#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 <string.h>

Include dependency graph for btSoftBodyInternals.h:

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Classes
struct	btSymMatrix< T >
	btSoftBody implementation by Nathanael Presson More...

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::CollideVF_SS

Functions
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	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 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)

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)

Function Documentation

◆ Add()

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

inlinestatic

Definition at line 274 of file btSoftBodyInternals.h.

◆ AngularImpulseMatrix()

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

inlinestatic

Definition at line 329 of file btSoftBodyInternals.h.

◆ ApplyClampedForce()

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

inlinestatic

Definition at line 529 of file btSoftBodyInternals.h.

◆ AreaOf()

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

inlinestatic

Definition at line 502 of file btSoftBodyInternals.h.

◆ BaryCoord()

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

inlinestatic

Definition at line 412 of file btSoftBodyInternals.h.

◆ BaryEval()

template<typename T >

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

inlinestatic

Definition at line 404 of file btSoftBodyInternals.h.

◆ CenterOf()

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

inlinestatic

Definition at line 496 of file btSoftBodyInternals.h.

◆ Clamp() [1/2]

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

inlinestatic

Definition at line 206 of file btSoftBodyInternals.h.

◆ Clamp() [2/2]

template<typename T >

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

inlinestatic

Definition at line 216 of file btSoftBodyInternals.h.

◆ ClusterMetric()

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

inlinestatic

Definition at line 235 of file btSoftBodyInternals.h.

◆ CompGreater()

template<typename T >

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

inlinestatic

Definition at line 184 of file btSoftBodyInternals.h.

◆ CompLess()

template<typename T >

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

inlinestatic

Definition at line 180 of file btSoftBodyInternals.h.

◆ Cross()

static btMatrix3x3 Cross ( const btVector3 & v )

inlinestatic

Definition at line 256 of file btSoftBodyInternals.h.

◆ Cube()

template<typename T >

static T Cube ( const T & x )

inlinestatic

Definition at line 224 of file btSoftBodyInternals.h.

◆ Diagonal()

static btMatrix3x3 Diagonal ( btScalar x )

inlinestatic

Definition at line 265 of file btSoftBodyInternals.h.

◆ EvaluateMedium()

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

inlinestatic

Definition at line 454 of file btSoftBodyInternals.h.

◆ ImplicitSolve()

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

inlinestatic

Definition at line 425 of file btSoftBodyInternals.h.

◆ ImpulseMatrix() [1/2]

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

inlinestatic

Definition at line 312 of file btSoftBodyInternals.h.

◆ ImpulseMatrix() [2/2]

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

inlinestatic

Definition at line 322 of file btSoftBodyInternals.h.

◆ InvLerp()

template<typename T >

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

inlinestatic

Definition at line 192 of file btSoftBodyInternals.h.

◆ Lerp() [1/2]

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

inlinestatic

Definition at line 195 of file btSoftBodyInternals.h.

◆ Lerp() [2/2]

template<typename T >

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

inlinestatic

Definition at line 188 of file btSoftBodyInternals.h.

◆ MassMatrix()

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

inlinestatic

Definition at line 305 of file btSoftBodyInternals.h.

◆ MatchEdge()

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

inlinestatic

Definition at line 545 of file btSoftBodyInternals.h.

◆ Mul()

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

inlinestatic

Definition at line 290 of file btSoftBodyInternals.h.

◆ NormalizeAny()

static btVector3 NormalizeAny ( const btVector3 & v )

inlinestatic

Definition at line 474 of file btSoftBodyInternals.h.

◆ Orthogonalize()

static void Orthogonalize ( btMatrix3x3 & m )

inlinestatic

Definition at line 298 of file btSoftBodyInternals.h.

◆ PolarDecompose()

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

inlinestatic

Definition at line 619 of file btSoftBodyInternals.h.

◆ ProjectOnAxis()

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

inlinestatic

Definition at line 336 of file btSoftBodyInternals.h.

◆ ProjectOnPlane()

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

inlinestatic

Definition at line 342 of file btSoftBodyInternals.h.

◆ ProjectOrigin() [1/2]

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

inlinestatic

Definition at line 349 of file btSoftBodyInternals.h.

◆ ProjectOrigin() [2/2]

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

inlinestatic

Definition at line 369 of file btSoftBodyInternals.h.

◆ SameSign()

template<typename T >

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

inlinestatic

Definition at line 232 of file btSoftBodyInternals.h.

◆ ScaleAlongAxis()

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

inlinestatic

Definition at line 241 of file btSoftBodyInternals.h.

◆ Sign()

template<typename T >

static T Sign ( const T & x )

inlinestatic

Definition at line 228 of file btSoftBodyInternals.h.

◆ Sq()

template<typename T >

static T Sq ( const T & x )

inlinestatic

Definition at line 220 of file btSoftBodyInternals.h.

◆ Sub()

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

inlinestatic

Definition at line 282 of file btSoftBodyInternals.h.

◆ VolumeOf() [1/2]

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

inlinestatic

Definition at line 484 of file btSoftBodyInternals.h.

◆ VolumeOf() [2/2]

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

inlinestatic

Definition at line 514 of file btSoftBodyInternals.h.

◆ ZeroInitialize()

template<typename T >

static void ZeroInitialize ( T & value )

inlinestatic

Definition at line 174 of file btSoftBodyInternals.h.

Classes

Functions

Function Documentation

◆ Add()

◆ AngularImpulseMatrix()

◆ ApplyClampedForce()

◆ AreaOf()

◆ BaryCoord()

◆ BaryEval()

◆ CenterOf()

◆ Clamp() [1/2]

◆ Clamp() [2/2]

◆ ClusterMetric()

◆ CompGreater()

◆ CompLess()

◆ Cross()

◆ Cube()

◆ Diagonal()

◆ EvaluateMedium()

◆ ImplicitSolve()

◆ ImpulseMatrix() [1/2]

◆ ImpulseMatrix() [2/2]

◆ InvLerp()

◆ Lerp() [1/2]

◆ Lerp() [2/2]

◆ MassMatrix()

◆ MatchEdge()

◆ Mul()

◆ NormalizeAny()

◆ Orthogonalize()

◆ PolarDecompose()

◆ ProjectOnAxis()

◆ ProjectOnPlane()

◆ ProjectOrigin() [1/2]

◆ ProjectOrigin() [2/2]

◆ SameSign()

◆ ScaleAlongAxis()

◆ Sign()

◆ Sq()

◆ Sub()

◆ VolumeOf() [1/2]

◆ VolumeOf() [2/2]

◆ ZeroInitialize()