Parameters to create a soft deformable actor. More...

#include <mochi_structs.h>

Inheritance diagram for superdex::SoftActorParams:

Public Member Functions
bool	operator== (SoftActorParams const &) const =default

Public Attributes
ActorBoundaryElementType	boundaryElementType = ActorBoundaryElementType::Default
	Finite element type for boundary discretization.
ContactParams	contact
	Contact mechanics parameters.
bool	hasGravity = true
	If true, actor is affected by gravity.
bool	hasInertia = true
	If true, actor is affected by inertial forces.
bool	hasStress = true
	If true, actor is affected by internal stress/strain forces.
DynamicString	layer
	Contact layer name for filtering contacts between actors.
SoftMaterialParams	material = {}
	Uniform material properties.
DynamicString	name
	Optional actor name.
ShapeHandle	shape
	Shape handle defining the actor's geometry and other metadata.
TransformRT	worldFromLocal
	Initial rotation and translation of the actor's local frame with respect to world frame.

Detailed Description

Parameters to create a soft deformable actor.

Soft actors are volumetric deformable bodies simulated using the Finite Element Method (FEM).

Note: Soft actors created via Scene::CreateSoftActor act as colliding actors via their own surface sample points but not as colliders. To create a soft actor with a collider, use experimental::CreateSoftActor with an explicit experimental::ExperimentalSoftActorParams::colliderType.

See also: Scene::CreateSoftActor, experimental::CreateSoftActor, experimental::ExperimentalSoftActorParams

Definition at line 158 of file mochi_structs.h.

Member Function Documentation

◆ operator==()

bool superdex::SoftActorParams::operator== ( SoftActorParams const & ) const

default

Member Data Documentation

◆ boundaryElementType

ActorBoundaryElementType superdex::SoftActorParams::boundaryElementType = ActorBoundaryElementType::Default

Finite element type for boundary discretization.

Note: Affects accuracy and performance of contact and boundary integrals.

See also: ActorBoundaryElementType

Definition at line 177 of file mochi_structs.h.

◆ contact

ContactParams superdex::SoftActorParams::contact

Contact mechanics parameters.

See also: ContactParams

Definition at line 169 of file mochi_structs.h.

◆ hasGravity

bool superdex::SoftActorParams::hasGravity = true

If true, actor is affected by gravity.

Note: Unless the soft actor is part of a soft-skinned actor (SoftSkinnedActorParams::softParams), at least one of hasGravity, hasInertia or hasStress must be enabled.

See also: Scene::SetGravity

Definition at line 171 of file mochi_structs.h.

◆ hasInertia

bool superdex::SoftActorParams::hasInertia = true

If true, actor is affected by inertial forces.

Note: Disable for quasi-static simulations.; Unless the soft actor is part of a soft-skinned actor (SoftSkinnedActorParams::softParams), at least one of hasGravity, hasInertia or hasStress must be enabled.

Definition at line 173 of file mochi_structs.h.

◆ hasStress

bool superdex::SoftActorParams::hasStress = true

If true, actor is affected by internal stress/strain forces.

Note: Unless the soft actor is part of a soft-skinned actor (SoftSkinnedActorParams::softParams), at least one of hasGravity, hasInertia or hasStress must be enabled.

Definition at line 175 of file mochi_structs.h.

◆ layer

DynamicString superdex::SoftActorParams::layer

Contact layer name for filtering contacts between actors.

See also: Scene::EnableLayerContactAsymmetric, Scene::EnableLayerContactSymmetric, Scene::EnableActorContactAsymmetric, Scene::EnableActorContactSymmetric

Definition at line 161 of file mochi_structs.h.

◆ material

SoftMaterialParams superdex::SoftActorParams::material = {}

Uniform material properties.

Note: If the shape contains per-element material data of the same SoftMaterialType, the per-element values from the shape take precedence over and replace these uniform values. If the shape's per-element material type differs, these uniform values are used instead.; The actor uses a single PSD strategy for all elements. By default it is the material's PSD strategy. If the shape supplies per-element material data of a matching SoftMaterialType whose PerElementSoftMaterialData::psdStrategy is specified (i.e. not MaterialPsdStrategy::MaterialDefault), that value takes precedence. If the material's PSD strategy is also specified, the two must be equal.; Non-uniform material properties can also be applied after the actor is created. See experimental::SetSoftMaterialParamsField.

See also: Actor::SetSoftMaterialParams, experimental::SetSoftMaterialParamsField

Definition at line 167 of file mochi_structs.h.

◆ name

DynamicString superdex::SoftActorParams::name

Optional actor name.

Uniqueness of names is not enforced.

Note: When used in SoftSkinnedActorParams::softParams, this is interpreted as a nested soft local name. See SoftSkinnedActorParams::softParams for additional requirements and defaulting behavior.

Definition at line 159 of file mochi_structs.h.

◆ shape

ShapeHandle superdex::SoftActorParams::shape

Shape handle defining the actor's geometry and other metadata.

Note: Must be a TetrahedralMeshShape for soft actors.; A shape can be shared by multiple actors, even actors in different scenes.

See also: ShapeHandle, Context::LoadShapeFromFile

Definition at line 165 of file mochi_structs.h.

◆ worldFromLocal

TransformRT superdex::SoftActorParams::worldFromLocal

Initial rotation and translation of the actor's local frame with respect to world frame.

Note: When this struct is used as an entry of SoftSkinnedActorParams::softParams, this transform must be identity. The soft actor's shape must be defined directly in the reference frame of the articulated actor (see SoftSkinnedActorParams::skeletonParams). The soft-skinned actor's placement in the scene world is provided by ArticulatedActorParams::worldFromRoot in SoftSkinnedActorParams::skeletonParams.

Definition at line 163 of file mochi_structs.h.

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

Public Member Functions

Public Attributes