#include "btSoftBody.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btPolarDecomposition.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include <string.h>
#include <cmath>
#include "poly34.h"

Classes
struct	btSymMatrix< T >
class	btSoftBodyCollisionShape
class	btSoftClusterCollisionShape
struct	btEigen
struct	btSoftColliders
struct	btSoftColliders::ClusterBase
struct	btSoftColliders::CollideCL_RS
struct	btSoftColliders::CollideCL_SS
struct	btSoftColliders::CollideSDF_RS
struct	btSoftColliders::CollideSDF_RD
struct	btSoftColliders::CollideSDF_RDF
struct	btSoftColliders::CollideVF_SS
struct	btSoftColliders::CollideVF_DD
struct	btSoftColliders::CollideFF_DD
struct	btSoftColliders::CollideCCD

Functions
static SIMD_FORCE_INLINE void	findJacobian (const btMultiBodyLinkCollider *multibodyLinkCol, btMultiBodyJacobianData &jacobianData, const btVector3 &contact_point, const btVector3 &dir)
	btSoftBody implementation by Nathanael Presson
static SIMD_FORCE_INLINE btVector3	generateUnitOrthogonalVector (const btVector3 &u)
static SIMD_FORCE_INLINE bool	proximityTest (const btVector3 &x1, const btVector3 &x2, const btVector3 &x3, const btVector3 &x4, const btVector3 &normal, const btScalar &mrg, btVector3 &bary)
static int	getSign (const btVector3 &n, const btVector3 &x)
static SIMD_FORCE_INLINE bool	hasSeparatingPlane (const btSoftBody::Face face, const btSoftBody::Node node, const btScalar &dt)
static SIMD_FORCE_INLINE bool	nearZero (const btScalar &a)
static SIMD_FORCE_INLINE bool	sameSign (const btScalar &a, const btScalar &b)
static SIMD_FORCE_INLINE bool	diffSign (const btScalar &a, const btScalar &b)
btScalar	evaluateBezier2 (const btScalar &p0, const btScalar &p1, const btScalar &p2, const btScalar &t, const btScalar &s)
btScalar	evaluateBezier (const btScalar &p0, const btScalar &p1, const btScalar &p2, const btScalar &p3, const btScalar &t, const btScalar &s)
static SIMD_FORCE_INLINE bool	getSigns (bool type_c, const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btScalar &t0, const btScalar &t1, btScalar &lt0, btScalar &lt1)
static SIMD_FORCE_INLINE void	getBernsteinCoeff (const btSoftBody::Face face, const btSoftBody::Node node, const btScalar &dt, btScalar &k0, btScalar &k1, btScalar &k2, btScalar &k3)
static SIMD_FORCE_INLINE void	polyDecomposition (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btScalar &j0, const btScalar &j1, const btScalar &j2, btScalar &u0, btScalar &u1, btScalar &v0, btScalar &v1)
static SIMD_FORCE_INLINE bool	rootFindingLemma (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3)
static SIMD_FORCE_INLINE void	getJs (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btSoftBody::Node a, const btSoftBody::Node b, const btSoftBody::Node c, const btSoftBody::Node p, const btScalar &dt, btScalar &j0, btScalar &j1, btScalar &j2)
static SIMD_FORCE_INLINE bool	signDetermination1Internal (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btScalar &u0, const btScalar &u1, const btScalar &v0, const btScalar &v1)
static SIMD_FORCE_INLINE bool	signDetermination2Internal (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btScalar &j0, const btScalar &j1, const btScalar &j2, const btScalar &u0, const btScalar &u1, const btScalar &v0, const btScalar &v1)
static SIMD_FORCE_INLINE bool	signDetermination1 (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btSoftBody::Face face, const btSoftBody::Node node, const btScalar &dt)
static SIMD_FORCE_INLINE bool	signDetermination2 (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btSoftBody::Face face, const btSoftBody::Node node, const btScalar &dt)
static SIMD_FORCE_INLINE bool	coplanarAndInsideTest (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btSoftBody::Face face, const btSoftBody::Node node, const btScalar &dt)
static SIMD_FORCE_INLINE bool	conservativeCulling (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btScalar &mrg)
static SIMD_FORCE_INLINE bool	bernsteinVFTest (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btScalar &mrg, const btSoftBody::Face face, const btSoftBody::Node node, const btScalar &dt)
static SIMD_FORCE_INLINE void	deCasteljau (const btScalar &k0, const btScalar &k1, const btScalar &k2, const btScalar &k3, const btScalar &t0, btScalar &k10, btScalar &k20, btScalar &k30, btScalar &k21, btScalar &k12)
static SIMD_FORCE_INLINE bool	bernsteinVFTest (const btSoftBody::Face face, const btSoftBody::Node node, const btScalar &dt, const btScalar &mrg)
static SIMD_FORCE_INLINE bool	continuousCollisionDetection (const btSoftBody::Face face, const btSoftBody::Node node, const btScalar &dt, const btScalar &mrg, btVector3 &bary)
static SIMD_FORCE_INLINE bool	bernsteinCCD (const btSoftBody::Face face, const btSoftBody::Node node, const btScalar &dt, const btScalar &mrg, btVector3 &bary)
template<typename T>
static void	ZeroInitialize (T &value)
template<typename T>
static bool	CompLess (const T &a, const T &b)
template<typename T>
static bool	CompGreater (const T &a, const T &b)
template<typename T>
static T	Lerp (const T &a, const T &b, btScalar t)
template<typename T>
static T	InvLerp (const T &a, const T &b, btScalar t)
static btMatrix3x3	Lerp (const btMatrix3x3 &a, const btMatrix3x3 &b, btScalar t)
static btVector3	Clamp (const btVector3 &v, btScalar maxlength)
template<typename T>
static T	Clamp (const T &x, const T &l, const T &h)
template<typename T>
static T	Sq (const T &x)
template<typename T>
static T	Cube (const T &x)
template<typename T>
static T	Sign (const T &x)
template<typename T>
static bool	SameSign (const T &x, const T &y)
static btScalar	ClusterMetric (const btVector3 &x, const btVector3 &y)
static btMatrix3x3	ScaleAlongAxis (const btVector3 &a, btScalar s)
static btMatrix3x3	Cross (const btVector3 &v)
static btMatrix3x3	Diagonal (btScalar x)
static btMatrix3x3	Diagonal (const btVector3 &v)
static btScalar	Dot (const btScalar a, const btScalar b, int ndof)
static btMatrix3x3	OuterProduct (const btScalar v1, const btScalar v2, const btScalar v3, const btScalar u1, const btScalar u2, const btScalar u3, int ndof)
static btMatrix3x3	OuterProduct (const btVector3 &v1, const btVector3 &v2)
static btMatrix3x3	Add (const btMatrix3x3 &a, const btMatrix3x3 &b)
static btMatrix3x3	Sub (const btMatrix3x3 &a, const btMatrix3x3 &b)
static btMatrix3x3	Mul (const btMatrix3x3 &a, btScalar b)
static void	Orthogonalize (btMatrix3x3 &m)
static btMatrix3x3	MassMatrix (btScalar im, const btMatrix3x3 &iwi, const btVector3 &r)
static btMatrix3x3	ImpulseMatrix (btScalar dt, btScalar ima, btScalar imb, const btMatrix3x3 &iwi, const btVector3 &r)
static btMatrix3x3	ImpulseMatrix (btScalar dt, const btMatrix3x3 &effective_mass_inv, btScalar imb, const btMatrix3x3 &iwi, const btVector3 &r)
static btMatrix3x3	ImpulseMatrix (btScalar ima, const btMatrix3x3 &iia, const btVector3 &ra, btScalar imb, const btMatrix3x3 &iib, const btVector3 &rb)
static btMatrix3x3	AngularImpulseMatrix (const btMatrix3x3 &iia, const btMatrix3x3 &iib)
static btVector3	ProjectOnAxis (const btVector3 &v, const btVector3 &a)
static btVector3	ProjectOnPlane (const btVector3 &v, const btVector3 &a)
static void	ProjectOrigin (const btVector3 &a, const btVector3 &b, btVector3 &prj, btScalar &sqd)
static void	ProjectOrigin (const btVector3 &a, const btVector3 &b, const btVector3 &c, btVector3 &prj, btScalar &sqd)
static bool	rayIntersectsTriangle (const btVector3 &origin, const btVector3 &dir, const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, btScalar &t)
static bool	lineIntersectsTriangle (const btVector3 &rayStart, const btVector3 &rayEnd, const btVector3 &p1, const btVector3 &p2, const btVector3 &p3, btVector3 &sect, btVector3 &normal)
template<typename T>
static T	BaryEval (const T &a, const T &b, const T &c, const btVector3 &coord)
static btVector3	BaryCoord (const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &p)
static btScalar	ImplicitSolve (btSoftBody::ImplicitFn *fn, const btVector3 &a, const btVector3 &b, const btScalar accuracy, const int maxiterations=256)
static void	EvaluateMedium (const btSoftBodyWorldInfo *wfi, const btVector3 &x, btSoftBody::sMedium &medium)
static btVector3	NormalizeAny (const btVector3 &v)
static btDbvtVolume	VolumeOf (const btSoftBody::Face &f, btScalar margin)
static btVector3	CenterOf (const btSoftBody::Face &f)
static btScalar	AreaOf (const btVector3 &x0, const btVector3 &x1, const btVector3 &x2)
static btScalar	VolumeOf (const btVector3 &x0, const btVector3 &x1, const btVector3 &x2, const btVector3 &x3)
static void	ApplyClampedForce (btSoftBody::Node &n, const btVector3 &f, btScalar dt)
static int	MatchEdge (const btSoftBody::Node a, const btSoftBody::Node b, const btSoftBody::Node ma, const btSoftBody::Node mb)
static int	PolarDecompose (const btMatrix3x3 &m, btMatrix3x3 &q, btMatrix3x3 &s)

Variables
static const int	KDOP_COUNT = 13
static btVector3	dop [KDOP_COUNT]

Function Documentation

◆ Add()

btMatrix3x3 Add	(	const btMatrix3x3 &	a,
		const btMatrix3x3 &	b )

inlinestatic

Definition at line 966 of file btSoftBodyInternals.h.

References Add(), b, btMatrix3x3, and i.

Referenced by Add(), AngularImpulseMatrix(), ImpulseMatrix(), ImpulseMatrix(), and ImpulseMatrix().

◆ AngularImpulseMatrix()

btMatrix3x3 AngularImpulseMatrix	(	const btMatrix3x3 &	iia,
		const btMatrix3x3 &	iib )

inlinestatic

Definition at line 1035 of file btSoftBodyInternals.h.

References Add(), AngularImpulseMatrix(), btMatrix3x3, and inverse.

Referenced by AngularImpulseMatrix().

◆ ApplyClampedForce()

void ApplyClampedForce	(	btSoftBody::Node &	n,
		const btVector3 &	f,
		btScalar	dt )

inlinestatic

Definition at line 1307 of file btSoftBodyInternals.h.

References ApplyClampedForce(), btVector3, length2(), btSoftBody::Node::m_f, btSoftBody::Node::m_im, btSoftBody::Node::m_v, and ProjectOnAxis().

Referenced by ApplyClampedForce().

◆ AreaOf()

btScalar AreaOf	(	const btVector3 &	x0,
		const btVector3 &	x1,
		const btVector3 &	x2 )

inlinestatic

Definition at line 1281 of file btSoftBodyInternals.h.

References AreaOf(), b, btCross(), and btVector3.

Referenced by AreaOf().

◆ BaryCoord()

btVector3 BaryCoord	(	const btVector3 &	a,
		const btVector3 &	b,
		const btVector3 &	c,
		const btVector3 &	p )

inlinestatic

Definition at line 1186 of file btSoftBodyInternals.h.

References b, BaryCoord(), btCross(), btVector3, and w().

Referenced by BaryCoord(), and btSoftColliders::CollideVF_SS::Process().

◆ BaryEval()

template<typename T>

T BaryEval	(	const T &	a,
		const T &	b,
		const T &	c,
		const btVector3 &	coord )

inlinestatic

Definition at line 1178 of file btSoftBodyInternals.h.

References b, BaryEval(), btVector3, and T.

Referenced by BaryEval(), btSoftColliders::CollideVF_DD::Process(), and btSoftColliders::CollideVF_SS::Process().

◆ bernsteinCCD()

SIMD_FORCE_INLINE bool bernsteinCCD	(	const btSoftBody::Face *	face,
		const btSoftBody::Node *	node,
		const btScalar &	dt,
		const btScalar &	mrg,
		btVector3 &	bary )

static

Definition at line 625 of file btSoftBodyInternals.h.

References bernsteinCCD(), bernsteinVFTest(), btVector3, continuousCollisionDetection(), e, and SIMD_FORCE_INLINE.

Referenced by bernsteinCCD(), btSoftColliders::CollideCCD::Process(), and btSoftColliders::CollideCCD::Repel().

◆ bernsteinVFTest() [1/2]

SIMD_FORCE_INLINE bool bernsteinVFTest	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btScalar &	mrg,
		const btSoftBody::Face *	face,
		const btSoftBody::Node *	node,
		const btScalar &	dt )

static

Definition at line 510 of file btSoftBodyInternals.h.

References bernsteinVFTest(), conservativeCulling(), coplanarAndInsideTest(), and SIMD_FORCE_INLINE.

Referenced by bernsteinCCD(), bernsteinVFTest(), and bernsteinVFTest().

◆ bernsteinVFTest() [2/2]

SIMD_FORCE_INLINE bool bernsteinVFTest	(	const btSoftBody::Face *	face,
		const btSoftBody::Node *	node,
		const btScalar &	dt,
		const btScalar &	mrg )

static

Definition at line 526 of file btSoftBodyInternals.h.

References bernsteinVFTest(), conservativeCulling(), coplanarAndInsideTest(), deCasteljau(), diffSign(), getBernsteinCoeff(), and SIMD_FORCE_INLINE.

◆ CenterOf()

btVector3 CenterOf ( const btSoftBody::Face & f )

inlinestatic

Definition at line 1275 of file btSoftBodyInternals.h.

References btVector3, CenterOf(), btSoftBody::Face::m_n, and btSoftBody::Node::m_x.

Referenced by CenterOf().

◆ Clamp() [1/2]

btVector3 Clamp	(	const btVector3 &	v,
		btScalar	maxlength )

inlinestatic

Definition at line 829 of file btSoftBodyInternals.h.

References btSqrt(), btVector3, Clamp(), and v.

Referenced by Clamp(), Clamp(), Clamp(), and ProjectOrigin().

◆ Clamp() [2/2]

template<typename T>

T Clamp	(	const T &	x,
		const T &	l,
		const T &	h )

inlinestatic

Definition at line 839 of file btSoftBodyInternals.h.

References Clamp(), l, T, and x.

◆ ClusterMetric()

btScalar ClusterMetric	(	const btVector3 &	x,
		const btVector3 &	y )

inlinestatic

Definition at line 868 of file btSoftBodyInternals.h.

References btFabs(), btVector3, ClusterMetric(), x, and y.

Referenced by ClusterMetric().

◆ CompGreater()

template<typename T>

bool CompGreater	(	const T &	a,
		const T &	b )

inlinestatic

Definition at line 801 of file btSoftBodyInternals.h.

References b, CompGreater(), and T.

Referenced by CompGreater().

◆ CompLess()

template<typename T>

bool CompLess	(	const T &	a,
		const T &	b )

inlinestatic

Definition at line 795 of file btSoftBodyInternals.h.

References b, CompLess(), and T.

Referenced by CompLess().

◆ conservativeCulling()

SIMD_FORCE_INLINE bool conservativeCulling	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btScalar &	mrg )

static

Definition at line 501 of file btSoftBodyInternals.h.

References conservativeCulling(), and SIMD_FORCE_INLINE.

Referenced by bernsteinVFTest(), bernsteinVFTest(), and conservativeCulling().

◆ continuousCollisionDetection()

SIMD_FORCE_INLINE bool continuousCollisionDetection	(	const btSoftBody::Face *	face,
		const btSoftBody::Node *	node,
		const btScalar &	dt,
		const btScalar &	mrg,
		btVector3 &	bary )

static

Definition at line 543 of file btSoftBodyInternals.h.

References b, btSwap(), btVector3, continuousCollisionDetection(), cross, e, eps, hasSeparatingPlane(), btSoftBody::Face::m_n, btSoftBody::Node::m_v, btSoftBody::Node::m_x, proximityTest(), SAFE_EPSILON, SIMD_EPSILON, SIMD_FORCE_INLINE, SolveP2(), and SolveP3().

Referenced by bernsteinCCD(), and continuousCollisionDetection().

◆ coplanarAndInsideTest()

SIMD_FORCE_INLINE bool coplanarAndInsideTest	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btSoftBody::Face *	face,
		const btSoftBody::Node *	node,
		const btScalar &	dt )

static

Definition at line 480 of file btSoftBodyInternals.h.

References coplanarAndInsideTest(), diffSign(), rootFindingLemma(), sameSign(), signDetermination1(), signDetermination2(), and SIMD_FORCE_INLINE.

Referenced by bernsteinVFTest(), bernsteinVFTest(), and coplanarAndInsideTest().

◆ Cross()

btMatrix3x3 Cross ( const btVector3 & v )

inlinestatic

Definition at line 889 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, Cross(), and v.

Referenced by Cross(), and MassMatrix().

◆ Cube()

template<typename T>

T Cube ( const T & x )

inlinestatic

Definition at line 851 of file btSoftBodyInternals.h.

References Cube(), T, and x.

Referenced by Cube().

◆ deCasteljau()

SIMD_FORCE_INLINE void deCasteljau	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btScalar &	t0,
		btScalar &	k10,
		btScalar &	k20,
		btScalar &	k30,
		btScalar &	k21,
		btScalar &	k12 )

static

Definition at line 517 of file btSoftBodyInternals.h.

References deCasteljau(), and SIMD_FORCE_INLINE.

Referenced by bernsteinVFTest(), and deCasteljau().

◆ Diagonal() [1/2]

btMatrix3x3 Diagonal ( btScalar x )

inlinestatic

Definition at line 898 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, Diagonal(), and x.

Referenced by Diagonal(), Diagonal(), btSoftColliders::CollideSDF_RDF::DoNode(), ImpulseMatrix(), ImpulseMatrix(), and MassMatrix().

◆ Diagonal() [2/2]

btMatrix3x3 Diagonal ( const btVector3 & v )

inlinestatic

Definition at line 907 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, Diagonal(), and v.

◆ diffSign()

SIMD_FORCE_INLINE bool diffSign	(	const btScalar &	a,
		const btScalar &	b )

static

Definition at line 150 of file btSoftBodyInternals.h.

References b, diffSign(), sameSign(), and SIMD_FORCE_INLINE.

Referenced by bernsteinVFTest(), coplanarAndInsideTest(), diffSign(), getSigns(), rootFindingLemma(), signDetermination1Internal(), and signDetermination2Internal().

◆ Dot()

btScalar Dot	(	const btScalar *	a,
		const btScalar *	b,
		int	ndof )

inlinestatic

Definition at line 916 of file btSoftBodyInternals.h.

References b, Dot(), i, and result.

Referenced by Dot(), and OuterProduct().

◆ evaluateBezier()

btScalar evaluateBezier	(	const btScalar &	p0,
		const btScalar &	p1,
		const btScalar &	p2,
		const btScalar &	p3,
		const btScalar &	t,
		const btScalar &	s )

inline

Definition at line 161 of file btSoftBodyInternals.h.

References evaluateBezier().

Referenced by evaluateBezier(), and getSigns().

◆ evaluateBezier2()

btScalar evaluateBezier2	(	const btScalar &	p0,
		const btScalar &	p1,
		const btScalar &	p2,
		const btScalar &	t,
		const btScalar &	s )

inline

Definition at line 154 of file btSoftBodyInternals.h.

References evaluateBezier2().

Referenced by evaluateBezier2(), and getSigns().

◆ EvaluateMedium()

void EvaluateMedium	(	const btSoftBodyWorldInfo *	wfi,
		const btVector3 &	x,
		btSoftBody::sMedium &	medium )

inlinestatic

Definition at line 1234 of file btSoftBodyInternals.h.

References btSoftBodyWorldInfo::air_density, btDot(), btVector3, EvaluateMedium(), btSoftBody::sMedium::m_density, btSoftBodyWorldInfo::m_gravity, btSoftBody::sMedium::m_pressure, btSoftBody::sMedium::m_velocity, btSoftBodyWorldInfo::water_density, btSoftBodyWorldInfo::water_normal, btSoftBodyWorldInfo::water_offset, and x.

Referenced by EvaluateMedium().

◆ findJacobian()

SIMD_FORCE_INLINE void findJacobian	(	const btMultiBodyLinkCollider *	multibodyLinkCol,
		btMultiBodyJacobianData &	jacobianData,
		const btVector3 &	contact_point,
		const btVector3 &	dir )

static

btSoftBody implementation by Nathanael Presson

Definition at line 34 of file btSoftBodyInternals.h.

References btVector3, findJacobian(), btMultiBodyJacobianData::m_deltaVelocitiesUnitImpulse, btMultiBodyJacobianData::m_jacobians, btMultiBodyLinkCollider::m_link, btMultiBodyLinkCollider::m_multiBody, btAlignedObjectArray< T >::resize(), btMultiBodyJacobianData::scratch_m, btMultiBodyJacobianData::scratch_r, btMultiBodyJacobianData::scratch_v, and SIMD_FORCE_INLINE.

Referenced by btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), and findJacobian().

◆ generateUnitOrthogonalVector()

SIMD_FORCE_INLINE btVector3 generateUnitOrthogonalVector ( const btVector3 & u )

static

Definition at line 47 of file btSoftBodyInternals.h.

References btVector3, generateUnitOrthogonalVector(), SIMD_FORCE_INLINE, and v.

Referenced by btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), and generateUnitOrthogonalVector().

◆ getBernsteinCoeff()

SIMD_FORCE_INLINE void getBernsteinCoeff	(	const btSoftBody::Face *	face,
		const btSoftBody::Node *	node,
		const btScalar &	dt,
		btScalar &	k0,
		btScalar &	k1,
		btScalar &	k2,
		btScalar &	k3 )

static

Definition at line 223 of file btSoftBodyInternals.h.

References btVector3, dot(), getBernsteinCoeff(), btSoftBody::Face::m_n, btSoftBody::Face::m_n0, btSoftBody::Face::m_n1, btSoftBody::Node::m_q, btSoftBody::Face::m_vn, btSoftBody::Node::m_x, and SIMD_FORCE_INLINE.

Referenced by bernsteinVFTest(), and getBernsteinCoeff().

◆ getJs()

SIMD_FORCE_INLINE void getJs	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btSoftBody::Node *	a,
		const btSoftBody::Node *	b,
		const btSoftBody::Node *	c,
		const btSoftBody::Node *	p,
		const btScalar &	dt,
		btScalar &	j0,
		btScalar &	j1,
		btScalar &	j2 )

static

Definition at line 263 of file btSoftBodyInternals.h.

References b, btVector3, cross, getJs(), btSoftBody::Node::m_v, btSoftBody::Node::m_x, and SIMD_FORCE_INLINE.

Referenced by getJs(), signDetermination1(), and signDetermination2().

◆ getSign()

int getSign	(	const btVector3 &	n,
		const btVector3 &	x )

inlinestatic

Definition at line 108 of file btSoftBodyInternals.h.

References btVector3, getSign(), SIMD_EPSILON, and x.

Referenced by getSign(), and hasSeparatingPlane().

◆ getSigns()

SIMD_FORCE_INLINE bool getSigns	(	bool	type_c,
		const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btScalar &	t0,
		const btScalar &	t1,
		btScalar &	lt0,
		btScalar &	lt1 )

static

Definition at line 170 of file btSoftBodyInternals.h.

References diffSign(), evaluateBezier(), evaluateBezier2(), getSigns(), sameSign(), and SIMD_FORCE_INLINE.

Referenced by getSigns(), signDetermination1(), and signDetermination2().

◆ hasSeparatingPlane()

SIMD_FORCE_INLINE bool hasSeparatingPlane	(	const btSoftBody::Face *	face,
		const btSoftBody::Node *	node,
		const btScalar &	dt )

static

Definition at line 118 of file btSoftBodyInternals.h.

References btVector3, dop, getSign(), hasSeparatingPlane(), i, KDOP_COUNT, btSoftBody::Face::m_n, btSoftBody::Node::m_v, btSoftBody::Node::m_x, and SIMD_FORCE_INLINE.

Referenced by continuousCollisionDetection(), and hasSeparatingPlane().

◆ ImplicitSolve()

btScalar ImplicitSolve	(	btSoftBody::ImplicitFn *	fn,
		const btVector3 &	a,
		const btVector3 &	b,
		const btScalar	accuracy,
		const int	maxiterations = 256 )

inlinestatic

Definition at line 1199 of file btSoftBodyInternals.h.

References b, btFabs(), btSwap(), btVector3, btSoftBody::ImplicitFn::Eval(), i, ImplicitSolve(), Lerp(), and v.

Referenced by ImplicitSolve().

◆ ImpulseMatrix() [1/3]

btMatrix3x3 ImpulseMatrix	(	btScalar	dt,
		btScalar	ima,
		btScalar	imb,
		const btMatrix3x3 &	iwi,
		const btVector3 &	r )

inlinestatic

Definition at line 1004 of file btSoftBodyInternals.h.

References Add(), btMatrix3x3, btVector3, Diagonal(), ImpulseMatrix(), inverse, and MassMatrix().

Referenced by btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), btSoftColliders::CollideSDF_RS::DoNode(), ImpulseMatrix(), ImpulseMatrix(), ImpulseMatrix(), and btSoftColliders::ClusterBase::SolveContact().

◆ ImpulseMatrix() [2/3]

btMatrix3x3 ImpulseMatrix	(	btScalar	dt,
		const btMatrix3x3 &	effective_mass_inv,
		btScalar	imb,
		const btMatrix3x3 &	iwi,
		const btVector3 &	r )

inlinestatic

Definition at line 1014 of file btSoftBodyInternals.h.

References Add(), btMatrix3x3, btVector3, Diagonal(), ImpulseMatrix(), inverse, and MassMatrix().

◆ ImpulseMatrix() [3/3]

btMatrix3x3 ImpulseMatrix	(	btScalar	ima,
		const btMatrix3x3 &	iia,
		const btVector3 &	ra,
		btScalar	imb,
		const btMatrix3x3 &	iib,
		const btVector3 &	rb )

inlinestatic

Definition at line 1028 of file btSoftBodyInternals.h.

References Add(), btMatrix3x3, btVector3, ImpulseMatrix(), inverse, and MassMatrix().

◆ InvLerp()

template<typename T>

T InvLerp	(	const T &	a,
		const T &	b,
		btScalar	t )

inlinestatic

Definition at line 813 of file btSoftBodyInternals.h.

References b, InvLerp(), and T.

Referenced by InvLerp().

◆ Lerp() [1/2]

btMatrix3x3 Lerp	(	const btMatrix3x3 &	a,
		const btMatrix3x3 &	b,
		btScalar	t )

inlinestatic

Definition at line 818 of file btSoftBodyInternals.h.

References b, btMatrix3x3, and Lerp().

◆ Lerp() [2/2]

template<typename T>

T Lerp	(	const T &	a,
		const T &	b,
		btScalar	t )

inlinestatic

Definition at line 807 of file btSoftBodyInternals.h.

References b, Lerp(), and T.

Referenced by ImplicitSolve(), Lerp(), and Lerp().

◆ lineIntersectsTriangle()

bool lineIntersectsTriangle	(	const btVector3 &	rayStart,
		const btVector3 &	rayEnd,
		const btVector3 &	p1,
		const btVector3 &	p2,
		const btVector3 &	p3,
		btVector3 &	sect,
		btVector3 &	normal )

inlinestatic

Definition at line 1142 of file btSoftBodyInternals.h.

References btVector3, cross, lineIntersectsTriangle(), rayIntersectsTriangle(), ret, and SIMD_EPSILON.

Referenced by lineIntersectsTriangle().

◆ MassMatrix()

btMatrix3x3 MassMatrix	(	btScalar	im,
		const btMatrix3x3 &	iwi,
		const btVector3 &	r )

inlinestatic

Definition at line 997 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, Cross(), Diagonal(), MassMatrix(), and Sub().

Referenced by ImpulseMatrix(), ImpulseMatrix(), ImpulseMatrix(), and MassMatrix().

◆ MatchEdge()

int MatchEdge	(	const btSoftBody::Node *	a,
		const btSoftBody::Node *	b,
		const btSoftBody::Node *	ma,
		const btSoftBody::Node *	mb )

inlinestatic

Definition at line 1323 of file btSoftBodyInternals.h.

References b, and MatchEdge().

Referenced by MatchEdge().

◆ Mul()

btMatrix3x3 Mul	(	const btMatrix3x3 &	a,
		btScalar	b )

inlinestatic

Definition at line 982 of file btSoftBodyInternals.h.

References b, btMatrix3x3, i, and Mul().

Referenced by Mul().

◆ nearZero()

SIMD_FORCE_INLINE bool nearZero ( const btScalar & a )

static

Definition at line 142 of file btSoftBodyInternals.h.

References nearZero(), SAFE_EPSILON, and SIMD_FORCE_INLINE.

Referenced by nearZero(), sameSign(), signDetermination1(), and signDetermination2().

◆ NormalizeAny()

btVector3 NormalizeAny ( const btVector3 & v )

inlinestatic

Definition at line 1253 of file btSoftBodyInternals.h.

References btVector3, l, NormalizeAny(), SIMD_EPSILON, and v.

Referenced by NormalizeAny().

◆ Orthogonalize()

void Orthogonalize ( btMatrix3x3 & m )

inlinestatic

Definition at line 990 of file btSoftBodyInternals.h.

References btCross(), btMatrix3x3, and Orthogonalize().

Referenced by Orthogonalize().

◆ OuterProduct() [1/2]

btMatrix3x3 OuterProduct	(	const btScalar *	v1,
		const btScalar *	v2,
		const btScalar *	v3,
		const btScalar *	u1,
		const btScalar *	u2,
		const btScalar *	u3,
		int	ndof )

inlinestatic

Definition at line 924 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, Dot(), OuterProduct(), and v2.

Referenced by btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), OuterProduct(), and OuterProduct().

◆ OuterProduct() [2/2]

btMatrix3x3 OuterProduct	(	const btVector3 &	v1,
		const btVector3 &	v2 )

inlinestatic

Definition at line 945 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, OuterProduct(), and v2.

◆ PolarDecompose()

int PolarDecompose	(	const btMatrix3x3 &	m,
		btMatrix3x3 &	q,
		btMatrix3x3 &	s )

inlinestatic

Definition at line 1411 of file btSoftBodyInternals.h.

References btMatrix3x3, btPolarDecomposition::decompose(), and PolarDecompose().

Referenced by PolarDecompose().

◆ polyDecomposition()

SIMD_FORCE_INLINE void polyDecomposition	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btScalar &	j0,
		const btScalar &	j1,
		const btScalar &	j2,
		btScalar &	u0,
		btScalar &	u1,
		btScalar &	v0,
		btScalar &	v1 )

static

Definition at line 236 of file btSoftBodyInternals.h.

References polyDecomposition(), and SIMD_FORCE_INLINE.

Referenced by polyDecomposition(), rootFindingLemma(), signDetermination1(), and signDetermination2().

◆ ProjectOnAxis()

btVector3 ProjectOnAxis	(	const btVector3 &	v,
		const btVector3 &	a )

inlinestatic

Definition at line 1042 of file btSoftBodyInternals.h.

References btDot(), btVector3, ProjectOnAxis(), and v.

Referenced by ApplyClampedForce(), ProjectOnAxis(), and ProjectOnPlane().

◆ ProjectOnPlane()

btVector3 ProjectOnPlane	(	const btVector3 &	v,
		const btVector3 &	a )

inlinestatic

Definition at line 1048 of file btSoftBodyInternals.h.

References btVector3, ProjectOnAxis(), ProjectOnPlane(), and v.

Referenced by ProjectOnPlane().

◆ ProjectOrigin() [1/2]

void ProjectOrigin	(	const btVector3 &	a,
		const btVector3 &	b,
		btVector3 &	prj,
		btScalar &	sqd )

inlinestatic

Definition at line 1055 of file btSoftBodyInternals.h.

References b, btDot(), btVector3, Clamp(), ProjectOrigin(), and SIMD_EPSILON.

Referenced by btSoftColliders::CollideVF_SS::Process(), ProjectOrigin(), and ProjectOrigin().

◆ ProjectOrigin() [2/2]

void ProjectOrigin	(	const btVector3 &	a,
		const btVector3 &	b,
		const btVector3 &	c,
		btVector3 &	prj,
		btScalar &	sqd )

inlinestatic

Definition at line 1075 of file btSoftBodyInternals.h.

References b, btCross(), btDot(), btSqrt(), btVector3, ProjectOrigin(), and SIMD_EPSILON.

◆ proximityTest()

SIMD_FORCE_INLINE bool proximityTest	(	const btVector3 &	x1,
		const btVector3 &	x2,
		const btVector3 &	x3,
		const btVector3 &	x4,
		const btVector3 &	normal,
		const btScalar &	mrg,
		btVector3 &	bary )

static

Definition at line 66 of file btSoftBodyInternals.h.

References btVector3, i, proximityTest(), SIMD_EPSILON, and SIMD_FORCE_INLINE.

Referenced by continuousCollisionDetection(), btSoftColliders::CollideVF_DD::Process(), proximityTest(), and btSoftColliders::CollideFF_DD::Repel().

◆ rayIntersectsTriangle()

bool rayIntersectsTriangle	(	const btVector3 &	origin,
		const btVector3 &	dir,
		const btVector3 &	v0,
		const btVector3 &	v1,
		const btVector3 &	v2,
		btScalar &	t )

inlinestatic

Definition at line 1109 of file btSoftBodyInternals.h.

References btVector3, rayIntersectsTriangle(), v, and v2.

Referenced by lineIntersectsTriangle(), and rayIntersectsTriangle().

◆ rootFindingLemma()

SIMD_FORCE_INLINE bool rootFindingLemma	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3 )

static

Definition at line 245 of file btSoftBodyInternals.h.

References diffSign(), polyDecomposition(), rootFindingLemma(), sameSign(), and SIMD_FORCE_INLINE.

Referenced by coplanarAndInsideTest(), and rootFindingLemma().

◆ SameSign()

template<typename T>

bool SameSign	(	const T &	x,
		const T &	y )

inlinestatic

Definition at line 863 of file btSoftBodyInternals.h.

References SameSign(), T, x, and y.

Referenced by SameSign().

◆ sameSign()

SIMD_FORCE_INLINE bool sameSign	(	const btScalar &	a,
		const btScalar &	b )

static

Definition at line 146 of file btSoftBodyInternals.h.

References b, nearZero(), SAFE_EPSILON, sameSign(), and SIMD_FORCE_INLINE.

Referenced by coplanarAndInsideTest(), diffSign(), getSigns(), rootFindingLemma(), sameSign(), signDetermination1Internal(), and signDetermination2Internal().

◆ ScaleAlongAxis()

btMatrix3x3 ScaleAlongAxis	(	const btVector3 &	a,
		btScalar	s )

inlinestatic

Definition at line 874 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, and ScaleAlongAxis().

Referenced by ScaleAlongAxis().

◆ Sign()

template<typename T>

T Sign ( const T & x )

inlinestatic

Definition at line 857 of file btSoftBodyInternals.h.

References Sign(), T, and x.

Referenced by Sign().

◆ signDetermination1()

SIMD_FORCE_INLINE bool signDetermination1	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btSoftBody::Face *	face,
		const btSoftBody::Node *	node,
		const btScalar &	dt )

static

Definition at line 363 of file btSoftBodyInternals.h.

References getJs(), getSigns(), btSoftBody::Face::m_n, nearZero(), polyDecomposition(), SAFE_EPSILON, signDetermination1(), signDetermination1Internal(), and SIMD_FORCE_INLINE.

Referenced by coplanarAndInsideTest(), and signDetermination1().

◆ signDetermination1Internal()

SIMD_FORCE_INLINE bool signDetermination1Internal	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btScalar &	u0,
		const btScalar &	u1,
		const btScalar &	v0,
		const btScalar &	v1 )

static

Definition at line 303 of file btSoftBodyInternals.h.

References diffSign(), K, L, sameSign(), signDetermination1Internal(), and SIMD_FORCE_INLINE.

Referenced by signDetermination1(), and signDetermination1Internal().

◆ signDetermination2()

SIMD_FORCE_INLINE bool signDetermination2	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btSoftBody::Face *	face,
		const btSoftBody::Node *	node,
		const btScalar &	dt )

static

Definition at line 414 of file btSoftBodyInternals.h.

References getJs(), getSigns(), btSoftBody::Face::m_n, nearZero(), polyDecomposition(), SAFE_EPSILON, signDetermination2(), signDetermination2Internal(), and SIMD_FORCE_INLINE.

Referenced by coplanarAndInsideTest(), and signDetermination2().

◆ signDetermination2Internal()

SIMD_FORCE_INLINE bool signDetermination2Internal	(	const btScalar &	k0,
		const btScalar &	k1,
		const btScalar &	k2,
		const btScalar &	k3,
		const btScalar &	j0,
		const btScalar &	j1,
		const btScalar &	j2,
		const btScalar &	u0,
		const btScalar &	u1,
		const btScalar &	v0,
		const btScalar &	v1 )

static

Definition at line 315 of file btSoftBodyInternals.h.

References diffSign(), sameSign(), signDetermination2Internal(), and SIMD_FORCE_INLINE.

Referenced by signDetermination2(), and signDetermination2Internal().

◆ Sq()

template<typename T>

T Sq ( const T & x )

inlinestatic

Definition at line 845 of file btSoftBodyInternals.h.

References Sq(), T, and x.

Referenced by Sq().

◆ Sub()

btMatrix3x3 Sub	(	const btMatrix3x3 &	a,
		const btMatrix3x3 &	b )

inlinestatic

Definition at line 974 of file btSoftBodyInternals.h.

References b, btMatrix3x3, i, and Sub().

Referenced by MassMatrix(), and Sub().

◆ VolumeOf() [1/2]

btDbvtVolume VolumeOf	(	const btSoftBody::Face &	f,
		btScalar	margin )

inlinestatic

Definition at line 1263 of file btSoftBodyInternals.h.

References btVector3, btDbvtAabbMm::Expand(), btDbvtAabbMm::FromPoints(), btSoftBody::Face::m_n, btSoftBody::Node::m_x, and VolumeOf().

Referenced by VolumeOf(), and VolumeOf().

◆ VolumeOf() [2/2]

btScalar VolumeOf	(	const btVector3 &	x0,
		const btVector3 &	x1,
		const btVector3 &	x2,
		const btVector3 &	x3 )

inlinestatic

Definition at line 1293 of file btSoftBodyInternals.h.

References b, btCross(), btDot(), btVector3, and VolumeOf().

◆ ZeroInitialize()

template<typename T>

void ZeroInitialize ( T & value )

inlinestatic

Definition at line 789 of file btSoftBodyInternals.h.

References T, and ZeroInitialize().

Referenced by ZeroInitialize().

Variable Documentation

◆ dop

btVector3 dop[KDOP_COUNT]

static

Initial value:

= {btVector3(1, 0, 0),
               btVector3(0, 1, 0),
               btVector3(0, 0, 1),
               btVector3(1, 1, 0),
               btVector3(1, 0, 1),
               btVector3(0, 1, 1),
               btVector3(1, -1, 0),
               btVector3(1, 0, -1),
               btVector3(0, 1, -1),
               btVector3(1, 1, 1),
               btVector3(1, -1, 1),
               btVector3(1, 1, -1),
               btVector3(1, -1, -1)}

Definition at line 94 of file btSoftBodyInternals.h.

Referenced by hasSeparatingPlane().

◆ KDOP_COUNT

const int KDOP_COUNT = 13

static

Definition at line 93 of file btSoftBodyInternals.h.

Referenced by hasSeparatingPlane().

Classes

Functions

Variables

Function Documentation

◆ Add()

◆ AngularImpulseMatrix()

◆ ApplyClampedForce()

◆ AreaOf()

◆ BaryCoord()

◆ BaryEval()

◆ bernsteinCCD()

◆ bernsteinVFTest() [1/2]

◆ bernsteinVFTest() [2/2]

◆ CenterOf()

◆ Clamp() [1/2]

◆ Clamp() [2/2]

◆ ClusterMetric()

◆ CompGreater()

◆ CompLess()

◆ conservativeCulling()

◆ continuousCollisionDetection()

◆ coplanarAndInsideTest()

◆ Cross()

◆ Cube()

◆ deCasteljau()

◆ Diagonal() [1/2]

◆ Diagonal() [2/2]

◆ diffSign()

◆ Dot()

◆ evaluateBezier()

◆ evaluateBezier2()

◆ EvaluateMedium()

◆ findJacobian()

◆ generateUnitOrthogonalVector()

◆ getBernsteinCoeff()

◆ getJs()

◆ getSign()

◆ getSigns()

◆ hasSeparatingPlane()

◆ ImplicitSolve()

◆ ImpulseMatrix() [1/3]

◆ ImpulseMatrix() [2/3]

◆ ImpulseMatrix() [3/3]

◆ InvLerp()

◆ Lerp() [1/2]

◆ Lerp() [2/2]

◆ lineIntersectsTriangle()

◆ MassMatrix()

◆ MatchEdge()

◆ Mul()

◆ nearZero()

◆ NormalizeAny()

◆ Orthogonalize()

◆ OuterProduct() [1/2]

◆ OuterProduct() [2/2]

◆ PolarDecompose()

◆ polyDecomposition()

◆ ProjectOnAxis()

◆ ProjectOnPlane()

◆ ProjectOrigin() [1/2]

◆ ProjectOrigin() [2/2]

◆ proximityTest()

◆ rayIntersectsTriangle()

◆ rootFindingLemma()

◆ SameSign()

◆ sameSign()

◆ ScaleAlongAxis()

◆ Sign()

◆ signDetermination1()

◆ signDetermination1Internal()

◆ signDetermination2()

◆ signDetermination2Internal()

◆ Sq()

◆ Sub()

◆ VolumeOf() [1/2]

◆ VolumeOf() [2/2]

◆ ZeroInitialize()

Variable Documentation

◆ dop

◆ KDOP_COUNT