
    k - (≥1, <numNodes)
    
    maxIterations - the maximum number of iterations (>0, default=8192)
  - get
```
public float get(Cluster parameter,
                 int clusterIndex)
```
    Read the specified parameter of the indexed cluster.
    
    Parameters:
    
    parameter - which parameter to read (not null)
    
    clusterIndex - which cluster (≥0, <numClusters)
    
    Returns:
    
    the coefficient value
  - getSoftConfig
```
public SoftBodyConfig getSoftConfig()
```
    Access the SoftBodyConfig of this body.
    
    Returns:
    
    the pre-existing instance (not null)
  - getSoftMaterial
```
public SoftBodyMaterial getSoftMaterial()
```
    Access the Material of this body.
    
    Returns:
    
    the instance associated with this body (not null)
  - getWorldInfo
```
public SoftBodyWorldInfo getWorldInfo()
```
    Access the world info.
    
    Returns:
    
    the pre-existing instance (not null)
  - isCollisionAllowed
```
public boolean isCollisionAllowed(long pcoId)
```
    Test whether collisions are allowed between this body and the identified collision object. Disallowed collisions may result from anchors.
    
    Parameters:
    
    pcoId - the native ID of the other collision object (not zero)
    
    Returns:
    
    true if allowed, otherwise false
  - isEmpty
```
public final boolean isEmpty()
```
    Test whether this body is empty.
    
    Returns:
    
    true if empty, otherwise false
  - isWorldInfoProtected
```
public boolean isWorldInfoProtected()
```
    Test whether this body's world info should be replaced when added to a space.
    
    Returns:
    
    false if the info should be replaced, true if it should be preserved
  - listNodesInCluster
```
public java.nio.IntBuffer listNodesInCluster(int clusterIndex,
                                             java.nio.IntBuffer storeResult)
```
    List all nodes in the indexed cluster.
    
    Parameters:
    
    clusterIndex - which cluster (≥0, <numClusters)
    
    storeResult - storage for the result (direct, modified) or null
    
    Returns:
    
    a direct buffer containing node indices (either storeResult or a new buffer)
  - margin
```
public float margin()
```
    Read the collision margin of this body.
    
    Returns:
    
    the margin distance (in physics-space units, >0)
  - nodeLocation
```
public Vector3f nodeLocation(int nodeIndex,
                             Vector3f storeResult)
```
    Copy the location of the indexed node.
    
    Parameters:
    
    nodeIndex - which node (≥0, <numNodes)
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a location vector (in physics-space coordinates, either storeResult or a new vector)
  - nodeMass
```
public float nodeMass(int nodeIndex)
```
    Read the mass of the indexed node.
    
    Parameters:
    
    nodeIndex - which node to read (≥0, <numNodes)
    
    Returns:
    
    the mass of the node (≥0)
  - nodeNormal
```
public Vector3f nodeNormal(int nodeIndex,
                           Vector3f storeResult)
```
    Copy the normal vector of the indexed node.
    
    Parameters:
    
    nodeIndex - which node (≥0, <numNodes)
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a normal vector (in physics-space coordinates, either storeResult or a new vector)
  - nodeVelocity
```
public Vector3f nodeVelocity(int nodeIndex,
                             Vector3f storeResult)
```
    Copy the velocity of the indexed node.
    
    Parameters:
    
    nodeIndex - which node (≥0, <numNodes)
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a velocity vector (in physics-space coordinates, either storeResult or a new vector)
  - randomizeConstraints
```
public void randomizeConstraints()
```
    Randomize constraints to reduce solver bias.
  - releaseAllClusters
```
public void releaseAllClusters()
```
    Release all clusters.
  - releaseCluster
```
public void releaseCluster(int clusterIndex)
```
    Release the indexed cluster.
    
    Parameters:
    
    clusterIndex - which cluster to release (≥0, <numClusters)
  - resetRestingLengths
```
public void resetRestingLengths()
```
    Set the resting lengths of all links to their current lengths.
  - restingLengthsScale
```
public float restingLengthsScale()
```
    Read the scale factor for resting lengths.
    
    Returns:
    
    the scale factor
  - set
```
public void set(Cluster parameter,
                int clusterIndex,
                float value)
```
    Alter the specified parameter of the indexed cluster.
    
    Parameters:
    
    parameter - which parameter to alter (not null)
    
    clusterIndex - which cluster (≥0, <numClusters)
    
    value - the desired value
  - setMargin
```
public final void setMargin(float margin)
```
    Alter the collision margin of this body.
    
    Parameters:
    
    margin - the desired margin distance (in physics-space units, >0)
  - setMassByArea
```
public void setMassByArea(float totalMass)
```
    Alter the total mass for this body, distributing it based on the area of each face.
    
    Parameters:
    
    totalMass - the desired total mass (>0)
  - setMassByCurrent
```
public void setMassByCurrent(float totalMass)
```
    Alter the total mass for this body, distributing it to nodes in proportion to their current masses.
    
    Parameters:
    
    totalMass - the desired total mass (>0, default=numNodes)
  - setMasses
```
public void setMasses(java.nio.FloatBuffer masses)
```
    Alter the masses of all nodes.
    
    Parameters:
    
    masses - a direct buffer containing the desired masses (not null, all elements ≥0)
  - setMassFromDensity
```
public void setMassFromDensity(float density)
```
    Alter the total mass of this body, weighted by volume.
    
    Parameters:
    
    density - the desired density (>0)
  - setNodeMass
```
public void setNodeMass(int nodeIndex,
                        float mass)
```
    Alter the mass of the indexed node.
    
    Parameters:
    
    nodeIndex - which node to modify (≥0, <numNodes)
    
    mass - the desired mass (≥0, default=1)
  - setNodeVelocity
```
public void setNodeVelocity(int nodeIndex,
                            Vector3f velocity)
```
    Alter the velocity of the indexed node.
    
    Parameters:
    
    nodeIndex - which node to modify (≥0, <numNodes)
    
    velocity - the desired velocity vector (not null, unaffected)
  - setNormals
```
public void setNormals(java.nio.FloatBuffer normals)
```
    Alter the normal vectors of all nodes.
    
    Parameters:
    
    normals - a direct buffer containing the desired normals (in physics-space coordinates, not null, unaffected)
  - setPhysicsLocationDp
```
public void setPhysicsLocationDp(Vec3d location)
```
    Directly relocate the center of this body's bounding box.
    
    Parameters:
    
    location - the desired location (in physics-space coordinates, not null, finite, unaffected)
  - setPose
```
public void setPose(boolean setVolumePose,
                    boolean setFramePose)
```
    Set the "default pose" (lowest energy state) of this body based on its current pose.
    
    Parameters:
    
    setVolumePose - true→alter the volume pose, false→ don't alter it
    
    setFramePose - true→alter the frame pose, false→ don't alter it
  - setProtectWorldInfo
```
public void setProtectWorldInfo(boolean newState)
```
    Alter whether this body's world info should be replaced when the body gets added to a space.
    
    Parameters:
    
    newState - true to preserve the world info, false to allow it to be replaced (default=false)
  - setRestingLengthScale
```
public void setRestingLengthScale(float scale)
```
    Alter the scale factor for resting lengths.
    
    Parameters:
    
    scale - the desired scale factor
  - setVelocities
```
public void setVelocities(java.nio.FloatBuffer velocities)
```
    Alter the velocities of all nodes.
    
    Parameters:
    
    velocities - a direct buffer containing the desired velocities (in physics-space coordinates, not null, unaffected)
  - setVelocity
```
public void setVelocity(Vector3f velocity)
```
    Alter the velocities of all nodes to make them identical.
    
    Parameters:
    
    velocity - the desired velocity vector (in physics-space coordinates, not null, unaffected)
  - setVolumeDensity
```
public void setVolumeDensity(float density)
```
    Set volume density (using tetrahedra) TODO clarify semantics
    
    Parameters:
    
    density - the desired density
  - setVolumeMass
```
public void setVolumeMass(float mass)
```
    Set volume mass (using tetrahedra) TODO clarify semantics
    
    Parameters:
    
    mass - the desired mass
  - setWindVelocity
```
public void setWindVelocity(Vector3f velocity)
```
    Alter the wind velocity.
    
    Parameters:
    
    velocity - the desired velocity vector (in physics-space coordinates, not null, unaffected)
  - setWorldInfo
```
public void setWorldInfo(SoftBodyWorldInfo worldInfo)
```
    Replace the world info of this body.
    Invoke this method after adding the body to a space. Adding a body to a space may replace its world info.
    
    Parameters:
    
    worldInfo - the desired SoftBodyWorldInfo (not null, alias created)
  - volume
```
public float volume()
```
    Calculate the volume of this body.
    
    Returns:
    
    the total volume (in cubic physics-space units, ≥0)
  - windVelocity
```
public Vector3f windVelocity(Vector3f storeResult)
```
    Copy the wind velocity.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a velocity vector (in physics-space coordinates, either storeResult or a new vector)
  - destroySoftBody
```
protected void destroySoftBody()
```
    Destroy the pre-existing btSoftBody (if any) except for its worldInfo.
  - initDefault
```
protected void initDefault()
```
    Reinitialize the btSoftBody to the default values.
  - newEmptySoftBody
```
protected void newEmptySoftBody()
```
    Create an empty btSoftBody for this PhysicsSoftBody, using the pre-existing worldInfo. The pre-existing btSoftBody (if any) will be destroyed.
  - setConfig
```
protected void setConfig(SoftBodyConfig newConfig)
```
    Replace the configuration properties.
    
    Parameters:
    
    newConfig - the desired configuration
  - setWorldInfoInternal
```
protected void setWorldInfoInternal(SoftBodyWorldInfo newInfo)
```
    Replace the world-dependent info.
    
    Parameters:
    
    newInfo - the desired info
  - boundingBox
```
public BoundingBox boundingBox(BoundingBox storeResult)
```
    Calculate the axis-aligned bounding box for this body.
    
    Overrides:
    
    boundingBox in class PhysicsCollisionObject
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a bounding box (in physics-space coordinates, either storeResult or a new instance)
  - getGravity
```
public Vector3f getGravity(Vector3f storeResult)
```
    Copy this body's gravitational acceleration.
    
    Specified by:
    
    getGravity in class PhysicsBody
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    an acceleration vector (in physics-space coordinates, either storeResult or a new vector, not null)
  - getMass
```
public float getMass()
```
    Determine the total mass of this body.
    
    Specified by:
    
    getMass in class PhysicsBody
    
    Returns:
    
    the total mass (≥0)
  - getPhysicsLocation
```
public Vector3f getPhysicsLocation(Vector3f storeResult)
```
    Locate the center of this body's axis-aligned bounding box.
    
    Overrides:
    
    getPhysicsLocation in class PhysicsCollisionObject
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a location vector (in physics-space coordinates, either storeResult or a new instance, not null)
  - getPhysicsLocationDp
```
public Vec3d getPhysicsLocationDp(Vec3d storeResult)
```
    Locate the center of this body's axis-aligned bounding box.
    
    Overrides:
    
    getPhysicsLocationDp in class PhysicsCollisionObject
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a location vector (in physics-space coordinates, either storeResult or a new instance, not null, finite)
  - getPhysicsRotation
```
public Quaternion getPhysicsRotation(Quaternion storeResult)
```
    Copy the orientation (rotation) of this body to a Quaternion.
    
    Overrides:
    
    getPhysicsRotation in class PhysicsCollisionObject
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    an identity quaternion (either storeResult or a new instance, not null)
  - getPhysicsRotationDp
```
public Quatd getPhysicsRotationDp(Quatd storeResult)
```
    Copy the orientation (rotation) of this body to a Quatd.
    
    Overrides:
    
    getPhysicsRotationDp in class PhysicsCollisionObject
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    an identity quaternion (either storeResult or a new instance, not null)
  - getPhysicsRotationMatrix
```
public Matrix3f getPhysicsRotationMatrix(Matrix3f storeResult)
```
    Copy the orientation of this body (the basis of its local coordinate system) to a Matrix3f.
    
    Overrides:
    
    getPhysicsRotationMatrix in class PhysicsCollisionObject
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    an identity matrix (either storeResult or a new instance, not null)
  - getPhysicsRotationMatrixDp
```
public Matrix3d getPhysicsRotationMatrixDp(Matrix3d storeResult)
```
    Copy the orientation of this body (the basis of its local coordinate system) to a Matrix3d.
    
    Overrides:
    
    getPhysicsRotationMatrixDp in class PhysicsCollisionObject
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    an identity matrix (either storeResult or a new instance, not null)
  - getScale
```
public Vector3f getScale(Vector3f storeResult)
```
    Copy the scale factors of this object.
    
    Overrides:
    
    getScale in class PhysicsCollisionObject
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the value (1,1,1) (either storeResult or a new vector)
  - setGravity
```
public void setGravity(Vector3f acceleration)
```
    Alter this body's gravitational acceleration.
    Invoke this method after adding the body to a space. Adding a body to a space may override its gravity.
    
    Specified by:
    
    setGravity in class PhysicsBody
    
    Parameters:
    
    acceleration - the desired acceleration vector (in physics-space coordinates, not null, unaffected)
  - setMass
```
public void setMass(float totalMass)
```
    Alter the total mass for this body, distributing it in proportion to the current mass of each node.
    
    Specified by:
    
    setMass in class PhysicsBody
    
    Parameters:
    
    totalMass - the desired total mass (>0, default=numNodes)
  - setPhysicsLocation
```
public void setPhysicsLocation(Vector3f location)
```
    Directly relocate the center of this body's bounding box.
    
    Specified by:
    
    setPhysicsLocation in class PhysicsBody
    
    Parameters:
    
    location - the desired location (in physics-space coordinates, not null, finite, unaffected)

Class PhysicsSoftBody

Field Summary

Fields inherited from class com.jme3.bullet.objects.PhysicsBody

Fields inherited from class com.jme3.bullet.collision.PhysicsCollisionObject

Fields inherited from class com.jme3.bullet.NativePhysicsObject

Constructor Summary

Method Summary

Methods inherited from class com.jme3.bullet.objects.PhysicsBody

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject

Methods inherited from class com.jme3.bullet.NativePhysicsObject

Methods inherited from class java.lang.Object

Field Detail

logger2

Constructor Detail

PhysicsSoftBody

PhysicsSoftBody

Method Detail

addVelocity

addVelocity

appendFaces

appendLinks

appendNodes

appendTetras

applyForce

applyForce

applyRotation

applyScale

applyTransform

applyTranslation

clusterCenter

copyClusterCenters

copyClusterMasses

copyClusterVelocities

copyFaces

copyLinks

copyLocations

copyMasses

copyNormals

copyTetras

copyVelocities

countClusters

countFaces

countLinks

countNodes

countNodesInCluster

countPinnedNodes

countTetras

cutLink

generateBendingConstraints

generateClusters

generateClusters

get

getSoftConfig

getSoftMaterial

getWorldInfo

isCollisionAllowed

isEmpty

isWorldInfoProtected

listNodesInCluster

margin

nodeLocation

nodeMass

nodeNormal

nodeVelocity

randomizeConstraints

releaseAllClusters

releaseCluster

resetRestingLengths

restingLengthsScale

set

setMargin

setMassByArea

setMassByCurrent

setMasses

setMassFromDensity

setNodeMass

setNodeVelocity

setNormals

setPhysicsLocationDp

setPose