softbody.cc

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/* SPDX-FileCopyrightText: Blender Authors
 *
 * SPDX-License-Identifier: GPL-2.0-or-later */
 
#include <cmath>
#include <cstdlib>
#include <cstring>
 
#include "CLG_log.h"
 
#include "MEM_guardedalloc.h"
 
/* types */
#include "DNA_collection_types.h"
#include "DNA_curve_types.h"
#include "DNA_lattice_types.h"
#include "DNA_mesh_types.h"
#include "DNA_meshdata_types.h"
#include "DNA_object_force_types.h"
#include "DNA_object_types.h"
#include "DNA_scene_types.h"
 
#include "BLI_ghash.h"
#include "BLI_listbase.h"
#include "BLI_math_geom.h"
#include "BLI_math_matrix.h"
#include "BLI_math_vector.h"
#include "BLI_threads.h"
#include "BLI_time.h"
#include "BLI_utildefines.h"
 
#include "BKE_collection.hh"
#include "BKE_collision.h"
#include "BKE_curve.hh"
#include "BKE_customdata.hh"
#include "BKE_deform.hh"
#include "BKE_effect.h"
#include "BKE_global.hh"
#include "BKE_layer.hh"
#include "BKE_mesh.hh"
#include "BKE_modifier.hh"
#include "BKE_pointcache.h"
#include "BKE_scene.hh"
#include "BKE_softbody.h"
 
#include "DEG_depsgraph.hh"
#include "DEG_depsgraph_query.hh"
 
static CLG_LogRef LOG = {"bke.softbody"};
 
/* callbacks for errors and interrupts and some goo */
static int (*SB_localInterruptCallBack)(void) = nullptr;
 
/* ********** soft body engine ******* */
 
typedef enum { SB_EDGE = 1, SB_BEND = 2, SB_STIFFQUAD = 3, SB_HANDLE = 4 } type_spring;
 
typedef struct BodySpring {
  int v1, v2;
  float len, cf, load;
  float ext_force[3]; /* edges colliding and sailing */
  type_spring springtype;
  short flag;
} BodySpring;
 
typedef struct BodyFace {
  int v1, v2, v3;
  float ext_force[3]; /* faces colliding */
  short flag;
} BodyFace;
 
typedef struct ReferenceVert {
  float pos[3]; /* position relative to com */
  float mass;   /* node mass */
} ReferenceVert;
 
typedef struct ReferenceState {
  float com[3];         /* Center of mass. */
  ReferenceVert *ivert; /* List of initial values. */
} ReferenceState;
 
/* Private scratch pad for caching and other data only needed when alive. */
typedef struct SBScratch {
  GHash *colliderhash;
  short needstobuildcollider;
  short flag;
  BodyFace *bodyface;
  int bodyface_num;
  float aabbmin[3], aabbmax[3];
  ReferenceState Ref;
} SBScratch;
 
typedef struct SB_thread_context {
  Scene *scene;
  Object *ob;
  float forcetime;
  float timenow;
  int ifirst;
  int ilast;
  ListBase *effectors;
  int do_deflector;
  float fieldfactor;
  float windfactor;
  int nr;
  int tot;
} SB_thread_context;
 
#define MID_PRESERVE 1
 
#define SOFTGOALSNAP 0.999f
/* if bp-> goal is above make it a *forced follow original* and skip all ODE stuff for this bp
 * removes *unnecessary* stiffness from ODE system
 */
#define HEUNWARNLIMIT 1 /* 500 would be fine i think for detecting severe *stiff* stuff */
 
#define BSF_INTERSECT 1 /* edge intersects collider face */
 
/* private definitions for body-point states */
#define SBF_DOFUZZY 1        /* Body-point do fuzzy. */
#define SBF_OUTOFCOLLISION 2 /* Body-point does not collide. */
 
#define BFF_INTERSECT 1 /* collider edge   intrudes face. */
#define BFF_CLOSEVERT 2 /* collider vertex repulses face. */
 
/* Hum .. this should be calculated from sb parameters and sizes. */
static float SoftHeunTol = 1.0f;
 
/* local prototypes */
static void free_softbody_intern(SoftBody *sb);
 
/*+++ frame based timing +++ */
 
/* Physical unit of force is `kg * m / sec^2`. */
 
static float sb_grav_force_scale(Object * /*ob*/)
{
  return (0.001f);
}
 
static float sb_fric_force_scale(Object * /*ob*/)
{
  return (0.01f);
}
 
static float sb_time_scale(Object *ob)
{
  SoftBody *sb = ob->soft; /* is supposed to be there */
  if (sb) {
    return (sb->physics_speed);
    /* Hum .. this could be IPO as well :)
     * estimated range [0.001 sluggish slug - 100.0 very fast (i hope ODE solver can handle that)]
     * 1 approx = a unit 1 pendulum at g = 9.8 [earth conditions]  has period 65 frames
     * theory would give a 50 frames period .. so there must be something inaccurate ..
     * looking for that (BM). */
  }
  return (1.0f);
  /*
   * this would be frames/sec independent timing assuming 25 fps is default
   * but does not work very well with NLA
   * return (25.0f/scene->r.frs_sec)
   */
}
/*--- frame based timing ---*/
 
/* helper functions for everything is animatable jow_go_for2_5 +++++++ */
/* introducing them here, because i know: steps in properties  ( at frame timing )
 * will cause unwanted responses of the softbody system (which does inter frame calculations )
 * so first 'cure' would be: interpolate linear in time ..
 * Q: why do i write this?
 * A: because it happened once, that some eager coder 'streamlined' code to fail.
 * We DO linear interpolation for goals .. and i think we should do on animated properties as well
 */
 
/* animate sb->maxgoal, sb->mingoal */
static float _final_goal(Object *ob, BodyPoint *bp) /* jow_go_for2_5 */
{
  float f = -1999.99f;
  if (ob) {
    SoftBody *sb = ob->soft; /* is supposed to be there */
    if (!(ob->softflag & OB_SB_GOAL)) {
      return (0.0f);
    }
    if (sb && bp) {
      if (bp->goal < 0.0f) {
        return (0.0f);
      }
      f = sb->mingoal + bp->goal * fabsf(sb->maxgoal - sb->mingoal);
      f = pow(f, 4.0f);
      return f;
    }
  }
  CLOG_ERROR(&LOG, "sb or bp == NULL");
  return f; /* Using crude but spot able values some times helps debugging. */
}
 
static float _final_mass(Object *ob, BodyPoint *bp)
{
  if (ob) {
    SoftBody *sb = ob->soft; /* is supposed to be there */
    if (sb && bp) {
      return (bp->mass * sb->nodemass);
    }
  }
  CLOG_ERROR(&LOG, "sb or bp == NULL");
  return 1.0f;
}
/* Helper functions for everything is animatable jow_go_for2_5. */
 
/* +++ collider caching and dicing +++ */
 
/*
 * for each target object/face the axis aligned bounding box (AABB) is stored
 * faces parallel to global axes
 * so only simple "value" in [min, max] checks are used
 * float operations still
 */
 
/* Just an ID here to reduce the prob for killing objects
 * `ob->sumohandle` points to we should not kill :)
 */
static const int CCD_SAFETY = 190561;
 
typedef struct ccdf_minmax {
  float minx, miny, minz, maxx, maxy, maxz;
} ccdf_minmax;
 
typedef struct ccd_Mesh {
  int mvert_num, tri_num;
  const float (*vert_positions)[3];
  const float (*vert_positions_prev)[3];
  const blender::int3 *vert_tris;
  int safety;
  ccdf_minmax *mima;
  /* Axis Aligned Bounding Box AABB */
  float bbmin[3];
  float bbmax[3];
} ccd_Mesh;
 
static ccd_Mesh *ccd_mesh_make(Object *ob)
{
  CollisionModifierData *cmd;
  ccd_Mesh *pccd_M = nullptr;
  ccdf_minmax *mima;
  float hull;
  int i;
 
  cmd = (CollisionModifierData *)BKE_modifiers_findby_type(ob, eModifierType_Collision);
 
  /* first some paranoia checks */
  if (!cmd) {
    return nullptr;
  }
  if (!cmd->mvert_num || !cmd->tri_num) {
    return nullptr;
  }
 
  pccd_M = static_cast<ccd_Mesh *>(MEM_mallocN(sizeof(ccd_Mesh), "ccd_Mesh"));
  pccd_M->mvert_num = cmd->mvert_num;
  pccd_M->tri_num = cmd->tri_num;
  pccd_M->safety = CCD_SAFETY;
  pccd_M->bbmin[0] = pccd_M->bbmin[1] = pccd_M->bbmin[2] = 1e30f;
  pccd_M->bbmax[0] = pccd_M->bbmax[1] = pccd_M->bbmax[2] = -1e30f;
  pccd_M->vert_positions_prev = nullptr;
 
  /* Blow it up with force-field ranges. */
  hull = max_ff(ob->pd->pdef_sbift, ob->pd->pdef_sboft);
 
  /* Allocate and copy verts. */
  pccd_M->vert_positions = static_cast<const float(*)[3]>(MEM_dupallocN(cmd->xnew));
  /* note that xnew coords are already in global space, */
  /* determine the ortho BB */
  for (i = 0; i < pccd_M->mvert_num; i++) {
    const float *v;
 
    /* evaluate limits */
    v = pccd_M->vert_positions[i];
    pccd_M->bbmin[0] = min_ff(pccd_M->bbmin[0], v[0] - hull);
    pccd_M->bbmin[1] = min_ff(pccd_M->bbmin[1], v[1] - hull);
    pccd_M->bbmin[2] = min_ff(pccd_M->bbmin[2], v[2] - hull);
 
    pccd_M->bbmax[0] = max_ff(pccd_M->bbmax[0], v[0] + hull);
    pccd_M->bbmax[1] = max_ff(pccd_M->bbmax[1], v[1] + hull);
    pccd_M->bbmax[2] = max_ff(pccd_M->bbmax[2], v[2] + hull);
  }
  /* Allocate and copy faces. */
  pccd_M->vert_tris = static_cast<const blender::int3 *>(MEM_dupallocN(cmd->vert_tris));
 
  /* OBBs for idea1 */
  pccd_M->mima = static_cast<ccdf_minmax *>(
      MEM_mallocN(sizeof(ccdf_minmax) * pccd_M->tri_num, "ccd_Mesh_Faces_mima"));
 
  /* Anyhow we need to walk the list of faces and find OBB they live in. */
  for (i = 0, mima = pccd_M->mima; i < pccd_M->tri_num; i++, mima++) {
    const float *v;
 
    mima->minx = mima->miny = mima->minz = 1e30f;
    mima->maxx = mima->maxy = mima->maxz = -1e30f;
 
    v = pccd_M->vert_positions[pccd_M->vert_tris[i][0]];
    mima->minx = min_ff(mima->minx, v[0] - hull);
    mima->miny = min_ff(mima->miny, v[1] - hull);
    mima->minz = min_ff(mima->minz, v[2] - hull);
    mima->maxx = max_ff(mima->maxx, v[0] + hull);
    mima->maxy = max_ff(mima->maxy, v[1] + hull);
    mima->maxz = max_ff(mima->maxz, v[2] + hull);
 
    v = pccd_M->vert_positions[pccd_M->vert_tris[i][1]];
    mima->minx = min_ff(mima->minx, v[0] - hull);
    mima->miny = min_ff(mima->miny, v[1] - hull);
    mima->minz = min_ff(mima->minz, v[2] - hull);
    mima->maxx = max_ff(mima->maxx, v[0] + hull);
    mima->maxy = max_ff(mima->maxy, v[1] + hull);
    mima->maxz = max_ff(mima->maxz, v[2] + hull);
 
    v = pccd_M->vert_positions[pccd_M->vert_tris[i][2]];
    mima->minx = min_ff(mima->minx, v[0] - hull);
    mima->miny = min_ff(mima->miny, v[1] - hull);
    mima->minz = min_ff(mima->minz, v[2] - hull);
    mima->maxx = max_ff(mima->maxx, v[0] + hull);
    mima->maxy = max_ff(mima->maxy, v[1] + hull);
    mima->maxz = max_ff(mima->maxz, v[2] + hull);
  }
 
  return pccd_M;
}
static void ccd_mesh_update(Object *ob, ccd_Mesh *pccd_M)
{
  CollisionModifierData *cmd;
  ccdf_minmax *mima;
  float hull;
  int i;
 
  cmd = (CollisionModifierData *)BKE_modifiers_findby_type(ob, eModifierType_Collision);
 
  /* first some paranoia checks */
  if (!cmd) {
    return;
  }
  if (!cmd->mvert_num || !cmd->tri_num) {
    return;
  }
 
  if ((pccd_M->mvert_num != cmd->mvert_num) || (pccd_M->tri_num != cmd->tri_num)) {
    return;
  }
 
  pccd_M->bbmin[0] = pccd_M->bbmin[1] = pccd_M->bbmin[2] = 1e30f;
  pccd_M->bbmax[0] = pccd_M->bbmax[1] = pccd_M->bbmax[2] = -1e30f;
 
  /* Blow it up with force-field ranges. */
  hull = max_ff(ob->pd->pdef_sbift, ob->pd->pdef_sboft);
 
  /* rotate current to previous */
  if (pccd_M->vert_positions_prev) {
    MEM_freeN((void *)pccd_M->vert_positions_prev);
  }
  pccd_M->vert_positions_prev = pccd_M->vert_positions;
  /* Allocate and copy verts. */
  pccd_M->vert_positions = static_cast<const float(*)[3]>(MEM_dupallocN(cmd->xnew));
  /* note that xnew coords are already in global space, */
  /* determine the ortho BB */
  for (i = 0; i < pccd_M->mvert_num; i++) {
    const float *v;
 
    /* evaluate limits */
    v = pccd_M->vert_positions[i];
    pccd_M->bbmin[0] = min_ff(pccd_M->bbmin[0], v[0] - hull);
    pccd_M->bbmin[1] = min_ff(pccd_M->bbmin[1], v[1] - hull);
    pccd_M->bbmin[2] = min_ff(pccd_M->bbmin[2], v[2] - hull);
 
    pccd_M->bbmax[0] = max_ff(pccd_M->bbmax[0], v[0] + hull);
    pccd_M->bbmax[1] = max_ff(pccd_M->bbmax[1], v[1] + hull);
    pccd_M->bbmax[2] = max_ff(pccd_M->bbmax[2], v[2] + hull);
 
    /* evaluate limits */
    v = pccd_M->vert_positions_prev[i];
    pccd_M->bbmin[0] = min_ff(pccd_M->bbmin[0], v[0] - hull);
    pccd_M->bbmin[1] = min_ff(pccd_M->bbmin[1], v[1] - hull);
    pccd_M->bbmin[2] = min_ff(pccd_M->bbmin[2], v[2] - hull);
 
    pccd_M->bbmax[0] = max_ff(pccd_M->bbmax[0], v[0] + hull);
    pccd_M->bbmax[1] = max_ff(pccd_M->bbmax[1], v[1] + hull);
    pccd_M->bbmax[2] = max_ff(pccd_M->bbmax[2], v[2] + hull);
  }
 
  /* Anyhow we need to walk the list of faces and find OBB they live in. */
  for (i = 0, mima = pccd_M->mima; i < pccd_M->tri_num; i++, mima++) {
    const float *v;
 
    mima->minx = mima->miny = mima->minz = 1e30f;
    mima->maxx = mima->maxy = mima->maxz = -1e30f;
 
    /* vert_positions */
    v = pccd_M->vert_positions[pccd_M->vert_tris[i][0]];
    mima->minx = min_ff(mima->minx, v[0] - hull);
    mima->miny = min_ff(mima->miny, v[1] - hull);
    mima->minz = min_ff(mima->minz, v[2] - hull);
    mima->maxx = max_ff(mima->maxx, v[0] + hull);
    mima->maxy = max_ff(mima->maxy, v[1] + hull);
    mima->maxz = max_ff(mima->maxz, v[2] + hull);
 
    v = pccd_M->vert_positions[pccd_M->vert_tris[i][1]];
    mima->minx = min_ff(mima->minx, v[0] - hull);
    mima->miny = min_ff(mima->miny, v[1] - hull);
    mima->minz = min_ff(mima->minz, v[2] - hull);
    mima->maxx = max_ff(mima->maxx, v[0] + hull);
    mima->maxy = max_ff(mima->maxy, v[1] + hull);
    mima->maxz = max_ff(mima->maxz, v[2] + hull);
 
    v = pccd_M->vert_positions[pccd_M->vert_tris[i][2]];
    mima->minx = min_ff(mima->minx, v[0] - hull);
    mima->miny = min_ff(mima->miny, v[1] - hull);
    mima->minz = min_ff(mima->minz, v[2] - hull);
    mima->maxx = max_ff(mima->maxx, v[0] + hull);
    mima->maxy = max_ff(mima->maxy, v[1] + hull);
    mima->maxz = max_ff(mima->maxz, v[2] + hull);
 
    /* vert_positions_prev */
    v = pccd_M->vert_positions_prev[pccd_M->vert_tris[i][0]];
    mima->minx = min_ff(mima->minx, v[0] - hull);
    mima->miny = min_ff(mima->miny, v[1] - hull);
    mima->minz = min_ff(mima->minz, v[2] - hull);
    mima->maxx = max_ff(mima->maxx, v[0] + hull);
    mima->maxy = max_ff(mima->maxy, v[1] + hull);
    mima->maxz = max_ff(mima->maxz, v[2] + hull);
 
    v = pccd_M->vert_positions_prev[pccd_M->vert_tris[i][1]];
    mima->minx = min_ff(mima->minx, v[0] - hull);
    mima->miny = min_ff(mima->miny, v[1] - hull);
    mima->minz = min_ff(mima->minz, v[2] - hull);
    mima->maxx = max_ff(mima->maxx, v[0] + hull);
    mima->maxy = max_ff(mima->maxy, v[1] + hull);
    mima->maxz = max_ff(mima->maxz, v[2] + hull);
 
    v = pccd_M->vert_positions_prev[pccd_M->vert_tris[i][2]];
    mima->minx = min_ff(mima->minx, v[0] - hull);
    mima->miny = min_ff(mima->miny, v[1] - hull);
    mima->minz = min_ff(mima->minz, v[2] - hull);
    mima->maxx = max_ff(mima->maxx, v[0] + hull);
    mima->maxy = max_ff(mima->maxy, v[1] + hull);
    mima->maxz = max_ff(mima->maxz, v[2] + hull);
  }
}
 
static void ccd_mesh_free(ccd_Mesh *ccdm)
{
  /* Make sure we're not nuking objects we don't know. */
  if (ccdm && (ccdm->safety == CCD_SAFETY)) {
    MEM_freeN((void *)ccdm->vert_positions);
    MEM_freeN((void *)ccdm->vert_tris);
    if (ccdm->vert_positions_prev) {
      MEM_freeN((void *)ccdm->vert_positions_prev);
    }
    MEM_freeN(ccdm->mima);
    MEM_freeN(ccdm);
  }
}
 
static void ccd_build_deflector_hash_single(GHash *hash, Object *ob)
{
  /* only with deflecting set */
  if (ob->pd && ob->pd->deflect) {
    void **val_p;
    if (!BLI_ghash_ensure_p(hash, ob, &val_p)) {
      ccd_Mesh *ccdmesh = ccd_mesh_make(ob);
      *val_p = ccdmesh;
    }
  }
}
 
static void ccd_build_deflector_hash(Depsgraph *depsgraph,
                                     Collection *collection,
                                     Object *vertexowner,
                                     GHash *hash)
{
  if (!hash) {
    return;
  }
 
  uint numobjects;
  Object **objects = BKE_collision_objects_create(
      depsgraph, vertexowner, collection, &numobjects, eModifierType_Collision);
 
  for (int i = 0; i < numobjects; i++) {
    Object *ob = objects[i];
 
    if (ob->type == OB_MESH) {
      ccd_build_deflector_hash_single(hash, ob);
    }
  }
 
  BKE_collision_objects_free(objects);
}
 
static void ccd_update_deflector_hash_single(GHash *hash, Object *ob)
{
  if (ob->pd && ob->pd->deflect) {
    ccd_Mesh *ccdmesh = static_cast<ccd_Mesh *>(BLI_ghash_lookup(hash, ob));
    if (ccdmesh) {
      ccd_mesh_update(ob, ccdmesh);
    }
  }
}
 
static void ccd_update_deflector_hash(Depsgraph *depsgraph,
                                      Collection *collection,
                                      Object *vertexowner,
                                      GHash *hash)
{
  if ((!hash) || (!vertexowner)) {
    return;
  }
 
  uint numobjects;
  Object **objects = BKE_collision_objects_create(
      depsgraph, vertexowner, collection, &numobjects, eModifierType_Collision);
 
  for (int i = 0; i < numobjects; i++) {
    Object *ob = objects[i];
 
    if (ob->type == OB_MESH) {
      ccd_update_deflector_hash_single(hash, ob);
    }
  }
 
  BKE_collision_objects_free(objects);
}
 
/*--- collider caching and dicing ---*/
 
static int count_mesh_quads(Mesh *mesh)
{
  int result = 0;
  const blender::OffsetIndices faces = mesh->faces();
  for (const int i : faces.index_range()) {
    if (faces[i].size() == 4) {
      result++;
    }
  }
  return result;
}
 
static void add_mesh_quad_diag_springs(Object *ob)
{
  Mesh *mesh = static_cast<Mesh *>(ob->data);
  // BodyPoint *bp; /* UNUSED */
  if (ob->soft) {
    int nofquads;
    // float s_shear = ob->soft->shearstiff*ob->soft->shearstiff;
 
    nofquads = count_mesh_quads(mesh);
    if (nofquads) {
      const blender::OffsetIndices faces = mesh->faces();
      const blender::Span<int> corner_verts = mesh->corner_verts();
      BodySpring *bs;
 
      /* resize spring-array to hold additional quad springs */
      ob->soft->bspring = static_cast<BodySpring *>(MEM_recallocN(
          ob->soft->bspring, sizeof(BodySpring) * (ob->soft->totspring + nofquads * 2)));
 
      /* fill the tail */
      bs = &ob->soft->bspring[ob->soft->totspring];
      // bp = ob->soft->bpoint; /* UNUSED */
      for (int a = 0; a < mesh->faces_num; a++) {
        const int poly_size = faces[a].size();
        if (poly_size == 4) {
          bs->v1 = corner_verts[faces[a].start() + 0];
          bs->v2 = corner_verts[faces[a].start() + 2];
          bs->springtype = SB_STIFFQUAD;
          bs++;
          bs->v1 = corner_verts[faces[a].start() + 1];
          bs->v2 = corner_verts[faces[a].start() + 3];
          bs->springtype = SB_STIFFQUAD;
          bs++;
        }
      }
 
      /* now we can announce new springs */
      ob->soft->totspring += nofquads * 2;
    }
  }
}
 
static void add_2nd_order_roller(Object *ob, float /*stiffness*/, int *counter, int addsprings)
{
  /* Assume we have a softbody. */
  SoftBody *sb = ob->soft; /* is supposed to be there */
  BodyPoint *bp, *bpo;
  BodySpring *bs, *bs2, *bs3 = nullptr;
  int a, b, c, notthis = 0, v0;
  if (!sb->bspring) {
    return;
  } /* we are 2nd order here so 1rst should have been build :) */
  /* first run counting  second run adding */
  *counter = 0;
  if (addsprings) {
    bs3 = ob->soft->bspring + ob->soft->totspring;
  }
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
    /* Scan for neighborhood. */
    bpo = nullptr;
    v0 = (sb->totpoint - a);
    for (b = bp->nofsprings; b > 0; b--) {
      bs = sb->bspring + bp->springs[b - 1];
      /* Nasty thing here that springs have two ends
       * so here we have to make sure we examine the other */
      if (v0 == bs->v1) {
        bpo = sb->bpoint + bs->v2;
        notthis = bs->v2;
      }
      else {
        if (v0 == bs->v2) {
          bpo = sb->bpoint + bs->v1;
          notthis = bs->v1;
        }
        else {
          CLOG_ERROR(&LOG, "oops we should not get here");
        }
      }
      if (bpo) { /* so now we have a 2nd order humpdidump */
        for (c = bpo->nofsprings; c > 0; c--) {
          bs2 = sb->bspring + bpo->springs[c - 1];
          if ((bs2->v1 != notthis) && (bs2->v1 > v0)) {
            (*counter)++; /* hit */
            if (addsprings) {
              bs3->v1 = v0;
              bs3->v2 = bs2->v1;
              bs3->springtype = SB_BEND;
              bs3++;
            }
          }
          if ((bs2->v2 != notthis) && (bs2->v2 > v0)) {
            (*counter)++; /* hit */
            if (addsprings) {
              bs3->v1 = v0;
              bs3->v2 = bs2->v2;
              bs3->springtype = SB_BEND;
              bs3++;
            }
          }
        }
      }
    }
    /* Scan for neighborhood done. */
  }
}
 
static void add_2nd_order_springs(Object *ob, float stiffness)
{
  int counter = 0;
  BodySpring *bs_new;
  stiffness *= stiffness;
 
  add_2nd_order_roller(ob, stiffness, &counter, 0); /* counting */
  if (counter) {
    /* resize spring-array to hold additional springs */
    bs_new = static_cast<BodySpring *>(
        MEM_callocN((ob->soft->totspring + counter) * sizeof(BodySpring), "bodyspring"));
    memcpy(bs_new, ob->soft->bspring, (ob->soft->totspring) * sizeof(BodySpring));
 
    if (ob->soft->bspring) {
      MEM_freeN(ob->soft->bspring);
    }
    ob->soft->bspring = bs_new;
 
    add_2nd_order_roller(ob, stiffness, &counter, 1); /* adding */
    ob->soft->totspring += counter;
  }
}
 
static void add_bp_springlist(BodyPoint *bp, int springID)
{
  int *newlist;
 
  if (bp->springs == nullptr) {
    bp->springs = static_cast<int *>(MEM_callocN(sizeof(int), "bpsprings"));
    bp->springs[0] = springID;
    bp->nofsprings = 1;
  }
  else {
    bp->nofsprings++;
    newlist = static_cast<int *>(MEM_callocN(bp->nofsprings * sizeof(int), "bpsprings"));
    memcpy(newlist, bp->springs, (bp->nofsprings - 1) * sizeof(int));
    MEM_freeN(bp->springs);
    bp->springs = newlist;
    bp->springs[bp->nofsprings - 1] = springID;
  }
}
 
static void build_bps_springlist(Object *ob)
{
  SoftBody *sb = ob->soft; /* is supposed to be there */
  BodyPoint *bp;
  BodySpring *bs;
  int a, b;
 
  if (sb == nullptr) {
    return; /* paranoia check */
  }
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
    /* throw away old list */
    if (bp->springs) {
      MEM_freeN(bp->springs);
      bp->springs = nullptr;
    }
    /* scan for attached inner springs */
    for (b = sb->totspring, bs = sb->bspring; b > 0; b--, bs++) {
      if ((sb->totpoint - a) == bs->v1) {
        add_bp_springlist(bp, sb->totspring - b);
      }
      if ((sb->totpoint - a) == bs->v2) {
        add_bp_springlist(bp, sb->totspring - b);
      }
    } /* For springs. */
  }   /* For bp. */
}
 
static void calculate_collision_balls(Object *ob)
{
  SoftBody *sb = ob->soft; /* is supposed to be there */
  BodyPoint *bp;
  BodySpring *bs;
  int a, b, akku_count;
  float min, max, akku;
 
  if (sb == nullptr) {
    return; /* paranoia check */
  }
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
    bp->colball = 0;
    akku = 0.0f;
    akku_count = 0;
    min = 1e22f;
    max = -1e22f;
    /* first estimation based on attached */
    for (b = bp->nofsprings; b > 0; b--) {
      bs = sb->bspring + bp->springs[b - 1];
      if (bs->springtype == SB_EDGE) {
        akku += bs->len;
        akku_count++;
        min = min_ff(bs->len, min);
        max = max_ff(bs->len, max);
      }
    }
 
    if (akku_count > 0) {
      if (sb->sbc_mode == SBC_MODE_MANUAL) {
        bp->colball = sb->colball;
      }
      if (sb->sbc_mode == SBC_MODE_AVG) {
        bp->colball = akku / float(akku_count) * sb->colball;
      }
      if (sb->sbc_mode == SBC_MODE_MIN) {
        bp->colball = min * sb->colball;
      }
      if (sb->sbc_mode == SBC_MODE_MAX) {
        bp->colball = max * sb->colball;
      }
      if (sb->sbc_mode == SBC_MODE_AVGMINMAX) {
        bp->colball = (min + max) / 2.0f * sb->colball;
      }
    }
    else {
      bp->colball = 0;
    }
  } /* For bp. */
}
 
/* creates new softbody if didn't exist yet, makes new points and springs arrays */
static void renew_softbody(Object *ob, int totpoint, int totspring)
{
  SoftBody *sb;
  int i;
  short softflag;
  if (ob->soft == nullptr) {
    ob->soft = sbNew();
  }
  else {
    free_softbody_intern(ob->soft);
  }
  sb = ob->soft;
  softflag = ob->softflag;
 
  if (totpoint) {
    sb->totpoint = totpoint;
    sb->totspring = totspring;
 
    sb->bpoint = static_cast<BodyPoint *>(MEM_mallocN(totpoint * sizeof(BodyPoint), "bodypoint"));
    if (totspring) {
      sb->bspring = static_cast<BodySpring *>(
          MEM_mallocN(totspring * sizeof(BodySpring), "bodyspring"));
    }
 
    /* initialize BodyPoint array */
    for (i = 0; i < totpoint; i++) {
      BodyPoint *bp = &sb->bpoint[i];
 
      /* hum as far as i see this is overridden by _final_goal() now jow_go_for2_5 */
      /* sadly breaks compatibility with older versions */
      /* but makes goals behave the same for meshes, lattices and curves */
      if (softflag & OB_SB_GOAL) {
        bp->goal = sb->defgoal;
      }
      else {
        bp->goal = 0.0f;
        /* So this will definitely be below #SOFTGOALSNAP. */
      }
 
      bp->nofsprings = 0;
      bp->springs = nullptr;
      bp->choke = 0.0f;
      bp->choke2 = 0.0f;
      bp->frozen = 1.0f;
      bp->colball = 0.0f;
      bp->loc_flag = 0;
      bp->springweight = 1.0f;
      bp->mass = 1.0f;
    }
  }
}
 
static void free_softbody_baked(SoftBody *sb)
{
  SBVertex *key;
  int k;
 
  for (k = 0; k < sb->totkey; k++) {
    key = *(sb->keys + k);
    if (key) {
      MEM_freeN(key);
    }
  }
  MEM_SAFE_FREE(sb->keys);
  sb->totkey = 0;
}
static void free_scratch(SoftBody *sb)
{
  if (sb->scratch) {
    /* TODO: make sure everything is cleaned up nicely. */
    if (sb->scratch->colliderhash) {
      BLI_ghash_free(sb->scratch->colliderhash,
                     nullptr,
                     (GHashValFreeFP)ccd_mesh_free); /* This hopefully will free all caches. */
      sb->scratch->colliderhash = nullptr;
    }
    if (sb->scratch->bodyface) {
      MEM_freeN(sb->scratch->bodyface);
    }
    if (sb->scratch->Ref.ivert) {
      MEM_freeN(sb->scratch->Ref.ivert);
    }
    MEM_freeN(sb->scratch);
    sb->scratch = nullptr;
  }
}
 
/* only frees internal data */
static void free_softbody_intern(SoftBody *sb)
{
  if (sb) {
    int a;
    BodyPoint *bp;
 
    if (sb->bpoint) {
      for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
        /* free spring list */
        if (bp->springs != nullptr) {
          MEM_freeN(bp->springs);
        }
      }
      MEM_freeN(sb->bpoint);
    }
 
    if (sb->bspring) {
      MEM_freeN(sb->bspring);
    }
 
    sb->totpoint = sb->totspring = 0;
    sb->bpoint = nullptr;
    sb->bspring = nullptr;
 
    free_scratch(sb);
    free_softbody_baked(sb);
  }
}
 
/* ************ dynamics ********** */
 
/* the most general (micro physics correct) way to do collision
 * (only needs the current particle position)
 *
 * it actually checks if the particle intrudes a short range force field generated
 * by the faces of the target object and returns a force to drive the particle out
 * the strength of the field grows exponentially if the particle is on the 'wrong' side of the face
 * 'wrong' side : projection to the face normal is negative (all referred to a vertex in the face)
 *
 * flaw of this: 'fast' particles as well as 'fast' colliding faces
 * give a 'tunnel' effect such that the particle passes through the force field
 * without ever 'seeing' it
 * this is fully compliant to heisenberg: h >= fuzzy(location) * fuzzy(time)
 * besides our h is way larger than in QM because forces propagate way slower here
 * we have to deal with fuzzy(time) in the range of 1/25 seconds (typical frame rate)
 * yup collision targets are not known here any better
 * and 1/25 second is very long compared to real collision events
 * Q: why not use 'simple' collision here like bouncing back a particle
 *   --> reverting is velocity on the face normal
 * A: because our particles are not alone here
 *    and need to tell their neighbors exactly what happens via spring forces
 * unless sbObjectStep( .. ) is called on sub frame timing level
 * BTW that also questions the use of a 'implicit' solvers on soft-bodies
 * since that would only valid for 'slow' moving collision targets and ditto particles.
 */
 
/* +++ dependency information functions. */
 
static int query_external_colliders(Depsgraph *depsgraph, Collection *collection)
{
  uint numobjects;
  Object **objects = BKE_collision_objects_create(
      depsgraph, nullptr, collection, &numobjects, eModifierType_Collision);
  BKE_collision_objects_free(objects);
 
  return (numobjects != 0);
}
/* --- dependency information functions. */
 
/* +++ the aabb "force" section. */
static int sb_detect_aabb_collisionCached(float /*force*/[3], Object *vertexowner, float /*time*/)
{
  Object *ob;
  SoftBody *sb = vertexowner->soft;
  GHash *hash;
  GHashIterator *ihash;
  float aabbmin[3], aabbmax[3];
  int deflected = 0;
#if 0
  int a;
#endif
 
  if ((sb == nullptr) || (sb->scratch == nullptr)) {
    return 0;
  }
  copy_v3_v3(aabbmin, sb->scratch->aabbmin);
  copy_v3_v3(aabbmax, sb->scratch->aabbmax);
 
  hash = vertexowner->soft->scratch->colliderhash;
  ihash = BLI_ghashIterator_new(hash);
  while (!BLI_ghashIterator_done(ihash)) {
 
    ccd_Mesh *ccdm = static_cast<ccd_Mesh *>(BLI_ghashIterator_getValue(ihash));
    ob = static_cast<Object *>(BLI_ghashIterator_getKey(ihash));
    {
      /* only with deflecting set */
      if (ob->pd && ob->pd->deflect) {
        if (ccdm) {
          if ((aabbmax[0] < ccdm->bbmin[0]) || (aabbmax[1] < ccdm->bbmin[1]) ||
              (aabbmax[2] < ccdm->bbmin[2]) || (aabbmin[0] > ccdm->bbmax[0]) ||
              (aabbmin[1] > ccdm->bbmax[1]) || (aabbmin[2] > ccdm->bbmax[2]))
          {
            /* boxes don't intersect */
            BLI_ghashIterator_step(ihash);
            continue;
          }
 
          /* so now we have the 2 boxes overlapping */
          /* forces actually not used */
          deflected = 2;
        }
        else {
          /* Aye that should be cached. */
          CLOG_ERROR(&LOG, "missing cache error");
          BLI_ghashIterator_step(ihash);
          continue;
        }
      } /* if (ob->pd && ob->pd->deflect) */
      BLI_ghashIterator_step(ihash);
    }
  } /* while () */
  BLI_ghashIterator_free(ihash);
  return deflected;
}
/* --- the aabb section. */
 
/* +++ the face external section. */
static int sb_detect_face_pointCached(const float face_v1[3],
                                      const float face_v2[3],
                                      const float face_v3[3],
                                      float *damp,
                                      float force[3],
                                      Object *vertexowner,
                                      float time)
{
  Object *ob;
  GHash *hash;
  GHashIterator *ihash;
  float nv1[3], edge1[3], edge2[3], d_nvect[3], aabbmin[3], aabbmax[3];
  float facedist, outerfacethickness, tune = 10.0f;
  int a, deflected = 0;
 
  aabbmin[0] = min_fff(face_v1[0], face_v2[0], face_v3[0]);
  aabbmin[1] = min_fff(face_v1[1], face_v2[1], face_v3[1]);
  aabbmin[2] = min_fff(face_v1[2], face_v2[2], face_v3[2]);
  aabbmax[0] = max_fff(face_v1[0], face_v2[0], face_v3[0]);
  aabbmax[1] = max_fff(face_v1[1], face_v2[1], face_v3[1]);
  aabbmax[2] = max_fff(face_v1[2], face_v2[2], face_v3[2]);
 
  /* calculate face normal once again SIGH */
  sub_v3_v3v3(edge1, face_v1, face_v2);
  sub_v3_v3v3(edge2, face_v3, face_v2);
  cross_v3_v3v3(d_nvect, edge2, edge1);
  normalize_v3(d_nvect);
 
  hash = vertexowner->soft->scratch->colliderhash;
  ihash = BLI_ghashIterator_new(hash);
  while (!BLI_ghashIterator_done(ihash)) {
 
    ccd_Mesh *ccdm = static_cast<ccd_Mesh *>(BLI_ghashIterator_getValue(ihash));
    ob = static_cast<Object *>(BLI_ghashIterator_getKey(ihash));
    {
      /* only with deflecting set */
      if (ob->pd && ob->pd->deflect) {
        const float(*vert_positions)[3] = nullptr;
        const float(*vert_positions_prev)[3] = nullptr;
        if (ccdm) {
          vert_positions = ccdm->vert_positions;
          a = ccdm->mvert_num;
          vert_positions_prev = ccdm->vert_positions_prev;
          outerfacethickness = ob->pd->pdef_sboft;
          if ((aabbmax[0] < ccdm->bbmin[0]) || (aabbmax[1] < ccdm->bbmin[1]) ||
              (aabbmax[2] < ccdm->bbmin[2]) || (aabbmin[0] > ccdm->bbmax[0]) ||
              (aabbmin[1] > ccdm->bbmax[1]) || (aabbmin[2] > ccdm->bbmax[2]))
          {
            /* boxes don't intersect */
            BLI_ghashIterator_step(ihash);
            continue;
          }
        }
        else {
          /* Aye that should be cached. */
          CLOG_ERROR(&LOG, "missing cache error");
          BLI_ghashIterator_step(ihash);
          continue;
        }
 
        /* Use mesh. */
        if (vert_positions) {
          while (a) {
            copy_v3_v3(nv1, vert_positions[a - 1]);
            if (vert_positions_prev) {
              mul_v3_fl(nv1, time);
              madd_v3_v3fl(nv1, vert_positions_prev[a - 1], 1.0f - time);
            }
            /* Origin to face_v2. */
            sub_v3_v3(nv1, face_v2);
            facedist = dot_v3v3(nv1, d_nvect);
            if (fabsf(facedist) < outerfacethickness) {
              if (isect_point_tri_prism_v3(nv1, face_v1, face_v2, face_v3)) {
                float df;
                if (facedist > 0) {
                  df = (outerfacethickness - facedist) / outerfacethickness;
                }
                else {
                  df = (outerfacethickness + facedist) / outerfacethickness;
                }
 
                *damp = df * tune * ob->pd->pdef_sbdamp;
 
                df = 0.01f * expf(-100.0f * df);
                madd_v3_v3fl(force, d_nvect, -df);
                deflected = 3;
              }
            }
            a--;
          } /* while (a) */
        }   /* if (vert_positions) */
      }     /* if (ob->pd && ob->pd->deflect) */
      BLI_ghashIterator_step(ihash);
    }
  } /* while () */
  BLI_ghashIterator_free(ihash);
  return deflected;
}
 
static int sb_detect_face_collisionCached(const float face_v1[3],
                                          const float face_v2[3],
                                          const float face_v3[3],
                                          float *damp,
                                          float force[3],
                                          Object *vertexowner,
                                          float time)
{
  Object *ob;
  GHash *hash;
  GHashIterator *ihash;
  float nv1[3], nv2[3], nv3[3], edge1[3], edge2[3], d_nvect[3], aabbmin[3], aabbmax[3];
  float t, tune = 10.0f;
  int a, deflected = 0;
 
  aabbmin[0] = min_fff(face_v1[0], face_v2[0], face_v3[0]);
  aabbmin[1] = min_fff(face_v1[1], face_v2[1], face_v3[1]);
  aabbmin[2] = min_fff(face_v1[2], face_v2[2], face_v3[2]);
  aabbmax[0] = max_fff(face_v1[0], face_v2[0], face_v3[0]);
  aabbmax[1] = max_fff(face_v1[1], face_v2[1], face_v3[1]);
  aabbmax[2] = max_fff(face_v1[2], face_v2[2], face_v3[2]);
 
  hash = vertexowner->soft->scratch->colliderhash;
  ihash = BLI_ghashIterator_new(hash);
  while (!BLI_ghashIterator_done(ihash)) {
 
    ccd_Mesh *ccdm = static_cast<ccd_Mesh *>(BLI_ghashIterator_getValue(ihash));
    ob = static_cast<Object *>(BLI_ghashIterator_getKey(ihash));
    {
      /* only with deflecting set */
      if (ob->pd && ob->pd->deflect) {
        const float(*vert_positions)[3] = nullptr;
        const float(*vert_positions_prev)[3] = nullptr;
        const blender::int3 *vt = nullptr;
        const ccdf_minmax *mima = nullptr;
 
        if (ccdm) {
          vert_positions = ccdm->vert_positions;
          vt = ccdm->vert_tris;
          vert_positions_prev = ccdm->vert_positions_prev;
          mima = ccdm->mima;
          a = ccdm->tri_num;
 
          if ((aabbmax[0] < ccdm->bbmin[0]) || (aabbmax[1] < ccdm->bbmin[1]) ||
              (aabbmax[2] < ccdm->bbmin[2]) || (aabbmin[0] > ccdm->bbmax[0]) ||
              (aabbmin[1] > ccdm->bbmax[1]) || (aabbmin[2] > ccdm->bbmax[2]))
          {
            /* boxes don't intersect */
            BLI_ghashIterator_step(ihash);
            continue;
          }
        }
        else {
          /* Aye that should be cached. */
          CLOG_ERROR(&LOG, "missing cache error");
          BLI_ghashIterator_step(ihash);
          continue;
        }
 
        /* Use mesh. */
        while (a--) {
          if ((aabbmax[0] < mima->minx) || (aabbmin[0] > mima->maxx) ||
              (aabbmax[1] < mima->miny) || (aabbmin[1] > mima->maxy) ||
              (aabbmax[2] < mima->minz) || (aabbmin[2] > mima->maxz))
          {
            mima++;
            vt++;
            continue;
          }
 
          if (vert_positions) {
 
            copy_v3_v3(nv1, vert_positions[(*vt)[0]]);
            copy_v3_v3(nv2, vert_positions[(*vt)[1]]);
            copy_v3_v3(nv3, vert_positions[(*vt)[2]]);
 
            if (vert_positions_prev) {
              mul_v3_fl(nv1, time);
              madd_v3_v3fl(nv1, vert_positions_prev[(*vt)[0]], 1.0f - time);
 
              mul_v3_fl(nv2, time);
              madd_v3_v3fl(nv2, vert_positions_prev[(*vt)[1]], 1.0f - time);
 
              mul_v3_fl(nv3, time);
              madd_v3_v3fl(nv3, vert_positions_prev[(*vt)[2]], 1.0f - time);
            }
          }
 
          /* Switch origin to be nv2. */
          sub_v3_v3v3(edge1, nv1, nv2);
          sub_v3_v3v3(edge2, nv3, nv2);
          cross_v3_v3v3(d_nvect, edge2, edge1);
          normalize_v3(d_nvect);
          if (isect_line_segment_tri_v3(nv1, nv2, face_v1, face_v2, face_v3, &t, nullptr) ||
              isect_line_segment_tri_v3(nv2, nv3, face_v1, face_v2, face_v3, &t, nullptr) ||
              isect_line_segment_tri_v3(nv3, nv1, face_v1, face_v2, face_v3, &t, nullptr))
          {
            madd_v3_v3fl(force, d_nvect, -0.5f);
            *damp = tune * ob->pd->pdef_sbdamp;
            deflected = 2;
          }
          mima++;
          vt++;
        } /* while a */
      }   /* if (ob->pd && ob->pd->deflect) */
      BLI_ghashIterator_step(ihash);
    }
  } /* while () */
  BLI_ghashIterator_free(ihash);
  return deflected;
}
 
static void scan_for_ext_face_forces(Object *ob, float timenow)
{
  SoftBody *sb = ob->soft;
  BodyFace *bf;
  int a;
  float damp = 0.0f, choke = 1.0f;
  float tune = -10.0f;
  float feedback[3];
 
  if (sb && sb->scratch->bodyface_num) {
 
    bf = sb->scratch->bodyface;
    for (a = 0; a < sb->scratch->bodyface_num; a++, bf++) {
      bf->ext_force[0] = bf->ext_force[1] = bf->ext_force[2] = 0.0f;
      /*+++edges intruding. */
      bf->flag &= ~BFF_INTERSECT;
      zero_v3(feedback);
      if (sb_detect_face_collisionCached(sb->bpoint[bf->v1].pos,
                                         sb->bpoint[bf->v2].pos,
                                         sb->bpoint[bf->v3].pos,
                                         &damp,
                                         feedback,
                                         ob,
                                         timenow))
      {
        madd_v3_v3fl(sb->bpoint[bf->v1].force, feedback, tune);
        madd_v3_v3fl(sb->bpoint[bf->v2].force, feedback, tune);
        madd_v3_v3fl(sb->bpoint[bf->v3].force, feedback, tune);
        //              madd_v3_v3fl(bf->ext_force, feedback, tune);
        bf->flag |= BFF_INTERSECT;
        choke = min_ff(max_ff(damp, choke), 1.0f);
      }
      /*---edges intruding. */
 
      /*+++ close vertices. */
      if ((bf->flag & BFF_INTERSECT) == 0) {
        bf->flag &= ~BFF_CLOSEVERT;
        tune = -1.0f;
        zero_v3(feedback);
        if (sb_detect_face_pointCached(sb->bpoint[bf->v1].pos,
                                       sb->bpoint[bf->v2].pos,
                                       sb->bpoint[bf->v3].pos,
                                       &damp,
                                       feedback,
                                       ob,
                                       timenow))
        {
          madd_v3_v3fl(sb->bpoint[bf->v1].force, feedback, tune);
          madd_v3_v3fl(sb->bpoint[bf->v2].force, feedback, tune);
          madd_v3_v3fl(sb->bpoint[bf->v3].force, feedback, tune);
          //                  madd_v3_v3fl(bf->ext_force, feedback, tune);
          bf->flag |= BFF_CLOSEVERT;
          choke = min_ff(max_ff(damp, choke), 1.0f);
        }
      }
      /*--- close vertices. */
    }
    bf = sb->scratch->bodyface;
    for (a = 0; a < sb->scratch->bodyface_num; a++, bf++) {
      if ((bf->flag & BFF_INTERSECT) || (bf->flag & BFF_CLOSEVERT)) {
        sb->bpoint[bf->v1].choke2 = max_ff(sb->bpoint[bf->v1].choke2, choke);
        sb->bpoint[bf->v2].choke2 = max_ff(sb->bpoint[bf->v2].choke2, choke);
        sb->bpoint[bf->v3].choke2 = max_ff(sb->bpoint[bf->v3].choke2, choke);
      }
    }
  }
}
 
/*  --- the face external section. */
 
/* +++ the spring external section. */
 
static int sb_detect_edge_collisionCached(const float edge_v1[3],
                                          const float edge_v2[3],
                                          float *damp,
                                          float force[3],
                                          Object *vertexowner,
                                          float time)
{
  Object *ob;
  GHash *hash;
  GHashIterator *ihash;
  float nv1[3], nv2[3], nv3[3], edge1[3], edge2[3], d_nvect[3], aabbmin[3], aabbmax[3];
  float t, el;
  int a, deflected = 0;
 
  minmax_v3v3_v3(aabbmin, aabbmax, edge_v1);
  minmax_v3v3_v3(aabbmin, aabbmax, edge_v2);
 
  el = len_v3v3(edge_v1, edge_v2);
 
  hash = vertexowner->soft->scratch->colliderhash;
  ihash = BLI_ghashIterator_new(hash);
  while (!BLI_ghashIterator_done(ihash)) {
 
    ccd_Mesh *ccdm = static_cast<ccd_Mesh *>(BLI_ghashIterator_getValue(ihash));
    ob = static_cast<Object *>(BLI_ghashIterator_getKey(ihash));
    {
      /* only with deflecting set */
      if (ob->pd && ob->pd->deflect) {
        const float(*vert_positions)[3] = nullptr;
        const float(*vert_positions_prev)[3] = nullptr;
        const blender::int3 *vt = nullptr;
        const ccdf_minmax *mima = nullptr;
 
        if (ccdm) {
          vert_positions = ccdm->vert_positions;
          vert_positions_prev = ccdm->vert_positions_prev;
          vt = ccdm->vert_tris;
          mima = ccdm->mima;
          a = ccdm->tri_num;
 
          if ((aabbmax[0] < ccdm->bbmin[0]) || (aabbmax[1] < ccdm->bbmin[1]) ||
              (aabbmax[2] < ccdm->bbmin[2]) || (aabbmin[0] > ccdm->bbmax[0]) ||
              (aabbmin[1] > ccdm->bbmax[1]) || (aabbmin[2] > ccdm->bbmax[2]))
          {
            /* boxes don't intersect */
            BLI_ghashIterator_step(ihash);
            continue;
          }
        }
        else {
          /* Aye that should be cached. */
          CLOG_ERROR(&LOG, "missing cache error");
          BLI_ghashIterator_step(ihash);
          continue;
        }
 
        /* Use mesh. */
        while (a--) {
          if ((aabbmax[0] < mima->minx) || (aabbmin[0] > mima->maxx) ||
              (aabbmax[1] < mima->miny) || (aabbmin[1] > mima->maxy) ||
              (aabbmax[2] < mima->minz) || (aabbmin[2] > mima->maxz))
          {
            mima++;
            vt++;
            continue;
          }
 
          if (vert_positions) {
 
            copy_v3_v3(nv1, vert_positions[(*vt)[0]]);
            copy_v3_v3(nv2, vert_positions[(*vt)[1]]);
            copy_v3_v3(nv3, vert_positions[(*vt)[2]]);
 
            if (vert_positions_prev) {
              mul_v3_fl(nv1, time);
              madd_v3_v3fl(nv1, vert_positions_prev[(*vt)[0]], 1.0f - time);
 
              mul_v3_fl(nv2, time);
              madd_v3_v3fl(nv2, vert_positions_prev[(*vt)[1]], 1.0f - time);
 
              mul_v3_fl(nv3, time);
              madd_v3_v3fl(nv3, vert_positions_prev[(*vt)[2]], 1.0f - time);
            }
          }
 
          /* Switch origin to be nv2. */
          sub_v3_v3v3(edge1, nv1, nv2);
          sub_v3_v3v3(edge2, nv3, nv2);
 
          cross_v3_v3v3(d_nvect, edge2, edge1);
          normalize_v3(d_nvect);
          if (isect_line_segment_tri_v3(edge_v1, edge_v2, nv1, nv2, nv3, &t, nullptr)) {
            float v1[3], v2[3];
            float intrusiondepth, i1, i2;
            sub_v3_v3v3(v1, edge_v1, nv2);
            sub_v3_v3v3(v2, edge_v2, nv2);
            i1 = dot_v3v3(v1, d_nvect);
            i2 = dot_v3v3(v2, d_nvect);
            intrusiondepth = -min_ff(i1, i2) / el;
            madd_v3_v3fl(force, d_nvect, intrusiondepth);
            *damp = ob->pd->pdef_sbdamp;
            deflected = 2;
          }
 
          mima++;
          vt++;
        } /* while a */
      }   /* if (ob->pd && ob->pd->deflect) */
      BLI_ghashIterator_step(ihash);
    }
  } /* while () */
  BLI_ghashIterator_free(ihash);
  return deflected;
}
 
static void _scan_for_ext_spring_forces(
    Scene *scene, Object *ob, float timenow, int ifirst, int ilast, ListBase *effectors)
{
  SoftBody *sb = ob->soft;
  int a;
  float damp;
  float feedback[3];
 
  if (sb && sb->totspring) {
    for (a = ifirst; a < ilast; a++) {
      BodySpring *bs = &sb->bspring[a];
      bs->ext_force[0] = bs->ext_force[1] = bs->ext_force[2] = 0.0f;
      feedback[0] = feedback[1] = feedback[2] = 0.0f;
      bs->flag &= ~BSF_INTERSECT;
 
      if (bs->springtype == SB_EDGE) {
        /* +++ springs colliding */
        if (ob->softflag & OB_SB_EDGECOLL) {
          if (sb_detect_edge_collisionCached(
                  sb->bpoint[bs->v1].pos, sb->bpoint[bs->v2].pos, &damp, feedback, ob, timenow))
          {
            add_v3_v3(bs->ext_force, feedback);
            bs->flag |= BSF_INTERSECT;
            // bs->cf=damp;
            bs->cf = sb->choke * 0.01f;
          }
        }
        /* ---- springs colliding */
 
        /* +++ springs seeing wind ... n stuff depending on their orientation. */
        /* NOTE: we don't use `sb->mediafrict` but use `sb->aeroedge` for magnitude of effect. */
        if (sb->aeroedge) {
          float vel[3], sp[3], pr[3], force[3];
          float f, windfactor = 0.25f;
          /* See if we have wind. */
          if (effectors) {
            EffectedPoint epoint;
            float speed[3] = {0.0f, 0.0f, 0.0f};
            float pos[3];
            mid_v3_v3v3(pos, sb->bpoint[bs->v1].pos, sb->bpoint[bs->v2].pos);
            mid_v3_v3v3(vel, sb->bpoint[bs->v1].vec, sb->bpoint[bs->v2].vec);
            pd_point_from_soft(scene, pos, vel, -1, &epoint);
            BKE_effectors_apply(
                effectors, nullptr, sb->effector_weights, &epoint, force, nullptr, speed);
 
            mul_v3_fl(speed, windfactor);
            add_v3_v3(vel, speed);
          }
          /* media in rest */
          else {
            add_v3_v3v3(vel, sb->bpoint[bs->v1].vec, sb->bpoint[bs->v2].vec);
          }
          f = normalize_v3(vel);
          f = -0.0001f * f * f * sb->aeroedge;
          /* (todo) add a nice angle dependent function done for now BUT */
          /* still there could be some nice drag/lift function, but who needs it */
 
          sub_v3_v3v3(sp, sb->bpoint[bs->v1].pos, sb->bpoint[bs->v2].pos);
          project_v3_v3v3(pr, vel, sp);
          sub_v3_v3(vel, pr);
          normalize_v3(vel);
          if (ob->softflag & OB_SB_AERO_ANGLE) {
            normalize_v3(sp);
            madd_v3_v3fl(bs->ext_force, vel, f * (1.0f - fabsf(dot_v3v3(vel, sp))));
          }
          else {
            madd_v3_v3fl(bs->ext_force, vel, f); /* to keep compatible with 2.45 release files */
          }
        }
        /* --- springs seeing wind */
      }
    }
  }
}
 
static void *exec_scan_for_ext_spring_forces(void *data)
{
  SB_thread_context *pctx = (SB_thread_context *)data;
  _scan_for_ext_spring_forces(
      pctx->scene, pctx->ob, pctx->timenow, pctx->ifirst, pctx->ilast, pctx->effectors);
  return nullptr;
}
 
static void sb_sfesf_threads_run(Depsgraph *depsgraph,
                                 Scene *scene,
                                 Object *ob,
                                 float timenow,
                                 int totsprings,
                                 int *ptr_to_break_func(void))
{
  UNUSED_VARS(ptr_to_break_func);
  ListBase threads;
  SB_thread_context *sb_threads;
  int i, totthread, left, dec;
 
  /* wild guess .. may increase with better thread management 'above'
   * or even be UI option sb->spawn_cf_threads_nopts */
  int lowsprings = 100;
 
  ListBase *effectors = BKE_effectors_create(
      depsgraph, ob, nullptr, ob->soft->effector_weights, false);
 
  /* figure the number of threads while preventing pretty pointless threading overhead */
  totthread = BKE_scene_num_threads(scene);
  /* What if we got zillions of CPUs running but less to spread. */
  while ((totsprings / totthread < lowsprings) && (totthread > 1)) {
    totthread--;
  }
 
  sb_threads = static_cast<SB_thread_context *>(
      MEM_callocN(sizeof(SB_thread_context) * totthread, "SBSpringsThread"));
  left = totsprings;
  dec = totsprings / totthread + 1;
  for (i = 0; i < totthread; i++) {
    sb_threads[i].scene = scene;
    sb_threads[i].ob = ob;
    sb_threads[i].forcetime = 0.0; /* not used here */
    sb_threads[i].timenow = timenow;
    sb_threads[i].ilast = left;
    left = left - dec;
    if (left > 0) {
      sb_threads[i].ifirst = left;
    }
    else {
      sb_threads[i].ifirst = 0;
    }
    sb_threads[i].effectors = effectors;
    sb_threads[i].do_deflector = false; /* not used here */
    sb_threads[i].fieldfactor = 0.0f;   /* not used here */
    sb_threads[i].windfactor = 0.0f;    /* not used here */
    sb_threads[i].nr = i;
    sb_threads[i].tot = totthread;
  }
  if (totthread > 1) {
    BLI_threadpool_init(&threads, exec_scan_for_ext_spring_forces, totthread);
 
    for (i = 0; i < totthread; i++) {
      BLI_threadpool_insert(&threads, &sb_threads[i]);
    }
 
    BLI_threadpool_end(&threads);
  }
  else {
    exec_scan_for_ext_spring_forces(&sb_threads[0]);
  }
  /* clean up */
  MEM_freeN(sb_threads);
 
  BKE_effectors_free(effectors);
}
 
/* --- the spring external section. */
 
static int choose_winner(
    float *w, float *pos, float *a, float *b, float *c, float *ca, float *cb, float *cc)
{
  float mindist, cp;
  int winner = 1;
  mindist = fabsf(dot_v3v3(pos, a));
 
  cp = fabsf(dot_v3v3(pos, b));
  if (mindist < cp) {
    mindist = cp;
    winner = 2;
  }
 
  cp = fabsf(dot_v3v3(pos, c));
  if (mindist < cp) {
    mindist = cp;
    winner = 3;
  }
  switch (winner) {
    case 1:
      copy_v3_v3(w, ca);
      break;
    case 2:
      copy_v3_v3(w, cb);
      break;
    case 3:
      copy_v3_v3(w, cc);
  }
  return winner;
}
 
static int sb_detect_vertex_collisionCached(float opco[3],
                                            float facenormal[3],
                                            float *damp,
                                            float force[3],
                                            Object *vertexowner,
                                            float time,
                                            float vel[3],
                                            float *intrusion)
{
  Object *ob = nullptr;
  GHash *hash;
  GHashIterator *ihash;
  float nv1[3], nv2[3], nv3[3], edge1[3], edge2[3], d_nvect[3], dv1[3], ve[3],
      avel[3] = {0.0, 0.0, 0.0}, vv1[3], vv2[3], vv3[3], coledge[3] = {0.0f, 0.0f, 0.0f},
      mindistedge = 1000.0f, outerforceaccu[3], innerforceaccu[3], facedist,
      /* n_mag, */ /* UNUSED */ force_mag_norm, minx, miny, minz, maxx, maxy, maxz,
      innerfacethickness = -0.5f, outerfacethickness = 0.2f, ee = 5.0f, ff = 0.1f, fa = 1;
  int a, deflected = 0, cavel = 0, ci = 0;
  /* init */
  *intrusion = 0.0f;
  hash = vertexowner->soft->scratch->colliderhash;
  ihash = BLI_ghashIterator_new(hash);
  outerforceaccu[0] = outerforceaccu[1] = outerforceaccu[2] = 0.0f;
  innerforceaccu[0] = innerforceaccu[1] = innerforceaccu[2] = 0.0f;
  /* go */
  while (!BLI_ghashIterator_done(ihash)) {
 
    ccd_Mesh *ccdm = static_cast<ccd_Mesh *>(BLI_ghashIterator_getValue(ihash));
    ob = static_cast<Object *>(BLI_ghashIterator_getKey(ihash));
    {
      /* only with deflecting set */
      if (ob->pd && ob->pd->deflect) {
        const float(*vert_positions)[3] = nullptr;
        const float(*vert_positions_prev)[3] = nullptr;
        const blender::int3 *vt = nullptr;
        const ccdf_minmax *mima = nullptr;
 
        if (ccdm) {
          vert_positions = ccdm->vert_positions;
          vert_positions_prev = ccdm->vert_positions_prev;
          vt = ccdm->vert_tris;
          mima = ccdm->mima;
          a = ccdm->tri_num;
 
          minx = ccdm->bbmin[0];
          miny = ccdm->bbmin[1];
          minz = ccdm->bbmin[2];
 
          maxx = ccdm->bbmax[0];
          maxy = ccdm->bbmax[1];
          maxz = ccdm->bbmax[2];
 
          if ((opco[0] < minx) || (opco[1] < miny) || (opco[2] < minz) || (opco[0] > maxx) ||
              (opco[1] > maxy) || (opco[2] > maxz))
          {
            /* Outside the padded bound-box -> collision object is too far away. */
            BLI_ghashIterator_step(ihash);
            continue;
          }
        }
        else {
          /* Aye that should be cached. */
          CLOG_ERROR(&LOG, "missing cache error");
          BLI_ghashIterator_step(ihash);
          continue;
        }
 
        /* do object level stuff */
        /* need to have user control for that since it depends on model scale */
        innerfacethickness = -ob->pd->pdef_sbift;
        outerfacethickness = ob->pd->pdef_sboft;
        fa = (ff * outerfacethickness - outerfacethickness);
        fa *= fa;
        fa = 1.0f / fa;
        avel[0] = avel[1] = avel[2] = 0.0f;
        /* Use mesh. */
        while (a--) {
          if ((opco[0] < mima->minx) || (opco[0] > mima->maxx) || (opco[1] < mima->miny) ||
              (opco[1] > mima->maxy) || (opco[2] < mima->minz) || (opco[2] > mima->maxz))
          {
            mima++;
            vt++;
            continue;
          }
 
          if (vert_positions) {
 
            copy_v3_v3(nv1, vert_positions[(*vt)[0]]);
            copy_v3_v3(nv2, vert_positions[(*vt)[1]]);
            copy_v3_v3(nv3, vert_positions[(*vt)[2]]);
 
            if (vert_positions_prev) {
              /* Grab the average speed of the collider vertices before we spoil nvX
               * hum could be done once a SB steps but then we' need to store that too
               * since the AABB reduced probability to get here drastically
               * it might be a nice tradeoff CPU <--> memory.
               */
              sub_v3_v3v3(vv1, nv1, vert_positions_prev[(*vt)[0]]);
              sub_v3_v3v3(vv2, nv2, vert_positions_prev[(*vt)[1]]);
              sub_v3_v3v3(vv3, nv3, vert_positions_prev[(*vt)[2]]);
 
              mul_v3_fl(nv1, time);
              madd_v3_v3fl(nv1, vert_positions_prev[(*vt)[0]], 1.0f - time);
 
              mul_v3_fl(nv2, time);
              madd_v3_v3fl(nv2, vert_positions_prev[(*vt)[1]], 1.0f - time);
 
              mul_v3_fl(nv3, time);
              madd_v3_v3fl(nv3, vert_positions_prev[(*vt)[2]], 1.0f - time);
            }
          }
 
          /* Switch origin to be nv2. */
          sub_v3_v3v3(edge1, nv1, nv2);
          sub_v3_v3v3(edge2, nv3, nv2);
          /* Abuse dv1 to have vertex in question at *origin* of triangle. */
          sub_v3_v3v3(dv1, opco, nv2);
 
          cross_v3_v3v3(d_nvect, edge2, edge1);
          /* n_mag = */ /* UNUSED */ normalize_v3(d_nvect);
          facedist = dot_v3v3(dv1, d_nvect);
          /* so rules are */
 
          if ((facedist > innerfacethickness) && (facedist < outerfacethickness)) {
            if (isect_point_tri_prism_v3(opco, nv1, nv2, nv3)) {
              force_mag_norm = float(exp(double(-ee * facedist)));
              if (facedist > outerfacethickness * ff) {
                force_mag_norm = float(force_mag_norm) * fa * (facedist - outerfacethickness) *
                                 (facedist - outerfacethickness);
              }
              *damp = ob->pd->pdef_sbdamp;
              if (facedist > 0.0f) {
                *damp *= (1.0f - facedist / outerfacethickness);
                madd_v3_v3fl(outerforceaccu, d_nvect, force_mag_norm);
                deflected = 3;
              }
              else {
                madd_v3_v3fl(innerforceaccu, d_nvect, force_mag_norm);
                if (deflected < 2) {
                  deflected = 2;
                }
              }
              if ((vert_positions_prev) && (*damp > 0.0f)) {
                choose_winner(ve, opco, nv1, nv2, nv3, vv1, vv2, vv3);
                add_v3_v3(avel, ve);
                cavel++;
              }
              *intrusion += facedist;
              ci++;
            }
          }
 
          mima++;
          vt++;
        } /* while a */
      }   /* if (ob->pd && ob->pd->deflect) */
      BLI_ghashIterator_step(ihash);
    }
  } /* while () */
 
  if (deflected == 1) { /* no face but 'outer' edge cylinder sees vert */
    force_mag_norm = float(exp(double() - ee * mindistedge));
    if (mindistedge > outerfacethickness * ff) {
      force_mag_norm = float(force_mag_norm) * fa * (mindistedge - outerfacethickness) *
                       (mindistedge - outerfacethickness);
    }
    madd_v3_v3fl(force, coledge, force_mag_norm);
    *damp = ob->pd->pdef_sbdamp;
    if (mindistedge > 0.0f) {
      *damp *= (1.0f - mindistedge / outerfacethickness);
    }
  }
  if (deflected == 2) { /* face inner detected */
    add_v3_v3(force, innerforceaccu);
  }
  if (deflected == 3) { /* face outer detected */
    add_v3_v3(force, outerforceaccu);
  }
 
  BLI_ghashIterator_free(ihash);
  if (cavel) {
    mul_v3_fl(avel, 1.0f / float(cavel));
  }
  copy_v3_v3(vel, avel);
  if (ci) {
    *intrusion /= ci;
  }
  if (deflected) {
    normalize_v3_v3(facenormal, force);
  }
  return deflected;
}
 
/* Sandbox to plug in various deflection algorithms. */
static int sb_deflect_face(Object *ob,
                           float *actpos,
                           float *facenormal,
                           float *force,
                           float *cf,
                           float time,
                           float *vel,
                           float *intrusion)
{
  float s_actpos[3];
  int deflected;
  copy_v3_v3(s_actpos, actpos);
  deflected = sb_detect_vertex_collisionCached(
      s_actpos, facenormal, cf, force, ob, time, vel, intrusion);
#if 0
  deflected = sb_detect_vertex_collisionCachedEx(
      s_actpos, facenormal, cf, force, ob, time, vel, intrusion);
#endif
  return deflected;
}
 
/* Hiding this for now, but the jacobian may pop up on other tasks - so I'd like to keep it. */
#if 0
static void dfdx_spring(int ia, int ic, int op, float dir[3], float L, float len, float factor)
{
  float m, delta_ij;
  int i, j;
  if (L < len) {
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        delta_ij = (i == j ? (1.0f) : (0.0f));
        m = factor * (dir[i] * dir[j] + (1 - L / len) * (delta_ij - dir[i] * dir[j]));
        EIG_linear_solver_matrix_add(ia + i, op + ic + j, m);
      }
    }
  }
  else {
    for (i = 0; i < 3; i++) {
      for (j = 0; j < 3; j++) {
        m = factor * dir[i] * dir[j];
        EIG_linear_solver_matrix_add(ia + i, op + ic + j, m);
      }
    }
  }
}
 
static void dfdx_goal(int ia, int ic, int op, float factor)
{
  int i;
  for (i = 0; i < 3; i++) {
    EIG_linear_solver_matrix_add(ia + i, op + ic + i, factor);
  }
}
 
static void dfdv_goal(int ia, int ic, float factor)
{
  int i;
  for (i = 0; i < 3; i++) {
    EIG_linear_solver_matrix_add(ia + i, ic + i, factor);
  }
}
#endif /* if 0 */
 
static void sb_spring_force(Object *ob, int bpi, BodySpring *bs, float iks, float /*forcetime*/)
{
  SoftBody *sb = ob->soft; /* is supposed to be there */
  BodyPoint *bp1, *bp2;
 
  float dir[3], dvel[3];
  float distance, forcefactor, kd, absvel, projvel, kw;
#if 0 /* UNUSED */
  int ia, ic;
#endif
  /* prepare depending on which side of the spring we are on */
  if (bpi == bs->v1) {
    bp1 = &sb->bpoint[bs->v1];
    bp2 = &sb->bpoint[bs->v2];
#if 0 /* UNUSED */
    ia = 3 * bs->v1;
    ic = 3 * bs->v2;
#endif
  }
  else if (bpi == bs->v2) {
    bp1 = &sb->bpoint[bs->v2];
    bp2 = &sb->bpoint[bs->v1];
#if 0 /* UNUSED */
    ia = 3 * bs->v2;
    ic = 3 * bs->v1;
#endif
  }
  else {
    /* TODO: make this debug option. */
    CLOG_WARN(&LOG, "bodypoint <bpi> is not attached to spring  <*bs>");
    return;
  }
 
  /* do bp1 <--> bp2 elastic */
  sub_v3_v3v3(dir, bp1->pos, bp2->pos);
  distance = normalize_v3(dir);
  if (bs->len < distance) {
    iks = 1.0f / (1.0f - sb->inspring) - 1.0f; /* inner spring constants function */
  }
  else {
    iks = 1.0f / (1.0f - sb->inpush) - 1.0f; /* inner spring constants function */
  }
 
  if (bs->len > 0.0f) { /* check for degenerated springs */
    forcefactor = iks / bs->len;
  }
  else {
    forcefactor = iks;
  }
  kw = (bp1->springweight + bp2->springweight) / 2.0f;
  kw = kw * kw;
  kw = kw * kw;
  switch (bs->springtype) {
    case SB_EDGE:
    case SB_HANDLE:
      forcefactor *= kw;
      break;
    case SB_BEND:
      forcefactor *= sb->secondspring * kw;
      break;
    case SB_STIFFQUAD:
      forcefactor *= sb->shearstiff * sb->shearstiff * kw;
      break;
    default:
      break;
  }
 
  madd_v3_v3fl(bp1->force, dir, (bs->len - distance) * forcefactor);
 
  /* do bp1 <--> bp2 viscous */
  sub_v3_v3v3(dvel, bp1->vec, bp2->vec);
  kd = sb->infrict * sb_fric_force_scale(ob);
  absvel = normalize_v3(dvel);
  projvel = dot_v3v3(dir, dvel);
  kd *= absvel * projvel;
  madd_v3_v3fl(bp1->force, dir, -kd);
}
 
/* since this is definitely the most CPU consuming task here .. try to spread it */
/* core function _softbody_calc_forces_slice_in_a_thread */
/* result is int to be able to flag user break */
static int _softbody_calc_forces_slice_in_a_thread(Scene *scene,
                                                   Object *ob,
                                                   float forcetime,
                                                   float timenow,
                                                   int ifirst,
                                                   int ilast,
                                                   int *ptr_to_break_func(void),
                                                   ListBase *effectors,
                                                   int do_deflector,
                                                   float fieldfactor,
                                                   float windfactor)
{
  UNUSED_VARS(ptr_to_break_func);
  float iks;
  int bb, do_selfcollision, do_springcollision, do_aero;
  int number_of_points_here = ilast - ifirst;
  SoftBody *sb = ob->soft; /* is supposed to be there */
  BodyPoint *bp;
 
  /* initialize */
  if (sb) {
    /* check conditions for various options */
    /* +++ could be done on object level to squeeze out the last bits of it */
    do_selfcollision = ((ob->softflag & OB_SB_EDGES) && (sb->bspring) &&
                        (ob->softflag & OB_SB_SELF));
    do_springcollision = do_deflector && (ob->softflag & OB_SB_EDGES) &&
                         (ob->softflag & OB_SB_EDGECOLL);
    do_aero = ((sb->aeroedge) && (ob->softflag & OB_SB_EDGES));
    /* --- could be done on object level to squeeze out the last bits of it */
  }
  else {
    CLOG_ERROR(&LOG, "expected a SB here");
    return 999;
  }
 
  /* Debugging. */
  if (sb->totpoint < ifirst) {
    printf("Aye 998");
    return 998;
  }
  /* Debugging. */
 
  bp = &sb->bpoint[ifirst];
  for (bb = number_of_points_here; bb > 0; bb--, bp++) {
    /* clear forces  accumulator */
    bp->force[0] = bp->force[1] = bp->force[2] = 0.0;
    /* naive ball self collision */
    /* needs to be done if goal snaps or not */
    if (do_selfcollision) {
      int attached;
      BodyPoint *obp;
      BodySpring *bs;
      int c, b;
      float velcenter[3], dvel[3], def[3];
      float distance;
      float compare;
      float bstune = sb->ballstiff;
 
      /* Running in a slice we must not assume anything done with obp
       * neither alter the data of obp. */
      for (c = sb->totpoint, obp = sb->bpoint; c > 0; c--, obp++) {
        compare = (obp->colball + bp->colball);
        sub_v3_v3v3(def, bp->pos, obp->pos);
        /* rather check the AABBoxes before ever calculating the real distance */
        /* mathematically it is completely nuts, but performance is pretty much (3) times faster */
        if ((fabsf(def[0]) > compare) || (fabsf(def[1]) > compare) || (fabsf(def[2]) > compare)) {
          continue;
        }
        distance = normalize_v3(def);
        if (distance < compare) {
          /* exclude body points attached with a spring */
          attached = 0;
          for (b = obp->nofsprings; b > 0; b--) {
            bs = sb->bspring + obp->springs[b - 1];
            if (ELEM(ilast - bb, bs->v2, bs->v1)) {
              attached = 1;
              continue;
            }
          }
          if (!attached) {
            float f = bstune / (distance) + bstune / (compare * compare) * distance -
                      2.0f * bstune / compare;
 
            mid_v3_v3v3(velcenter, bp->vec, obp->vec);
            sub_v3_v3v3(dvel, velcenter, bp->vec);
            mul_v3_fl(dvel, _final_mass(ob, bp));
 
            madd_v3_v3fl(bp->force, def, f * (1.0f - sb->balldamp));
            madd_v3_v3fl(bp->force, dvel, sb->balldamp);
          }
        }
      }
    }
    /* naive ball self collision done */
 
    if (_final_goal(ob, bp) < SOFTGOALSNAP) { /* omit this bp when it snaps */
      float auxvect[3];
      float velgoal[3];
 
      /* do goal stuff */
      if (ob->softflag & OB_SB_GOAL) {
        /* true elastic goal */
        float ks, kd;
        sub_v3_v3v3(auxvect, bp->pos, bp->origT);
        ks = 1.0f / (1.0f - _final_goal(ob, bp) * sb->goalspring) - 1.0f;
        bp->force[0] += -ks * (auxvect[0]);
        bp->force[1] += -ks * (auxvect[1]);
        bp->force[2] += -ks * (auxvect[2]);
 
        /* Calculate damping forces generated by goals. */
        sub_v3_v3v3(velgoal, bp->origS, bp->origE);
        kd = sb->goalfrict * sb_fric_force_scale(ob);
        add_v3_v3v3(auxvect, velgoal, bp->vec);
 
        /* Make sure friction does not become rocket motor on time reversal. */
        if (forcetime > 0.0f) {
          bp->force[0] -= kd * (auxvect[0]);
          bp->force[1] -= kd * (auxvect[1]);
          bp->force[2] -= kd * (auxvect[2]);
        }
        else {
          bp->force[0] -= kd * (velgoal[0] - bp->vec[0]);
          bp->force[1] -= kd * (velgoal[1] - bp->vec[1]);
          bp->force[2] -= kd * (velgoal[2] - bp->vec[2]);
        }
      }
      /* done goal stuff */
 
      /* gravitation */
      if (scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) {
        float gravity[3];
        copy_v3_v3(gravity, scene->physics_settings.gravity);
 
        /* Individual mass of node here. */
        mul_v3_fl(gravity,
                  sb_grav_force_scale(ob) * _final_mass(ob, bp) *
                      sb->effector_weights->global_gravity);
 
        add_v3_v3(bp->force, gravity);
      }
 
      /* particle field & vortex */
      if (effectors) {
        EffectedPoint epoint;
        float kd;
        float force[3] = {0.0f, 0.0f, 0.0f};
        float speed[3] = {0.0f, 0.0f, 0.0f};
 
        /* just for calling function once */
        float eval_sb_fric_force_scale = sb_fric_force_scale(ob);
 
        pd_point_from_soft(scene, bp->pos, bp->vec, sb->bpoint - bp, &epoint);
        BKE_effectors_apply(
            effectors, nullptr, sb->effector_weights, &epoint, force, nullptr, speed);
 
        /* Apply force-field. */
        mul_v3_fl(force, fieldfactor * eval_sb_fric_force_scale);
        add_v3_v3(bp->force, force);
 
        /* BP friction in moving media */
        kd = sb->mediafrict * eval_sb_fric_force_scale;
        bp->force[0] -= kd * (bp->vec[0] + windfactor * speed[0] / eval_sb_fric_force_scale);
        bp->force[1] -= kd * (bp->vec[1] + windfactor * speed[1] / eval_sb_fric_force_scale);
        bp->force[2] -= kd * (bp->vec[2] + windfactor * speed[2] / eval_sb_fric_force_scale);
        /* now we'll have nice centrifugal effect for vortex */
      }
      else {
        /* BP friction in media (not) moving. */
        float kd = sb->mediafrict * sb_fric_force_scale(ob);
        /* assume it to be proportional to actual velocity */
        bp->force[0] -= bp->vec[0] * kd;
        bp->force[1] -= bp->vec[1] * kd;
        bp->force[2] -= bp->vec[2] * kd;
        /* friction in media done */
      }
      /* +++cached collision targets */
      bp->choke = 0.0f;
      bp->choke2 = 0.0f;
      bp->loc_flag &= ~SBF_DOFUZZY;
      if (do_deflector && !(bp->loc_flag & SBF_OUTOFCOLLISION)) {
        float cfforce[3], defforce[3] = {0.0f, 0.0f, 0.0f}, vel[3] = {0.0f, 0.0f, 0.0f},
                          facenormal[3], cf = 1.0f, intrusion;
        float kd = 1.0f;
 
        if (sb_deflect_face(ob, bp->pos, facenormal, defforce, &cf, timenow, vel, &intrusion)) {
          if (intrusion < 0.0f) {
            sb->scratch->flag |= SBF_DOFUZZY;
            bp->loc_flag |= SBF_DOFUZZY;
            bp->choke = sb->choke * 0.01f;
          }
 
          sub_v3_v3v3(cfforce, bp->vec, vel);
          madd_v3_v3fl(bp->force, cfforce, -cf * 50.0f);
 
          madd_v3_v3fl(bp->force, defforce, kd);
        }
      }
      /* ---cached collision targets */
 
      /* +++springs */
      iks = 1.0f / (1.0f - sb->inspring) - 1.0f; /* inner spring constants function */
      if (ob->softflag & OB_SB_EDGES) {
        if (sb->bspring) { /* Spring list exists at all? */
          int b;
          BodySpring *bs;
          for (b = bp->nofsprings; b > 0; b--) {
            bs = sb->bspring + bp->springs[b - 1];
            if (do_springcollision || do_aero) {
              add_v3_v3(bp->force, bs->ext_force);
              if (bs->flag & BSF_INTERSECT) {
                bp->choke = bs->cf;
              }
            }
            // sb_spring_force(Object *ob, int bpi, BodySpring *bs, float iks, float forcetime)
            sb_spring_force(ob, ilast - bb, bs, iks, forcetime);
          } /* loop springs. */
        }   /* existing spring list. */
      }     /* Any edges. */
      /* ---springs */
    }       /* Omit on snap. */
  }         /* Loop all bp's. */
  return 0; /* Done fine. */
}
 
static void *exec_softbody_calc_forces(void *data)
{
  SB_thread_context *pctx = (SB_thread_context *)data;
  _softbody_calc_forces_slice_in_a_thread(pctx->scene,
                                          pctx->ob,
                                          pctx->forcetime,
                                          pctx->timenow,
                                          pctx->ifirst,
                                          pctx->ilast,
                                          nullptr,
                                          pctx->effectors,
                                          pctx->do_deflector,
                                          pctx->fieldfactor,
                                          pctx->windfactor);
  return nullptr;
}
 
static void sb_cf_threads_run(Scene *scene,
                              Object *ob,
                              float forcetime,
                              float timenow,
                              int totpoint,
                              int *ptr_to_break_func(void),
                              ListBase *effectors,
                              int do_deflector,
                              float fieldfactor,
                              float windfactor)
{
  UNUSED_VARS(ptr_to_break_func);
  ListBase threads;
  SB_thread_context *sb_threads;
  int i, totthread, left, dec;
 
  /* wild guess .. may increase with better thread management 'above'
   * or even be UI option sb->spawn_cf_threads_nopts. */
  int lowpoints = 100;
 
  /* figure the number of threads while preventing pretty pointless threading overhead */
  totthread = BKE_scene_num_threads(scene);
  /* What if we got zillions of CPUs running but less to spread. */
  while ((totpoint / totthread < lowpoints) && (totthread > 1)) {
    totthread--;
  }
 
  // printf("sb_cf_threads_run spawning %d threads\n", totthread);
 
  sb_threads = static_cast<SB_thread_context *>(
      MEM_callocN(sizeof(SB_thread_context) * totthread, "SBThread"));
  left = totpoint;
  dec = totpoint / totthread + 1;
  for (i = 0; i < totthread; i++) {
    sb_threads[i].scene = scene;
    sb_threads[i].ob = ob;
    sb_threads[i].forcetime = forcetime;
    sb_threads[i].timenow = timenow;
    sb_threads[i].ilast = left;
    left = left - dec;
    if (left > 0) {
      sb_threads[i].ifirst = left;
    }
    else {
      sb_threads[i].ifirst = 0;
    }
    sb_threads[i].effectors = effectors;
    sb_threads[i].do_deflector = do_deflector;
    sb_threads[i].fieldfactor = fieldfactor;
    sb_threads[i].windfactor = windfactor;
    sb_threads[i].nr = i;
    sb_threads[i].tot = totthread;
  }
 
  if (totthread > 1) {
    BLI_threadpool_init(&threads, exec_softbody_calc_forces, totthread);
 
    for (i = 0; i < totthread; i++) {
      BLI_threadpool_insert(&threads, &sb_threads[i]);
    }
 
    BLI_threadpool_end(&threads);
  }
  else {
    exec_softbody_calc_forces(&sb_threads[0]);
  }
  /* clean up */
  MEM_freeN(sb_threads);
}
 
static void softbody_calc_forces(
    Depsgraph *depsgraph, Scene *scene, Object *ob, float forcetime, float timenow)
{
  /* rule we never alter free variables :bp->vec bp->pos in here !
   * this will ruin adaptive stepsize AKA heun! (BM)
   */
  SoftBody *sb = ob->soft; /* is supposed to be there */
  // BodyPoint *bproot;       /* UNUSED */
  // float gravity;           /* UNUSED */
  // float iks;
  float fieldfactor = -1.0f, windfactor = 0.25;
  int do_deflector /*, do_selfcollision */, do_springcollision, do_aero;
 
  // gravity = sb->grav * sb_grav_force_scale(ob); /* UNUSED */
 
  /* check conditions for various options */
  do_deflector = query_external_colliders(depsgraph, sb->collision_group);
#if 0
  do_selfcollision = ((ob->softflag & OB_SB_EDGES) && (sb->bspring) &&
                      (ob->softflag & OB_SB_SELF));
#endif
  do_springcollision = do_deflector && (ob->softflag & OB_SB_EDGES) &&
                       (ob->softflag & OB_SB_EDGECOLL);
  do_aero = ((sb->aeroedge) && (ob->softflag & OB_SB_EDGES));
 
  // iks = 1.0f / (1.0f - sb->inspring) - 1.0f; /* Inner spring constants function. */ /* UNUSED */
  // bproot = sb->bpoint; /* Need this for proper spring addressing. */                /* UNUSED */
 
  if (do_springcollision || do_aero) {
    sb_sfesf_threads_run(depsgraph, scene, ob, timenow, sb->totspring, nullptr);
  }
 
  /* After spring scan because it uses effectors too. */
  ListBase *effectors = BKE_effectors_create(depsgraph, ob, nullptr, sb->effector_weights, false);
 
  if (do_deflector) {
    float defforce[3];
    do_deflector = sb_detect_aabb_collisionCached(defforce, ob, timenow);
  }
 
  sb_cf_threads_run(scene,
                    ob,
                    forcetime,
                    timenow,
                    sb->totpoint,
                    nullptr,
                    effectors,
                    do_deflector,
                    fieldfactor,
                    windfactor);
 
  /* finally add forces caused by face collision */
  if (ob->softflag & OB_SB_FACECOLL) {
    scan_for_ext_face_forces(ob, timenow);
  }
 
  /* finish matrix and solve */
  BKE_effectors_free(effectors);
}
 
static void softbody_apply_forces(Object *ob, float forcetime, int mode, float *err, int mid_flags)
{
  /* time evolution */
  /* actually does an explicit euler step mode == 0 */
  /* or heun ~ 2nd order runge-kutta steps, mode 1, 2 */
  SoftBody *sb = ob->soft; /* is supposed to be there */
  BodyPoint *bp;
  float dx[3] = {0}, dv[3], aabbmin[3], aabbmax[3], cm[3] = {0.0f, 0.0f, 0.0f};
  float timeovermass /*, freezeloc=0.00001f, freezeforce=0.00000000001f*/;
  float maxerrpos = 0.0f, maxerrvel = 0.0f;
  int a, fuzzy = 0;
 
  forcetime *= sb_time_scale(ob);
 
  aabbmin[0] = aabbmin[1] = aabbmin[2] = 1e20f;
  aabbmax[0] = aabbmax[1] = aabbmax[2] = -1e20f;
 
  /* old one with homogeneous masses */
  /* claim a minimum mass for vertex */
#if 0
  if (sb->nodemass > 0.009999f) {
    timeovermass = forcetime / sb->nodemass;
  }
  else {
    timeovermass = forcetime / 0.009999f;
  }
#endif
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
    /* Now we have individual masses. */
    /* claim a minimum mass for vertex */
    if (_final_mass(ob, bp) > 0.009999f) {
      timeovermass = forcetime / _final_mass(ob, bp);
    }
    else {
      timeovermass = forcetime / 0.009999f;
    }
 
    if (_final_goal(ob, bp) < SOFTGOALSNAP) {
      /* this makes t~ = t */
      if (mid_flags & MID_PRESERVE) {
        copy_v3_v3(dx, bp->vec);
      }
 
      mul_v3_fl(bp->force, timeovermass); /* individual mass of node here */
      /* some nasty if's to have heun in here too */
      copy_v3_v3(dv, bp->force);
 
      if (mode == 1) {
        copy_v3_v3(bp->prevvec, bp->vec);
        copy_v3_v3(bp->prevdv, dv);
      }
 
      if (mode == 2) {
        /* be optimistic and execute step */
        bp->vec[0] = bp->prevvec[0] + 0.5f * (dv[0] + bp->prevdv[0]);
        bp->vec[1] = bp->prevvec[1] + 0.5f * (dv[1] + bp->prevdv[1]);
        bp->vec[2] = bp->prevvec[2] + 0.5f * (dv[2] + bp->prevdv[2]);
        /* compare euler to heun to estimate error for step sizing */
        maxerrvel = max_ff(maxerrvel, fabsf(dv[0] - bp->prevdv[0]));
        maxerrvel = max_ff(maxerrvel, fabsf(dv[1] - bp->prevdv[1]));
        maxerrvel = max_ff(maxerrvel, fabsf(dv[2] - bp->prevdv[2]));
      }
      else {
        add_v3_v3(bp->vec, bp->force);
      }
 
      /* This makes `t~ = t+dt`. */
      if (!(mid_flags & MID_PRESERVE)) {
        copy_v3_v3(dx, bp->vec);
      }
 
      /* So here is: `(x)'= v(elocity)`.
       * The euler step for location then becomes:
       * `x(t + dt) = x(t) + v(t~) * dt` */
      mul_v3_fl(dx, forcetime);
 
      /* the freezer coming sooner or later */
#if 0
      if ((dot_v3v3(dx, dx) < freezeloc) && (dot_v3v3(bp->force, bp->force) < freezeforce)) {
        bp->frozen /= 2;
      }
      else {
        bp->frozen = min_ff(bp->frozen * 1.05f, 1.0f);
      }
      mul_v3_fl(dx, bp->frozen);
#endif
      /* again some nasty if's to have heun in here too */
      if (mode == 1) {
        copy_v3_v3(bp->prevpos, bp->pos);
        copy_v3_v3(bp->prevdx, dx);
      }
 
      if (mode == 2) {
        bp->pos[0] = bp->prevpos[0] + 0.5f * (dx[0] + bp->prevdx[0]);
        bp->pos[1] = bp->prevpos[1] + 0.5f * (dx[1] + bp->prevdx[1]);
        bp->pos[2] = bp->prevpos[2] + 0.5f * (dx[2] + bp->prevdx[2]);
        maxerrpos = max_ff(maxerrpos, fabsf(dx[0] - bp->prevdx[0]));
        maxerrpos = max_ff(maxerrpos, fabsf(dx[1] - bp->prevdx[1]));
        maxerrpos = max_ff(maxerrpos, fabsf(dx[2] - bp->prevdx[2]));
 
        /* bp->choke is set when we need to pull a vertex or edge out of the collider.
         * the collider object signals to get out by pushing hard. on the other hand
         * we don't want to end up in deep space so we add some <viscosity>
         * to balance that out */
        if (bp->choke2 > 0.0f) {
          mul_v3_fl(bp->vec, (1.0f - bp->choke2));
        }
        if (bp->choke > 0.0f) {
          mul_v3_fl(bp->vec, (1.0f - bp->choke));
        }
      }
      else {
        add_v3_v3(bp->pos, dx);
      }
    } /*snap*/
    /* so while we are looping BPs anyway do statistics on the fly */
    minmax_v3v3_v3(aabbmin, aabbmax, bp->pos);
    if (bp->loc_flag & SBF_DOFUZZY) {
      fuzzy = 1;
    }
  } /*for*/
 
  if (sb->totpoint) {
    mul_v3_fl(cm, 1.0f / sb->totpoint);
  }
  if (sb->scratch) {
    copy_v3_v3(sb->scratch->aabbmin, aabbmin);
    copy_v3_v3(sb->scratch->aabbmax, aabbmax);
  }
 
  if (err) { /* so step size will be controlled by biggest difference in slope */
    if (sb->solverflags & SBSO_OLDERR) {
      *err = max_ff(maxerrpos, maxerrvel);
    }
    else {
      *err = maxerrpos;
    }
    // printf("EP %f EV %f\n", maxerrpos, maxerrvel);
    if (fuzzy) {
      *err /= sb->fuzzyness;
    }
  }
}
 
/* used by heun when it overshoots */
static void softbody_restore_prev_step(Object *ob)
{
  SoftBody *sb = ob->soft; /* is supposed to be there. */
  BodyPoint *bp;
  int a;
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
    copy_v3_v3(bp->vec, bp->prevvec);
    copy_v3_v3(bp->pos, bp->prevpos);
  }
}
 
#if 0
static void softbody_store_step(Object *ob)
{
  SoftBody *sb = ob->soft; /* is supposed to be there. */
  BodyPoint *bp;
  int a;
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
    copy_v3_v3(bp->prevvec, bp->vec);
    copy_v3_v3(bp->prevpos, bp->pos);
  }
}
 
/* used by predictors and correctors */
static void softbody_store_state(Object *ob, float *ppos, float *pvel)
{
  SoftBody *sb = ob->soft; /* is supposed to be there. */
  BodyPoint *bp;
  int a;
  float *pp = ppos, *pv = pvel;
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
 
    copy_v3_v3(pv, bp->vec);
    pv += 3;
 
    copy_v3_v3(pp, bp->pos);
    pp += 3;
  }
}
 
/* used by predictors and correctors */
static void softbody_retrieve_state(Object *ob, float *ppos, float *pvel)
{
  SoftBody *sb = ob->soft; /* is supposed to be there. */
  BodyPoint *bp;
  int a;
  float *pp = ppos, *pv = pvel;
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
 
    copy_v3_v3(bp->vec, pv);
    pv += 3;
 
    copy_v3_v3(bp->pos, pp);
    pp += 3;
  }
}
 
/* used by predictors and correctors */
static void softbody_swap_state(Object *ob, float *ppos, float *pvel)
{
  SoftBody *sb = ob->soft; /* is supposed to be there. */
  BodyPoint *bp;
  int a;
  float *pp = ppos, *pv = pvel;
  float temp[3];
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
 
    copy_v3_v3(temp, bp->vec);
    copy_v3_v3(bp->vec, pv);
    copy_v3_v3(pv, temp);
    pv += 3;
 
    copy_v3_v3(temp, bp->pos);
    copy_v3_v3(bp->pos, pp);
    copy_v3_v3(pp, temp);
    pp += 3;
  }
}
#endif
 
static void softbody_apply_goalsnap(Object *ob)
{
  SoftBody *sb = ob->soft; /* is supposed to be there */
  BodyPoint *bp;
  int a;
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
    if (_final_goal(ob, bp) >= SOFTGOALSNAP) {
      copy_v3_v3(bp->prevpos, bp->pos);
      copy_v3_v3(bp->pos, bp->origT);
    }
  }
}
 
static void apply_spring_memory(Object *ob)
{
  SoftBody *sb = ob->soft;
  BodySpring *bs;
  BodyPoint *bp1, *bp2;
  int a;
  float b, l, r;
 
  if (sb && sb->totspring) {
    b = sb->plastic;
    for (a = 0; a < sb->totspring; a++) {
      bs = &sb->bspring[a];
      bp1 = &sb->bpoint[bs->v1];
      bp2 = &sb->bpoint[bs->v2];
      l = len_v3v3(bp1->pos, bp2->pos);
      r = bs->len / l;
      if ((r > 1.05f) || (r < 0.95f)) {
        bs->len = ((100.0f - b) * bs->len + b * l) / 100.0f;
      }
    }
  }
}
 
/* expects full initialized softbody */
static void interpolate_exciter(Object *ob, int timescale, int time)
{
  SoftBody *sb = ob->soft;
  BodyPoint *bp;
  float f;
  int a;
 
  f = float(time) / float(timescale);
 
  for (a = sb->totpoint, bp = sb->bpoint; a > 0; a--, bp++) {
    bp->origT[0] = bp->origS[0] + f * (bp->origE[0] - bp->origS[0]);
    bp->origT[1] = bp->origS[1] + f * (bp->origE[1] - bp->origS[1]);
    bp->origT[2] = bp->origS[2] + f * (bp->origE[2] - bp->origS[2]);
    if (_final_goal(ob, bp) >= SOFTGOALSNAP) {
      bp->vec[0] = bp->origE[0] - bp->origS[0];
      bp->vec[1] = bp->origE[1] - bp->origS[1];
      bp->vec[2] = bp->origE[2] - bp->origS[2];
    }
  }
}
 
/* ************ converters ********** */
 
/* for each object type we need;
 * - xxxx_to_softbody(Object *ob)      : a full (new) copy, creates SB geometry
 */
 
/* Resetting a Mesh SB object's springs */
/* Spring length are calculated from 'raw' mesh vertices that are NOT altered by modifier stack. */
static void springs_from_mesh(Object *ob)
{
  SoftBody *sb;
  Mesh *mesh = static_cast<Mesh *>(ob->data);
  BodyPoint *bp;
  int a;
  float scale = 1.0f;
  const blender::Span<blender::float3> positions = mesh->vert_positions();
 
  sb = ob->soft;
  if (mesh && sb) {
    /* using bp->origS as a container for spring calculations here
     * will be overwritten sbObjectStep() to receive
     * actual modifier stack vert_positions
     */
    if (mesh->verts_num) {
      bp = ob->soft->bpoint;
      for (a = 0; a < mesh->verts_num; a++, bp++) {
        copy_v3_v3(bp->origS, positions[a]);
        mul_m4_v3(ob->object_to_world().ptr(), bp->origS);
      }
    }
    /* recalculate spring length for meshes here */
    /* public version shrink to fit */
    if (sb->springpreload != 0) {
      scale = sb->springpreload / 100.0f;
    }
    for (a = 0; a < sb->totspring; a++) {
      BodySpring *bs = &sb->bspring[a];
      bs->len = scale * len_v3v3(sb->bpoint[bs->v1].origS, sb->bpoint[bs->v2].origS);
    }
  }
}
 
/* makes totally fresh start situation */
static void mesh_to_softbody(Object *ob)
{
  SoftBody *sb;
  Mesh *mesh = static_cast<Mesh *>(ob->data);
  const blender::int2 *edge = static_cast<const blender::int2 *>(
      CustomData_get_layer_named(&mesh->edge_data, CD_PROP_INT32_2D, ".edge_verts"));
  BodyPoint *bp;
  BodySpring *bs;
  int a, totedge;
  int defgroup_index, defgroup_index_mass, defgroup_index_spring;
 
  if (ob->softflag & OB_SB_EDGES) {
    totedge = mesh->edges_num;
  }
  else {
    totedge = 0;
  }
 
  /* renew ends with ob->soft with points and edges, also checks & makes ob->soft */
  renew_softbody(ob, mesh->verts_num, totedge);
 
  /* we always make body points */
  sb = ob->soft;
  bp = sb->bpoint;
 
  const MDeformVert *dvert = mesh->deform_verts().data();
 
  defgroup_index = dvert ? (sb->vertgroup - 1) : -1;
  defgroup_index_mass = dvert ? BKE_id_defgroup_name_index(&mesh->id, sb->namedVG_Mass) : -1;
  defgroup_index_spring = dvert ? BKE_id_defgroup_name_index(&mesh->id, sb->namedVG_Spring_K) : -1;
 
  for (a = 0; a < mesh->verts_num; a++, bp++) {
    /* get scalar values needed  *per vertex* from vertex group functions,
     * so we can *paint* them nicely ..
     * they are normalized [0.0..1.0] so may be we need amplitude for scale
     * which can be done by caller but still .. i'd like it to go this way
     */
 
    if (ob->softflag & OB_SB_GOAL) {
      BLI_assert(bp->goal == sb->defgoal);
    }
    if ((ob->softflag & OB_SB_GOAL) && (defgroup_index != -1)) {
      bp->goal *= BKE_defvert_find_weight(&dvert[a], defgroup_index);
    }
 
    /* to proof the concept
     * this enables per vertex *mass painting*
     */
 
    if (defgroup_index_mass != -1) {
      bp->mass *= BKE_defvert_find_weight(&dvert[a], defgroup_index_mass);
    }
 
    if (defgroup_index_spring != -1) {
      bp->springweight *= BKE_defvert_find_weight(&dvert[a], defgroup_index_spring);
    }
  }
 
  /* but we only optionally add body edge springs */
  if (ob->softflag & OB_SB_EDGES) {
    if (edge) {
      bs = sb->bspring;
      for (a = mesh->edges_num; a > 0; a--, edge++, bs++) {
        bs->v1 = edge->x;
        bs->v2 = edge->y;
        bs->springtype = SB_EDGE;
      }
 
      /* insert *diagonal* springs in quads if desired */
      if (ob->softflag & OB_SB_QUADS) {
        add_mesh_quad_diag_springs(ob);
      }
 
      build_bps_springlist(ob); /* Scan for springs attached to body-points *once*. */
      /* insert *other second order* springs if desired */
      if (sb->secondspring > 0.0000001f) {
        /* Exploits the first run of `build_bps_springlist(ob)`. */
        add_2nd_order_springs(ob, sb->secondspring);
        /* yes we need to do it again. */
        build_bps_springlist(ob);
      }
      springs_from_mesh(ob); /* write the 'rest'-length of the springs */
      if (ob->softflag & OB_SB_SELF) {
        calculate_collision_balls(ob);
      }
    }
  }
}
 
static void mesh_faces_to_scratch(Object *ob)
{
  SoftBody *sb = ob->soft;
  const Mesh *mesh = static_cast<const Mesh *>(ob->data);
  BodyFace *bodyface;
  int a;
  const blender::Span<int> corner_verts = mesh->corner_verts();
 
  /* Allocate and copy faces. */
 
  sb->scratch->bodyface_num = poly_to_tri_count(mesh->faces_num, mesh->corners_num);
  blender::Array<blender::int3> corner_tris(sb->scratch->bodyface_num);
  blender::bke::mesh::corner_tris_calc(
      mesh->vert_positions(), mesh->faces(), mesh->corner_verts(), corner_tris);
 
  bodyface = sb->scratch->bodyface = static_cast<BodyFace *>(
      MEM_mallocN(sizeof(BodyFace) * sb->scratch->bodyface_num, "SB_body_Faces"));
 
  for (a = 0; a < sb->scratch->bodyface_num; a++, bodyface++) {
    bodyface->v1 = corner_verts[corner_tris[a][0]];
    bodyface->v2 = corner_verts[corner_tris[a][1]];
    bodyface->v3 = corner_verts[corner_tris[a][2]];
    zero_v3(bodyface->ext_force);
    bodyface->ext_force[0] = bodyface->ext_force[1] = bodyface->ext_force[2] = 0.0f;
    bodyface->flag = 0;
  }
}
static void reference_to_scratch(Object *ob)
{
  SoftBody *sb = ob->soft;
  ReferenceVert *rp;
  BodyPoint *bp;
  float accu_pos[3] = {0.0f, 0.0f, 0.0f};
  float accu_mass = 0.0f;
  int a;
 
  sb->scratch->Ref.ivert = static_cast<ReferenceVert *>(
      MEM_mallocN(sizeof(ReferenceVert) * sb->totpoint, "SB_Reference"));
  bp = ob->soft->bpoint;
  rp = sb->scratch->Ref.ivert;
  for (a = 0; a < sb->totpoint; a++, rp++, bp++) {
    copy_v3_v3(rp->pos, bp->pos);
    add_v3_v3(accu_pos, bp->pos);
    accu_mass += _final_mass(ob, bp);
  }
  mul_v3_fl(accu_pos, 1.0f / accu_mass);
  copy_v3_v3(sb->scratch->Ref.com, accu_pos);
  // printf("reference_to_scratch\n");
}
 
static float globallen(float *v1, float *v2, Object *ob)
{
  float p1[3], p2[3];
  copy_v3_v3(p1, v1);
  mul_m4_v3(ob->object_to_world().ptr(), p1);
  copy_v3_v3(p2, v2);
  mul_m4_v3(ob->object_to_world().ptr(), p2);
  return len_v3v3(p1, p2);
}
 
static void makelatticesprings(Lattice *lt, BodySpring *bs, int dostiff, Object *ob)
{
  BPoint *bp = lt->def, *bpu;
  int u, v, w, dv, dw, bpc = 0, bpuc;
 
  dv = lt->pntsu;
  dw = dv * lt->pntsv;
 
  for (w = 0; w < lt->pntsw; w++) {
 
    for (v = 0; v < lt->pntsv; v++) {
 
      for (u = 0, bpuc = 0, bpu = nullptr; u < lt->pntsu; u++, bp++, bpc++) {
 
        if (w) {
          bs->v1 = bpc;
          bs->v2 = bpc - dw;
          bs->springtype = SB_EDGE;
          bs->len = globallen((bp - dw)->vec, bp->vec, ob);
          bs++;
        }
        if (v) {
          bs->v1 = bpc;
          bs->v2 = bpc - dv;
          bs->springtype = SB_EDGE;
          bs->len = globallen((bp - dv)->vec, bp->vec, ob);
          bs++;
        }
        if (u) {
          bs->v1 = bpuc;
          bs->v2 = bpc;
          bs->springtype = SB_EDGE;
          bs->len = globallen((bpu)->vec, bp->vec, ob);
          bs++;
        }
 
        if (dostiff) {
 
          if (w) {
            if (v && u) {
              bs->v1 = bpc;
              bs->v2 = bpc - dw - dv - 1;
              bs->springtype = SB_BEND;
              bs->len = globallen((bp - dw - dv - 1)->vec, bp->vec, ob);
              bs++;
            }
            if ((v < lt->pntsv - 1) && (u != 0)) {
              bs->v1 = bpc;
              bs->v2 = bpc - dw + dv - 1;
              bs->springtype = SB_BEND;
              bs->len = globallen((bp - dw + dv - 1)->vec, bp->vec, ob);
              bs++;
            }
          }
 
          if (w < lt->pntsw - 1) {
            if (v && u) {
              bs->v1 = bpc;
              bs->v2 = bpc + dw - dv - 1;
              bs->springtype = SB_BEND;
              bs->len = globallen((bp + dw - dv - 1)->vec, bp->vec, ob);
              bs++;
            }
            if ((v < lt->pntsv - 1) && (u != 0)) {
              bs->v1 = bpc;
              bs->v2 = bpc + dw + dv - 1;
              bs->springtype = SB_BEND;
              bs->len = globallen((bp + dw + dv - 1)->vec, bp->vec, ob);
              bs++;
            }
          }
        }
        bpu = bp;
        bpuc = bpc;
      }
    }
  }
}
 
/* makes totally fresh start situation */
static void lattice_to_softbody(Object *ob)
{
  Lattice *lt = static_cast<Lattice *>(ob->data);
  SoftBody *sb;
  int totvert, totspring = 0, a;
  BodyPoint *bp;
  BPoint *bpnt = lt->def;
  int defgroup_index, defgroup_index_mass, defgroup_index_spring;
 
  totvert = lt->pntsu * lt->pntsv * lt->pntsw;
 
  if (ob->softflag & OB_SB_EDGES) {
    totspring = ((lt->pntsu - 1) * lt->pntsv + (lt->pntsv - 1) * lt->pntsu) * lt->pntsw +
                lt->pntsu * lt->pntsv * (lt->pntsw - 1);
    if (ob->softflag & OB_SB_QUADS) {
      totspring += 4 * (lt->pntsu - 1) * (lt->pntsv - 1) * (lt->pntsw - 1);
    }
  }
 
  /* renew ends with ob->soft with points and edges, also checks & makes ob->soft */
  renew_softbody(ob, totvert, totspring);
  sb = ob->soft; /* can be created in renew_softbody() */
  bp = sb->bpoint;
 
  defgroup_index = lt->dvert ? (sb->vertgroup - 1) : -1;
  defgroup_index_mass = lt->dvert ? BKE_id_defgroup_name_index(&lt->id, sb->namedVG_Mass) : -1;
  defgroup_index_spring = lt->dvert ? BKE_id_defgroup_name_index(&lt->id, sb->namedVG_Spring_K) :
                                      -1;
 
  /* same code used as for mesh vertices */
  for (a = 0; a < totvert; a++, bp++, bpnt++) {
 
    if (ob->softflag & OB_SB_GOAL) {
      BLI_assert(bp->goal == sb->defgoal);
    }
 
    if ((ob->softflag & OB_SB_GOAL) && (defgroup_index != -1)) {
      bp->goal *= BKE_defvert_find_weight(&lt->dvert[a], defgroup_index);
    }
    else {
      bp->goal *= bpnt->weight;
    }
 
    if (defgroup_index_mass != -1) {
      bp->mass *= BKE_defvert_find_weight(&lt->dvert[a], defgroup_index_mass);
    }
 
    if (defgroup_index_spring != -1) {
      bp->springweight *= BKE_defvert_find_weight(&lt->dvert[a], defgroup_index_spring);
    }
  }
 
  /* create some helper edges to enable SB lattice to be useful at all */
  if (ob->softflag & OB_SB_EDGES) {
    makelatticesprings(lt, ob->soft->bspring, ob->softflag & OB_SB_QUADS, ob);
    build_bps_springlist(ob); /* link bps to springs */
    if (ob->softflag & OB_SB_SELF) {
      calculate_collision_balls(ob);
    }
  }
}
 
/* makes totally fresh start situation */
static void curve_surf_to_softbody(Object *ob)
{
  Curve *cu = static_cast<Curve *>(ob->data);
  SoftBody *sb;
  BodyPoint *bp;
  BodySpring *bs;
  BezTriple *bezt;
  BPoint *bpnt;
  int a, curindex = 0;
  int totvert, totspring = 0, setgoal = 0;
 
  totvert = BKE_nurbList_verts_count(&cu->nurb);
 
  if (ob->softflag & OB_SB_EDGES) {
    if (ob->type == OB_CURVES_LEGACY) {
      totspring = totvert - BLI_listbase_count(&cu->nurb);
    }
  }
 
  /* renew ends with ob->soft with points and edges, also checks & makes ob->soft */
  renew_softbody(ob, totvert, totspring);
  sb = ob->soft; /* can be created in renew_softbody() */
 
  /* set vars now */
  bp = sb->bpoint;
  bs = sb->bspring;
 
  /* Weights from bpoints, same code used as for mesh vertices. */
  /* if ((ob->softflag & OB_SB_GOAL) && sb->vertgroup) 2.4x hack. */
  /* new! take the weights from curve vertex anyhow */
  if (ob->softflag & OB_SB_GOAL) {
    setgoal = 1;
  }
 
  LISTBASE_FOREACH (Nurb *, nu, &cu->nurb) {
    if (nu->bezt) {
      /* Bezier case; this is nicely said naive; who ever wrote this part,
       * it was not me (JOW) :).
       *
       * a: never ever make tangent handles (sub) and or (ob)ject to collision.
       * b: rather calculate them using some C2
       *    (C2= continuous in second derivative -> no jump in bending ) condition.
       *
       * Not too hard to do, but needs some more code to care for;
       * some one may want look at it (JOW 2010/06/12). */
      for (bezt = nu->bezt, a = 0; a < nu->pntsu; a++, bezt++, bp += 3, curindex += 3) {
        if (setgoal) {
          bp->goal *= bezt->weight;
 
          /* All three triples. */
          (bp + 1)->goal = bp->goal;
          (bp + 2)->goal = bp->goal;
          /* Do not collide handles. */
          (bp + 1)->loc_flag |= SBF_OUTOFCOLLISION;
          (bp + 2)->loc_flag |= SBF_OUTOFCOLLISION;
        }
 
        if (totspring) {
          if (a > 0) {
            bs->v1 = curindex - 3;
            bs->v2 = curindex;
            bs->springtype = SB_HANDLE;
            bs->len = globallen((bezt - 1)->vec[0], bezt->vec[0], ob);
            bs++;
          }
          bs->v1 = curindex;
          bs->v2 = curindex + 1;
          bs->springtype = SB_HANDLE;
          bs->len = globallen(bezt->vec[0], bezt->vec[1], ob);
          bs++;
 
          bs->v1 = curindex + 1;
          bs->v2 = curindex + 2;
          bs->springtype = SB_HANDLE;
          bs->len = globallen(bezt->vec[1], bezt->vec[2], ob);
          bs++;
        }
      }
    }
    else {
      for (bpnt = nu->bp, a = 0; a < nu->pntsu * nu->pntsv; a++, bpnt++, bp++, curindex++) {
        if (setgoal) {
          bp->goal *= bpnt->weight;
        }
        if (totspring && a > 0) {
          bs->v1 = curindex - 1;
          bs->v2 = curindex;
          bs->springtype = SB_EDGE;
          bs->len = globallen((bpnt - 1)->vec, bpnt->vec, ob);
          bs++;
        }
      }
    }
  }
 
  if (totspring) {
    build_bps_springlist(ob); /* link bps to springs */
    if (ob->softflag & OB_SB_SELF) {
      calculate_collision_balls(ob);
    }
  }
}
 
/* copies softbody result back in object */
static void softbody_to_object(Object *ob, float (*vertexCos)[3], int numVerts, int local)
{
  SoftBody *sb = ob->soft;
  if (sb) {
    BodyPoint *bp = sb->bpoint;
    int a;
    if (sb->solverflags & SBSO_ESTIMATEIPO) {
      SB_estimate_transform(ob, sb->lcom, sb->lrot, sb->lscale);
    }
    /* Inverse matrix is not up to date. */
    invert_m4_m4(ob->runtime->world_to_object.ptr(), ob->object_to_world().ptr());
 
    for (a = 0; a < numVerts; a++, bp++) {
      copy_v3_v3(vertexCos[a], bp->pos);
      if (local == 0) {
        /* softbody is in global coords, baked optionally not */
        mul_m4_v3(ob->world_to_object().ptr(), vertexCos[a]);
      }
    }
  }
}
 
/* +++ ************ maintaining scratch *************** */
static void sb_new_scratch(SoftBody *sb)
{
  if (!sb) {
    return;
  }
  sb->scratch = static_cast<SBScratch *>(MEM_callocN(sizeof(SBScratch), "SBScratch"));
  sb->scratch->colliderhash = BLI_ghash_ptr_new("sb_new_scratch gh");
  sb->scratch->bodyface = nullptr;
  sb->scratch->bodyface_num = 0;
  sb->scratch->aabbmax[0] = sb->scratch->aabbmax[1] = sb->scratch->aabbmax[2] = 1.0e30f;
  sb->scratch->aabbmin[0] = sb->scratch->aabbmin[1] = sb->scratch->aabbmin[2] = -1.0e30f;
  sb->scratch->Ref.ivert = nullptr;
}
/* --- ************ maintaining scratch *************** */
 
/* ************ Object level, exported functions *************** */
 
SoftBody *sbNew()
{
  SoftBody *sb;
 
  sb = static_cast<SoftBody *>(MEM_callocN(sizeof(SoftBody), "softbody"));
 
  sb->mediafrict = 0.5f;
  sb->nodemass = 1.0f;
  sb->grav = 9.8f;
  sb->physics_speed = 1.0f;
  sb->rklimit = 0.1f;
 
  sb->goalspring = 0.5f;
  sb->goalfrict = 0.0f;
  sb->mingoal = 0.0f;
  sb->maxgoal = 1.0f;
  sb->defgoal = 0.7f;
 
  sb->inspring = 0.5f;
  sb->infrict = 0.5f;
  /* TODO: backward file compatibility should copy `inspring` to `inpush` while reading old files.
   */
  sb->inpush = 0.5f;
 
  sb->colball = 0.49f;
  sb->balldamp = 0.50f;
  sb->ballstiff = 1.0f;
  sb->sbc_mode = 1;
 
  sb->minloops = 10;
  sb->maxloops = 300;
 
  sb->choke = 3;
  sb_new_scratch(sb);
  /* TODO: backward file compatibility should set `sb->shearstiff = 1.0f` while reading old files.
   */
  sb->shearstiff = 1.0f;
  sb->solverflags |= SBSO_OLDERR;
 
  sb->shared = static_cast<SoftBody_Shared *>(MEM_callocN(sizeof(*sb->shared), "SoftBody_Shared"));
  sb->shared->pointcache = BKE_ptcache_add(&sb->shared->ptcaches);
 
  if (!sb->effector_weights) {
    sb->effector_weights = BKE_effector_add_weights(nullptr);
  }
 
  sb->last_frame = MINFRAME - 1;
 
  return sb;
}
 
void sbFree(Object *ob)
{
  SoftBody *sb = ob->soft;
  if (sb == nullptr) {
    return;
  }
 
  const bool is_orig = (ob->id.tag & ID_TAG_COPIED_ON_EVAL) == 0;
 
  free_softbody_intern(sb);
 
  if (is_orig) {
    /* Only free shared data on non-evaluated copies */
    BKE_ptcache_free_list(&sb->shared->ptcaches);
    sb->shared->pointcache = nullptr;
    MEM_freeN(sb->shared);
  }
  if (sb->effector_weights) {
    MEM_freeN(sb->effector_weights);
  }
  MEM_freeN(sb);
 
  ob->soft = nullptr;
}
 
void sbFreeSimulation(SoftBody *sb)
{
  free_softbody_intern(sb);
}
 
void sbObjectToSoftbody(Object *ob)
{
  // ob->softflag |= OB_SB_REDO;
 
  free_softbody_intern(ob->soft);
}
 
static bool object_has_edges(const Object *ob)
{
  if (ob->type == OB_MESH) {
    return ((Mesh *)ob->data)->edges_num;
  }
  if (ob->type == OB_LATTICE) {
    return true;
  }
 
  return false;
}
 
void sbSetInterruptCallBack(int (*f)(void))
{
  SB_localInterruptCallBack = f;
}
 
static void softbody_update_positions(Object *ob,
                                      SoftBody *sb,
                                      float (*vertexCos)[3],
                                      int numVerts)
{
  BodyPoint *bp;
  int a;
 
  if (!sb || !sb->bpoint) {
    return;
  }
 
  for (a = 0, bp = sb->bpoint; a < numVerts; a++, bp++) {
    /* store where goals are now */
    copy_v3_v3(bp->origS, bp->origE);
    /* copy the position of the goals at desired end time */
    copy_v3_v3(bp->origE, vertexCos[a]);
    /* vertexCos came from local world, go global */
    mul_m4_v3(ob->object_to_world().ptr(), bp->origE);
    /* just to be save give bp->origT a defined value
     * will be calculated in interpolate_exciter() */
    copy_v3_v3(bp->origT, bp->origE);
  }
}
 
void SB_estimate_transform(Object *ob, float lloc[3], float lrot[3][3], float lscale[3][3])
{
  BodyPoint *bp;
  ReferenceVert *rp;
  SoftBody *sb = nullptr;
  float(*opos)[3];
  float(*rpos)[3];
  float com[3], rcom[3];
  int a;
 
  if (!ob || !ob->soft) {
    return; /* why did we get here ? */
  }
  sb = ob->soft;
  if (!sb || !sb->bpoint) {
    return;
  }
  opos = static_cast<float(*)[3]>(MEM_callocN(sizeof(float[3]) * sb->totpoint, "SB_OPOS"));
  rpos = static_cast<float(*)[3]>(MEM_callocN(sizeof(float[3]) * sb->totpoint, "SB_RPOS"));
  /* might filter vertex selection with a vertex group */
  for (a = 0, bp = sb->bpoint, rp = sb->scratch->Ref.ivert; a < sb->totpoint; a++, bp++, rp++) {
    copy_v3_v3(rpos[a], rp->pos);
    copy_v3_v3(opos[a], bp->pos);
  }
 
  vcloud_estimate_transform_v3(
      sb->totpoint, opos, nullptr, rpos, nullptr, com, rcom, lrot, lscale);
  // sub_v3_v3(com, rcom);
  if (lloc) {
    copy_v3_v3(lloc, com);
  }
  copy_v3_v3(sb->lcom, com);
  if (lscale) {
    copy_m3_m3(sb->lscale, lscale);
  }
  if (lrot) {
    copy_m3_m3(sb->lrot, lrot);
  }
 
  MEM_freeN(opos);
  MEM_freeN(rpos);
}
 
static void softbody_reset(Object *ob, SoftBody *sb, float (*vertexCos)[3], int numVerts)
{
  BodyPoint *bp;
  int a;
 
  for (a = 0, bp = sb->bpoint; a < numVerts; a++, bp++) {
    copy_v3_v3(bp->pos, vertexCos[a]);
    mul_m4_v3(ob->object_to_world().ptr(), bp->pos); /* Yep, soft-body is global coords. */
    copy_v3_v3(bp->origS, bp->pos);
    copy_v3_v3(bp->origE, bp->pos);
    copy_v3_v3(bp->origT, bp->pos);
    bp->vec[0] = bp->vec[1] = bp->vec[2] = 0.0f;
 
    /* the bp->prev*'s are for rolling back from a canceled try to propagate in time
     * adaptive step size algorithm in a nutshell:
     * 1.  set scheduled time step to new dtime
     * 2.  try to advance the scheduled time step, being optimistic execute it
     * 3.  check for success
     * 3.a we 're fine continue, may be we can increase scheduled time again ?? if so, do so!
     * 3.b we did exceed error limit --> roll back, shorten the scheduled time and try again at 2.
     * 4.  check if we did reach dtime
     * 4.a nope we need to do some more at 2.
     * 4.b yup we're done
     */
 
    copy_v3_v3(bp->prevpos, bp->pos);
    copy_v3_v3(bp->prevvec, bp->vec);
    copy_v3_v3(bp->prevdx, bp->vec);
    copy_v3_v3(bp->prevdv, bp->vec);
  }
 
  /* make a nice clean scratch struct */
  free_scratch(sb);   /* clear if any */
  sb_new_scratch(sb); /* make a new */
  sb->scratch->needstobuildcollider = 1;
  zero_v3(sb->lcom);
  unit_m3(sb->lrot);
  unit_m3(sb->lscale);
 
  /* copy some info to scratch */
  /* we only need that if we want to reconstruct IPO */
  if (true) {
    reference_to_scratch(ob);
    SB_estimate_transform(ob, nullptr, nullptr, nullptr);
    SB_estimate_transform(ob, nullptr, nullptr, nullptr);
  }
  switch (ob->type) {
    case OB_MESH:
      if (ob->softflag & OB_SB_FACECOLL) {
        mesh_faces_to_scratch(ob);
      }
      break;
    case OB_LATTICE:
      break;
    case OB_CURVES_LEGACY:
    case OB_SURF:
      break;
    default:
      break;
  }
}
 
static void softbody_step(
    Depsgraph *depsgraph, Scene *scene, Object *ob, SoftBody *sb, float dtime)
{
  /* the simulator */
  float forcetime;
  double sct, sst;
 
  sst = BLI_time_now_seconds();
  /* Integration back in time is possible in theory, but pretty useless here.
   * So we refuse to do so. Since we do not know anything about 'outside' changes
   * especially colliders we refuse to go more than 10 frames.
   */
  if (dtime < 0 || dtime > 10.5f) {
    return;
  }
 
  ccd_update_deflector_hash(depsgraph, sb->collision_group, ob, sb->scratch->colliderhash);
 
  if (sb->scratch->needstobuildcollider) {
    ccd_build_deflector_hash(depsgraph, sb->collision_group, ob, sb->scratch->colliderhash);
    sb->scratch->needstobuildcollider = 0;
  }
 
  if (sb->solver_ID < 2) {
    /* special case of 2nd order Runge-Kutta type AKA Heun */
    int mid_flags = 0;
    float err = 0;
    /* Set defaults guess we shall do one frame */
    float forcetimemax = 1.0f;
    /* Set defaults guess 1/100 is tight enough */
    float forcetimemin = 0.01f;
    /* How far did we get without violating error condition. */
    float timedone = 0.0;
    /* Loops = counter for emergency brake we don't want to lock up the system if physics fail. */
    int loops = 0;
 
    SoftHeunTol = sb->rklimit; /* Hum .. this should be calculated from sb parameters and sizes */
    /* adjust loop limits */
    if (sb->minloops > 0) {
      forcetimemax = dtime / sb->minloops;
    }
    if (sb->maxloops > 0) {
      forcetimemin = dtime / sb->maxloops;
    }
 
    if (sb->solver_ID > 0) {
      mid_flags |= MID_PRESERVE;
    }
 
    forcetime = forcetimemax; /* hope for integrating in one step */
    while ((fabsf(timedone) < fabsf(dtime)) && (loops < 2000)) {
      /* set goals in time */
      interpolate_exciter(ob, 200, int(200.0f * (timedone / dtime)));
 
      sb->scratch->flag &= ~SBF_DOFUZZY;
      /* do predictive euler step */
      softbody_calc_forces(depsgraph, scene, ob, forcetime, timedone / dtime);
 
      softbody_apply_forces(ob, forcetime, 1, nullptr, mid_flags);
 
      /* crop new slope values to do averaged slope step */
      softbody_calc_forces(depsgraph, scene, ob, forcetime, timedone / dtime);
 
      softbody_apply_forces(ob, forcetime, 2, &err, mid_flags);
      softbody_apply_goalsnap(ob);
 
      if (err > SoftHeunTol) { /* error needs to be scaled to some quantity */
 
        if (forcetime > forcetimemin) {
          forcetime = max_ff(forcetime / 2.0f, forcetimemin);
          softbody_restore_prev_step(ob);
          // printf("down, ");
        }
        else {
          timedone += forcetime;
        }
      }
      else {
        float newtime = forcetime * 1.1f; /* hope for 1.1 times better conditions in next step */
 
        if (sb->scratch->flag & SBF_DOFUZZY) {
          // /* stay with this stepsize unless err really small */
          // if (err > SoftHeunTol/(2.0f*sb->fuzzyness)) {
          newtime = forcetime;
          // }
        }
        else {
          if (err > SoftHeunTol / 2.0f) { /* stay with this stepsize unless err really small */
            newtime = forcetime;
          }
        }
        timedone += forcetime;
        newtime = min_ff(forcetimemax, max_ff(newtime, forcetimemin));
        // if (newtime > forcetime) printf("up, ");
        if (forcetime > 0.0f) {
          forcetime = min_ff(dtime - timedone, newtime);
        }
        else {
          forcetime = max_ff(dtime - timedone, newtime);
        }
      }
      loops++;
      if (sb->solverflags & SBSO_MONITOR) {
        sct = BLI_time_now_seconds();
        if (sct - sst > 0.5) {
          printf("%3.0f%% \r", 100.0f * timedone / dtime);
        }
      }
      /* ask for user break */
      if (SB_localInterruptCallBack && SB_localInterruptCallBack()) {
        break;
      }
    }
    /* move snapped to final position */
    interpolate_exciter(ob, 2, 2);
    softbody_apply_goalsnap(ob);
 
    //              if (G.debug & G_DEBUG) {
    if (sb->solverflags & SBSO_MONITOR) {
      if (loops > HEUNWARNLIMIT) { /* monitor high loop counts */
        printf("\r needed %d steps/frame", loops);
      }
    }
  }
  else if (sb->solver_ID == 2) {
    /* do semi "fake" implicit euler */
    /* removed */
  } /* SOLVER SELECT */
  else if (sb->solver_ID == 4) {
    /* do semi "fake" implicit euler */
  } /* SOLVER SELECT */
  else if (sb->solver_ID == 3) {
    /* do "stupid" semi "fake" implicit euler */
    /* removed */
 
  } /* SOLVER SELECT */
  else {
    CLOG_ERROR(&LOG, "softbody no valid solver ID!");
  } /* SOLVER SELECT */
  if (sb->plastic) {
    apply_spring_memory(ob);
  }
 
  if (sb->solverflags & SBSO_MONITOR) {
    sct = BLI_time_now_seconds();
    if ((sct - sst > 0.5) || (G.debug & G_DEBUG)) {
      printf(" solver time %f sec %s\n", sct - sst, ob->id.name);
    }
  }
}
 
static void sbStoreLastFrame(Depsgraph *depsgraph, Object *object, float framenr)
{
  if (!DEG_is_active(depsgraph)) {
    return;
  }
  Object *object_orig = DEG_get_original_object(object);
  object->soft->last_frame = framenr;
  object_orig->soft->last_frame = framenr;
}
 
void sbObjectStep(Depsgraph *depsgraph,
                  Scene *scene,
                  Object *ob,
                  float cfra,
                  float (*vertexCos)[3],
                  int numVerts)
{
  SoftBody *sb = ob->soft;
  PointCache *cache;
  PTCacheID pid;
  float dtime, timescale;
  int framedelta, framenr, startframe, endframe;
  int cache_result;
  cache = sb->shared->pointcache;
 
  framenr = int(cfra);
  framedelta = framenr - cache->simframe;
 
  BKE_ptcache_id_from_softbody(&pid, ob, sb);
  BKE_ptcache_id_time(&pid, scene, framenr, &startframe, &endframe, &timescale);
 
  /* check for changes in mesh, should only happen in case the mesh
   * structure changes during an animation */
  if (sb->bpoint && numVerts != sb->totpoint) {
    BKE_ptcache_invalidate(cache);
    return;
  }
 
  /* clamp frame ranges */
  if (framenr < startframe) {
    BKE_ptcache_invalidate(cache);
    return;
  }
  if (framenr > endframe) {
    framenr = endframe;
  }
 
  /* verify if we need to create the softbody data */
  if (sb->bpoint == nullptr ||
      ((ob->softflag & OB_SB_EDGES) && !ob->soft->bspring && object_has_edges(ob)))
  {
 
    switch (ob->type) {
      case OB_MESH:
        mesh_to_softbody(ob);
        break;
      case OB_LATTICE:
        lattice_to_softbody(ob);
        break;
      case OB_CURVES_LEGACY:
      case OB_SURF:
        curve_surf_to_softbody(ob);
        break;
      default:
        renew_softbody(ob, numVerts, 0);
        break;
    }
 
    softbody_update_positions(ob, sb, vertexCos, numVerts);
    softbody_reset(ob, sb, vertexCos, numVerts);
  }
 
  /* still no points? go away */
  if (sb->totpoint == 0) {
    return;
  }
  if (framenr == startframe) {
    BKE_ptcache_id_reset(scene, &pid, PTCACHE_RESET_OUTDATED);
 
    /* first frame, no simulation to do, just set the vert_positions */
    softbody_update_positions(ob, sb, vertexCos, numVerts);
 
    BKE_ptcache_validate(cache, framenr);
    cache->flag &= ~PTCACHE_REDO_NEEDED;
 
    sbStoreLastFrame(depsgraph, ob, framenr);
 
    return;
  }
 
  /* try to read from cache */
  bool can_write_cache = DEG_is_active(depsgraph);
  bool can_simulate = (framenr == sb->last_frame + 1) && !(cache->flag & PTCACHE_BAKED) &&
                      can_write_cache;
 
  cache_result = BKE_ptcache_read(&pid, float(framenr) + scene->r.subframe, can_simulate);
 
  if (cache_result == PTCACHE_READ_EXACT || cache_result == PTCACHE_READ_INTERPOLATED ||
      (!can_simulate && cache_result == PTCACHE_READ_OLD))
  {
    /* Keep goal positions in track. */
    softbody_update_positions(ob, sb, vertexCos, numVerts);
    softbody_to_object(ob, vertexCos, numVerts, sb->local);
 
    BKE_ptcache_validate(cache, framenr);
 
    if (cache_result == PTCACHE_READ_INTERPOLATED && cache->flag & PTCACHE_REDO_NEEDED &&
        can_write_cache)
    {
      BKE_ptcache_write(&pid, framenr);
    }
 
    sbStoreLastFrame(depsgraph, ob, framenr);
 
    return;
  }
  if (cache_result == PTCACHE_READ_OLD) {
    /* pass */
  }
  else if (/*ob->id.lib || */
           /* "library linking & point-caches" has to be solved properly at some point. */
           (cache->flag & PTCACHE_BAKED))
  {
    /* If baked and nothing in cache, do nothing. */
    if (can_write_cache) {
      BKE_ptcache_invalidate(cache);
    }
    return;
  }
 
  if (!can_simulate) {
    return;
  }
 
  /* if on second frame, write cache for first frame */
  if (cache->simframe == startframe && (cache->flag & PTCACHE_OUTDATED || cache->last_exact == 0))
  {
    BKE_ptcache_write(&pid, startframe);
  }
 
  softbody_update_positions(ob, sb, vertexCos, numVerts);
 
  /* checking time: */
  dtime = framedelta * timescale;
 
  /* do simulation */
  softbody_step(depsgraph, scene, ob, sb, dtime);
 
  softbody_to_object(ob, vertexCos, numVerts, 0);
 
  BKE_ptcache_validate(cache, framenr);
  BKE_ptcache_write(&pid, framenr);
 
  sbStoreLastFrame(depsgraph, ob, framenr);
}