@bloomengine/engine 0.4.0 → 0.4.1

package/native/third_party/JoltPhysics/Jolt/Physics/SoftBody/SoftBodyMotionProperties.cpp

@@ -1,1501 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
-#include <Jolt/Physics/SoftBody/SoftBodyCreationSettings.h>
-#include <Jolt/Physics/SoftBody/SoftBodyContactListener.h>
-#include <Jolt/Physics/SoftBody/SoftBodyManifold.h>
-#include <Jolt/Physics/Collision/CollideSoftBodyVertexIterator.h>
-#include <Jolt/Physics/Collision/SimShapeFilterWrapper.h>
-#include <Jolt/Physics/PhysicsSystem.h>
-#include <Jolt/Physics/Body/BodyManager.h>
-#include <Jolt/Core/ScopeExit.h>
-#ifdef JPH_DEBUG_RENDERER
-	#include <Jolt/Renderer/DebugRenderer.h>
-#endif // JPH_DEBUG_RENDERER
-
-JPH_NAMESPACE_BEGIN
-
-using namespace JPH::literals;
-
-void SoftBodyMotionProperties::CalculateMassAndInertia()
-{
-	MassProperties mp;
-
-	for (const Vertex &v : mVertices)
-		if (v.mInvMass > 0.0f)
-		{
-			Vec3 pos = v.mPosition;
-
-			// Accumulate mass
-			float mass = 1.0f / v.mInvMass;
-			mp.mMass += mass;
-
-			// Inertia tensor, diagonal
-			// See equations https://en.wikipedia.org/wiki/Moment_of_inertia section 'Inertia Tensor'
-			for (int i = 0; i < 3; ++i)
-				mp.mInertia(i, i) += mass * (Square(pos[(i + 1) % 3]) + Square(pos[(i + 2) % 3]));
-
-			// Inertia tensor off diagonal
-			for (int i = 0; i < 3; ++i)
-				for (int j = 0; j < 3; ++j)
-					if (i != j)
-						mp.mInertia(i, j) -= mass * pos[i] * pos[j];
-		}
-		else
-		{
-			// If one vertex is kinematic, the entire body will have infinite mass and inertia
-			SetInverseMass(0.0f);
-			SetInverseInertia(Vec3::sZero(), Quat::sIdentity());
-			return;
-		}
-
-	SetMassProperties(EAllowedDOFs::All, mp);
-}
-
-void SoftBodyMotionProperties::Initialize(const SoftBodyCreationSettings &inSettings)
-{
-	// Store settings
-	mSettings = inSettings.mSettings;
-	mNumIterations = inSettings.mNumIterations;
-	mPressure = inSettings.mPressure;
-	mUpdatePosition = inSettings.mUpdatePosition;
-	mFacesDoubleSided = inSettings.mFacesDoubleSided;
-	SetVertexRadius(inSettings.mVertexRadius);
-
-	// Initialize vertices
-	mVertices.resize(inSettings.mSettings->mVertices.size());
-	Mat44 rotation = inSettings.mMakeRotationIdentity? Mat44::sRotation(inSettings.mRotation) : Mat44::sIdentity();
-	for (Array<Vertex>::size_type v = 0, s = mVertices.size(); v < s; ++v)
-	{
-		const SoftBodySharedSettings::Vertex &in_vertex = inSettings.mSettings->mVertices[v];
-		Vertex &out_vertex = mVertices[v];
-		out_vertex.mPreviousPosition = out_vertex.mPosition = rotation * Vec3(in_vertex.mPosition);
-		out_vertex.mVelocity = rotation.Multiply3x3(Vec3(in_vertex.mVelocity));
-		out_vertex.ResetCollision();
-		out_vertex.mInvMass = in_vertex.mInvMass;
-		mLocalBounds.Encapsulate(out_vertex.mPosition);
-	}
-
-	// Initialize rods
-	if (!inSettings.mSettings->mRodStretchShearConstraints.empty())
-	{
-		mRodStates.resize(inSettings.mSettings->mRodStretchShearConstraints.size());
-		Quat rotation_q = rotation.GetQuaternion();
-		for (Array<RodState>::size_type r = 0, s = mRodStates.size(); r < s; ++r)
-		{
-			const SoftBodySharedSettings::RodStretchShear &in_rod = inSettings.mSettings->mRodStretchShearConstraints[r];
-			RodState &out_rod = mRodStates[r];
-			out_rod.mRotation = rotation_q * in_rod.mBishop;
-			out_rod.mAngularVelocity = Vec3::sZero();
-		}
-	}
-
-	// Allocate space for skinned vertices
-	if (!inSettings.mSettings->mSkinnedConstraints.empty())
-		mSkinState.resize(mVertices.size());
-
-	// We don't know delta time yet, so we can't predict the bounds and use the local bounds as the predicted bounds
-	mLocalPredictedBounds = mLocalBounds;
-
-	CalculateMassAndInertia();
-}
-
-float SoftBodyMotionProperties::GetVolumeTimesSix() const
-{
-	float six_volume = 0.0f;
-	for (const Face &f : mSettings->mFaces)
-	{
-		Vec3 x1 = mVertices[f.mVertex[0]].mPosition;
-		Vec3 x2 = mVertices[f.mVertex[1]].mPosition;
-		Vec3 x3 = mVertices[f.mVertex[2]].mPosition;
-		six_volume += x1.Cross(x2).Dot(x3); // We pick zero as the origin as this is the center of the bounding box so should give good accuracy
-	}
-	return six_volume;
-}
-
-void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateContext &inContext, const PhysicsSystem &inSystem, const BodyLockInterface &inBodyLockInterface)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Reset flag prior to collision detection
-	mNeedContactCallback.store(false, memory_order_relaxed);
-
-	struct Collector : public CollideShapeBodyCollector
-	{
-									Collector(const SoftBodyUpdateContext &inContext, const PhysicsSystem &inSystem, const BodyLockInterface &inBodyLockInterface, const AABox &inLocalBounds, SimShapeFilterWrapper &inShapeFilter, Array<CollidingShape> &ioHits, Array<CollidingSensor> &ioSensors) :
-										mContext(inContext),
-										mInverseTransform(inContext.mCenterOfMassTransform.InversedRotationTranslation()),
-										mLocalBounds(inLocalBounds),
-										mBodyLockInterface(inBodyLockInterface),
-										mCombineFriction(inSystem.GetCombineFriction()),
-										mCombineRestitution(inSystem.GetCombineRestitution()),
-										mShapeFilter(inShapeFilter),
-										mHits(ioHits),
-										mSensors(ioSensors)
-		{
-		}
-
-		virtual void				AddHit(const BodyID &inResult) override
-		{
-			BodyLockRead lock(mBodyLockInterface, inResult);
-			if (lock.Succeeded())
-			{
-				const Body &soft_body = *mContext.mBody;
-				const Body &body = lock.GetBody();
-				if (body.IsRigidBody() // TODO: We should support soft body vs soft body
-					&& soft_body.GetCollisionGroup().CanCollide(body.GetCollisionGroup()))
-				{
-					SoftBodyContactSettings settings;
-					settings.mIsSensor = body.IsSensor();
-
-					if (mContext.mContactListener == nullptr)
-					{
-						// If we have no contact listener, we can ignore sensors
-						if (settings.mIsSensor)
-							return;
-					}
-					else
-					{
-						// Call the contact listener to see if we should accept this contact
-						if (mContext.mContactListener->OnSoftBodyContactValidate(soft_body, body, settings) != SoftBodyValidateResult::AcceptContact)
-							return;
-
-						// Check if there will be any interaction
-						if (!settings.mIsSensor
-							&& settings.mInvMassScale1 == 0.0f
-							&& (body.GetMotionType() != EMotionType::Dynamic || settings.mInvMassScale2 == 0.0f))
-							return;
-					}
-
-					// Calculate transform of this body relative to the soft body
-					Mat44 com = (mInverseTransform * body.GetCenterOfMassTransform()).ToMat44();
-
-					// Collect leaf shapes
-					mShapeFilter.SetBody2(&body);
-					struct LeafShapeCollector : public TransformedShapeCollector
-					{
-						virtual void		AddHit(const TransformedShape &inResult) override
-						{
-							mHits.emplace_back(Mat44::sRotationTranslation(inResult.mShapeRotation, Vec3(inResult.mShapePositionCOM)), inResult.GetShapeScale(), inResult.mShape);
-						}
-
-						Array<LeafShape>	mHits;
-					};
-					LeafShapeCollector collector;
-					body.GetShape()->CollectTransformedShapes(mLocalBounds, com.GetTranslation(), com.GetQuaternion(), Vec3::sOne(), SubShapeIDCreator(), collector, mShapeFilter.GetFilter());
-					if (collector.mHits.empty())
-						return;
-
-					if (settings.mIsSensor)
-					{
-						CollidingSensor cs;
-						cs.mCenterOfMassTransform = com;
-						cs.mShapes = std::move(collector.mHits);
-						cs.mBodyID = inResult;
-						mSensors.push_back(cs);
-					}
-					else
-					{
-						CollidingShape cs;
-						cs.mCenterOfMassTransform = com;
-						cs.mShapes = std::move(collector.mHits);
-						cs.mBodyID = inResult;
-						cs.mMotionType = body.GetMotionType();
-						cs.mUpdateVelocities = false;
-						cs.mFriction = mCombineFriction(soft_body, SubShapeID(), body, SubShapeID());
-						cs.mRestitution = mCombineRestitution(soft_body, SubShapeID(), body, SubShapeID());
-						cs.mSoftBodyInvMassScale = settings.mInvMassScale1;
-						if (cs.mMotionType == EMotionType::Dynamic)
-						{
-							const MotionProperties *mp = body.GetMotionProperties();
-							cs.mInvMass = settings.mInvMassScale2 * mp->GetInverseMass();
-							cs.mInvInertia = settings.mInvInertiaScale2 * mp->GetInverseInertiaForRotation(cs.mCenterOfMassTransform.GetRotation());
-							cs.mOriginalLinearVelocity = cs.mLinearVelocity = mInverseTransform.Multiply3x3(mp->GetLinearVelocity());
-							cs.mOriginalAngularVelocity = cs.mAngularVelocity = mInverseTransform.Multiply3x3(mp->GetAngularVelocity());
-						}
-						mHits.push_back(cs);
-					}
-				}
-			}
-		}
-
-	private:
-		const SoftBodyUpdateContext &mContext;
-		RMat44						mInverseTransform;
-		AABox						mLocalBounds;
-		const BodyLockInterface &	mBodyLockInterface;
-		ContactConstraintManager::CombineFunction mCombineFriction;
-		ContactConstraintManager::CombineFunction mCombineRestitution;
-		SimShapeFilterWrapper &		mShapeFilter;
-		Array<CollidingShape> &		mHits;
-		Array<CollidingSensor> &	mSensors;
-	};
-
-	// Calculate local bounding box
-	AABox local_bounds = mLocalBounds;
-	local_bounds.Encapsulate(mLocalPredictedBounds);
-	local_bounds.ExpandBy(Vec3::sReplicate(mVertexRadius));
-
-	// Calculate world space bounding box
-	AABox world_bounds = local_bounds.Transformed(inContext.mCenterOfMassTransform);
-
-	// Create shape filter
-	SimShapeFilterWrapper shape_filter(inContext.mSimShapeFilter, inContext.mBody);
-
-	Collector collector(inContext, inSystem, inBodyLockInterface, local_bounds, shape_filter, mCollidingShapes, mCollidingSensors);
-	ObjectLayer layer = inContext.mBody->GetObjectLayer();
-	DefaultBroadPhaseLayerFilter broadphase_layer_filter = inSystem.GetDefaultBroadPhaseLayerFilter(layer);
-	DefaultObjectLayerFilter object_layer_filter = inSystem.GetDefaultLayerFilter(layer);
-	inSystem.GetBroadPhaseQuery().CollideAABox(world_bounds, collector, broadphase_layer_filter, object_layer_filter);
-	mNumSensors = uint(mCollidingSensors.size()); // Workaround for TSAN false positive: store mCollidingSensors.size() in a separate variable.
-}
-
-void SoftBodyMotionProperties::DetermineCollisionPlanes(uint inVertexStart, uint inNumVertices)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Generate collision planes
-	for (const CollidingShape &cs : mCollidingShapes)
-		for (const LeafShape &shape : cs.mShapes)
-			shape.mShape->CollideSoftBodyVertices(shape.mTransform, shape.mScale, CollideSoftBodyVertexIterator(mVertices.data() + inVertexStart), inNumVertices, int(&cs - mCollidingShapes.data()));
-}
-
-void SoftBodyMotionProperties::DetermineSensorCollisions(CollidingSensor &ioSensor)
-{
-	JPH_PROFILE_FUNCTION();
-
-	Plane collision_plane;
-	float largest_penetration = -FLT_MAX;
-	int colliding_shape_idx = -1;
-
-	// Collide sensor against all vertices
-	CollideSoftBodyVertexIterator vertex_iterator(
-		StridedPtr<const Vec3>(&mVertices[0].mPosition, sizeof(SoftBodyVertex)), // The position and mass come from the soft body vertex
-		StridedPtr<const float>(&mVertices[0].mInvMass, sizeof(SoftBodyVertex)),
-		StridedPtr<Plane>(&collision_plane, 0), // We want all vertices to result in a single collision so we pass stride 0
-		StridedPtr<float>(&largest_penetration, 0),
-		StridedPtr<int>(&colliding_shape_idx, 0));
-	for (const LeafShape &shape : ioSensor.mShapes)
-		shape.mShape->CollideSoftBodyVertices(shape.mTransform, shape.mScale, vertex_iterator, uint(mVertices.size()), 0);
-	ioSensor.mHasContact = largest_penetration > 0.0f;
-
-	// We need a contact callback if one of the sensors collided
-	if (ioSensor.mHasContact)
-		mNeedContactCallback.store(true, memory_order_relaxed);
-}
-
-void SoftBodyMotionProperties::ApplyPressure(const SoftBodyUpdateContext &inContext)
-{
-	JPH_PROFILE_FUNCTION();
-
-	float dt = inContext.mSubStepDeltaTime;
-	float pressure_coefficient = mPressure;
-	if (pressure_coefficient > 0.0f)
-	{
-		// Calculate total volume
-		float six_volume = GetVolumeTimesSix();
-		if (six_volume > 0.0f)
-		{
-			// Apply pressure
-			// p = F / A = n R T / V (see https://en.wikipedia.org/wiki/Pressure)
-			// Our pressure coefficient is n R T so the impulse is:
-			// P = F dt = pressure_coefficient / V * A * dt
-			float coefficient = pressure_coefficient * dt / six_volume; // Need to still multiply by 6 for the volume
-			for (const Face &f : mSettings->mFaces)
-			{
-				Vec3 x1 = mVertices[f.mVertex[0]].mPosition;
-				Vec3 x2 = mVertices[f.mVertex[1]].mPosition;
-				Vec3 x3 = mVertices[f.mVertex[2]].mPosition;
-
-				Vec3 impulse = coefficient * (x2 - x1).Cross(x3 - x1); // Area is half the cross product so need to still divide by 2
-				for (uint32 i : f.mVertex)
-				{
-					Vertex &v = mVertices[i];
-					v.mVelocity += v.mInvMass * impulse; // Want to divide by 3 because we spread over 3 vertices
-				}
-			}
-		}
-	}
-}
-
-void SoftBodyMotionProperties::IntegratePositions(const SoftBodyUpdateContext &inContext)
-{
-	JPH_PROFILE_FUNCTION();
-
-	float dt = inContext.mSubStepDeltaTime;
-	float linear_damping = max(0.0f, 1.0f - GetLinearDamping() * dt); // See: MotionProperties::ApplyForceTorqueAndDragInternal
-
-	// Integrate
-	Vec3 sub_step_gravity = inContext.mGravity * dt;
-	Vec3 sub_step_impulse = GetAccumulatedForce() * dt / max(float(mVertices.size()), 1.0f);
-	for (Vertex &v : mVertices)
-	{
-		if (v.mInvMass > 0.0f)
-		{
-			// Gravity
-			v.mVelocity += sub_step_gravity + sub_step_impulse * v.mInvMass;
-
-			// Damping
-			v.mVelocity *= linear_damping;
-		}
-
-		// Integrate
-		Vec3 position = v.mPosition;
-		v.mPreviousPosition = position;
-		v.mPosition = position + v.mVelocity * dt;
-	}
-
-	// Integrate rod orientations
-	float half_dt = 0.5f * dt;
-	for (RodState &r : mRodStates)
-	{
-		// Damping
-		r.mAngularVelocity *= linear_damping;
-
-		// Integrate
-		Quat rotation = r.mRotation;
-		Quat delta_rotation = half_dt * Quat::sMultiplyImaginary(r.mAngularVelocity, rotation);
-		r.mPreviousRotationInternal = rotation; // Overwrites mAngularVelocity
-		r.mRotation = (rotation + delta_rotation).Normalized();
-	}
-}
-
-void SoftBodyMotionProperties::ApplyDihedralBendConstraints(const SoftBodyUpdateContext &inContext, uint inStartIndex, uint inEndIndex)
-{
-	JPH_PROFILE_FUNCTION();
-
-	float inv_dt_sq = 1.0f / Square(inContext.mSubStepDeltaTime);
-
-	for (const DihedralBend *b = mSettings->mDihedralBendConstraints.data() + inStartIndex, *b_end = mSettings->mDihedralBendConstraints.data() + inEndIndex; b < b_end; ++b)
-	{
-		Vertex &v0 = mVertices[b->mVertex[0]];
-		Vertex &v1 = mVertices[b->mVertex[1]];
-		Vertex &v2 = mVertices[b->mVertex[2]];
-		Vertex &v3 = mVertices[b->mVertex[3]];
-
-		// Get positions
-		Vec3 x0 = v0.mPosition;
-		Vec3 x1 = v1.mPosition;
-		Vec3 x2 = v2.mPosition;
-		Vec3 x3 = v3.mPosition;
-
-		/*
-		   x2
-		e1/  \e3
-		 /    \
-		x0----x1
-		 \ e0 /
-		e2\  /e4
-		   x3
-		*/
-
-		// Calculate the shared edge of the triangles
-		Vec3 e = x1 - x0;
-		float e_len = e.Length();
-		if (e_len < 1.0e-6f)
-			continue;
-
-		// Calculate the normals of the triangles
-		Vec3 x1x2 = x2 - x1;
-		Vec3 x1x3 = x3 - x1;
-		Vec3 n1 = (x2 - x0).Cross(x1x2);
-		Vec3 n2 = x1x3.Cross(x3 - x0);
-		float n1_len_sq = n1.LengthSq();
-		float n2_len_sq = n2.LengthSq();
-		float n1_len_sq_n2_len_sq = n1_len_sq * n2_len_sq;
-		if (n1_len_sq_n2_len_sq < 1.0e-24f)
-			continue;
-
-		// Calculate constraint equation
-		// As per "Strain Based Dynamics" Appendix A we need to negate the gradients when (n1 x n2) . e > 0, instead we make sure that the sign of the constraint equation is correct
-		float sign = Sign(n2.Cross(n1).Dot(e));
-		float d = n1.Dot(n2) / sqrt(n1_len_sq_n2_len_sq);
-		float c = sign * ACosApproximate(d) - b->mInitialAngle;
-
-		// Ensure the range is -PI to PI
-		if (c > JPH_PI)
-			c -= 2.0f * JPH_PI;
-		else if (c < -JPH_PI)
-			c += 2.0f * JPH_PI;
-
-		// Calculate gradient of constraint equation
-		// Taken from "Strain Based Dynamics" - Matthias Muller et al. (Appendix A)
-		// with p1 = x2, p2 = x3, p3 = x0 and p4 = x1
-		// which in turn is based on "Simulation of Clothing with Folds and Wrinkles" - R. Bridson et al. (Section 4)
-		n1 /= n1_len_sq;
-		n2 /= n2_len_sq;
-		Vec3 d0c = (x1x2.Dot(e) * n1 + x1x3.Dot(e) * n2) / e_len;
-		Vec3 d2c = e_len * n1;
-		Vec3 d3c = e_len * n2;
-
-		// The sum of the gradients must be zero (see "Strain Based Dynamics" section 4)
-		Vec3 d1c = -d0c - d2c - d3c;
-
-		// Get masses
-		float w0 = v0.mInvMass;
-		float w1 = v1.mInvMass;
-		float w2 = v2.mInvMass;
-		float w3 = v3.mInvMass;
-
-		// Calculate -lambda
-		float denom = w0 * d0c.LengthSq() + w1 * d1c.LengthSq() + w2 * d2c.LengthSq() + w3 * d3c.LengthSq() + b->mCompliance * inv_dt_sq;
-		if (denom < 1.0e-12f)
-			continue;
-		float minus_lambda = c / denom;
-
-		// Apply correction
-		v0.mPosition = x0 - minus_lambda * w0 * d0c;
-		v1.mPosition = x1 - minus_lambda * w1 * d1c;
-		v2.mPosition = x2 - minus_lambda * w2 * d2c;
-		v3.mPosition = x3 - minus_lambda * w3 * d3c;
-	}
-}
-
-void SoftBodyMotionProperties::ApplyVolumeConstraints(const SoftBodyUpdateContext &inContext, uint inStartIndex, uint inEndIndex)
-{
-	JPH_PROFILE_FUNCTION();
-
-	float inv_dt_sq = 1.0f / Square(inContext.mSubStepDeltaTime);
-
-	// Satisfy volume constraints
-	for (const Volume *v = mSettings->mVolumeConstraints.data() + inStartIndex, *v_end = mSettings->mVolumeConstraints.data() + inEndIndex; v < v_end; ++v)
-	{
-		Vertex &v1 = mVertices[v->mVertex[0]];
-		Vertex &v2 = mVertices[v->mVertex[1]];
-		Vertex &v3 = mVertices[v->mVertex[2]];
-		Vertex &v4 = mVertices[v->mVertex[3]];
-
-		Vec3 x1 = v1.mPosition;
-		Vec3 x2 = v2.mPosition;
-		Vec3 x3 = v3.mPosition;
-		Vec3 x4 = v4.mPosition;
-
-		// Calculate constraint equation
-		Vec3 x1x2 = x2 - x1;
-		Vec3 x1x3 = x3 - x1;
-		Vec3 x1x4 = x4 - x1;
-		float c = abs(x1x2.Cross(x1x3).Dot(x1x4)) - v->mSixRestVolume;
-
-		// Calculate gradient of constraint equation
-		Vec3 d1c = (x4 - x2).Cross(x3 - x2);
-		Vec3 d2c = x1x3.Cross(x1x4);
-		Vec3 d3c = x1x4.Cross(x1x2);
-		Vec3 d4c = x1x2.Cross(x1x3);
-
-		// Get masses
-		float w1 = v1.mInvMass;
-		float w2 = v2.mInvMass;
-		float w3 = v3.mInvMass;
-		float w4 = v4.mInvMass;
-
-		// Calculate -lambda
-		float denom = w1 * d1c.LengthSq() + w2 * d2c.LengthSq() + w3 * d3c.LengthSq() + w4 * d4c.LengthSq() + v->mCompliance * inv_dt_sq;
-		if (denom < 1.0e-12f)
-			continue;
-		float minus_lambda = c / denom;
-
-		// Apply correction
-		v1.mPosition = x1 - minus_lambda * w1 * d1c;
-		v2.mPosition = x2 - minus_lambda * w2 * d2c;
-		v3.mPosition = x3 - minus_lambda * w3 * d3c;
-		v4.mPosition = x4 - minus_lambda * w4 * d4c;
-	}
-}
-
-void SoftBodyMotionProperties::ApplySkinConstraints(const SoftBodyUpdateContext &inContext, uint inStartIndex, uint inEndIndex)
-{
-	// Early out if nothing to do
-	if (mSettings->mSkinnedConstraints.empty() || !mEnableSkinConstraints)
-		return;
-
-	JPH_PROFILE_FUNCTION();
-
-	// We're going to iterate multiple times over the skin constraints, update the skinned position accordingly.
-	// If we don't do this, the simulation will see a big jump and the first iteration will cause a big velocity change in the system.
-	float factor = mSkinStatePreviousPositionValid? inContext.mNextIteration.load(std::memory_order_relaxed) / float(mNumIterations) : 1.0f;
-	float prev_factor = 1.0f - factor;
-
-	// Apply the constraints
-	Vertex *vertices = mVertices.data();
-	const SkinState *skin_states = mSkinState.data();
-	for (const Skinned *s = mSettings->mSkinnedConstraints.data() + inStartIndex, *s_end = mSettings->mSkinnedConstraints.data() + inEndIndex; s < s_end; ++s)
-	{
-		Vertex &vertex = vertices[s->mVertex];
-		const SkinState &skin_state = skin_states[s->mVertex];
-		float max_distance = s->mMaxDistance * mSkinnedMaxDistanceMultiplier;
-
-		// Calculate the skinned position by interpolating from previous to current position
-		Vec3 skin_pos = prev_factor * skin_state.mPreviousPosition + factor * skin_state.mPosition;
-
-		if (max_distance > 0.0f)
-		{
-			// Move vertex if it violated the back stop
-			if (s->mBackStopDistance < max_distance)
-			{
-				// Center of the back stop sphere
-				Vec3 center = skin_pos - skin_state.mNormal * (s->mBackStopDistance + s->mBackStopRadius);
-
-				// Check if we're inside the back stop sphere
-				Vec3 delta = vertex.mPosition - center;
-				float delta_len_sq = delta.LengthSq();
-				if (delta_len_sq < Square(s->mBackStopRadius))
-				{
-					// Push the vertex to the surface of the back stop sphere
-					float delta_len = sqrt(delta_len_sq);
-					vertex.mPosition = delta_len > 0.0f?
-						center + delta * (s->mBackStopRadius / delta_len)
-						: center + skin_state.mNormal * s->mBackStopRadius;
-				}
-			}
-
-			// Clamp vertex distance to max distance from skinned position
-			if (max_distance < FLT_MAX)
-			{
-				Vec3 delta = vertex.mPosition - skin_pos;
-				float delta_len_sq = delta.LengthSq();
-				float max_distance_sq = Square(max_distance);
-				if (delta_len_sq > max_distance_sq)
-					vertex.mPosition = skin_pos + delta * sqrt(max_distance_sq / delta_len_sq);
-			}
-		}
-		else
-		{
-			// Kinematic: Just update the vertex position
-			vertex.mPosition = skin_pos;
-		}
-	}
-}
-
-void SoftBodyMotionProperties::ApplyEdgeConstraints(const SoftBodyUpdateContext &inContext, uint inStartIndex, uint inEndIndex)
-{
-	JPH_PROFILE_FUNCTION();
-
-	float inv_dt_sq = 1.0f / Square(inContext.mSubStepDeltaTime);
-
-	// Satisfy edge constraints
-	for (const Edge *e = mSettings->mEdgeConstraints.data() + inStartIndex, *e_end = mSettings->mEdgeConstraints.data() + inEndIndex; e < e_end; ++e)
-	{
-		Vertex &v0 = mVertices[e->mVertex[0]];
-		Vertex &v1 = mVertices[e->mVertex[1]];
-
-		// Get positions
-		Vec3 x0 = v0.mPosition;
-		Vec3 x1 = v1.mPosition;
-
-		// Calculate current length
-		Vec3 delta = x1 - x0;
-		float length = delta.Length();
-
-		// Apply correction
-		float denom = length * (v0.mInvMass + v1.mInvMass + e->mCompliance * inv_dt_sq);
-		if (denom < 1.0e-12f)
-			continue;
-		Vec3 correction = delta * (length - e->mRestLength) / denom;
-		v0.mPosition = x0 + v0.mInvMass * correction;
-		v1.mPosition = x1 - v1.mInvMass * correction;
-	}
-}
-
-void SoftBodyMotionProperties::ApplyRodStretchShearConstraints(const SoftBodyUpdateContext &inContext, uint inStartIndex, uint inEndIndex)
-{
-	JPH_PROFILE_FUNCTION();
-
-	float inv_dt_sq = 1.0f / Square(inContext.mSubStepDeltaTime);
-
-	RodState *rod_state = mRodStates.data() + inStartIndex;
-	for (const RodStretchShear *r = mSettings->mRodStretchShearConstraints.data() + inStartIndex, *r_end = mSettings->mRodStretchShearConstraints.data() + inEndIndex; r < r_end; ++r, ++rod_state)
-	{
-		// Get positions
-		Vertex &v0 = mVertices[r->mVertex[0]];
-		Vertex &v1 = mVertices[r->mVertex[1]];
-
-		// Apply stretch and shear constraint
-		// Equation 37 from "Position and Orientation Based Cosserat Rods" - Kugelstadt and Schoemer - SIGGRAPH 2016
-		float denom = v0.mInvMass + v1.mInvMass + 4.0f * r->mInvMass * Square(r->mLength) + r->mCompliance * inv_dt_sq;
-		if (denom < 1.0e-12f)
-			continue;
-		Vec3 x0 = v0.mPosition;
-		Vec3 x1 = v1.mPosition;
-		Quat rotation = rod_state->mRotation;
-		Vec3 d3 = rotation.RotateAxisZ();
-		Vec3 delta = (x1 - x0 - d3 * r->mLength) / denom;
-		v0.mPosition = x0 + v0.mInvMass * delta;
-		v1.mPosition = x1 - v1.mInvMass * delta;
-		// q * e3_bar = q * (0, 0, -1, 0) = [-qy, qx, -qw, qz]
-		Quat q_e3_bar(rotation.GetXYZW().Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>().FlipSign<-1, 1, -1, 1>());
-		rotation += (2.0f * r->mInvMass * r->mLength) * Quat::sMultiplyImaginary(delta, q_e3_bar);
-
-		// Renormalize
-		rod_state->mRotation = rotation.Normalized();
-	}
-}
-
-void SoftBodyMotionProperties::ApplyRodBendTwistConstraints(const SoftBodyUpdateContext &inContext, uint inStartIndex, uint inEndIndex)
-{
-	JPH_PROFILE_FUNCTION();
-
-	float inv_dt_sq = 1.0f / Square(inContext.mSubStepDeltaTime);
-
-	const Array<RodStretchShear> &rods = mSettings->mRodStretchShearConstraints;
-
-	for (const RodBendTwist *r = mSettings->mRodBendTwistConstraints.data() + inStartIndex, *r_end = mSettings->mRodBendTwistConstraints.data() + inEndIndex; r < r_end; ++r)
-	{
-		uint32 rod1_index = r->mRod[0];
-		uint32 rod2_index = r->mRod[1];
-		const RodStretchShear &rod1 = rods[rod1_index];
-		const RodStretchShear &rod2 = rods[rod2_index];
-		RodState &rod1_state = mRodStates[rod1_index];
-		RodState &rod2_state = mRodStates[rod2_index];
-
-		// Apply bend and twist constraint
-		// Equation 40 from "Position and Orientation Based Cosserat Rods" - Kugelstadt and Schoemer - SIGGRAPH 2016
-		float denom = rod1.mInvMass + rod2.mInvMass + r->mCompliance * inv_dt_sq;
-		if (denom < 1.0e-12f)
-			continue;
-		Quat rotation1 = rod1_state.mRotation;
-		Quat rotation2 = rod2_state.mRotation;
-		Quat omega = rotation1.Conjugated() * rotation2;
-		Quat omega0 = r->mOmega0;
-		Vec4 omega_min_omega0 = (omega - omega0).GetXYZW();
-		Vec4 omega_plus_omega0 = (omega + omega0).GetXYZW();
-		// Take the shortest of the two rotations
-		Quat delta_omega(Vec4::sSelect(omega_min_omega0, omega_plus_omega0, Vec4::sLess(omega_plus_omega0.DotV(omega_plus_omega0), omega_min_omega0.DotV(omega_min_omega0))));
-		delta_omega /= denom;
-		delta_omega.SetW(0.0f); // Scalar part needs to be zero because the real part of the Darboux vector doesn't vanish, see text between eq. 39 and 40.
-		Quat delta_rod2 = rod2.mInvMass * rotation1 * delta_omega;
-		rotation1 += rod1.mInvMass * rotation2 * delta_omega;
-		rotation2 -= delta_rod2;
-
-		// Renormalize
-		rod1_state.mRotation = rotation1.Normalized();
-		rod2_state.mRotation = rotation2.Normalized();
-	}
-}
-
-void SoftBodyMotionProperties::ApplyLRAConstraints(uint inStartIndex, uint inEndIndex)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Satisfy LRA constraints
-	Vertex *vertices = mVertices.data();
-	for (const LRA *lra = mSettings->mLRAConstraints.data() + inStartIndex, *lra_end = mSettings->mLRAConstraints.data() + inEndIndex; lra < lra_end; ++lra)
-	{
-		JPH_ASSERT(lra->mVertex[0] < mVertices.size());
-		JPH_ASSERT(lra->mVertex[1] < mVertices.size());
-		const Vertex &vertex0 = vertices[lra->mVertex[0]];
-		Vertex &vertex1 = vertices[lra->mVertex[1]];
-
-		Vec3 x0 = vertex0.mPosition;
-		Vec3 delta = vertex1.mPosition - x0;
-		float delta_len_sq = delta.LengthSq();
-		if (delta_len_sq > Square(lra->mMaxDistance))
-			vertex1.mPosition = x0 + delta * lra->mMaxDistance / sqrt(delta_len_sq);
-	}
-}
-
-void SoftBodyMotionProperties::ApplyCollisionConstraintsAndUpdateVelocities(const SoftBodyUpdateContext &inContext)
-{
-	JPH_PROFILE_FUNCTION();
-
-	float dt = inContext.mSubStepDeltaTime;
-	float restitution_threshold = -2.0f * inContext.mGravity.Length() * dt;
-	float vertex_radius = mVertexRadius;
-	for (Vertex &v : mVertices)
-		if (v.mInvMass > 0.0f)
-		{
-			// Remember previous velocity for restitution calculations
-			Vec3 prev_v = v.mVelocity;
-
-			// XPBD velocity update
-			v.mVelocity = (v.mPosition - v.mPreviousPosition) / dt;
-
-			// Satisfy collision constraint
-			if (v.mCollidingShapeIndex >= 0)
-			{
-				// Check if there is a collision
-				float projected_distance = -v.mCollisionPlane.SignedDistance(v.mPosition) + vertex_radius;
-				if (projected_distance > 0.0f)
-				{
-					// Remember that there was a collision
-					v.mHasContact = true;
-
-					// We need a contact callback if one of the vertices collided
-					mNeedContactCallback.store(true, memory_order_relaxed);
-
-					// Note that we already calculated the velocity, so this does not affect the velocity (next iteration starts by setting previous position to current position)
-					CollidingShape &cs = mCollidingShapes[v.mCollidingShapeIndex];
-					Vec3 contact_normal = v.mCollisionPlane.GetNormal();
-					v.mPosition += contact_normal * projected_distance;
-
-					// Apply friction as described in Detailed Rigid Body Simulation with Extended Position Based Dynamics - Matthias Muller et al.
-					// See section 3.6:
-					// Inverse mass: w1 = 1 / m1, w2 = 1 / m2 + (r2 x n)^T I^-1 (r2 x n) = 0 for a static object
-					// r2 are the contact point relative to the center of mass of body 2
-					// Lagrange multiplier for contact: lambda = -c / (w1 + w2)
-					// Where c is the constraint equation (the distance to the plane, negative because penetrating)
-					// Contact normal force: fn = lambda / dt^2
-					// Delta velocity due to friction dv = -vt / |vt| * min(dt * friction * fn * (w1 + w2), |vt|) = -vt * min(-friction * c / (|vt| * dt), 1)
-					// Note that I think there is an error in the paper, I added a mass term, see: https://github.com/matthias-research/pages/issues/29
-					// Relative velocity: vr = v1 - v2 - omega2 x r2
-					// Normal velocity: vn = vr . contact_normal
-					// Tangential velocity: vt = vr - contact_normal * vn
-					// Impulse: p = dv / (w1 + w2)
-					// Changes in particle velocities:
-					// v1 = v1 + p / m1
-					// v2 = v2 - p / m2 (no change when colliding with a static body)
-					// w2 = w2 - I^-1 (r2 x p) (no change when colliding with a static body)
-					if (cs.mMotionType == EMotionType::Dynamic)
-					{
-						// Calculate normal and tangential velocity (equation 30)
-						Vec3 r2 = v.mPosition - cs.mCenterOfMassTransform.GetTranslation();
-						Vec3 v2 = cs.GetPointVelocity(r2);
-						Vec3 relative_velocity = v.mVelocity - v2;
-						Vec3 v_normal = contact_normal * contact_normal.Dot(relative_velocity);
-						Vec3 v_tangential = relative_velocity - v_normal;
-						float v_tangential_length = v_tangential.Length();
-
-						// Calculate resulting inverse mass of vertex
-						float vertex_inv_mass = cs.mSoftBodyInvMassScale * v.mInvMass;
-
-						// Calculate inverse effective mass
-						Vec3 r2_cross_n = r2.Cross(contact_normal);
-						float w2 = cs.mInvMass + r2_cross_n.Dot(cs.mInvInertia * r2_cross_n);
-						float w1_plus_w2 = vertex_inv_mass + w2;
-						if (w1_plus_w2 > 0.0f)
-						{
-							// Calculate delta relative velocity due to friction (modified equation 31)
-							Vec3 dv;
-							if (v_tangential_length > 0.0f)
-								dv = v_tangential * min(cs.mFriction * projected_distance / (v_tangential_length * dt), 1.0f);
-							else
-								dv = Vec3::sZero();
-
-							// Calculate delta relative velocity due to restitution (equation 35)
-							dv += v_normal;
-							float prev_v_normal = (prev_v - v2).Dot(contact_normal);
-							if (prev_v_normal < restitution_threshold)
-								dv += cs.mRestitution * prev_v_normal * contact_normal;
-
-							// Calculate impulse
-							Vec3 p = dv / w1_plus_w2;
-
-							// Apply impulse to particle
-							v.mVelocity -= p * vertex_inv_mass;
-
-							// Apply impulse to rigid body
-							cs.mLinearVelocity += p * cs.mInvMass;
-							cs.mAngularVelocity += cs.mInvInertia * r2.Cross(p);
-
-							// Mark that the velocities of the body we hit need to be updated
-							cs.mUpdateVelocities = true;
-						}
-					}
-					else if (cs.mSoftBodyInvMassScale > 0.0f)
-					{
-						// Body is not movable, equations are simpler
-
-						// Calculate normal and tangential velocity (equation 30)
-						Vec3 v_normal = contact_normal * contact_normal.Dot(v.mVelocity);
-						Vec3 v_tangential = v.mVelocity - v_normal;
-						float v_tangential_length = v_tangential.Length();
-
-						// Apply friction (modified equation 31)
-						if (v_tangential_length > 0.0f)
-							v.mVelocity -= v_tangential * min(cs.mFriction * projected_distance / (v_tangential_length * dt), 1.0f);
-
-						// Apply restitution (equation 35)
-						v.mVelocity -= v_normal;
-						float prev_v_normal = prev_v.Dot(contact_normal);
-						if (prev_v_normal < restitution_threshold)
-							v.mVelocity -= cs.mRestitution * prev_v_normal * contact_normal;
-					}
-				}
-			}
-		}
-
-	// Calculate the new angular velocity for all rods
-	float two_div_dt = 2.0f / dt;
-	for (RodState &r : mRodStates)
-		r.mAngularVelocity = two_div_dt * (r.mRotation * r.mPreviousRotationInternal.Conjugated()).GetXYZ(); // Overwrites mPreviousRotationInternal
-}
-
-void SoftBodyMotionProperties::UpdateSoftBodyState(SoftBodyUpdateContext &ioContext, const PhysicsSettings &inPhysicsSettings)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Contact callback
-	if (mNeedContactCallback.load(memory_order_relaxed) && ioContext.mContactListener != nullptr)
-	{
-		// Remove non-colliding sensors from the list
-		for (int i = int(mCollidingSensors.size()) - 1; i >= 0; --i)
-			if (!mCollidingSensors[i].mHasContact)
-			{
-				mCollidingSensors[i] = std::move(mCollidingSensors.back());
-				mCollidingSensors.pop_back();
-			}
-
-		ioContext.mContactListener->OnSoftBodyContactAdded(*ioContext.mBody, SoftBodyManifold(this));
-	}
-
-	// Loop through vertices once more to update the global state
-	float dt = ioContext.mDeltaTime;
-	float max_linear_velocity_sq = Square(GetMaxLinearVelocity());
-	float max_v_sq = 0.0f;
-	Vec3 linear_velocity = Vec3::sZero(), angular_velocity = Vec3::sZero();
-	mLocalPredictedBounds = mLocalBounds = { };
-	for (Vertex &v : mVertices)
-	{
-		// Calculate max square velocity
-		float v_sq = v.mVelocity.LengthSq();
-		max_v_sq = max(max_v_sq, v_sq);
-
-		// Clamp if velocity is too high
-		if (v_sq > max_linear_velocity_sq)
-			v.mVelocity *= sqrt(max_linear_velocity_sq / v_sq);
-
-		// Calculate local linear/angular velocity
-		linear_velocity += v.mVelocity;
-		angular_velocity += v.mPosition.Cross(v.mVelocity);
-
-		// Update local bounding box
-		mLocalBounds.Encapsulate(v.mPosition);
-
-		// Create predicted position for the next frame in order to detect collisions before they happen
-		mLocalPredictedBounds.Encapsulate(v.mPosition + v.mVelocity * dt + ioContext.mDisplacementDueToGravity);
-
-		// Reset collision data for the next iteration
-		v.ResetCollision();
-	}
-
-	// Calculate linear/angular velocity of the body by averaging all vertices and bringing the value to world space
-	float num_vertices_divider = float(max(int(mVertices.size()), 1));
-	SetLinearVelocityClamped(ioContext.mCenterOfMassTransform.Multiply3x3(linear_velocity / num_vertices_divider));
-	SetAngularVelocity(ioContext.mCenterOfMassTransform.Multiply3x3(angular_velocity / num_vertices_divider));
-
-	if (mUpdatePosition)
-	{
-		// Shift the body so that the position is the center of the local bounds
-		Vec3 delta = mLocalBounds.GetCenter();
-		ioContext.mDeltaPosition = ioContext.mCenterOfMassTransform.Multiply3x3(delta);
-		for (Vertex &v : mVertices)
-			v.mPosition -= delta;
-
-		// Update the skin state too since we will use this position as the previous position in the next update
-		for (SkinState &s : mSkinState)
-			s.mPosition -= delta;
-		JPH_IF_DEBUG_RENDERER(mSkinStateTransform.SetTranslation(mSkinStateTransform.GetTranslation() + ioContext.mDeltaPosition);)
-
-		// Offset bounds to match new position
-		mLocalBounds.Translate(-delta);
-		mLocalPredictedBounds.Translate(-delta);
-	}
-	else
-		ioContext.mDeltaPosition = Vec3::sZero();
-
-	// Test if we should go to sleep
-	if (GetAllowSleeping())
-	{
-		if (max_v_sq > inPhysicsSettings.mPointVelocitySleepThreshold)
-		{
-			ResetSleepTestTimer();
-			ioContext.mCanSleep = ECanSleep::CannotSleep;
-		}
-		else
-			ioContext.mCanSleep = AccumulateSleepTime(dt, inPhysicsSettings.mTimeBeforeSleep);
-	}
-	else
-		ioContext.mCanSleep = ECanSleep::CannotSleep;
-
-	// If SkinVertices is not called after this then don't use the previous position as the skin is static
-	mSkinStatePreviousPositionValid = false;
-
-	// Reset force accumulator
-	ResetForce();
-}
-
-void SoftBodyMotionProperties::UpdateRigidBodyVelocities(const SoftBodyUpdateContext &inContext, BodyInterface &inBodyInterface)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Write back velocity deltas
-	for (const CollidingShape &cs : mCollidingShapes)
-		if (cs.mUpdateVelocities)
-			inBodyInterface.AddLinearAndAngularVelocity(cs.mBodyID, inContext.mCenterOfMassTransform.Multiply3x3(cs.mLinearVelocity - cs.mOriginalLinearVelocity), inContext.mCenterOfMassTransform.Multiply3x3(cs.mAngularVelocity - cs.mOriginalAngularVelocity));
-
-	// Clear colliding shapes/sensors to avoid hanging on to references to shapes
-	mCollidingShapes.clear();
-	mCollidingSensors.clear();
-}
-
-void SoftBodyMotionProperties::InitializeUpdateContext(float inDeltaTime, Body &inSoftBody, const PhysicsSystem &inSystem, SoftBodyUpdateContext &ioContext)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Store body
-	ioContext.mBody = &inSoftBody;
-	ioContext.mMotionProperties = this;
-	ioContext.mContactListener = inSystem.GetSoftBodyContactListener();
-	ioContext.mSimShapeFilter = inSystem.GetSimShapeFilter();
-
-	// Convert gravity to local space
-	ioContext.mCenterOfMassTransform = inSoftBody.GetCenterOfMassTransform();
-	ioContext.mGravity = ioContext.mCenterOfMassTransform.Multiply3x3Transposed(GetGravityFactor() * inSystem.GetGravity());
-
-	// Calculate delta time for sub step
-	ioContext.mDeltaTime = inDeltaTime;
-	ioContext.mSubStepDeltaTime = inDeltaTime / mNumIterations;
-
-	// Calculate total displacement we'll have due to gravity over all sub steps
-	// The total displacement as produced by our integrator can be written as: Sum(i * g * dt^2, i = 0..mNumIterations).
-	// This is bigger than 0.5 * g * dt^2 because we first increment the velocity and then update the position
-	// Using Sum(i, i = 0..n) = n * (n + 1) / 2 we can write this as:
-	ioContext.mDisplacementDueToGravity = (0.5f * mNumIterations * (mNumIterations + 1) * Square(ioContext.mSubStepDeltaTime)) * ioContext.mGravity;
-}
-
-void SoftBodyMotionProperties::StartNextIteration(const SoftBodyUpdateContext &ioContext)
-{
-	ApplyPressure(ioContext);
-
-	IntegratePositions(ioContext);
-}
-
-void SoftBodyMotionProperties::StartFirstIteration(SoftBodyUpdateContext &ioContext)
-{
-	// Start the first iteration
-	JPH_IF_ENABLE_ASSERTS(uint iteration =) ioContext.mNextIteration.fetch_add(1, memory_order_relaxed);
-	JPH_ASSERT(iteration == 0);
-	StartNextIteration(ioContext);
-	ioContext.mState.store(SoftBodyUpdateContext::EState::ApplyConstraints, memory_order_release);
-}
-
-SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelDetermineCollisionPlanes(SoftBodyUpdateContext &ioContext)
-{
-	// Do a relaxed read first to see if there is any work to do (this prevents us from doing expensive atomic operations and also prevents us from continuously incrementing the counter and overflowing it)
-	uint num_vertices = (uint)mVertices.size();
-	if (ioContext.mNextCollisionVertex.load(memory_order_relaxed) < num_vertices)
-	{
-		// Fetch next batch of vertices to process
-		uint next_vertex = ioContext.mNextCollisionVertex.fetch_add(SoftBodyUpdateContext::cVertexCollisionBatch, memory_order_acquire);
-		if (next_vertex < num_vertices)
-		{
-			// Process collision planes
-			uint num_vertices_to_process = min(SoftBodyUpdateContext::cVertexCollisionBatch, num_vertices - next_vertex);
-			DetermineCollisionPlanes(next_vertex, num_vertices_to_process);
-			uint vertices_processed = ioContext.mNumCollisionVerticesProcessed.fetch_add(SoftBodyUpdateContext::cVertexCollisionBatch, memory_order_acq_rel) + num_vertices_to_process;
-			if (vertices_processed >= num_vertices)
-			{
-				// Determine next state
-				if (mCollidingSensors.empty())
-					StartFirstIteration(ioContext);
-				else
-					ioContext.mState.store(SoftBodyUpdateContext::EState::DetermineSensorCollisions, memory_order_release);
-			}
-			return EStatus::DidWork;
-		}
-	}
-
-	return EStatus::NoWork;
-}
-
-SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelDetermineSensorCollisions(SoftBodyUpdateContext &ioContext)
-{
-	// Do a relaxed read to see if there are more sensors to process
-	if (ioContext.mNextSensorIndex.load(memory_order_relaxed) < mNumSensors)
-	{
-		// Fetch next sensor to process
-		uint sensor_index = ioContext.mNextSensorIndex.fetch_add(1, memory_order_acquire);
-		if (sensor_index < mNumSensors)
-		{
-			// Process this sensor
-			DetermineSensorCollisions(mCollidingSensors[sensor_index]);
-
-			// Determine next state
-			uint sensors_processed = ioContext.mNumSensorsProcessed.fetch_add(1, memory_order_acq_rel) + 1;
-			if (sensors_processed >= mNumSensors)
-				StartFirstIteration(ioContext);
-			return EStatus::DidWork;
-		}
-	}
-
-	return EStatus::NoWork;
-}
-
-void SoftBodyMotionProperties::ProcessGroup(const SoftBodyUpdateContext &ioContext, uint inGroupIndex)
-{
-	// Determine start and end
-	SoftBodySharedSettings::UpdateGroup start { 0, 0, 0, 0, 0, 0, 0 };
-	const SoftBodySharedSettings::UpdateGroup &prev = inGroupIndex > 0? mSettings->mUpdateGroups[inGroupIndex - 1] : start;
-	const SoftBodySharedSettings::UpdateGroup &current = mSettings->mUpdateGroups[inGroupIndex];
-
-	// Process volume constraints
-	ApplyVolumeConstraints(ioContext, prev.mVolumeEndIndex, current.mVolumeEndIndex);
-
-	// Process bend constraints
-	ApplyDihedralBendConstraints(ioContext, prev.mDihedralBendEndIndex, current.mDihedralBendEndIndex);
-
-	// Process skinned constraints
-	ApplySkinConstraints(ioContext, prev.mSkinnedEndIndex, current.mSkinnedEndIndex);
-
-	// Process edges
-	ApplyEdgeConstraints(ioContext, prev.mEdgeEndIndex, current.mEdgeEndIndex);
-
-	// Process rods
-	ApplyRodStretchShearConstraints(ioContext, prev.mRodStretchShearEndIndex, current.mRodStretchShearEndIndex);
-	ApplyRodBendTwistConstraints(ioContext, prev.mRodBendTwistEndIndex, current.mRodBendTwistEndIndex);
-
-	// Process LRA constraints
-	ApplyLRAConstraints(prev.mLRAEndIndex, current.mLRAEndIndex);
-}
-
-SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelApplyConstraints(SoftBodyUpdateContext &ioContext, const PhysicsSettings &inPhysicsSettings)
-{
-	uint num_groups = (uint)mSettings->mUpdateGroups.size();
-	JPH_ASSERT(num_groups > 0, "SoftBodySharedSettings::Optimize should have been called!");
-	--num_groups; // Last group is the non-parallel group, we don't want to execute it in parallel
-
-	// Do a relaxed read first to see if there is any work to do (this prevents us from doing expensive atomic operations and also prevents us from continuously incrementing the counter and overflowing it)
-	uint next_group = ioContext.mNextConstraintGroup.load(memory_order_relaxed);
-	if (next_group < num_groups || (num_groups == 0 && next_group == 0))
-	{
-		// Fetch the next group process
-		next_group = ioContext.mNextConstraintGroup.fetch_add(1, memory_order_acquire);
-		if (next_group < num_groups || (num_groups == 0 && next_group == 0))
-		{
-			uint num_groups_processed = 0;
-			if (num_groups > 0)
-			{
-				// Process this group
-				ProcessGroup(ioContext, next_group);
-
-				// Increment total number of groups processed
-				num_groups_processed = ioContext.mNumConstraintGroupsProcessed.fetch_add(1, memory_order_acq_rel) + 1;
-			}
-
-			if (num_groups_processed >= num_groups)
-			{
-				// Finish the iteration
-				JPH_PROFILE("FinishIteration");
-
-				// Process non-parallel group
-				ProcessGroup(ioContext, num_groups);
-
-				ApplyCollisionConstraintsAndUpdateVelocities(ioContext);
-
-				uint iteration = ioContext.mNextIteration.fetch_add(1, memory_order_relaxed);
-				if (iteration < mNumIterations)
-				{
-					// Start a new iteration
-					StartNextIteration(ioContext);
-
-					// Reset group logic
-					ioContext.mNumConstraintGroupsProcessed.store(0, memory_order_release);
-					ioContext.mNextConstraintGroup.store(0, memory_order_release);
-				}
-				else
-				{
-					// On final iteration we update the state
-					UpdateSoftBodyState(ioContext, inPhysicsSettings);
-
-					ioContext.mState.store(SoftBodyUpdateContext::EState::Done, memory_order_release);
-					return EStatus::Done;
-				}
-			}
-
-			return EStatus::DidWork;
-		}
-	}
-	return EStatus::NoWork;
-}
-
-SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelUpdate(SoftBodyUpdateContext &ioContext, const PhysicsSettings &inPhysicsSettings)
-{
-	switch (ioContext.mState.load(memory_order_acquire))
-	{
-	case SoftBodyUpdateContext::EState::DetermineCollisionPlanes:
-		return ParallelDetermineCollisionPlanes(ioContext);
-
-	case SoftBodyUpdateContext::EState::DetermineSensorCollisions:
-		return ParallelDetermineSensorCollisions(ioContext);
-
-	case SoftBodyUpdateContext::EState::ApplyConstraints:
-		return ParallelApplyConstraints(ioContext, inPhysicsSettings);
-
-	case SoftBodyUpdateContext::EState::Done:
-		return EStatus::Done;
-
-	default:
-		JPH_ASSERT(false);
-		return EStatus::NoWork;
-	}
-}
-
-void SoftBodyMotionProperties::SkinVertices([[maybe_unused]] RMat44Arg inCenterOfMassTransform, const Mat44 *inJointMatrices, [[maybe_unused]] uint inNumJoints, bool inHardSkinAll, TempAllocator &ioTempAllocator)
-{
-	// Calculate the skin matrices
-	uint num_skin_matrices = uint(mSettings->mInvBindMatrices.size());
-	uint skin_matrices_size = num_skin_matrices * sizeof(Mat44);
-	Mat44 *skin_matrices = (Mat44 *)ioTempAllocator.Allocate(skin_matrices_size);
-	JPH_SCOPE_EXIT([&ioTempAllocator, skin_matrices, skin_matrices_size]{ ioTempAllocator.Free(skin_matrices, skin_matrices_size); });
-	const Mat44 *skin_matrices_end = skin_matrices + num_skin_matrices;
-	const InvBind *inv_bind_matrix = mSettings->mInvBindMatrices.data();
-	for (Mat44 *s = skin_matrices; s < skin_matrices_end; ++s, ++inv_bind_matrix)
-	{
-		JPH_ASSERT(inv_bind_matrix->mJointIndex < inNumJoints);
-		*s = inJointMatrices[inv_bind_matrix->mJointIndex] * inv_bind_matrix->mInvBind;
-	}
-
-	// Skin the vertices
-	JPH_IF_DEBUG_RENDERER(mSkinStateTransform = inCenterOfMassTransform;)
-	JPH_IF_ENABLE_ASSERTS(uint num_vertices = uint(mSettings->mVertices.size());)
-	JPH_ASSERT(mSkinState.size() == num_vertices);
-	const SoftBodySharedSettings::Vertex *in_vertices = mSettings->mVertices.data();
-	for (const Skinned &s : mSettings->mSkinnedConstraints)
-	{
-		// Get bind pose
-		JPH_ASSERT(s.mVertex < num_vertices);
-		Vec3 bind_pos = Vec3::sLoadFloat3Unsafe(in_vertices[s.mVertex].mPosition);
-
-		// Skin vertex
-		Vec3 pos = Vec3::sZero();
-		for (const SkinWeight &w : s.mWeights)
-		{
-			// We assume that the first zero weight is the end of the list
-			if (w.mWeight == 0.0f)
-				break;
-
-			JPH_ASSERT(w.mInvBindIndex < num_skin_matrices);
-			pos += w.mWeight * (skin_matrices[w.mInvBindIndex] * bind_pos);
-		}
-		SkinState &skin_state = mSkinState[s.mVertex];
-		skin_state.mPreviousPosition = skin_state.mPosition;
-		skin_state.mPosition = pos;
-	}
-
-	// Calculate the normals
-	for (const Skinned &s : mSettings->mSkinnedConstraints)
-	{
-		Vec3 normal = Vec3::sZero();
-		uint32 num_faces = s.mNormalInfo >> 24;
-		if (num_faces > 0)
-		{
-			// Calculate normal
-			const uint32 *f = &mSettings->mSkinnedConstraintNormals[s.mNormalInfo & 0xffffff];
-			const uint32 *f_end = f + num_faces;
-			while (f < f_end)
-			{
-				const Face &face = mSettings->mFaces[*f];
-				Vec3 v0 = mSkinState[face.mVertex[0]].mPosition;
-				Vec3 v1 = mSkinState[face.mVertex[1]].mPosition;
-				Vec3 v2 = mSkinState[face.mVertex[2]].mPosition;
-				normal += (v1 - v0).Cross(v2 - v0).NormalizedOr(Vec3::sZero());
-				++f;
-			}
-			normal = normal.NormalizedOr(Vec3::sZero());
-		}
-		mSkinState[s.mVertex].mNormal = normal;
-	}
-
-	if (inHardSkinAll)
-	{
-		// Hard skin all vertices and reset their velocities
-		for (const Skinned &s : mSettings->mSkinnedConstraints)
-		{
-			Vertex &vertex = mVertices[s.mVertex];
-			SkinState &skin_state = mSkinState[s.mVertex];
-			skin_state.mPreviousPosition = skin_state.mPosition;
-			vertex.mPosition = skin_state.mPosition;
-			vertex.mVelocity = Vec3::sZero();
-		}
-	}
-	else if (!mEnableSkinConstraints)
-	{
-		// Hard skin only the kinematic vertices as we will not solve the skin constraints later
-		for (const Skinned &s : mSettings->mSkinnedConstraints)
-			if (s.mMaxDistance == 0.0f)
-			{
-				Vertex &vertex = mVertices[s.mVertex];
-				vertex.mPosition = mSkinState[s.mVertex].mPosition;
-			}
-	}
-
-	// Indicate that the previous positions are valid for the coming update
-	mSkinStatePreviousPositionValid = true;
-}
-
-void SoftBodyMotionProperties::CustomUpdate(float inDeltaTime, Body &ioSoftBody, PhysicsSystem &inSystem)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Create update context
-	SoftBodyUpdateContext context;
-	InitializeUpdateContext(inDeltaTime, ioSoftBody, inSystem, context);
-
-	// Determine bodies we're colliding with
-	DetermineCollidingShapes(context, inSystem, inSystem.GetBodyLockInterface());
-
-	// Call the internal update until it finishes
-	EStatus status;
-	const PhysicsSettings &settings = inSystem.GetPhysicsSettings();
-	while ((status = ParallelUpdate(context, settings)) == EStatus::DidWork)
-		continue;
-	JPH_ASSERT(status == EStatus::Done);
-
-	// Update the state of the bodies we've collided with
-	UpdateRigidBodyVelocities(context, inSystem.GetBodyInterface());
-
-	// Update position of the soft body
-	if (mUpdatePosition)
-		inSystem.GetBodyInterface().SetPosition(ioSoftBody.GetID(), ioSoftBody.GetPosition() + context.mDeltaPosition, EActivation::DontActivate);
-}
-
-#ifdef JPH_DEBUG_RENDERER
-
-void SoftBodyMotionProperties::DrawVertices(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform) const
-{
-	for (const Vertex &v : mVertices)
-		inRenderer->DrawMarker(inCenterOfMassTransform * v.mPosition, v.mInvMass > 0.0f? Color::sGreen : Color::sRed, 0.05f);
-}
-
-void SoftBodyMotionProperties::DrawVertexVelocities(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform) const
-{
-	for (const Vertex &v : mVertices)
-		inRenderer->DrawArrow(inCenterOfMassTransform * v.mPosition, inCenterOfMassTransform * (v.mPosition + v.mVelocity), Color::sYellow, 0.01f);
-}
-
-template <typename GetEndIndex, typename DrawConstraint>
-inline void SoftBodyMotionProperties::DrawConstraints(ESoftBodyConstraintColor inConstraintColor, const GetEndIndex &inGetEndIndex, const DrawConstraint &inDrawConstraint, ColorArg inBaseColor) const
-{
-	uint start = 0;
-	for (uint i = 0; i < (uint)mSettings->mUpdateGroups.size(); ++i)
-	{
-		uint end = inGetEndIndex(mSettings->mUpdateGroups[i]);
-
-		Color base_color;
-		if (inConstraintColor != ESoftBodyConstraintColor::ConstraintType)
-			base_color = Color::sGetDistinctColor((uint)mSettings->mUpdateGroups.size() - i - 1); // Ensure that color 0 is always the last group
-		else
-			base_color = inBaseColor;
-
-		for (uint idx = start; idx < end; ++idx)
-		{
-			Color color = inConstraintColor == ESoftBodyConstraintColor::ConstraintOrder? base_color * (float(idx - start) / (end - start)) : base_color;
-			inDrawConstraint(idx, color);
-		}
-
-		start = end;
-	}
-}
-
-void SoftBodyMotionProperties::DrawEdgeConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
-{
-	DrawConstraints(inConstraintColor,
-		[](const SoftBodySharedSettings::UpdateGroup &inGroup) {
-			return inGroup.mEdgeEndIndex;
-		},
-		[this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
-			const Edge &e = mSettings->mEdgeConstraints[inIndex];
-			inRenderer->DrawLine(inCenterOfMassTransform * mVertices[e.mVertex[0]].mPosition, inCenterOfMassTransform * mVertices[e.mVertex[1]].mPosition, inColor);
-		},
-		Color::sWhite);
-}
-
-void SoftBodyMotionProperties::DrawRods(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
-{
-	DrawConstraints(inConstraintColor,
-		[](const SoftBodySharedSettings::UpdateGroup &inGroup) {
-			return inGroup.mRodStretchShearEndIndex;
-		},
-		[this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
-			const RodStretchShear &r = mSettings->mRodStretchShearConstraints[inIndex];
-			inRenderer->DrawLine(inCenterOfMassTransform * mVertices[r.mVertex[0]].mPosition, inCenterOfMassTransform * mVertices[r.mVertex[1]].mPosition, inColor);
-		},
-		Color::sWhite);
-}
-
-void SoftBodyMotionProperties::DrawRodStates(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
-{
-	DrawConstraints(inConstraintColor,
-		[](const SoftBodySharedSettings::UpdateGroup &inGroup) {
-			return inGroup.mRodStretchShearEndIndex;
-		},
-		[this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
-			const RodState &state = mRodStates[inIndex];
-			const RodStretchShear &rod = mSettings->mRodStretchShearConstraints[inIndex];
-
-			RVec3 x0 = inCenterOfMassTransform * mVertices[rod.mVertex[0]].mPosition;
-			RVec3 x1 = inCenterOfMassTransform * mVertices[rod.mVertex[1]].mPosition;
-
-			RMat44 rod_center = inCenterOfMassTransform;
-			rod_center.SetTranslation(0.5_r * (x0 + x1));
-			inRenderer->DrawArrow(rod_center.GetTranslation(), rod_center.GetTranslation() + state.mAngularVelocity, inColor, 0.01f * rod.mLength);
-
-			RMat44 rod_frame = rod_center * RMat44::sRotation(state.mRotation);
-			inRenderer->DrawCoordinateSystem(rod_frame, 0.3f * rod.mLength);
-		},
-		Color::sOrange);
-}
-
-void SoftBodyMotionProperties::DrawRodBendTwistConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
-{
-	DrawConstraints(inConstraintColor,
-		[](const SoftBodySharedSettings::UpdateGroup &inGroup) {
-			return inGroup.mRodBendTwistEndIndex;
-		},
-		[this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
-			uint r1 = mSettings->mRodBendTwistConstraints[inIndex].mRod[0];
-			uint r2 = mSettings->mRodBendTwistConstraints[inIndex].mRod[1];
-			const RodStretchShear &rod1 = mSettings->mRodStretchShearConstraints[r1];
-			const RodStretchShear &rod2 = mSettings->mRodStretchShearConstraints[r2];
-
-			RVec3 x0 = inCenterOfMassTransform * (0.4f * mVertices[rod1.mVertex[0]].mPosition + 0.6f * mVertices[rod1.mVertex[1]].mPosition);
-			RVec3 x1 = inCenterOfMassTransform * (0.6f * mVertices[rod2.mVertex[0]].mPosition + 0.4f * mVertices[rod2.mVertex[1]].mPosition);
-
-			inRenderer->DrawLine(x0, x1, inColor);
-		},
-		Color::sGreen);
-}
-
-void SoftBodyMotionProperties::DrawBendConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
-{
-	DrawConstraints(inConstraintColor,
-		[](const SoftBodySharedSettings::UpdateGroup &inGroup) {
-			return inGroup.mDihedralBendEndIndex;
-		},
-		[this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
-			const DihedralBend &b = mSettings->mDihedralBendConstraints[inIndex];
-
-			RVec3 x0 = inCenterOfMassTransform * mVertices[b.mVertex[0]].mPosition;
-			RVec3 x1 = inCenterOfMassTransform * mVertices[b.mVertex[1]].mPosition;
-			RVec3 x2 = inCenterOfMassTransform * mVertices[b.mVertex[2]].mPosition;
-			RVec3 x3 = inCenterOfMassTransform * mVertices[b.mVertex[3]].mPosition;
-			RVec3 c_edge = 0.5_r * (x0 + x1);
-			RVec3 c0 = (x0 + x1 + x2) / 3.0_r;
-			RVec3 c1 = (x0 + x1 + x3) / 3.0_r;
-
-			inRenderer->DrawArrow(0.9_r * x0 + 0.1_r * x1, 0.1_r * x0 + 0.9_r * x1, inColor, 0.01f);
-			inRenderer->DrawLine(c_edge, 0.1_r * c_edge + 0.9_r * c0, inColor);
-			inRenderer->DrawLine(c_edge, 0.1_r * c_edge + 0.9_r * c1, inColor);
-		},
-		Color::sGreen);
-}
-
-void SoftBodyMotionProperties::DrawVolumeConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
-{
-	DrawConstraints(inConstraintColor,
-		[](const SoftBodySharedSettings::UpdateGroup &inGroup) {
-			return inGroup.mVolumeEndIndex;
-		},
-		[this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
-			const Volume &v = mSettings->mVolumeConstraints[inIndex];
-
-			RVec3 x1 = inCenterOfMassTransform * mVertices[v.mVertex[0]].mPosition;
-			RVec3 x2 = inCenterOfMassTransform * mVertices[v.mVertex[1]].mPosition;
-			RVec3 x3 = inCenterOfMassTransform * mVertices[v.mVertex[2]].mPosition;
-			RVec3 x4 = inCenterOfMassTransform * mVertices[v.mVertex[3]].mPosition;
-
-			inRenderer->DrawTriangle(x1, x3, x2, inColor, DebugRenderer::ECastShadow::On);
-			inRenderer->DrawTriangle(x2, x3, x4, inColor, DebugRenderer::ECastShadow::On);
-			inRenderer->DrawTriangle(x1, x4, x3, inColor, DebugRenderer::ECastShadow::On);
-			inRenderer->DrawTriangle(x1, x2, x4, inColor, DebugRenderer::ECastShadow::On);
-		},
-		Color::sYellow);
-}
-
-void SoftBodyMotionProperties::DrawSkinConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
-{
-	DrawConstraints(inConstraintColor,
-		[](const SoftBodySharedSettings::UpdateGroup &inGroup) {
-			return inGroup.mSkinnedEndIndex;
-		},
-		[this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
-			const Skinned &s = mSettings->mSkinnedConstraints[inIndex];
-			const SkinState &skin_state = mSkinState[s.mVertex];
-			inRenderer->DrawArrow(mSkinStateTransform * skin_state.mPosition, mSkinStateTransform * (skin_state.mPosition + 0.1f * skin_state.mNormal), inColor, 0.01f);
-			inRenderer->DrawLine(mSkinStateTransform * skin_state.mPosition, inCenterOfMassTransform * mVertices[s.mVertex].mPosition, Color::sBlue);
-		},
-		Color::sOrange);
-}
-
-void SoftBodyMotionProperties::DrawLRAConstraints(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, ESoftBodyConstraintColor inConstraintColor) const
-{
-	DrawConstraints(inConstraintColor,
-		[](const SoftBodySharedSettings::UpdateGroup &inGroup) {
-			return inGroup.mLRAEndIndex;
-		},
-		[this, inRenderer, &inCenterOfMassTransform](uint inIndex, ColorArg inColor) {
-			const LRA &l = mSettings->mLRAConstraints[inIndex];
-			inRenderer->DrawLine(inCenterOfMassTransform * mVertices[l.mVertex[0]].mPosition, inCenterOfMassTransform * mVertices[l.mVertex[1]].mPosition, inColor);
-		},
-		Color::sGrey);
-}
-
-void SoftBodyMotionProperties::DrawPredictedBounds(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform) const
-{
-	inRenderer->DrawWireBox(inCenterOfMassTransform, mLocalPredictedBounds, Color::sRed);
-}
-
-#endif // JPH_DEBUG_RENDERER
-
-void SoftBodyMotionProperties::SaveState(StateRecorder &inStream) const
-{
-	MotionProperties::SaveState(inStream);
-
-	for (const Vertex &v : mVertices)
-	{
-		inStream.Write(v.mPosition);
-		inStream.Write(v.mVelocity);
-	}
-
-	for (const RodState &r : mRodStates)
-	{
-		inStream.Write(r.mRotation);
-		inStream.Write(r.mAngularVelocity);
-	}
-
-	for (const SkinState &s : mSkinState)
-	{
-		inStream.Write(s.mPreviousPosition);
-		inStream.Write(s.mPosition);
-		inStream.Write(s.mNormal);
-	}
-
-	inStream.Write(mLocalBounds.mMin);
-	inStream.Write(mLocalBounds.mMax);
-	inStream.Write(mLocalPredictedBounds.mMin);
-	inStream.Write(mLocalPredictedBounds.mMax);
-}
-
-void SoftBodyMotionProperties::RestoreState(StateRecorder &inStream)
-{
-	MotionProperties::RestoreState(inStream);
-
-	for (Vertex &v : mVertices)
-	{
-		inStream.Read(v.mPosition);
-		inStream.Read(v.mVelocity);
-	}
-
-	for (RodState &r : mRodStates)
-	{
-		inStream.Read(r.mRotation);
-		inStream.Read(r.mAngularVelocity);
-	}
-
-	for (SkinState &s : mSkinState)
-	{
-		inStream.Read(s.mPreviousPosition);
-		inStream.Read(s.mPosition);
-		inStream.Read(s.mNormal);
-	}
-
-	inStream.Read(mLocalBounds.mMin);
-	inStream.Read(mLocalBounds.mMax);
-	inStream.Read(mLocalPredictedBounds.mMin);
-	inStream.Read(mLocalPredictedBounds.mMax);
-}
-
-JPH_NAMESPACE_END