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.. _bullet-softbody-config:

Bullet Softbody Config
======================

Bullet uses abbreviated properties which describe a soft bodies behaviour.
Here are explanations for the most important settings, and their mapping to
Bullet properties:

btSoftBody::Material vs. BulletSoftBodyMaterial:
------------------------------------------------

+------------------------+---------------------------------+-----------------------+
| btSoftBody::Material   | BulletSoftBodyMaterial          | Description           |
+========================+=================================+=======================+
| ``m_kLST``             | ``get/setLinearStiffness``      | Linear stiffness      |
|                        |                                 | Range [0,1]           |
+------------------------+---------------------------------+-----------------------+
| ``m_kAST``             | ``get/setAngularStiffness``     | Angular stiffness     |
|                        |                                 | Range [0,1]           |
+------------------------+---------------------------------+-----------------------+
| ``m_kVST``             | ``get/setVolumePreservation``   | Volume preservation   |
|                        |                                 | Range [0,1]           |
+------------------------+---------------------------------+-----------------------+


btSoftBody::Config vs. BulletSoftBodyConfig
-------------------------------------------

+----------------------+--------------------------------------------+------------------------------------------------+
| btSoftBody::Config   | BulletSoftBodyConfig                       | Description                                    |
+======================+============================================+================================================+
| ``kSRHR_CL``         | ``get/setSoftVsRigidHardness``             | Soft vs rigid hardness (cluster only)          |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kSKHR_CL``         | ``get/setSoftVsKineticHardness``           | Soft vs kinetic hardness (cluster only)        |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kSSHR_CL``         | ``get/setSoftVsSoftHardness``              | Soft vs soft hardness (cluster only)           |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kSR_SPLT_CL``      | ``get/setSoftVsRigidImpulseSplit``         | Soft vs rigid impulse split (cluster only)     |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kSK_SPLT_CL``      | ``get/setSoftVsKineticImpulseSplit``       | Soft vs kinetic impulse split (cluster only)   |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kSS_SPLT_CL``      | ``get/setSoftVsSoftImpulseSplit``          | Soft vs soft impulse split (cluster only)      |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kVCF``             | ``get/setVelocitiesCorrectionFactor``      | Velocities correction factor (Baumgarte)       |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kDP``              | ``get/setDampingCoefficient``              | Damping coefficient                            |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kDG``              | ``get/setDragCoefficient``                 | Drag coefficient                               |
|                      |                                            | Range [0,+inf]                                 |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kLF``              | ``get/setLiftCoefficient``                 | Lift coefficient                               |
|                      |                                            | Range [0,+inf]                                 |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kPR``              | ``get/setPressureCoefficient``             | Pressure coefficient                           |
|                      |                                            | Range [-inf,+inf]                              |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kVC``              | ``get/setVolumeConversationCoefficient``   | Volume conversation coefficient                |
|                      |                                            | Range [0,+inf]                                 |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kDF``              | ``get/setDynamicFrictionCoefficient``      | Dynamic friction coefficient                   |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kMT``              | ``get/setPoseMatchingCoefficient``         | Pose matching coefficient                      |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kCHR``             | ``get/setRigidContactsHardness``           | Rigid contacts hardness                        |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kKHR``             | ``get/setKineticContactsHardness``         | Kinetic contacts hardness                      |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kSHR``             | ``get/setSoftContactsHardness``            | Soft contacts hardness                         |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``kAHR``             | ``get/setAnchorsHardness``                 | Anchors hardness                               |
|                      |                                            | Range [0,1]                                    |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``piterations``      | ``get/setPositionsSolverIterations``       | Positions solver iterations                    |
|                      |                                            | Positive integer                               |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``viterations``      | ``get/setVelocitiesSolverIterations``      | Velocities solver iterations                   |
|                      |                                            | Positive integer                               |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``diterations``      | ``get/setDriftSolverIterations``           | Drift solver iterations                        |
|                      |                                            | Positive integer                               |
+----------------------+--------------------------------------------+------------------------------------------------+
| ``citerations``      | ``get/setClusterSolverIterations``         | Cluster solver iterations                      |
|                      |                                            | Positive integer                               |
+----------------------+--------------------------------------------+------------------------------------------------+