#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 b, btMatrix3x3, and i.

Referenced by AngularImpulseMatrix(), ImpulseMatrix(), ImpulseMatrix(), ImpulseMatrix(), blender::tests::TEST(), and blender::tests::TEST().

◆ AngularImpulseMatrix()

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

inlinestatic

Definition at line 1035 of file btSoftBodyInternals.h.

References Add(), btMatrix3x3, and inverse.

Referenced by btSoftBody::AJoint::Prepare().

◆ ApplyClampedForce()

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

inlinestatic

Definition at line 1307 of file btSoftBodyInternals.h.

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

Referenced by btSoftBody::addAeroForceToFace(), and btSoftBody::addAeroForceToNode().

◆ AreaOf()

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

inlinestatic

Definition at line 1281 of file btSoftBodyInternals.h.

References b, btCross(), and btVector3.

Referenced by btSoftBody::appendFace(), btSoftBody::setTotalMass(), and btSoftBody::updateArea().

◆ 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, btCross(), btVector3, and w().

Referenced by 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, btVector3, and T.

Referenced by 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 bernsteinVFTest(), btVector3, continuousCollisionDetection(), e, and SIMD_FORCE_INLINE.

Referenced by 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 conservativeCulling(), coplanarAndInsideTest(), and SIMD_FORCE_INLINE.

Referenced by bernsteinCCD(), 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, btSoftBody::Face::m_n, and btSoftBody::Node::m_x.

◆ Clamp() [1/2]

btVector3 Clamp	(	const btVector3 &	v,
		btScalar	maxlength )

inlinestatic

Definition at line 829 of file btSoftBodyInternals.h.

References btSqrt(), btVector3, and v.

Referenced by 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 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, x, and y.

Referenced by btSoftBody::generateClusters().

◆ CompGreater()

template<typename T>

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

inlinestatic

Definition at line 801 of file btSoftBodyInternals.h.

References b, and T.

◆ CompLess()

template<typename T>

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

inlinestatic

Definition at line 795 of file btSoftBodyInternals.h.

References b, and T.

◆ 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 SIMD_FORCE_INLINE.

Referenced by bernsteinVFTest(), and bernsteinVFTest().

◆ 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, 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().

◆ 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 diffSign(), rootFindingLemma(), sameSign(), signDetermination1(), signDetermination2(), and SIMD_FORCE_INLINE.

Referenced by bernsteinVFTest(), and bernsteinVFTest().

◆ Cross()

btMatrix3x3 Cross ( const btVector3 & v )

inlinestatic

Definition at line 889 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, and v.

Referenced by btPolyhedralContactClipping::findSeparatingAxis(), and MassMatrix().

◆ Cube()

template<typename T>

T Cube ( const T & x )

inlinestatic

Definition at line 851 of file btSoftBodyInternals.h.

References T, and x.

◆ 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 SIMD_FORCE_INLINE.

Referenced by bernsteinVFTest().

◆ Diagonal() [1/2]

btMatrix3x3 Diagonal ( btScalar x )

inlinestatic

Definition at line 898 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, and x.

Referenced by btSoftBody::appendDeformableAnchor(), btSoftColliders::CollideSDF_RDF::DoNode(), ImpulseMatrix(), ImpulseMatrix(), btDeformableMultiBodyDynamicsWorld::integrateTransforms(), and MassMatrix().

◆ Diagonal() [2/2]

btMatrix3x3 Diagonal ( const btVector3 & v )

inlinestatic

Definition at line 907 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, 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, sameSign(), and SIMD_FORCE_INLINE.

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

Referenced by 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.

Referenced by 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.

Referenced by 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, 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 btSoftBody::addAeroForceToFace(), and btSoftBody::addAeroForceToNode().

◆ 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, 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 btSoftBody::appendDeformableAnchor(), btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), and btDeformableMultiBodyDynamicsWorld::integrateTransforms().

◆ generateUnitOrthogonalVector()

SIMD_FORCE_INLINE btVector3 generateUnitOrthogonalVector ( const btVector3 & u )

static

Definition at line 47 of file btSoftBodyInternals.h.

References btVector3, SIMD_FORCE_INLINE, and v.

Referenced by btSoftBody::appendDeformableAnchor(), btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), and btDeformableMultiBodyDynamicsWorld::integrateTransforms().

◆ 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(), 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().

◆ 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, btSoftBody::Node::m_v, btSoftBody::Node::m_x, and SIMD_FORCE_INLINE.

Referenced by signDetermination1(), and signDetermination2().

◆ getSign()

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

inlinestatic

Definition at line 108 of file btSoftBodyInternals.h.

References btVector3, SIMD_EPSILON, and x.

Referenced by 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(), sameSign(), and SIMD_FORCE_INLINE.

Referenced by 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(), hex, i, KDOP_COUNT, btSoftBody::Face::m_n, btSoftBody::Node::m_v, btSoftBody::Node::m_x, and SIMD_FORCE_INLINE.

Referenced by continuousCollisionDetection().

◆ 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, Lerp(), and v.

Referenced by btSoftBody::refine().

◆ 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(), inverse, and MassMatrix().

Referenced by btSoftBody::appendDeformableAnchor(), btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), btSoftColliders::CollideSDF_RS::DoNode(), btSoftBody::LJoint::Prepare(), btSoftBody::solveConstraints(), 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(), 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, 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, and T.

◆ 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, and T.

Referenced by btSoftBody::cutLink(), ImplicitSolve(), Lerp(), btSoftBody::predictMotion(), btSoftBody::refine(), and btSoftBody::updateClusters().

◆ 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, rayIntersectsTriangle(), ret, and SIMD_EPSILON.

◆ 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(), and Sub().

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

◆ 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.

Referenced by btSoftBody::cutLink().

◆ Mul()

btMatrix3x3 Mul	(	const btMatrix3x3 &	a,
		btScalar	b )

inlinestatic

Definition at line 982 of file btSoftBodyInternals.h.

References b, btMatrix3x3, and i.

Referenced by blender::tests::TEST(), and btSoftBody::updatePose().

◆ nearZero()

SIMD_FORCE_INLINE bool nearZero ( const btScalar & a )

static

Definition at line 142 of file btSoftBodyInternals.h.

References SAFE_EPSILON, and SIMD_FORCE_INLINE.

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

◆ NormalizeAny()

btVector3 NormalizeAny ( const btVector3 & v )

inlinestatic

Definition at line 1253 of file btSoftBodyInternals.h.

References btVector3, l, SIMD_EPSILON, and v.

Referenced by btSoftBody::AJoint::Prepare().

◆ Orthogonalize()

void Orthogonalize ( btMatrix3x3 & m )

inlinestatic

Definition at line 990 of file btSoftBodyInternals.h.

References btCross(), and btMatrix3x3.

◆ 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(), and v2.

Referenced by btDeformableLinearElasticityForce::addScaledHessian(), btSoftBody::appendDeformableAnchor(), btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), btSoftBody::getRigidTransform(), and btDeformableMultiBodyDynamicsWorld::integrateTransforms().

◆ OuterProduct() [2/2]

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

inlinestatic

Definition at line 945 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, and v2.

◆ PolarDecompose()

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

inlinestatic

Definition at line 1411 of file btSoftBodyInternals.h.

References btMatrix3x3, and btPolarDecomposition::decompose().

Referenced by btSoftBody::updateClusters(), and btSoftBody::updatePose().

◆ 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 SIMD_FORCE_INLINE.

Referenced by 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, and v.

Referenced by ApplyClampedForce(), and ProjectOnPlane().

◆ ProjectOnPlane()

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

inlinestatic

Definition at line 1048 of file btSoftBodyInternals.h.

References btVector3, ProjectOnAxis(), and v.

Referenced by btSoftBody::PSolve_SContacts().

◆ 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(), and SIMD_EPSILON.

Referenced by btSoftColliders::CollideVF_SS::Process(), 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, SIMD_EPSILON, and SIMD_FORCE_INLINE.

Referenced by continuousCollisionDetection(), btSoftColliders::CollideVF_DD::Process(), 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, v, and v2.

Referenced by lineIntersectsTriangle().

◆ 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(), sameSign(), and SIMD_FORCE_INLINE.

Referenced by coplanarAndInsideTest().

◆ SameSign()

template<typename T>

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

inlinestatic

Definition at line 863 of file btSoftBodyInternals.h.

References T, x, and y.

Referenced by btSoftBody::refine().

◆ 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, and SIMD_FORCE_INLINE.

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

◆ ScaleAlongAxis()

btMatrix3x3 ScaleAlongAxis	(	const btVector3 &	a,
		btScalar	s )

inlinestatic

Definition at line 874 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, and xy.

◆ Sign()

template<typename T>

T Sign ( const T & x )

inlinestatic

Definition at line 857 of file btSoftBodyInternals.h.

References T, and x.

Referenced by KDL::abs(), KDL::abs(), and blender::tests::TEST().

◆ 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, signDetermination1Internal(), and SIMD_FORCE_INLINE.

Referenced by coplanarAndInsideTest().

◆ 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(), and SIMD_FORCE_INLINE.

Referenced by signDetermination1().

◆ 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, signDetermination2Internal(), and SIMD_FORCE_INLINE.

Referenced by coplanarAndInsideTest().

◆ 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(), and SIMD_FORCE_INLINE.

Referenced by signDetermination2().

◆ Sq()

template<typename T>

T Sq ( const T & x )

inlinestatic

Definition at line 845 of file btSoftBodyInternals.h.

References T, and x.

◆ Sub()

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

inlinestatic

Definition at line 974 of file btSoftBodyInternals.h.

References b, btMatrix3x3, and i.

Referenced by MassMatrix(), and blender::tests::TEST().

◆ 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, and btSoftBody::Node::m_x.

Referenced by btSoftBody::appendTetra(), btSoftBody::initializeFaceTree(), and btSoftBody::predictMotion().

◆ 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(), and btVector3.

◆ ZeroInitialize()

template<typename T>

void ZeroInitialize ( T & value )

inlinestatic

Definition at line 789 of file btSoftBodyInternals.h.

References T.

Referenced by btSoftBody::appendFace(), btSoftBody::appendLink(), btSoftBody::appendMaterial(), btSoftBody::appendNode(), btSoftBody::appendNote(), btSoftBody::appendTetra(), and btSoftBody::btSoftBody().

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