btSoftBodyInternals.h File Reference

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

Go to the source code of this file.

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

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

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

Function Documentation

Add()

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

inlinestatic

Definition at line 966 of file btSoftBodyInternals.h.

References b, and btMatrix3x3.

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

AngularImpulseMatrix()

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

inlinestatic

Definition at line 1035 of file btSoftBodyInternals.h.

References Add(), and inverse().

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

ApplyClampedForce()

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

inlinestatic

Definition at line 1307 of file btSoftBodyInternals.h.

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

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

AreaOf()

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

inlinestatic

Definition at line 1281 of file btSoftBodyInternals.h.

References b, and btCross().

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

BaryCoord()

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

inlinestatic

Definition at line 1186 of file btSoftBodyInternals.h.

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

Referenced by btSoftColliders::CollideVF_SS::Process().

BaryEval()

template<typename T >

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

inlinestatic

Definition at line 1178 of file btSoftBodyInternals.h.

References b.

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

bernsteinCCD()

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

static

Definition at line 625 of file btSoftBodyInternals.h.

References bernsteinVFTest(), continuousCollisionDetection(), and e.

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

bernsteinVFTest() [1/2]

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

static

Definition at line 510 of file btSoftBodyInternals.h.

References conservativeCulling(), and coplanarAndInsideTest().

Referenced by bernsteinCCD(), and bernsteinVFTest().

bernsteinVFTest() [2/2]

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

static

Definition at line 526 of file btSoftBodyInternals.h.

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

CenterOf()

static btVector3 CenterOf ( const btSoftBody::Face & f )

inlinestatic

Definition at line 1275 of file btSoftBodyInternals.h.

References btSoftBody::Face::m_n, and btSoftBody::Node::m_x.

Clamp() [1/2]

static btVector3 Clamp ( const btVector3 & v, btScalar maxlength )

inlinestatic

Definition at line 829 of file btSoftBodyInternals.h.

References btSqrt(), and v.

Clamp() [2/2]

template<typename T >

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

inlinestatic

Definition at line 839 of file btSoftBodyInternals.h.

References x.

ClusterMetric()

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

inlinestatic

Definition at line 868 of file btSoftBodyInternals.h.

References btFabs(), and y.

Referenced by btSoftBody::generateClusters().

CompGreater()

template<typename T >

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

inlinestatic

Definition at line 801 of file btSoftBodyInternals.h.

References b.

CompLess()

template<typename T >

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

inlinestatic

Definition at line 795 of file btSoftBodyInternals.h.

References b.

conservativeCulling()

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

static

Definition at line 501 of file btSoftBodyInternals.h.

Referenced by bernsteinVFTest(), and bernsteinVFTest().

continuousCollisionDetection()

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

static

Definition at line 543 of file btSoftBodyInternals.h.

References b, btSwap(), cross(), e, eps, hasSeparatingPlane(), proximityTest(), SAFE_EPSILON, SIMD_EPSILON, SolveP2(), and SolveP3().

Referenced by bernsteinCCD().

coplanarAndInsideTest()

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

static

Definition at line 480 of file btSoftBodyInternals.h.

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

Referenced by bernsteinVFTest(), and bernsteinVFTest().

Cross()

static btMatrix3x3 Cross ( const btVector3 & v )

inlinestatic

Definition at line 889 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, and v.

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

Cube()

template<typename T >

static T Cube ( const T & x )

inlinestatic

Definition at line 851 of file btSoftBodyInternals.h.

deCasteljau()

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

static

Definition at line 517 of file btSoftBodyInternals.h.

Referenced by bernsteinVFTest().

Diagonal() [1/2]

static btMatrix3x3 Diagonal ( btScalar x )

inlinestatic

Definition at line 898 of file btSoftBodyInternals.h.

References btMatrix3x3, and btVector3.

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

Diagonal() [2/2]

static btMatrix3x3 Diagonal ( const btVector3 & v )

inlinestatic

Definition at line 907 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, and v.

diffSign()

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

static

Definition at line 150 of file btSoftBodyInternals.h.

References b, and sameSign().

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

Dot()

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

inlinestatic

Definition at line 916 of file btSoftBodyInternals.h.

References b, and result.

Referenced by OuterProduct().

evaluateBezier()

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

inline

Definition at line 161 of file btSoftBodyInternals.h.

Referenced by getSigns().

evaluateBezier2()

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

inline

Definition at line 154 of file btSoftBodyInternals.h.

Referenced by getSigns().

EvaluateMedium()

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

inlinestatic

Definition at line 1234 of file btSoftBodyInternals.h.

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

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

findJacobian()

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

static

btSoftBody implementation by Nathanael Presson

Definition at line 34 of file btSoftBodyInternals.h.

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

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

generateUnitOrthogonalVector()

static SIMD_FORCE_INLINE btVector3 generateUnitOrthogonalVector ( const btVector3 & u )

static

Definition at line 47 of file btSoftBodyInternals.h.

References btVector3, and v.

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

getBernsteinCoeff()

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

static

Definition at line 223 of file btSoftBodyInternals.h.

References dot().

Referenced by bernsteinVFTest().

getJs()

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

static

Definition at line 263 of file btSoftBodyInternals.h.

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

Referenced by signDetermination1(), and signDetermination2().

getSign()

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

inlinestatic

Definition at line 108 of file btSoftBodyInternals.h.

References SIMD_EPSILON.

Referenced by hasSeparatingPlane().

getSigns()

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

static

Definition at line 170 of file btSoftBodyInternals.h.

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

Referenced by signDetermination1(), and signDetermination2().

hasSeparatingPlane()

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

static

Definition at line 118 of file btSoftBodyInternals.h.

References dop, getSign(), hex, and KDOP_COUNT.

Referenced by continuousCollisionDetection().

ImplicitSolve()

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

inlinestatic

Definition at line 1199 of file btSoftBodyInternals.h.

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

Referenced by btSoftBody::refine().

ImpulseMatrix() [1/3]

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

inlinestatic

Definition at line 1004 of file btSoftBodyInternals.h.

References Add(), Diagonal(), inverse(), and MassMatrix().

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

ImpulseMatrix() [2/3]

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

inlinestatic

Definition at line 1014 of file btSoftBodyInternals.h.

References Add(), Diagonal(), inverse(), and MassMatrix().

ImpulseMatrix() [3/3]

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

inlinestatic

Definition at line 1028 of file btSoftBodyInternals.h.

References Add(), inverse(), and MassMatrix().

InvLerp()

template<typename T >

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

inlinestatic

Definition at line 813 of file btSoftBodyInternals.h.

References b.

Lerp() [1/2]

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

inlinestatic

Definition at line 818 of file btSoftBodyInternals.h.

References b, btMatrix3x3, and Lerp().

Lerp() [2/2]

template<typename T >

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

inlinestatic

Definition at line 807 of file btSoftBodyInternals.h.

References b.

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

lineIntersectsTriangle()

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

inlinestatic

Definition at line 1142 of file btSoftBodyInternals.h.

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

MassMatrix()

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

inlinestatic

Definition at line 997 of file btSoftBodyInternals.h.

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

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

MatchEdge()

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

inlinestatic

Definition at line 1323 of file btSoftBodyInternals.h.

References b.

Referenced by btSoftBody::cutLink().

Mul()

static btMatrix3x3 Mul ( const btMatrix3x3 & a, btScalar b )

inlinestatic

Definition at line 982 of file btSoftBodyInternals.h.

References b, and btMatrix3x3.

Referenced by btSoftBody::updatePose().

nearZero()

static SIMD_FORCE_INLINE bool nearZero ( const btScalar & a )

static

Definition at line 142 of file btSoftBodyInternals.h.

References SAFE_EPSILON.

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

NormalizeAny()

static btVector3 NormalizeAny ( const btVector3 & v )

inlinestatic

Definition at line 1253 of file btSoftBodyInternals.h.

References btVector3, l, SIMD_EPSILON, and v.

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

Orthogonalize()

static void Orthogonalize ( btMatrix3x3 & m )

inlinestatic

Definition at line 990 of file btSoftBodyInternals.h.

References btCross().

OuterProduct() [1/2]

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

inlinestatic

Definition at line 924 of file btSoftBodyInternals.h.

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

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

OuterProduct() [2/2]

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

inlinestatic

Definition at line 945 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, and v2.

PolarDecompose()

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

inlinestatic

Definition at line 1411 of file btSoftBodyInternals.h.

References btPolarDecomposition::decompose().

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

polyDecomposition()

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

static

Definition at line 236 of file btSoftBodyInternals.h.

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

ProjectOnAxis()

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

inlinestatic

Definition at line 1042 of file btSoftBodyInternals.h.

References btDot(), and v.

Referenced by ApplyClampedForce(), and ProjectOnPlane().

ProjectOnPlane()

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

inlinestatic

Definition at line 1048 of file btSoftBodyInternals.h.

References ProjectOnAxis(), and v.

Referenced by btSoftBody::PSolve_SContacts().

ProjectOrigin() [1/2]

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

inlinestatic

Definition at line 1055 of file btSoftBodyInternals.h.

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

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

ProjectOrigin() [2/2]

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

inlinestatic

Definition at line 1075 of file btSoftBodyInternals.h.

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

proximityTest()

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

static

Definition at line 66 of file btSoftBodyInternals.h.

References btVector3, and SIMD_EPSILON.

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

rayIntersectsTriangle()

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

inlinestatic

Definition at line 1109 of file btSoftBodyInternals.h.

References v, and v2.

Referenced by lineIntersectsTriangle().

rootFindingLemma()

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

static

Definition at line 245 of file btSoftBodyInternals.h.

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

Referenced by coplanarAndInsideTest().

SameSign()

template<typename T >

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

inlinestatic

Definition at line 863 of file btSoftBodyInternals.h.

Referenced by btSoftBody::refine().

sameSign()

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

static

Definition at line 146 of file btSoftBodyInternals.h.

References b, nearZero(), and SAFE_EPSILON.

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

ScaleAlongAxis()

static btMatrix3x3 ScaleAlongAxis ( const btVector3 & a, btScalar s )

inlinestatic

Definition at line 874 of file btSoftBodyInternals.h.

References btMatrix3x3, btVector3, and xy.

Sign()

template<typename T >

static T Sign ( const T & x )

inlinestatic

Definition at line 857 of file btSoftBodyInternals.h.

Referenced by KDL::abs(), and KDL::abs().

signDetermination1()

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

static

Definition at line 363 of file btSoftBodyInternals.h.

References getJs(), getSigns(), nearZero(), polyDecomposition(), SAFE_EPSILON, and signDetermination1Internal().

Referenced by coplanarAndInsideTest().

signDetermination1Internal()

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

static

Definition at line 303 of file btSoftBodyInternals.h.

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

Referenced by signDetermination1().

signDetermination2()

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

static

Definition at line 414 of file btSoftBodyInternals.h.

References getJs(), getSigns(), nearZero(), polyDecomposition(), SAFE_EPSILON, and signDetermination2Internal().

Referenced by coplanarAndInsideTest().

signDetermination2Internal()

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

static

Definition at line 315 of file btSoftBodyInternals.h.

References diffSign(), and sameSign().

Referenced by signDetermination2().

Sq()

template<typename T >

static T Sq ( const T & x )

inlinestatic

Definition at line 845 of file btSoftBodyInternals.h.

Sub()

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

inlinestatic

Definition at line 974 of file btSoftBodyInternals.h.

References b, and btMatrix3x3.

Referenced by MassMatrix().

VolumeOf() [1/2]

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

inlinestatic

Definition at line 1263 of file btSoftBodyInternals.h.

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

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

VolumeOf() [2/2]

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

inlinestatic

Definition at line 1293 of file btSoftBodyInternals.h.

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

ZeroInitialize()

template<typename T >

static void ZeroInitialize ( T & value )

inlinestatic

Definition at line 789 of file btSoftBodyInternals.h.

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

Variable Documentation

dop

btVector3 dop[KDOP_COUNT]

static

Initial value:

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

Definition at line 94 of file btSoftBodyInternals.h.

Referenced by hasSeparatingPlane().

KDOP_COUNT

const int KDOP_COUNT = 13

static

Definition at line 93 of file btSoftBodyInternals.h.

Referenced by hasSeparatingPlane().