#include <NewtonEvolution.h>

Inheritance diagram for Chaos::Softs::FNewtonEvolution:

Public Member Functions
CHAOS_API	FNewtonEvolution (FSolverParticles &&InParticles, FSolverCollisionParticles &&InGeometryParticles, TArray< TVec3< int32 > > &&CollisionTriangles, const TArray< TVector< int32, 4 > > &InMesh, TArray< TArray< TVector< int32, 2 > > > &&InIncidentElements, int32 NumNewtonIterations=5, int32 NumCGIterations=20, const TArray< int32 > &ConstrainedVertices=TArray< int32 >(), const TArray< FSolverVec3 > &BCPositions=TArray< FSolverVec3 >(), FSolverReal CollisionThickness=(FSolverReal) 0., FSolverReal SelfCollisionsThickness=(FSolverReal) 0., FSolverReal CoefficientOfFriction=(FSolverReal) 0., FSolverReal Damping=(FSolverReal) 0.04, FSolverReal LocalDamping=(FSolverReal) 0., FSolverReal EMesh=(FSolverReal) 1000., FSolverReal NuMesh=(FSolverReal).3, FSolverReal NewtonTol=(FSolverReal) 1e-6, FSolverReal CGTolIn=(FSolverReal) 1e-8, bool bWriteDebugInfoIn=true)

	~FNewtonEvolution ()

CHAOS_API void	AdvanceOneTimeStep (const FSolverReal Dt, const bool bSmoothDt=true)

CHAOS_API void	ResetParticles ()

CHAOS_API int32	AddParticleRange (int32 NumParticles, uint32 GroupId, bool bActivate)

int32	GetParticleRangeSize (int32 Offset) const

void	ActivateParticleRange (int32 Offset, bool bActivate)

const FSolverParticles &	Particles () const

FSolverParticles &	Particles ()

const TPBDActiveView< FSolverParticles > &	ParticlesActiveView ()

TArray< TArray< TVector< int32, 2 > > > &	IncidentElements ()

const TArray< uint32 > &	ParticleGroupIds () const

CHAOS_API void	ResetCollisionParticles (int32 NumParticles=0)

CHAOS_API int32	AddCollisionParticleRange (int32 NumParticles, uint32 GroupId, bool bActivate)

void	ActivateCollisionParticleRange (int32 Offset, bool bActivate)

int32	GetCollisionParticleRangeSize (int32 Offset) const

const FSolverCollisionParticles &	CollisionParticles () const

FSolverCollisionParticles &	CollisionParticles ()

const TArray< uint32 > &	CollisionParticleGroupIds () const

const TPBDActiveView< FSolverCollisionParticles > &	CollisionParticlesActiveView ()

void	ResetConstraintRules ()

CHAOS_API int32	AddConstraintInitRange (int32 NumConstraints, bool bActivate)

CHAOS_API int32	AddConstraintRuleRange (int32 NumConstraints, bool bActivate)

CHAOS_API int32	AddPostCollisionConstraintRuleRange (int32 NumConstraints, bool bActivate)

int32	GetConstraintInitRangeSize (int32 Offset) const

int32	GetConstraintRuleRangeSize (int32 Offset) const

int32	GetPostCollisionConstraintRuleRangeSize (int32 Offset) const

void	ActivateConstraintInitRange (int32 Offset, bool bActivate)

void	ActivateConstraintRuleRange (int32 Offset, bool bActivate)

void	ActivatePostCollisionConstraintRuleRange (int32 Offset, bool bActivate)

const TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > &	ConstraintInits () const

TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > &	ConstraintInits ()

const TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > &	ConstraintRules () const

TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > &	ConstraintRules ()

const TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > &	PostCollisionConstraintRules () const

TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > &	PostCollisionConstraintRules ()

void	SetKinematicUpdateFunction (TFunction< void(FSolverParticles &, const FSolverReal, const FSolverReal, const int32)> KinematicUpdate)

void	SetCollisionKinematicUpdateFunction (TFunction< void(FSolverCollisionParticles &, const FSolverReal, const FSolverReal, const int32)> KinematicUpdate)

TFunction< void(FSolverParticles &, const FSolverReal, const int32)> &	GetForceFunction (const uint32 GroupId=0)

const TFunction< void(FSolverParticles &, const FSolverReal, const int32)> &	GetForceFunction (const uint32 GroupId=0) const

const FSolverVec3 &	GetGravity (const uint32 GroupId=0) const

void	SetGravity (const FSolverVec3 &Acceleration, const uint32 GroupId=0)

FVelocityAndPressureField &	GetVelocityAndPressureField (const uint32 GroupId=0)

const FVelocityAndPressureField &	GetVelocityAndPressureField (const uint32 GroupId=0) const

int32	GetNewtonIterations () const

void	SetNewtonIterations (const int32 Iterations)

FSolverReal	GetCollisionThickness (const uint32 GroupId=0) const

void	SetCollisionThickness (const FSolverReal CollisionThickness, const uint32 GroupId=0)

FSolverReal	GetCoefficientOfFriction (const uint32 GroupId=0) const

void	SetCoefficientOfFriction (const FSolverReal CoefficientOfFriction, const uint32 GroupId=0)

FSolverReal	GetDamping (const uint32 GroupId=0) const

void	SetDamping (const FSolverReal Damping, const uint32 GroupId=0)

FSolverReal	GetLocalDamping (const uint32 GroupId=0) const

void	SetLocalDamping (const FSolverReal LocalDamping, const uint32 GroupId=0)

bool	GetUseCCD (const uint32 GroupId=0) const

void	SetUseCCD (const bool bUseCCD, const uint32 GroupId=0)

const bool	Collided (int32 index)

const TArray< bool > &	GetCollisionStatus ()

const TArray< FSolverVec3 > &	GetCollisionContacts () const

const TArray< FSolverVec3 > &	GetCollisionNormals () const

FSolverReal	GetTime () const

template<typename Func1 , typename Func2 >
void	ComputeNegativeBackwardEulerResidual (const FSolverParticles &InParticles, const TArray< TArray< TVector< int32, 2 > > > &IncidentElements, const TArray< FSolverReal > &NodalMass, const TArray< FSolverVec3 > &Vn, const FSolverParticles &Xn, Func1 P, Func2 AddExternalForce, const FSolverReal Time, const FSolverReal Dt, TArray< FSolverVec3 > &Residual)

template<typename Func1 , typename Func2 , typename Func3 , typename Func4 , typename Func5 , typename Func6 >
void	DoNewtonStep (const int32 max_it_newton, const FSolverReal newton_tol, const int32 max_it_cg, const FSolverReal cg_tol, Func1 P, Func2 dP, const FSolverReal time, const FSolverReal dt, const TArray< TArray< TVector< int32, 2 > > > &incident_elements, const TArray< FSolverReal > &nodal_mass, Func3 set_bcs, Func4 project_bcs, Func5 add_external_force, Func6 update_position_based_state, FSolverParticles &InParticles, TArray< FSolverReal > &residual_norm, bool use_cg=false, FSolverReal cg_prctg_reduce=0, bool no_verbose=false)

CHAOS_API void	InitFEM ()

CHAOS_API void	WriteOutputLog (const int32 Frame)

Public Member Functions inherited from Chaos::TArrayCollection
	TArrayCollection ()

	TArrayCollection (const TArrayCollection &Other)=delete

	TArrayCollection (TArrayCollection &&Other)=delete

virtual	~TArrayCollection ()

void	ShrinkArrays (const float MaxSlackFraction, const int32 MinSlack)

int32	AddArray (TArrayCollectionArrayBase *Array)

void	RemoveArray (TArrayCollectionArrayBase *Array)

void	RemoveAt (int32 Index, int32 Count)

uint32	Size () const

uint64	ComputeColumnSize () const

Additional Inherited Members
Protected Member Functions inherited from Chaos::TArrayCollection
void	AddElementsHelper (const int32 Num)

void	ResizeHelper (const int32 Num)

void	RemoveAtHelper (const int32 Index, const int32 Count)

void	RemoveAtSwapHelper (const int32 Index)

void	MoveToOtherArrayCollection (const int32 Index, TArrayCollection &Other)

Protected Attributes inherited from Chaos::TArrayCollection
uint32	MSize

Constructor & Destructor Documentation

◆ FNewtonEvolution()

Chaos::Softs::FNewtonEvolution::FNewtonEvolution	(	FSolverParticles &&	InParticles,
		FSolverCollisionParticles &&	InGeometryParticles,
		TArray< TVec3< int32 > > &&	CollisionTriangles,
		const TArray< TVector< int32, 4 > > &	InMesh,
		TArray< TArray< TVector< int32, 2 > > > &&	InIncidentElements,
		int32	NumNewtonIterations = `5`,
		int32	NumCGIterations = `20`,
		const TArray< int32 > &	ConstrainedVertices = `TArray<int32>()`,
		const TArray< FSolverVec3 > &	BCPositions = `TArray<FSolverVec3>()`,
		FSolverReal	CollisionThickness = `(FSolverReal)0.`,
		FSolverReal	SelfCollisionsThickness = `(FSolverReal)0.`,
		FSolverReal	CoefficientOfFriction = `(FSolverReal)0.`,
		FSolverReal	Damping = `(FSolverReal)0.04`,
		FSolverReal	LocalDamping = `(FSolverReal)0.`,
		FSolverReal	EMesh = `(FSolverReal)1000.`,
		FSolverReal	NuMesh = `(FSolverReal).3`,
		FSolverReal	NewtonTol = `(FSolverReal) 1e-6`,
		FSolverReal	CGTolIn = `(FSolverReal) 1e-8`,
		bool	bWriteDebugInfoIn = `true`
	)

◆ ~FNewtonEvolution()

Chaos::Softs::FNewtonEvolution::~FNewtonEvolution ( )

inline

Member Function Documentation

◆ ActivateCollisionParticleRange()

void Chaos::Softs::FNewtonEvolution::ActivateCollisionParticleRange	(	int32	Offset,
		bool	bActivate
	)

inline

◆ ActivateConstraintInitRange()

void Chaos::Softs::FNewtonEvolution::ActivateConstraintInitRange	(	int32	Offset,
		bool	bActivate
	)

inline

◆ ActivateConstraintRuleRange()

void Chaos::Softs::FNewtonEvolution::ActivateConstraintRuleRange	(	int32	Offset,
		bool	bActivate
	)

inline

◆ ActivateParticleRange()

void Chaos::Softs::FNewtonEvolution::ActivateParticleRange	(	int32	Offset,
		bool	bActivate
	)

inline

◆ ActivatePostCollisionConstraintRuleRange()

void Chaos::Softs::FNewtonEvolution::ActivatePostCollisionConstraintRuleRange	(	int32	Offset,
		bool	bActivate
	)

inline

◆ AddCollisionParticleRange()

int32 Chaos::Softs::FNewtonEvolution::AddCollisionParticleRange	(	int32	NumParticles,
		uint32	GroupId,
		bool	bActivate
	)

◆ AddConstraintInitRange()

int32 Chaos::Softs::FNewtonEvolution::AddConstraintInitRange	(	int32	NumConstraints,
		bool	bActivate
	)

◆ AddConstraintRuleRange()

int32 Chaos::Softs::FNewtonEvolution::AddConstraintRuleRange	(	int32	NumConstraints,
		bool	bActivate
	)

◆ AddParticleRange()

int32 Chaos::Softs::FNewtonEvolution::AddParticleRange	(	int32	NumParticles,
		uint32	GroupId,
		bool	bActivate
	)

◆ AddPostCollisionConstraintRuleRange()

int32 Chaos::Softs::FNewtonEvolution::AddPostCollisionConstraintRuleRange	(	int32	NumConstraints,
		bool	bActivate
	)

◆ AdvanceOneTimeStep()

void Chaos::Softs::FNewtonEvolution::AdvanceOneTimeStep	(	const FSolverReal	Dt,
		const bool	bSmoothDt = `true`
	)

◆ Collided()

const bool Chaos::Softs::FNewtonEvolution::Collided ( int32 index )

inline

◆ CollisionParticleGroupIds()

const TArray< uint32 > & Chaos::Softs::FNewtonEvolution::CollisionParticleGroupIds ( ) const

inline

◆ CollisionParticles() [1/2]

FSolverCollisionParticles & Chaos::Softs::FNewtonEvolution::CollisionParticles ( )

inline

◆ CollisionParticles() [2/2]

const FSolverCollisionParticles & Chaos::Softs::FNewtonEvolution::CollisionParticles ( ) const

inline

◆ CollisionParticlesActiveView()

const TPBDActiveView< FSolverCollisionParticles > & Chaos::Softs::FNewtonEvolution::CollisionParticlesActiveView ( )

inline

◆ ComputeNegativeBackwardEulerResidual()

template<typename Func1 , typename Func2 >

void Chaos::Softs::FNewtonEvolution::ComputeNegativeBackwardEulerResidual	(	const FSolverParticles &	InParticles,
		const TArray< TArray< TVector< int32, 2 > > > &	IncidentElements,
		const TArray< FSolverReal > &	NodalMass,
		const TArray< FSolverVec3 > &	Vn,
		const FSolverParticles &	Xn,
		Func1	P,
		Func2	AddExternalForce,
		const FSolverReal	Time,
		const FSolverReal	Dt,
		TArray< FSolverVec3 > &	Residual
	)

◆ ConstraintInits() [1/2]

TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > & Chaos::Softs::FNewtonEvolution::ConstraintInits ( )

inline

◆ ConstraintInits() [2/2]

const TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > & Chaos::Softs::FNewtonEvolution::ConstraintInits ( ) const

inline

◆ ConstraintRules() [1/2]

TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > & Chaos::Softs::FNewtonEvolution::ConstraintRules ( )

inline

◆ ConstraintRules() [2/2]

const TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > & Chaos::Softs::FNewtonEvolution::ConstraintRules ( ) const

inline

◆ DoNewtonStep()

template<typename Func1 , typename Func2 , typename Func3 , typename Func4 , typename Func5 , typename Func6 >

void Chaos::Softs::FNewtonEvolution::DoNewtonStep	(	const int32	max_it_newton,
		const FSolverReal	newton_tol,
		const int32	max_it_cg,
		const FSolverReal	cg_tol,
		Func1	P,
		Func2	dP,
		const FSolverReal	time,
		const FSolverReal	dt,
		const TArray< TArray< TVector< int32, 2 > > > &	incident_elements,
		const TArray< FSolverReal > &	nodal_mass,
		Func3	set_bcs,
		Func4	project_bcs,
		Func5	add_external_force,
		Func6	update_position_based_state,
		FSolverParticles &	InParticles,
		TArray< FSolverReal > &	residual_norm,
		bool	use_cg = `false`,
		FSolverReal	cg_prctg_reduce = `0`,
		bool	no_verbose = `false`
	)

◆ GetCoefficientOfFriction()

FSolverReal Chaos::Softs::FNewtonEvolution::GetCoefficientOfFriction ( const uint32 GroupId = 0 ) const

inline

◆ GetCollisionContacts()

const TArray< FSolverVec3 > & Chaos::Softs::FNewtonEvolution::GetCollisionContacts ( ) const

inline

◆ GetCollisionNormals()

const TArray< FSolverVec3 > & Chaos::Softs::FNewtonEvolution::GetCollisionNormals ( ) const

inline

◆ GetCollisionParticleRangeSize()

int32 Chaos::Softs::FNewtonEvolution::GetCollisionParticleRangeSize ( int32 Offset ) const

inline

◆ GetCollisionStatus()

const TArray< bool > & Chaos::Softs::FNewtonEvolution::GetCollisionStatus ( )

inline

◆ GetCollisionThickness()

FSolverReal Chaos::Softs::FNewtonEvolution::GetCollisionThickness ( const uint32 GroupId = 0 ) const

inline

◆ GetConstraintInitRangeSize()

int32 Chaos::Softs::FNewtonEvolution::GetConstraintInitRangeSize ( int32 Offset ) const

inline

◆ GetConstraintRuleRangeSize()

int32 Chaos::Softs::FNewtonEvolution::GetConstraintRuleRangeSize ( int32 Offset ) const

inline

◆ GetDamping()

FSolverReal Chaos::Softs::FNewtonEvolution::GetDamping ( const uint32 GroupId = 0 ) const

inline

◆ GetForceFunction() [1/2]

TFunction< void(FSolverParticles &, const FSolverReal, const int32)> & Chaos::Softs::FNewtonEvolution::GetForceFunction ( const uint32 GroupId = 0 )

inline

◆ GetForceFunction() [2/2]

const TFunction< void(FSolverParticles &, const FSolverReal, const int32)> & Chaos::Softs::FNewtonEvolution::GetForceFunction ( const uint32 GroupId = 0 ) const

inline

◆ GetGravity()

const FSolverVec3 & Chaos::Softs::FNewtonEvolution::GetGravity ( const uint32 GroupId = 0 ) const

inline

◆ GetLocalDamping()

FSolverReal Chaos::Softs::FNewtonEvolution::GetLocalDamping ( const uint32 GroupId = 0 ) const

inline

◆ GetNewtonIterations()

int32 Chaos::Softs::FNewtonEvolution::GetNewtonIterations ( ) const

inline

◆ GetParticleRangeSize()

int32 Chaos::Softs::FNewtonEvolution::GetParticleRangeSize ( int32 Offset ) const

inline

◆ GetPostCollisionConstraintRuleRangeSize()

int32 Chaos::Softs::FNewtonEvolution::GetPostCollisionConstraintRuleRangeSize ( int32 Offset ) const

inline

◆ GetTime()

FSolverReal Chaos::Softs::FNewtonEvolution::GetTime ( ) const

inline

◆ GetUseCCD()

bool Chaos::Softs::FNewtonEvolution::GetUseCCD ( const uint32 GroupId = 0 ) const

inline

◆ GetVelocityAndPressureField() [1/2]

FVelocityAndPressureField & Chaos::Softs::FNewtonEvolution::GetVelocityAndPressureField ( const uint32 GroupId = 0 )

inline

◆ GetVelocityAndPressureField() [2/2]

const FVelocityAndPressureField & Chaos::Softs::FNewtonEvolution::GetVelocityAndPressureField ( const uint32 GroupId = 0 ) const

inline

◆ IncidentElements()

TArray< TArray< TVector< int32, 2 > > > & Chaos::Softs::FNewtonEvolution::IncidentElements ( )

inline

◆ InitFEM()

void Chaos::Softs::FNewtonEvolution::InitFEM ( )

◆ ParticleGroupIds()

const TArray< uint32 > & Chaos::Softs::FNewtonEvolution::ParticleGroupIds ( ) const

inline

◆ Particles() [1/2]

FSolverParticles & Chaos::Softs::FNewtonEvolution::Particles ( )

inline

◆ Particles() [2/2]

const FSolverParticles & Chaos::Softs::FNewtonEvolution::Particles ( ) const

inline

◆ ParticlesActiveView()

const TPBDActiveView< FSolverParticles > & Chaos::Softs::FNewtonEvolution::ParticlesActiveView ( )

inline

◆ PostCollisionConstraintRules() [1/2]

TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > & Chaos::Softs::FNewtonEvolution::PostCollisionConstraintRules ( )

inline

◆ PostCollisionConstraintRules() [2/2]

const TArray< TFunction< void(FSolverParticles &, const FSolverReal)> > & Chaos::Softs::FNewtonEvolution::PostCollisionConstraintRules ( ) const

inline

◆ ResetCollisionParticles()

void Chaos::Softs::FNewtonEvolution::ResetCollisionParticles ( int32 NumParticles = 0 )

◆ ResetConstraintRules()

void Chaos::Softs::FNewtonEvolution::ResetConstraintRules ( )

inline

◆ ResetParticles()

void Chaos::Softs::FNewtonEvolution::ResetParticles ( )

◆ SetCoefficientOfFriction()

void Chaos::Softs::FNewtonEvolution::SetCoefficientOfFriction	(	const FSolverReal	CoefficientOfFriction,
		const uint32	GroupId = `0`
	)

inline

◆ SetCollisionKinematicUpdateFunction()

void Chaos::Softs::FNewtonEvolution::SetCollisionKinematicUpdateFunction ( TFunction< void(FSolverCollisionParticles &, const FSolverReal, const FSolverReal, const int32)> KinematicUpdate )

inline

◆ SetCollisionThickness()

void Chaos::Softs::FNewtonEvolution::SetCollisionThickness	(	const FSolverReal	CollisionThickness,
		const uint32	GroupId = `0`
	)

inline

◆ SetDamping()

void Chaos::Softs::FNewtonEvolution::SetDamping	(	const FSolverReal	Damping,
		const uint32	GroupId = `0`
	)

inline

◆ SetGravity()

void Chaos::Softs::FNewtonEvolution::SetGravity	(	const FSolverVec3 &	Acceleration,
		const uint32	GroupId = `0`
	)

inline

◆ SetKinematicUpdateFunction()

void Chaos::Softs::FNewtonEvolution::SetKinematicUpdateFunction ( TFunction< void(FSolverParticles &, const FSolverReal, const FSolverReal, const int32)> KinematicUpdate )

inline

◆ SetLocalDamping()

void Chaos::Softs::FNewtonEvolution::SetLocalDamping	(	const FSolverReal	LocalDamping,
		const uint32	GroupId = `0`
	)

inline

◆ SetNewtonIterations()

void Chaos::Softs::FNewtonEvolution::SetNewtonIterations ( const int32 Iterations )

inline

◆ SetUseCCD()

void Chaos::Softs::FNewtonEvolution::SetUseCCD	(	const bool	bUseCCD,
		const uint32	GroupId = `0`
	)

inline

◆ WriteOutputLog()

void Chaos::Softs::FNewtonEvolution::WriteOutputLog ( const int32 Frame )

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

Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/NewtonEvolution.h
Engine/Source/Runtime/Experimental/Chaos/Private/Chaos/NewtonEvolution.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ FNewtonEvolution()

◆ ~FNewtonEvolution()

Member Function Documentation

◆ ActivateCollisionParticleRange()

◆ ActivateConstraintInitRange()

◆ ActivateConstraintRuleRange()

◆ ActivateParticleRange()

◆ ActivatePostCollisionConstraintRuleRange()

◆ AddCollisionParticleRange()

◆ AddConstraintInitRange()

◆ AddConstraintRuleRange()

◆ AddParticleRange()

◆ AddPostCollisionConstraintRuleRange()

◆ AdvanceOneTimeStep()

◆ Collided()

◆ CollisionParticleGroupIds()

◆ CollisionParticles() [1/2]

◆ CollisionParticles() [2/2]

◆ CollisionParticlesActiveView()

◆ ComputeNegativeBackwardEulerResidual()

◆ ConstraintInits() [1/2]

◆ ConstraintInits() [2/2]

◆ ConstraintRules() [1/2]

◆ ConstraintRules() [2/2]

◆ DoNewtonStep()

◆ GetCoefficientOfFriction()

◆ GetCollisionContacts()

◆ GetCollisionNormals()

◆ GetCollisionParticleRangeSize()

◆ GetCollisionStatus()

◆ GetCollisionThickness()

◆ GetConstraintInitRangeSize()

◆ GetConstraintRuleRangeSize()

◆ GetDamping()

◆ GetForceFunction() [1/2]

◆ GetForceFunction() [2/2]

◆ GetGravity()

◆ GetLocalDamping()

◆ GetNewtonIterations()

◆ GetParticleRangeSize()

◆ GetPostCollisionConstraintRuleRangeSize()

◆ GetTime()

◆ GetUseCCD()

◆ GetVelocityAndPressureField() [1/2]

◆ GetVelocityAndPressureField() [2/2]

◆ IncidentElements()

◆ InitFEM()

◆ ParticleGroupIds()

◆ Particles() [1/2]

◆ Particles() [2/2]

◆ ParticlesActiveView()

◆ PostCollisionConstraintRules() [1/2]

◆ PostCollisionConstraintRules() [2/2]

◆ ResetCollisionParticles()

◆ ResetConstraintRules()

◆ ResetParticles()

◆ SetCoefficientOfFriction()

◆ SetCollisionKinematicUpdateFunction()

◆ SetCollisionThickness()

◆ SetDamping()

◆ SetGravity()

◆ SetKinematicUpdateFunction()

◆ SetLocalDamping()

◆ SetNewtonIterations()

◆ SetUseCCD()

◆ WriteOutputLog()