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<article class="doc">
<h1 class="page">Physics : SoftBody</h1>
<div id="preamble">
<div class="sectionbody">
<div class="admonitionblock warning">
<table>
<tr>
<td class="icon">
<i class="fa icon-warning" title="Warning"></i>
</td>
<td class="content">
<div class="paragraph">
<p>Writing in progress, checkout the forum for additional infos <a href="http://hub.jmonkeyengine.org/t/bullet-softbody-in-jme3-1/33110">http://hub.jmonkeyengine.org/t/bullet-softbody-in-jme3-1/33110</a></p>
</div>
</td>
</tr>
</table>
</div>
<div class="paragraph">
<p>what is a soft body ?</p>
</div>
<div class="paragraph">
<p>how a soft body is simulated ? (  node, link, face ; spring &amp; damper )</p>
</div>
<div class="paragraph">
<p><a href="https://en.wikipedia.org/wiki/Soft_body_dynamics">https://en.wikipedia.org/wiki/Soft_body_dynamics</a></p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="getting-started"><a class="anchor" href="#getting-started"></a>Getting Started</h2>
<div class="sectionbody">
<div class="paragraph">
<p>The dynamics libraries for softbody (.so , .dll …) isn&#8217;t (yet) prebuild for your platform so you have to checkout the entire project from GitHub then build the project.</p>
</div>
<div class="sect2">
<h3 id="how-to"><a class="anchor" href="#how-to"></a>How to :</h3>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>checkout the project from <a href="https://github.com/Dokthar/jmonkeyengine/tree/bullet_SoftBody">GitHub</a>.</p>
</li>
<li>
<p>go into the file gradle.properties and set the line : buildNativeProject = true .</p>
</li>
<li>
<p>run the command : ./gradlew build</p>
</li>
<li>
<p>then build the sdk : ant -f ./sdk/ build-zip (or build the sdk installer)</p>
</li>
<li>
<p>create a new project and make sure you use the following libraries : jme3-bullet-native and jme3-bullet (instead of jme3-jBullet)</p>
</li>
</ol>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="simple-example"><a class="anchor" href="#simple-example"></a>Simple Example</h2>
<div class="sectionbody">
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">public void simpleInitApp() {
    softBodyAppState = new BulletSoftBodyAppState();
    getStateManager().attach(softBodyAppState);

    SoftBodyWorldInfo sbwi = softBodyAppState.getPhysicsSoftSpace().getWorldInfo();
    sbwi.setGravity(Vector3f.UNIT_Y.mult(-0.981f));

    Geometry bunny = new Geometry("b", StandfordBunny.getMesh().deepClone());
    Material matN = new Material(assetManager, "Common/MatDefs/Misc/ShowNormals.j3md");
    bunny.setMaterial(matN);
    rootNode.attachChild(bunny);
    bunny.addControl(new SoftBodyControl(false));

    PhysicsSoftBody soft = bunny.getControl(SoftBodyControl.class);
    soft.generateClusters(8);
    soft.config().setDynamicFrictionCoef(0.8f);
    soft.config().setPoseMatchingCoef(0.2f);

    soft.config().setCollisionsFlags(PhysicsSoftBody.Config.CL_SS + PhysicsSoftBody.Config.CL_RS);

    soft.setPose(false, true);
    soft.setTotalMass(100, true);
    soft.randomizeConstraints();
    softBodyAppState.getPhysicsSoftSpace().add(soft);

    Box floorMesh = new Box(100f, 0.5f, 100f);
    Geometry floor = new Geometry("floor", floorMesh);
    floor.move(0, -5f, 0);
    floor.addControl(new RigidBodyControl(0));
    softBodyAppState.getPhysicsSpace().add(floor);
}</code></pre>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="documentation"><a class="anchor" href="#documentation"></a>Documentation</h2>
<div class="sectionbody">
<div class="paragraph">
<p>soft mesh / surface</p>
</div>
<div class="paragraph">
<p>Cluster ?</p>
</div>
<div class="paragraph">
<p>(generate) bending constraint ?</p>
</div>
<div class="paragraph">
<p>config collision flag ?</p>
</div>
<div class="sect2">
<h3 id="ropes"><a class="anchor" href="#ropes"></a>Ropes</h3>
<div class="paragraph">
<p>A rope can be created by creating a new SoftBody on a Mesh with Mesh.Mode.Lines.
More information on creating <a href="../../core/scene/custom_meshes.html" class="xref page">custom meshes</a>.</p>
</div>
<div class="sect3">
<h4 id="example"><a class="anchor" href="#example"></a>Example</h4>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">Mesh ropeMesh = new Mesh();
Vector3f[] vertices = {
   new Vector3f(0.00f, 0, 0),
   new Vector3f(0.50f, 0, 0),
   new Vector3f(1.00f, 0, 0),
   new Vector3f(1.50f, 0, 0),
   new Vector3f(2.00f, 0, 0),
   new Vector3f(2.50f, 0, 0),
   new Vector3f(3.00f, 0, 0),
   new Vector3f(3.50f, 0, 0),
   new Vector3f(4.00f, 0, 0)};
int[] indices = {
   0, 1,
   1, 2,
   2, 3,
   3, 4,
   4, 5,
   5, 6,
   6, 7,
   7, 8};
ropeMesh.setBuffer(VertexBuffer.Type.Position, 3, BufferUtils.createFloatBuffer(vertices));
ropeMesh.setBuffer(VertexBuffer.Type.Index, 2, BufferUtils.createIntBuffer(indices));
ropeMesh.setMode(Mesh.Mode.Lines);
ropeMesh.updateBound();</code></pre>
</div>
</div>
<div class="paragraph">
<p>Once you have a Line Mesh, you can do as follow :</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">Geometry t = new Geometry("softRope", ropeMesh);
t.move(0, 5, 0);
t.addControl(new SoftBodyControl(false));</code></pre>
</div>
</div>
</div>
<div class="sect3">
<h4 id="anchors"><a class="anchor" href="#anchors"></a>Anchors</h4>
<div class="paragraph">
<p>An Anchors act like a weld between a SoftBody and a RigidBody.
Adding a anchors to a soft body require to specify the SoftBody&#8217;s node and the RigidBody to weld with.</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">soft.appendAnchor(nodeId, rigid);</code></pre>
</div>
</div>
</div>
</div>
<div class="sect2">
<h3 id="note"><a class="anchor" href="#note"></a>Note</h3>
<div class="paragraph">
<p>An anchor bind a SoftBody&#8217;s node (or Vertex) to a RigidBody, the node will be attached to a RigidBody even if there are space in between.</p>
</div>
<div class="admonitionblock warning">
<table>
<tr>
<td class="icon">
<i class="fa icon-warning" title="Warning"></i>
</td>
<td class="content">
<div class="literalblock">
<div class="content">
<pre>Anchors are not yet Serialized</pre>
</div>
</div>
</td>
</tr>
</table>
</div>
<div class="sect3">
<h4 id="example-2"><a class="anchor" href="#example-2"></a>Example</h4>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">Geometry t = new Geometry("softRope", ropeMesh);
Box box = new Box(1f, 1f, 1f);
Geometry b = new Geometry("rigidBox", box);
t.move(0, 5, 0);
b.move(3f, 5, 0);

t.addControl(new SoftBodyControl(false));
soft = t.getControl(SoftBodyControl.class);
soft.setMass(0, 0); // make the first node static

b.addControl(new RigidBodyControl(1));
rigid = b.getControl(RigidBodyControl.class);

softBodyAppState.getPhysicsSpace().add(rigid);
softBodyAppState.getPhysicsSoftSpace().add(soft);

soft.appendAnchor(8, rigid); //where 8 is the last node of the rope</code></pre>
</div>
</div>
<div class="paragraph">
<p>Anchors can be removed as below. Note that you have to keep the node and RigidBody bind with.</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">soft.removeAnchor(8,rigid);</code></pre>
</div>
</div>
</div>
<div class="sect3">
<h4 id="joints"><a class="anchor" href="#joints"></a>Joints</h4>
<div class="paragraph">
<p>Joints require SoftBodies with Clusters ( see generateClusters(int k) ).</p>
</div>
<div class="admonitionblock warning">
<table>
<tr>
<td class="icon">
<i class="fa icon-warning" title="Warning"></i>
</td>
<td class="content">
<div class="literalblock">
<div class="content">
<pre>joint don't use values pivotA &amp; pivotB (not yet)</pre>
</div>
</div>
</td>
</tr>
</table>
</div>
</div>
</div>
<div class="sect2">
<h3 id="linearjoint"><a class="anchor" href="#linearjoint"></a>LinearJoint</h3>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">public SoftLinearJoint(Vector3f position, PhysicsSoftBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB);
public SoftLinearJoint(Vector3f position, PhysicsSoftBody nodeA, PhysicsSoftBody nodeB, Vector3f pivotA, Vector3f pivotB);</code></pre>
</div>
</div>
</div>
<div class="sect2">
<h3 id="angularjoint"><a class="anchor" href="#angularjoint"></a>AngularJoint</h3>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">public SoftAngularJoint(Vector3f axis, PhysicsSoftBody nodeA, PhysicsRigidBody nodeB, Vector3f pivotA, Vector3f pivotB);
public SoftAngularJoint(Vector3f axis, PhysicsSoftBody nodeA, PhysicsSoftBody nodeB, Vector3f pivotA, Vector3f pivotB);</code></pre>
</div>
</div>
<div class="sect3">
<h4 id="examples"><a class="anchor" href="#examples"></a>Examples</h4>

</div>
</div>
<div class="sect2">
<h3 id="linearjoint-2"><a class="anchor" href="#linearjoint-2"></a>LinearJoint</h3>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">Box box = new Box(3f, 1f, 3f);
Geometry b = new Geometry("rigidBox", box);
b.move(0, 5f, 0);
b.addControl(new RigidBodyControl(1));
rigid = b.getControl(RigidBodyControl.class);

Torus torus = new Torus(20, 10, 1f, 1.5f);
Geometry t = new Geometry("softTorus", torus);
t.addControl(new SoftBodyControl(true, false));
soft = t.getControl(SoftBodyControl.class);
soft.generateBendingConstraints(4, soft.material());
soft.generateClusters(4);

softBodyAppState.getPhysicsSpace().add(rigid);
softBodyAppState.getPhysicsSoftSpace().add(soft);

joint = new SoftLinearJoint(Vector3f.UNIT_X, soft, rigid, new Vector3f(0f,2,0f), new Vector3f(0f,-2,0f));
softBodyAppState.getPhysicsSoftSpace().add(joint);</code></pre>
</div>
</div>
</div>
<div class="sect2">
<h3 id="angularjoint-2"><a class="anchor" href="#angularjoint-2"></a>AngularJoint</h3>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">Box box = new Box(1f, 1f, 1f);
Geometry b = new Geometry("rigidBox", box);
b.move(0, 5f, 0);
b.addControl(new RigidBodyControl(1));
rigid = b.getControl(RigidBodyControl.class);

 Torus torus = new Torus(20, 10, 1f, 1.5f);
Geometry t = new Geometry("softTorus", torus);
t.addControl(new SoftBodyControl(true, false));
soft = t.getControl(SoftBodyControl.class);
soft.generateBendingConstraints(4, soft.material());
soft.generateClusters(4);

softBodyAppState.getPhysicsSpace().add(rigid);
softBodyAppState.getPhysicsSoftSpace().add(soft);

joint = new SoftAngularJoint(Vector3f.UNIT_X, soft, rigid, new Vector3f(0,0,2), new Vector3f(0, 0, 2));
softBodyAppState.getPhysicsSoftSpace().add(joint);</code></pre>
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