Blender V2.61 - r43446
Classes | Functions

btSoftBodyInternals.h File Reference

#include "btSoftBody.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include <string.h>

Go to the source code of this file.

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

static btMatrix3x3 Add ( const btMatrix3x3 &  a,
const btMatrix3x3 &  b 
) [inline, static]

Definition at line 273 of file btSoftBodyInternals.h.

References i.

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

static btMatrix3x3 AngularImpulseMatrix ( const btMatrix3x3 &  iia,
const btMatrix3x3 &  iib 
) [inline, static]

Definition at line 328 of file btSoftBodyInternals.h.

References Add(), and inverse().

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

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

Definition at line 525 of file btSoftBodyInternals.h.

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

Referenced by btSoftBody::applyForces().

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

Definition at line 482 of file btSoftBodyInternals.h.

References btCross().

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

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

Definition at line 411 of file btSoftBodyInternals.h.

References btCross(), and simple_enum_gen::w.

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

template<typename T >
static T BaryEval ( const T &  a,
const T &  b,
const T &  c,
const btVector3 &  coord 
) [inline, static]

Definition at line 403 of file btSoftBodyInternals.h.

Referenced by btSoftColliders::CollideVF_SS::Process(), and btSoftBody::PSolve_SContacts().

static btVector3 CenterOf ( const btSoftBody::Face &  f) [inline, static]

Definition at line 476 of file btSoftBodyInternals.h.

References btSoftBody::Face::m_n.

static btVector3 Clamp ( const btVector3 &  v,
btScalar  maxlength 
) [inline, static]

Definition at line 205 of file btSoftBodyInternals.h.

References btSqrt().

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

template<typename T >
static T Clamp ( const T &  x,
const T &  l,
const T &  h 
) [inline, static]

Definition at line 215 of file btSoftBodyInternals.h.

static btScalar ClusterMetric ( const btVector3 &  x,
const btVector3 &  y 
) [inline, static]

Definition at line 234 of file btSoftBodyInternals.h.

References btFabs(), and simple_enum_gen::d.

Referenced by btSoftBody::generateClusters().

template<typename T >
static bool CompGreater ( const T &  a,
const T &  b 
) [inline, static]

Definition at line 183 of file btSoftBodyInternals.h.

template<typename T >
static bool CompLess ( const T &  a,
const T &  b 
) [inline, static]

Definition at line 179 of file btSoftBodyInternals.h.

static btMatrix3x3 Cross ( const btVector3 &  v) [inline, static]

Definition at line 255 of file btSoftBodyInternals.h.

Referenced by MassMatrix().

template<typename T >
static T Cube ( const T &  x) [inline, static]

Definition at line 223 of file btSoftBodyInternals.h.

static btMatrix3x3 Diagonal ( btScalar  x) [inline, static]

Definition at line 264 of file btSoftBodyInternals.h.

Referenced by ImpulseMatrix(), and MassMatrix().

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

Definition at line 506 of file btSoftBodyInternals.h.

References btSoftBodyWorldInfo::air_density, btDot(), 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::applyForces().

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

Definition at line 424 of file btSoftBodyInternals.h.

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

Referenced by btSoftBody::refine().

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

Definition at line 311 of file btSoftBodyInternals.h.

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

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

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

Definition at line 321 of file btSoftBodyInternals.h.

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

template<typename T >
static T InvLerp ( const T &  a,
const T &  b,
btScalar  t 
) [inline, static]

Definition at line 191 of file btSoftBodyInternals.h.

template<typename T >
static T Lerp ( const T &  a,
const T &  b,
btScalar  t 
) [inline, static]

Definition at line 187 of file btSoftBodyInternals.h.

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

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

Definition at line 194 of file btSoftBodyInternals.h.

References Lerp().

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

Definition at line 304 of file btSoftBodyInternals.h.

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

Referenced by ImpulseMatrix().

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

Definition at line 541 of file btSoftBodyInternals.h.

Referenced by btSoftBody::cutLink().

static btMatrix3x3 Mul ( const btMatrix3x3 &  a,
btScalar  b 
) [inline, static]

Definition at line 289 of file btSoftBodyInternals.h.

References i.

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

static btVector3 NormalizeAny ( const btVector3 &  v) [inline, static]

Definition at line 454 of file btSoftBodyInternals.h.

References SIMD_EPSILON.

Referenced by btSoftBody::applyForces(), and btSoftBody::AJoint::Prepare().

static void Orthogonalize ( btMatrix3x3 &  m) [inline, static]

Definition at line 297 of file btSoftBodyInternals.h.

References btCross().

Referenced by PolarDecompose().

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

Definition at line 615 of file btSoftBodyInternals.h.

References iTaSC::accuracy, Add(), btMatrix3x3::adjoint(), btFuzzyZero(), btMatrix3x3::determinant(), i, length(), Mul(), Orthogonalize(), btMatrix3x3::setIdentity(), Sq(), transpose(), and btMatrix3x3::transpose().

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

static btVector3 ProjectOnAxis ( const btVector3 &  v,
const btVector3 &  a 
) [inline, static]

Definition at line 335 of file btSoftBodyInternals.h.

References btDot().

Referenced by ApplyClampedForce(), and ProjectOnPlane().

static btVector3 ProjectOnPlane ( const btVector3 &  v,
const btVector3 &  a 
) [inline, static]

Definition at line 341 of file btSoftBodyInternals.h.

References ProjectOnAxis().

Referenced by btSoftBody::PSolve_SContacts().

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

Definition at line 348 of file btSoftBodyInternals.h.

References btDot(), simple_enum_gen::d, p, and SIMD_EPSILON.

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

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

Definition at line 368 of file btSoftBodyInternals.h.

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

template<typename T >
static bool SameSign ( const T &  x,
const T &  y 
) [inline, static]

Definition at line 231 of file btSoftBodyInternals.h.

Referenced by btSoftBody::refine().

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

Definition at line 240 of file btSoftBodyInternals.h.

template<typename T >
static T Sign ( const T &  x) [inline, static]

Definition at line 227 of file btSoftBodyInternals.h.

References T.

Referenced by KDL::abs().

template<typename T >
static T Sq ( const T &  x) [inline, static]

Definition at line 219 of file btSoftBodyInternals.h.

Referenced by PolarDecompose().

static btMatrix3x3 Sub ( const btMatrix3x3 &  a,
const btMatrix3x3 &  b 
) [inline, static]

Definition at line 281 of file btSoftBodyInternals.h.

References i.

Referenced by MassMatrix().

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

Definition at line 494 of file btSoftBodyInternals.h.

References btCross(), and btDot().

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

Definition at line 464 of file btSoftBodyInternals.h.

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

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

template<typename T >
static void ZeroInitialize ( T &  value) [inline, static]

Definition at line 173 of file btSoftBodyInternals.h.

References T.

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

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