SharedFuncsForRigidBody.h File Reference

#include "Array/ArrayList.h"
#include "STL/Pair.h"
#include "Matrix/Transform3x3.h"
#include "Collision/CollisionData.h"
#include "Topology/DiscreteElements.h"
#include "Algorithm/Reduction.h"
#include "Collision/Attribute.h"

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Namespaces
namespace	dyno
	This is an implementation of AdditiveCCD based on peridyno.

Functions
void	dyno::ApplyTransform (DArrayList< Transform3f > &instanceTransform, const DArray< Vec3f > &translate, const DArray< Mat3f > &rotation, const DArray< Pair< uint, uint > > &binding, const DArray< int > &bindingtag)
void	dyno::updateVelocity (DArray< Attribute > attribute, DArray< Vec3f > velocity, DArray< Vec3f > angular_velocity, DArray< Vec3f > impulse, float linearDamping, float angularDamping, float dt)
void	dyno::updateGesture (DArray< Attribute > attribute, DArray< Vec3f > pos, DArray< Quat1f > rotQuat, DArray< Mat3f > rotMat, DArray< Mat3f > inertia, DArray< Vec3f > velocity, DArray< Vec3f > angular_velocity, DArray< Mat3f > inertia_init, float dt)
void	dyno::updatePositionAndRotation (DArray< Vec3f > pos, DArray< Quat1f > rotQuat, DArray< Mat3f > rotMat, DArray< Mat3f > inertia, DArray< Mat3f > inertia_init, DArray< Vec3f > impulse_constrain)
void	dyno::calculateContactPoints (DArray< TContactPair< float > > contacts, DArray< int > contactCnt)
void	dyno::calculateJacobianMatrix (DArray< Vec3f > J, DArray< Vec3f > B, DArray< Vec3f > pos, DArray< Mat3f > inertia, DArray< float > mass, DArray< Mat3f > rotMat, DArray< TConstraintPair< float > > constraints)
void	dyno::calculateJacobianMatrixForNJS (DArray< Vec3f > J, DArray< Vec3f > B, DArray< Vec3f > pos, DArray< Mat3f > inertia, DArray< float > mass, DArray< Mat3f > rotMat, DArray< TConstraintPair< float > > constraints)
void	dyno::calculateEtaVectorForPJS (DArray< float > eta, DArray< Vec3f > J, DArray< Vec3f > velocity, DArray< Vec3f > angular_velocity, DArray< TConstraintPair< float > > constraints)
void	dyno::calculateEtaVectorForPJSBaumgarte (DArray< float > eta, DArray< Vec3f > J, DArray< Vec3f > velocity, DArray< Vec3f > angular_velocity, DArray< Vec3f > pos, DArray< Quat1f > rotation_q, DArray< TConstraintPair< float > > constraints, DArray< float > errors, float slop, float beta, uint substepping, float dt)
void	dyno::calculateEtaVectorWithERP (DArray< float > eta, DArray< Vec3f > J, DArray< Vec3f > velocity, DArray< Vec3f > angular_velocity, DArray< Vec3f > pos, DArray< Quat1f > rotation_q, DArray< TConstraintPair< float > > constraints, DArray< float > ERP, float slop, float dt)
void	dyno::calculateEtaVectorForPJSoft (DArray< float > eta, DArray< Vec3f > J, DArray< Vec3f > velocity, DArray< Vec3f > angular_velocity, DArray< Vec3f > pos, DArray< Quat1f > rotation_q, DArray< TConstraintPair< float > > constraints, float slop, float zeta, float hertz, float substepping, float dt)
void	dyno::calculateEtaVectorForNJS (DArray< float > eta, DArray< Vec3f > J, DArray< Vec3f > pos, DArray< Quat1f > rotation_q, DArray< TConstraintPair< float > > constraints, float slop, float beta)
void	dyno::setUpContactsInLocalFrame (DArray< TContactPair< float > > contactsInLocalFrame, DArray< TContactPair< float > > contactsInGlobalFrame, DArray< Vec3f > pos, DArray< Mat3f > rotMat)
void	dyno::setUpContactAndFrictionConstraints (DArray< TConstraintPair< float > > constraints, DArray< TContactPair< float > > contactsInLocalFrame, DArray< Vec3f > pos, DArray< Mat3f > rotMat, bool hasFriction)
void	dyno::setUpContactConstraints (DArray< TConstraintPair< float > > constraints, DArray< TContactPair< float > > contactsInLocalFrame, DArray< Vec3f > pos, DArray< Mat3f > rotMat)
void	dyno::setUpBallAndSocketJointConstraints (DArray< TConstraintPair< float > > constraints, DArray< BallAndSocketJoint< float > > joints, DArray< Vec3f > pos, DArray< Mat3f > rotMat, int begin_index)
void	dyno::setUpSliderJointConstraints (DArray< TConstraintPair< float > > constraints, DArray< SliderJoint< float > > joints, DArray< Vec3f > pos, DArray< Mat3f > rotMat, DArray< Quat1f > rotQuat, int begin_index)
void	dyno::setUpHingeJointConstraints (DArray< TConstraintPair< float > > constraints, DArray< HingeJoint< float > > joints, DArray< Vec3f > pos, DArray< Mat3f > rotMat, DArray< Quat1f > rotation_q, int begin_index)
void	dyno::setUpFixedJointConstraints (DArray< TConstraintPair< float > > &constraints, DArray< FixedJoint< float > > &joints, DArray< Mat3f > &rotMat, DArray< Quat1f > &rotQuat, int begin_index)
void	dyno::setUpPointJointConstraints (DArray< TConstraintPair< float > > constraints, DArray< PointJoint< float > > joints, DArray< Vec3f > pos, int begin_index)
void	dyno::calculateK (DArray< TConstraintPair< float > > constraints, DArray< Vec3f > J, DArray< Vec3f > B, DArray< Vec3f > pos, DArray< Mat3f > inertia, DArray< float > mass, DArray< float > K_1, DArray< Mat2f > K_2, DArray< Mat3f > K_3)
void	dyno::calculateKWithCFM (DArray< TConstraintPair< float > > constraints, DArray< Vec3f > J, DArray< Vec3f > B, DArray< Vec3f > pos, DArray< Mat3f > inertia, DArray< float > mass, DArray< float > K_1, DArray< Mat2f > K_2, DArray< Mat3f > K_3, DArray< float > CFM)
void	dyno::JacobiIteration (DArray< float > lambda, DArray< Vec3f > impulse, DArray< Vec3f > J, DArray< Vec3f > B, DArray< float > eta, DArray< TConstraintPair< float > > constraints, DArray< int > nbq, DArray< float > K_1, DArray< Mat2f > K_2, DArray< Mat3f > K_3, DArray< float > mass, DArray< float > fricCoeffs, float mu, float g, float dt)
void	dyno::JacobiIterationForCFM (DArray< float > lambda, DArray< Vec3f > impulse, DArray< Vec3f > J, DArray< Vec3f > B, DArray< float > eta, DArray< TConstraintPair< float > > constraints, DArray< int > nbq, DArray< float > K_1, DArray< Mat2f > K_2, DArray< Mat3f > K_3, DArray< float > mass, DArray< float > CFM, float mu, float g, float dt)
void	dyno::JacobiIterationStrict (DArray< float > lambda, DArray< Vec3f > impulse, DArray< Vec3f > J, DArray< Vec3f > B, DArray< float > eta, DArray< TConstraintPair< float > > constraints, DArray< int > nbq, DArray< float > d, DArray< float > mass, float mu, float g, float dt)
void	dyno::JacobiIterationForSoft (DArray< float > lambda, DArray< Vec3f > impulse, DArray< Vec3f > J, DArray< Vec3f > B, DArray< float > eta, DArray< TConstraintPair< float > > constraints, DArray< int > nbq, DArray< float > K_1, DArray< Mat2f > K_2, DArray< Mat3f > K_3, DArray< float > mass, DArray< float > mu, float g, float dt, float zeta, float hertz)
void	dyno::JacobiIterationForNJS (DArray< float > lambda, DArray< Vec3f > impulse, DArray< Vec3f > J, DArray< Vec3f > B, DArray< float > eta, DArray< TConstraintPair< float > > constraints, DArray< int > nbq, DArray< float > K_1, DArray< Mat2f > K_2, DArray< Mat3f > K_3)
void	dyno::setUpGravity (DArray< Vec3f > impulse_ext, float g, float dt)
Real	dyno::checkOutError (DArray< Vec3f > J, DArray< Vec3f > mImpulse, DArray< TConstraintPair< float > > constraints, DArray< float > eta)
void	dyno::calculateDiagnals (DArray< float > d, DArray< Vec3f > J, DArray< Vec3f > B)
void	dyno::preConditionJ (DArray< Vec3f > J, DArray< float > d, DArray< float > eta)
bool	dyno::saveVectorToFile (const std::vector< float > &vec, const std::string &filename)
void	dyno::calculateEtaVectorForRelaxation (DArray< float > eta, DArray< Vec3f > J, DArray< Vec3f > velocity, DArray< Vec3f > angular_velocity, DArray< TConstraintPair< float > > constraints)
double	dyno::checkOutErrors (DArray< float > errors)
void	dyno::calculateMatrixA (DArray< Vec3f > &J, DArray< Vec3f > &B, DArray< float > &A, DArray< TConstraintPair< float > > &constraints, float k)
bool	dyno::saveMatrixToFile (DArray< float > &Matrix, int n, const std::string &filename)
bool	dyno::saveVectorToFile (DArray< float > &vec, const std::string &filename)
void	dyno::vectorSub (DArray< float > &ans, DArray< float > &subtranhend, DArray< float > &minuend, DArray< TConstraintPair< float > > &constraints)
void	dyno::vectorAdd (DArray< float > &ans, DArray< float > &v1, DArray< float > &v2, DArray< TConstraintPair< float > > &constraints)
void	dyno::vectorMultiplyScale (DArray< float > &ans, DArray< float > &initialVec, float scale, DArray< TConstraintPair< float > > &constraints)
void	dyno::vectorClampSupport (DArray< float > v, DArray< TConstraintPair< float > > constraints)
void	dyno::vectorClampFriction (DArray< float > v, DArray< TConstraintPair< float > > constraints, int contact_size, float mu)
void	dyno::matrixMultiplyVec (DArray< Vec3f > &J, DArray< Vec3f > &B, DArray< float > &lambda, DArray< float > &ans, DArray< TConstraintPair< float > > &constraints, int bodyNum)
float	dyno::vectorNorm (DArray< float > &a, DArray< float > &b)
void	dyno::vectorMultiplyVector (DArray< float > &v1, DArray< float > &v2, DArray< float > &ans, DArray< TConstraintPair< float > > &constraints)
void	dyno::calculateImpulseByLambda (DArray< float > lambda, DArray< TConstraintPair< float > > constraints, DArray< Vec3f > impulse, DArray< Vec3f > B)
void	dyno::preconditionedResidual (DArray< float > &residual, DArray< float > &ans, DArray< float > &k_1, DArray< Mat2f > &k_2, DArray< Mat3f > &k_3, DArray< TConstraintPair< float > > &constraints)
void	dyno::buildCFMAndERP (DArray< Vec3f > J, DArray< Vec3f > B, DArray< TConstraintPair< float > > constraints, DArray< float > CFM, DArray< float > ERP, float hertz, float zeta, float dt)
void	dyno::calculateLinearSystemLHS (DArray< Vec3f > &J, DArray< Vec3f > &B, DArray< Vec3f > &impulse, DArray< float > &lambda, DArray< float > &ans, DArray< float > &CFM, DArray< TConstraintPair< float > > &constraints)