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  108.   <div class="headertitle"><div class="title">CollideSoftBodyVerticesVsTriangles.h</div></div>
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    110. 

  110. <div class="contents">
    111. 

  111. <a href="_collide_soft_body_vertices_vs_triangles_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2024 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_collide_soft_body_vertex_iterator_8h.html">Jolt/Physics/Collision/CollideSoftBodyVertexIterator.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_closest_point_8h.html">Jolt/Geometry/ClosestPoint.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
    122. 

  122. <div class="foldopen" id="foldopen00013" data-start="{" data-end="};">
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html">   13</a></span><span class="keyword">class </span><a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a> <a class="code hl_class" href="class_collide_soft_body_vertices_vs_triangles.html">CollideSoftBodyVerticesVsTriangles</a></div>
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
    125. 

  125. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">public</span>:</div>
    126. 

  126. <div class="foldopen" id="foldopen00016" data-start="{" data-end="}">
    127. 

  127. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#a801e7995617c6fb1b447d75fd703ed4b">   16</a></span>                        <a class="code hl_function" href="class_collide_soft_body_vertices_vs_triangles.html#a801e7995617c6fb1b447d75fd703ed4b">CollideSoftBodyVerticesVsTriangles</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inCenterOfMassTransform, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale) :</div>
    128. 

  128. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>        mTransform(inCenterOfMassTransform),</div>
    129. 

  129. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>        mInvTransform(mTransform.InversedRotationTranslation()),</div>
    130. 

  130. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>        mScale(inScale),</div>
    131. 

  131. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        mNormalSign(<a class="code hl_namespace" href="namespace_scale_helpers.html">ScaleHelpers</a>::IsInsideOut(inScale)? -1.0f : 1.0f)</div>
    132. 

  132. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    {</div>
    133. 

  133. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    }</div>
    134. 

  134. </div>
    135. 

  135. <div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
    136. 

  136. <div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
    137. 

  137. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#ae7cccfa5b58bfa85a8a2f456fc8e50bc">   24</a></span>    JPH_INLINE <span class="keywordtype">void</span>     <a class="code hl_function" href="class_collide_soft_body_vertices_vs_triangles.html#ae7cccfa5b58bfa85a8a2f456fc8e50bc">StartVertex</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_collide_soft_body_vertex_iterator.html">CollideSoftBodyVertexIterator</a> &amp;inVertex)</div>
    138. 

  138. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    {</div>
    139. 

  139. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        mLocalPosition = mInvTransform * inVertex.<a class="code hl_function" href="class_collide_soft_body_vertex_iterator.html#a9760d625a5200d0a44b6373a6f597524">GetPosition</a>();</div>
    140. 

  140. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        mClosestDistanceSq = FLT_MAX;</div>
    141. 

  141. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    }</div>
    142. 

  142. </div>
    143. 

  143. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
    144. 

  144. <div class="foldopen" id="foldopen00030" data-start="{" data-end="}">
    145. 

  145. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#a54442c53c1d2fefa091bec3fb6a14b2d">   30</a></span>    JPH_INLINE <span class="keywordtype">void</span>     <a class="code hl_function" href="class_collide_soft_body_vertices_vs_triangles.html#a54442c53c1d2fefa091bec3fb6a14b2d">ProcessTriangle</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV0, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV2)</div>
    146. 

  146. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    {</div>
    147. 

  147. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <span class="comment">// Apply the scale to the triangle</span></div>
    148. 

  148. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> v0 = mScale * inV0;</div>
    149. 

  149. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> v1 = mScale * inV1;</div>
    150. 

  150. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> v2 = mScale * inV2;</div>
    151. 

  151. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
    152. 

  152. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>        <span class="comment">// Get the closest point from the vertex to the triangle</span></div>
    153. 

  153. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> set;</div>
    154. 

  154. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> closest_point = <a class="code hl_function" href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">ClosestPoint::GetClosestPointOnTriangle</a>(v0 - mLocalPosition, v1 - mLocalPosition, v2 - mLocalPosition, set);</div>
    155. 

  155. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>        <span class="keywordtype">float</span> dist_sq = closest_point.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    156. 

  156. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>        <span class="keywordflow">if</span> (dist_sq &lt; mClosestDistanceSq)</div>
    157. 

  157. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>        {</div>
    158. 

  158. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>            mV0 = v0;</div>
    159. 

  159. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>            mV1 = v1;</div>
    160. 

  160. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>            mV2 = v2;</div>
    161. 

  161. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>            mClosestPoint = closest_point;</div>
    162. 

  162. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>            mClosestDistanceSq = dist_sq;</div>
    163. 

  163. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            mSet = set;</div>
    164. 

  164. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        }</div>
    165. 

  165. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    }</div>
    166. 

  166. </div>
    167. 

  167. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
    168. 

  168. <div class="foldopen" id="foldopen00052" data-start="{" data-end="}">
    169. 

  169. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#a61633648444220fb725e0c4f3fd94f36">   52</a></span>    JPH_INLINE <span class="keywordtype">void</span>     <a class="code hl_function" href="class_collide_soft_body_vertices_vs_triangles.html#a61633648444220fb725e0c4f3fd94f36">FinishVertex</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_collide_soft_body_vertex_iterator.html">CollideSoftBodyVertexIterator</a> &amp;ioVertex, <span class="keywordtype">int</span> inCollidingShapeIndex)<span class="keyword"> const</span></div>
    170. 

  170. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="keyword">    </span>{</div>
    171. 

  171. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="keywordflow">if</span> (mClosestDistanceSq &lt; FLT_MAX)</div>
    172. 

  172. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        {</div>
    173. 

  173. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>            <span class="comment">// Convert triangle to world space</span></div>
    174. 

  174. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> v0 = mTransform * mV0;</div>
    175. 

  175. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> v1 = mTransform * mV1;</div>
    176. 

  176. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> v2 = mTransform * mV2;</div>
    177. 

  177. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> triangle_normal = mNormalSign * (v1 - v0).Cross(v2 - v0).<a class="code hl_function" href="class_vec3.html#a6c6409cad56e4e357f73d43cd719ffe8">NormalizedOr</a>(<a class="code hl_function" href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a>());</div>
    178. 

  178. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
    179. 

  179. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            <span class="keywordflow">if</span> (mSet == 0b111)</div>
    180. 

  180. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            {</div>
    181. 

  181. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>                <span class="comment">// Closest is interior to the triangle, use plane as collision plane but don&#39;t allow more than sTriangleThickness penetration</span></div>
    182. 

  182. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>                <span class="comment">// because otherwise a triangle half a level a way will have a huge penetration if it is back facing</span></div>
    183. 

  183. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>                <span class="keywordtype">float</span> penetration = triangle_normal.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(v0 - ioVertex.<a class="code hl_function" href="class_collide_soft_body_vertex_iterator.html#a9760d625a5200d0a44b6373a6f597524">GetPosition</a>());</div>
    184. 

  184. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                <span class="keywordflow">if</span> (penetration &lt; sTriangleThickness &amp;&amp; ioVertex.<a class="code hl_function" href="class_collide_soft_body_vertex_iterator.html#aeef8e7bdd029197e3ca1ca88c0a73349">UpdatePenetration</a>(penetration))</div>
    185. 

  185. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>                    ioVertex.<a class="code hl_function" href="class_collide_soft_body_vertex_iterator.html#a7f67e9e94264a5a743106992606877d5">SetCollision</a>(<a class="code hl_function" href="class_plane.html#ab650685703d992f746e1934ffd20850d">Plane::sFromPointAndNormal</a>(v0, triangle_normal), inCollidingShapeIndex);</div>
    186. 

  186. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>            }</div>
    187. 

  187. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>            <span class="keywordflow">else</span></div>
    188. 

  188. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>            {</div>
    189. 

  189. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>                <span class="comment">// Closest point is on an edge or vertex, use closest point as collision plane</span></div>
    190. 

  190. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                <a class="code hl_class" href="class_vec3.html">Vec3</a> closest_point = mTransform * (mLocalPosition + mClosestPoint);</div>
    191. 

  191. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                <a class="code hl_class" href="class_vec3.html">Vec3</a> normal = ioVertex.<a class="code hl_function" href="class_collide_soft_body_vertex_iterator.html#a9760d625a5200d0a44b6373a6f597524">GetPosition</a>() - closest_point;</div>
    192. 

  192. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                <span class="keywordflow">if</span> (normal.Dot(triangle_normal) &gt; 0.0f) <span class="comment">// Ignore back facing edges</span></div>
    193. 

  193. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>                {</div>
    194. 

  194. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>                    <span class="keywordtype">float</span> normal_length = normal.Length();</div>
    195. 

  195. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>                    <span class="keywordtype">float</span> penetration = -normal_length;</div>
    196. 

  196. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>                    <span class="keywordflow">if</span> (ioVertex.<a class="code hl_function" href="class_collide_soft_body_vertex_iterator.html#aeef8e7bdd029197e3ca1ca88c0a73349">UpdatePenetration</a>(penetration))</div>
    197. 

  197. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>                        ioVertex.<a class="code hl_function" href="class_collide_soft_body_vertex_iterator.html#a7f67e9e94264a5a743106992606877d5">SetCollision</a>(<a class="code hl_function" href="class_plane.html#ab650685703d992f746e1934ffd20850d">Plane::sFromPointAndNormal</a>(closest_point, normal_length &gt; 0.0f? normal / normal_length : triangle_normal), inCollidingShapeIndex);</div>
    198. 

  198. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>                }</div>
    199. 

  199. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>            }</div>
    200. 

  200. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        }</div>
    201. 

  201. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    }</div>
    202. 

  202. </div>
    203. 

  203. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
    204. 

  204. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#a3ec5a2aadf2eab043a217d1fa8722107">   89</a></span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span> sTriangleThickness = 0.1f;</div>
    205. 

  205. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
    206. 

  206. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#ad5e739e65afabaeec273f234c5041595">   91</a></span>    <a class="code hl_class" href="class_mat44.html">Mat44</a>               <a class="code hl_variable" href="class_collide_soft_body_vertices_vs_triangles.html#ad5e739e65afabaeec273f234c5041595">mTransform</a>;</div>
    207. 

  207. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#a6b17a54ebb55638f9b3bec43b352cc5c">   92</a></span>    <a class="code hl_class" href="class_mat44.html">Mat44</a>               <a class="code hl_variable" href="class_collide_soft_body_vertices_vs_triangles.html#a6b17a54ebb55638f9b3bec43b352cc5c">mInvTransform</a>;</div>
    208. 

  208. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#abed6c921d50dd152ae0a54b9b2ed4a29">   93</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                <a class="code hl_variable" href="class_collide_soft_body_vertices_vs_triangles.html#abed6c921d50dd152ae0a54b9b2ed4a29">mScale</a>;</div>
    209. 

  209. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#a6e56ae2ebc875f2880d0e9cbea51324e">   94</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                <a class="code hl_variable" href="class_collide_soft_body_vertices_vs_triangles.html#a6e56ae2ebc875f2880d0e9cbea51324e">mLocalPosition</a>;</div>
    210. 

  210. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#af25a1c81f66dd091515540878e130f59">   95</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                <a class="code hl_variable" href="class_collide_soft_body_vertices_vs_triangles.html#af25a1c81f66dd091515540878e130f59">mV0</a>, mV1, mV2;</div>
    211. 

  211. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#acc8d25a6bde60a6594038c35d5899083">   96</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                <a class="code hl_variable" href="class_collide_soft_body_vertices_vs_triangles.html#acc8d25a6bde60a6594038c35d5899083">mClosestPoint</a>;</div>
    212. 

  212. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#abc7074eb47917ae835d52b39ba27eba0">   97</a></span>    <span class="keywordtype">float</span>               <a class="code hl_variable" href="class_collide_soft_body_vertices_vs_triangles.html#abc7074eb47917ae835d52b39ba27eba0">mNormalSign</a>;</div>
    213. 

  213. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#aae3d91df7e34600c0fc1f6b5025dd97c">   98</a></span>    <span class="keywordtype">float</span>               <a class="code hl_variable" href="class_collide_soft_body_vertices_vs_triangles.html#aae3d91df7e34600c0fc1f6b5025dd97c">mClosestDistanceSq</a>;</div>
    214. 

  214. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="class_collide_soft_body_vertices_vs_triangles.html#a686bf253a9b480309cbf6bb8f9ace6b1">   99</a></span>    <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>              <a class="code hl_variable" href="class_collide_soft_body_vertices_vs_triangles.html#a686bf253a9b480309cbf6bb8f9ace6b1">mSet</a>;</div>
    215. 

  215. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>};</div>
    216. 

  216. </div>
    217. 

  217. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
    218. 

  218. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    219. 

  219. <div class="ttc" id="a_closest_point_8h_html"><div class="ttname"><a href="_closest_point_8h.html">ClosestPoint.h</a></div></div>
    220. 

  220. <div class="ttc" id="a_collide_soft_body_vertex_iterator_8h_html"><div class="ttname"><a href="_collide_soft_body_vertex_iterator_8h.html">CollideSoftBodyVertexIterator.h</a></div></div>
    221. 

  221. <div class="ttc" id="a_core_8h_html_a2712a9b0f778ab9d1aa5118b4e8e6bd8"><div class="ttname"><a href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a></div><div class="ttdeci">#define JPH_EXPORT</div><div class="ttdef"><b>Definition</b> Core.h:275</div></div>
    222. 

  222. <div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
    223. 

  223. <div class="ttc" id="a_core_8h_html_a8f95e75e58492e87412191fabadd8ca8"><div class="ttname"><a href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></div><div class="ttdeci">std::uint32_t uint32</div><div class="ttdef"><b>Definition</b> Core.h:503</div></div>
    224. 

  224. <div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
    225. 

  225. <div class="ttc" id="aclass_collide_soft_body_vertex_iterator_html"><div class="ttname"><a href="class_collide_soft_body_vertex_iterator.html">CollideSoftBodyVertexIterator</a></div><div class="ttdef"><b>Definition</b> CollideSoftBodyVertexIterator.h:15</div></div>
    226. 

  226. <div class="ttc" id="aclass_collide_soft_body_vertex_iterator_html_a7f67e9e94264a5a743106992606877d5"><div class="ttname"><a href="class_collide_soft_body_vertex_iterator.html#a7f67e9e94264a5a743106992606877d5">CollideSoftBodyVertexIterator::SetCollision</a></div><div class="ttdeci">void SetCollision(const Plane &amp;inCollisionPlane, int inCollidingShapeIndex) const</div><div class="ttdoc">Update the collision of the current vertex.</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVertexIterator.h:93</div></div>
    227. 

  227. <div class="ttc" id="aclass_collide_soft_body_vertex_iterator_html_a9760d625a5200d0a44b6373a6f597524"><div class="ttname"><a href="class_collide_soft_body_vertex_iterator.html#a9760d625a5200d0a44b6373a6f597524">CollideSoftBodyVertexIterator::GetPosition</a></div><div class="ttdeci">Vec3 GetPosition() const</div><div class="ttdoc">Get the position of the current vertex.</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVertexIterator.h:70</div></div>
    228. 

  228. <div class="ttc" id="aclass_collide_soft_body_vertex_iterator_html_aeef8e7bdd029197e3ca1ca88c0a73349"><div class="ttname"><a href="class_collide_soft_body_vertex_iterator.html#aeef8e7bdd029197e3ca1ca88c0a73349">CollideSoftBodyVertexIterator::UpdatePenetration</a></div><div class="ttdeci">bool UpdatePenetration(float inLargestPenetration) const</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVertexIterator.h:83</div></div>
    229. 

  229. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html">CollideSoftBodyVerticesVsTriangles</a></div><div class="ttdoc">Collision detection helper that collides soft body vertices vs triangles.</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:14</div></div>
    230. 

  230. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_a54442c53c1d2fefa091bec3fb6a14b2d"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#a54442c53c1d2fefa091bec3fb6a14b2d">CollideSoftBodyVerticesVsTriangles::ProcessTriangle</a></div><div class="ttdeci">JPH_INLINE void ProcessTriangle(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2)</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:30</div></div>
    231. 

  231. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_a61633648444220fb725e0c4f3fd94f36"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#a61633648444220fb725e0c4f3fd94f36">CollideSoftBodyVerticesVsTriangles::FinishVertex</a></div><div class="ttdeci">JPH_INLINE void FinishVertex(const CollideSoftBodyVertexIterator &amp;ioVertex, int inCollidingShapeIndex) const</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:52</div></div>
    232. 

  232. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_a686bf253a9b480309cbf6bb8f9ace6b1"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#a686bf253a9b480309cbf6bb8f9ace6b1">CollideSoftBodyVerticesVsTriangles::mSet</a></div><div class="ttdeci">uint32 mSet</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:99</div></div>
    233. 

  233. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_a6b17a54ebb55638f9b3bec43b352cc5c"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#a6b17a54ebb55638f9b3bec43b352cc5c">CollideSoftBodyVerticesVsTriangles::mInvTransform</a></div><div class="ttdeci">Mat44 mInvTransform</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:92</div></div>
    234. 

  234. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_a6e56ae2ebc875f2880d0e9cbea51324e"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#a6e56ae2ebc875f2880d0e9cbea51324e">CollideSoftBodyVerticesVsTriangles::mLocalPosition</a></div><div class="ttdeci">Vec3 mLocalPosition</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:94</div></div>
    235. 

  235. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_a801e7995617c6fb1b447d75fd703ed4b"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#a801e7995617c6fb1b447d75fd703ed4b">CollideSoftBodyVerticesVsTriangles::CollideSoftBodyVerticesVsTriangles</a></div><div class="ttdeci">CollideSoftBodyVerticesVsTriangles(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale)</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:16</div></div>
    236. 

  236. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_aae3d91df7e34600c0fc1f6b5025dd97c"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#aae3d91df7e34600c0fc1f6b5025dd97c">CollideSoftBodyVerticesVsTriangles::mClosestDistanceSq</a></div><div class="ttdeci">float mClosestDistanceSq</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:98</div></div>
    237. 

  237. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_abc7074eb47917ae835d52b39ba27eba0"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#abc7074eb47917ae835d52b39ba27eba0">CollideSoftBodyVerticesVsTriangles::mNormalSign</a></div><div class="ttdeci">float mNormalSign</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:97</div></div>
    238. 

  238. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_abed6c921d50dd152ae0a54b9b2ed4a29"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#abed6c921d50dd152ae0a54b9b2ed4a29">CollideSoftBodyVerticesVsTriangles::mScale</a></div><div class="ttdeci">Vec3 mScale</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:93</div></div>
    239. 

  239. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_acc8d25a6bde60a6594038c35d5899083"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#acc8d25a6bde60a6594038c35d5899083">CollideSoftBodyVerticesVsTriangles::mClosestPoint</a></div><div class="ttdeci">Vec3 mClosestPoint</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:96</div></div>
    240. 

  240. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_ad5e739e65afabaeec273f234c5041595"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#ad5e739e65afabaeec273f234c5041595">CollideSoftBodyVerticesVsTriangles::mTransform</a></div><div class="ttdeci">Mat44 mTransform</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:91</div></div>
    241. 

  241. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_ae7cccfa5b58bfa85a8a2f456fc8e50bc"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#ae7cccfa5b58bfa85a8a2f456fc8e50bc">CollideSoftBodyVerticesVsTriangles::StartVertex</a></div><div class="ttdeci">JPH_INLINE void StartVertex(const CollideSoftBodyVertexIterator &amp;inVertex)</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:24</div></div>
    242. 

  242. <div class="ttc" id="aclass_collide_soft_body_vertices_vs_triangles_html_af25a1c81f66dd091515540878e130f59"><div class="ttname"><a href="class_collide_soft_body_vertices_vs_triangles.html#af25a1c81f66dd091515540878e130f59">CollideSoftBodyVerticesVsTriangles::mV0</a></div><div class="ttdeci">Vec3 mV0</div><div class="ttdef"><b>Definition</b> CollideSoftBodyVerticesVsTriangles.h:95</div></div>
    243. 

  243. <div class="ttc" id="aclass_mat44_html"><div class="ttname"><a href="class_mat44.html">Mat44</a></div><div class="ttdoc">Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.</div><div class="ttdef"><b>Definition</b> Mat44.h:13</div></div>
    244. 

  244. <div class="ttc" id="aclass_plane_html_ab650685703d992f746e1934ffd20850d"><div class="ttname"><a href="class_plane.html#ab650685703d992f746e1934ffd20850d">Plane::sFromPointAndNormal</a></div><div class="ttdeci">static Plane sFromPointAndNormal(Vec3Arg inPoint, Vec3Arg inNormal)</div><div class="ttdoc">Create from point and normal.</div><div class="ttdef"><b>Definition</b> Plane.h:21</div></div>
    245. 

  245. <div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
    246. 

  246. <div class="ttc" id="aclass_vec3_html_a0e078ff09f69e669db71a2b0e37939ff"><div class="ttname"><a href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Vec3::Dot</a></div><div class="ttdeci">JPH_INLINE float Dot(Vec3Arg inV2) const</div><div class="ttdoc">Dot product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:650</div></div>
    247. 

  247. <div class="ttc" id="aclass_vec3_html_a2819718744feddb0bc150c6ccc26fad1"><div class="ttname"><a href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a></div><div class="ttdeci">static JPH_INLINE Vec3 sAxisY()</div><div class="ttdef"><b>Definition</b> Vec3.h:57</div></div>
    248. 

  248. <div class="ttc" id="aclass_vec3_html_a6c6409cad56e4e357f73d43cd719ffe8"><div class="ttname"><a href="class_vec3.html#a6c6409cad56e4e357f73d43cd719ffe8">Vec3::NormalizedOr</a></div><div class="ttdeci">JPH_INLINE Vec3 NormalizedOr(Vec3Arg inZeroValue) const</div><div class="ttdoc">Normalize vector or return inZeroValue if the length of the vector is zero.</div><div class="ttdef"><b>Definition</b> Vec3.inl:721</div></div>
    249. 

  249. <div class="ttc" id="aclass_vec3_html_aba501a6a474028084799f871c9083dc1"><div class="ttname"><a href="class_vec3.html#aba501a6a474028084799f871c9083dc1">Vec3::LengthSq</a></div><div class="ttdeci">JPH_INLINE float LengthSq() const</div><div class="ttdoc">Squared length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:666</div></div>
    250. 

  250. <div class="ttc" id="anamespace_closest_point_html_a25fcaaf786d8724b11d02406ab74e0bc"><div class="ttname"><a href="namespace_closest_point.html#a25fcaaf786d8724b11d02406ab74e0bc">ClosestPoint::GetClosestPointOnTriangle</a></div><div class="ttdeci">Vec3 GetClosestPointOnTriangle(Vec3Arg inA, Vec3Arg inB, Vec3Arg inC, uint32 &amp;outSet)</div><div class="ttdef"><b>Definition</b> ClosestPoint.h:160</div></div>
    251. 

  251. <div class="ttc" id="anamespace_scale_helpers_html"><div class="ttname"><a href="namespace_scale_helpers.html">ScaleHelpers</a></div><div class="ttdoc">Helper functions to get properties of a scaling vector.</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:13</div></div>
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