soft_body_removal

Removing a soft-body (PhysicsWorld.remove_soft_body) removes everything the engine created for it: its root body, the proxies of its clusters, the colliders of its surface and of its deformable meshes, as well as the joints attached to any of them. One cluster can also be removed on its own (PhysicsWorld.remove_soft_body_cluster):

# Removing a soft body removes its root body, its proxies, its colliders and the joints
# attached to them.
world.remove_soft_body(rope_handle)
# A cluster can be removed on its own.
world.remove_soft_body_cluster(jelly_handle, cluster)

warning

Removing a cluster also removes the particles that only this cluster covered, with their elements and their attachments. Therefore removing the last cluster of a soft-body removes the soft-body itself. Note that removing the proxy of a cluster from the rigid-body set (with PhysicsWorld.remove_body, or with RigidBodySet.remove given the soft-body set as its soft_bodies argument, without which it raises a ValueError) is equivalent to removing the cluster.