From e288e29fa9424fea0f86f82aac3380799be54d35 Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Tue, 2 Oct 2018 16:19:53 -0300
Subject: [PATCH 001/198] remove unused image

---
 screenshots/a.png | Bin 122222 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 screenshots/a.png

diff --git a/screenshots/a.png b/screenshots/a.png
deleted file mode 100644
index fe54a2a492777400f6523737138009bb2ed1a49a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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From cfb8effb12fd39b3b77c5e3bdb17eef4e6b322fc Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Tue, 2 Oct 2018 16:21:49 -0300
Subject: [PATCH 002/198] add shape cast function

---
 include/bounce/collision/gjk/gjk.h |  14 ++++
 src/bounce/collision/gjk/gjk.cpp   | 107 +++++++++++++++++++++++++++--
 2 files changed, 115 insertions(+), 6 deletions(-)

diff --git a/include/bounce/collision/gjk/gjk.h b/include/bounce/collision/gjk/gjk.h
index 2fd5459..4053ecf 100644
--- a/include/bounce/collision/gjk/gjk.h
+++ b/include/bounce/collision/gjk/gjk.h
@@ -114,4 +114,18 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
 	const b3Transform& xf2, const b3GJKProxy& proxy2,
 	bool applyRadius, b3SimplexCache* cache);
 
+// The output of the GJK-based ray cast algorithm.
+struct b3GJKRayCastOutput
+{
+	float32 t; // time of impact
+	b3Vec3 point; // contact point at t
+	b3Vec3 normal; // contact normal at t
+	u32 iterations; // number of iterations 
+};
+
+// Find the time of impact between two proxies given the relative target translation vector.
+bool b3GJKRayCast(b3GJKRayCastOutput* output,
+	const b3Transform& xf1, const b3GJKProxy& proxy1,
+	const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2);
+
 #endif
\ No newline at end of file
diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index cfa8b59..1b058df 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -29,7 +29,7 @@ u32 b3_gjkCalls = 0, b3_gjkIters = 0, b3_gjkMaxIters = 0;
 // Convert a point Q from Cartesian coordinates to Barycentric coordinates (u, v) 
 // with respect to a segment AB.
 // The last output value is the divisor.
-static B3_FORCE_INLINE void b3Barycentric(float32 out[3], 
+static B3_FORCE_INLINE void b3Barycentric(float32 out[3],
 	const b3Vec3& A, const b3Vec3& B,
 	const b3Vec3& Q)
 {
@@ -38,7 +38,7 @@ static B3_FORCE_INLINE void b3Barycentric(float32 out[3],
 	b3Vec3 QB = B - Q;
 
 	//float32 divisor = b3Dot(AB, AB);
-	
+
 	out[0] = b3Dot(QB, AB);
 	out[1] = -b3Dot(QA, AB);
 	out[2] = out[0] + out[1];
@@ -63,7 +63,7 @@ static B3_FORCE_INLINE void b3Barycentric(float32 out[4],
 	b3Vec3 QA_x_QB = b3Cross(QA, QB);
 
 	b3Vec3 AB_x_AC = b3Cross(AB, AC);
-	
+
 	//float32 divisor = b3Dot(AB_x_AC, AB_x_AC);
 
 	out[0] = b3Dot(QB_x_QC, AB_x_AC);
@@ -248,7 +248,7 @@ void b3Simplex::Solve3(const b3Vec3& Q)
 	b3Barycentric(wAB, A.point, B.point, Q);
 	b3Barycentric(wBC, B.point, C.point, Q);
 	b3Barycentric(wCA, C.point, A.point, Q);
-	
+
 	// R A
 	if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
 	{
@@ -279,7 +279,7 @@ void b3Simplex::Solve3(const b3Vec3& Q)
 	// Test edge regions		
 	float32 wABC[4];
 	b3Barycentric(wABC, A.point, B.point, C.point, Q);
-	
+
 	// This is used to help testing if the face degenerates 
 	// into an edge.
 	float32 area = wABC[3];
@@ -361,7 +361,7 @@ void b3Simplex::Solve4(const b3Vec3& Q)
 	b3Barycentric(wAD, A.point, D.point, Q);
 	b3Barycentric(wCD, C.point, D.point, Q);
 	b3Barycentric(wDB, D.point, B.point, Q);
-	
+
 	// R A
 	if (wAB[1] <= 0.0f && wAC[1] <= 0.0f && wAD[1] <= 0.0f)
 	{
@@ -848,4 +848,99 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
 	b3SimplexCache cache;
 	cache.count = 0;
 	return b3GJK(xf1, proxy1, xf2, proxy2, false, &cache);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+// Brian Mirtich  
+// "Conservative Advancement" 
+bool b3GJKRayCast(b3GJKRayCastOutput* output,
+	const b3Transform& xf1, const b3GJKProxy& proxy1,
+	const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2)
+{
+	float32 r1 = proxy1.radius;
+	float32 r2 = proxy2.radius;
+	float32 radius = r1 + r2;
+
+	float32 d_max = b3Length(translation2);
+	B3_ASSERT(d_max > 0.0f);
+
+	float32 t = 0.0f;
+	
+	const float32 tolerance = 0.5f * B3_LINEAR_SLOP;
+
+	b3SimplexCache cache;
+	cache.count = 0;
+
+	b3GJKOutput gjkOut = b3GJK(xf1, proxy1, xf2, proxy2, false, &cache);
+	float32 d = gjkOut.distance;
+
+	if (d == 0.0f)
+	{
+		// Overlap
+		return false;
+	}
+
+	if (d < radius + tolerance)
+	{
+		b3Vec3 n = gjkOut.point2 - gjkOut.point1;
+		n /= d;
+
+		// Touch
+		output->t = t;
+		output->point = gjkOut.point1 + r1 * n;
+		output->normal = n;
+		output->iterations = 0;
+		return true;
+	}
+
+	const u32 kMaxIters = 20;
+
+	u32 iter = 0;
+	for (;;)
+	{
+		B3_ASSERT(d < d_max);
+		B3_ASSERT(d >= radius);
+		
+		float32 dt = (d - radius) / d_max;
+		t += dt;
+
+		if (t >= 1.0f)
+		{
+			// No overlap
+			output->iterations = iter;
+			return false;
+		}
+		
+		b3Transform txf1 = xf1;
+		
+		b3Transform txf2;
+		txf2.rotation = xf2.rotation;
+		txf2.position = (1.0f - t) * xf2.position + t * (xf2.position + r);
+
+		gjkOut = b3GJK(txf1, proxy1, txf2, proxy2, false, &cache);
+		d = gjkOut.distance;
+
+		if (d < radius + tolerance)
+		{
+			break;
+		}
+
+		++iter;
+
+		if (iter == kMaxIters)
+		{
+			output->iterations = iter;
+			return false;
+		}
+	}
+	
+	b3Vec3 n = gjkOut.point2 - gjkOut.point1;
+	n /= d;
+
+	output->t = t;
+	output->point = gjkOut.point1 + r1 * n;
+	output->normal = n;
+	output->iterations = iter;
+	return true;
 }
\ No newline at end of file

From f6903c145c7c396b52e886db3dbca97dc1d9ebf1 Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Tue, 2 Oct 2018 16:22:03 -0300
Subject: [PATCH 003/198] add shape cast test

---
 examples/testbed/framework/test_entries.cpp |   2 +
 examples/testbed/tests/shape_cast.h         | 118 ++++++++++++++++++++
 2 files changed, 120 insertions(+)
 create mode 100644 examples/testbed/tests/shape_cast.h

diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index d7d5475..6416061 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -20,6 +20,7 @@
 #include <testbed/tests/convex_hull.h>
 #include <testbed/tests/cluster.h>
 #include <testbed/tests/distance_test.h>
+#include <testbed/tests/shape_cast.h>
 #include <testbed/tests/collide_test.h>
 #include <testbed/tests/capsule_collision.h>
 #include <testbed/tests/hull_collision.h>
@@ -75,6 +76,7 @@ TestEntry g_tests[] =
 	{ "Convex Hull", &ConvexHull::Create },
 	{ "Cluster", &Cluster::Create },
 	{ "Distance", &Distance::Create },
+	{ "Shape Cast", &ShapeCast::Create },
 	{ "Capsule Collision", &CapsuleCollision::Create },
 	{ "Hull Collision", &HullCollision::Create },
 	{ "Deep Capsule", &DeepCapsule::Create },
diff --git a/examples/testbed/tests/shape_cast.h b/examples/testbed/tests/shape_cast.h
new file mode 100644
index 0000000..cfc4611
--- /dev/null
+++ b/examples/testbed/tests/shape_cast.h
@@ -0,0 +1,118 @@
+#ifndef SHAPE_CAST_H
+#define SHAPE_CAST_H
+
+class ShapeCast : public Test
+{
+public:
+	ShapeCast()
+	{
+		m_xfA.SetIdentity();
+		m_xfA.position.Set(-5.0f, 0.0f, 0.0f);
+		m_xfA.rotation.SetIdentity();
+		m_shapeA.m_centers[0].Set(0.0f, -2.0f, 0.0f);
+		m_shapeA.m_centers[1].Set(0.0f, 2.0f, 0.0f);
+		m_shapeA.m_radius = 1.0f;
+
+		m_xfB.SetIdentity();
+		m_xfB.position.Set(5.0f, 0.0f, 0.0f);
+		m_xfB.rotation.SetIdentity();
+		m_shapeB.m_hull = &b3BoxHull_identity;
+
+		m_proxyA.Set(&m_shapeA, 0);
+		m_proxyB.Set(&m_shapeB, 0);
+	}
+
+	void Step()
+	{
+		g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
+		g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");
+
+		g_draw->DrawTransform(m_xfA);
+		g_draw->DrawTransform(m_xfB);
+
+		m_world.DrawShape(m_xfA, &m_shapeA);
+		m_world.DrawShape(m_xfB, &m_shapeB);
+
+		b3Vec3 translationB = -20.0f * b3Vec3_x;
+		g_draw->DrawSegment(m_xfB.position, m_xfB.position + translationB, b3Color_white);
+
+		b3GJKRayCastOutput out;
+		bool hit = b3GJKRayCast(&out, m_xfA, m_proxyA, m_xfB, m_proxyB, translationB);
+
+		g_draw->DrawString(b3Color_white, "Iterations = %d", out.iterations);
+
+		if (hit)
+		{
+			g_draw->DrawPoint(out.point, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
+			g_draw->DrawSegment(out.point, out.point + out.normal, b3Color(0.0f, 1.0f, 0.0f));
+
+			b3Transform xfB;
+			xfB.rotation = m_xfB.rotation;
+			xfB.position = m_xfB.position + out.t * translationB;
+
+			m_world.DrawShape(xfB, &m_shapeB);
+		}
+	}
+
+	void KeyDown(int key)
+	{
+		if (key == GLFW_KEY_LEFT)
+		{
+			m_xfB.position.x -= 0.105f;
+		}
+
+		if (key == GLFW_KEY_RIGHT)
+		{
+			m_xfB.position.x += 0.105f;
+		}
+
+		if (key == GLFW_KEY_UP)
+		{
+			m_xfB.position.y += 0.105f;
+		}
+
+		if (key == GLFW_KEY_DOWN)
+		{
+			m_xfB.position.y -= 0.105f;
+		}
+
+		if (key == GLFW_KEY_X)
+		{
+			b3Quat qx(b3Vec3(1.0f, 0.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfx = b3QuatMat33(qx);
+
+			m_xfB.rotation = m_xfB.rotation * xfx;
+		}
+
+		if (key == GLFW_KEY_Y)
+		{
+			b3Quat qy(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfy = b3QuatMat33(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfy;
+		}
+
+		if (key == GLFW_KEY_Z)
+		{
+			b3Quat qy(b3Vec3(0.0f, 0.0f, 1.0f), 0.05f * B3_PI);
+			b3Mat33 xfz = b3QuatMat33(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfz;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new ShapeCast();
+	}
+
+	b3CapsuleShape m_shapeA;
+	b3Transform m_xfA;
+	b3ShapeGJKProxy m_proxyA;
+
+	b3HullShape m_shapeB;
+	b3Transform m_xfB;
+	b3ShapeGJKProxy m_proxyB;
+};
+
+#endif
\ No newline at end of file

From 3c2c53bb2bdfea53bf60b7faca56e29a47094eca Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Tue, 2 Oct 2018 16:25:04 -0300
Subject: [PATCH 004/198] typo

---
 src/bounce/collision/gjk/gjk.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index 1b058df..c569598 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -916,7 +916,7 @@ bool b3GJKRayCast(b3GJKRayCastOutput* output,
 		
 		b3Transform txf2;
 		txf2.rotation = xf2.rotation;
-		txf2.position = (1.0f - t) * xf2.position + t * (xf2.position + r);
+		txf2.position = (1.0f - t) * xf2.position + t * (xf2.position + translation2);
 
 		gjkOut = b3GJK(txf1, proxy1, txf2, proxy2, false, &cache);
 		d = gjkOut.distance;

From ed068d88576e9670cf2c661cddee163b14f175d3 Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Tue, 2 Oct 2018 18:56:59 -0300
Subject: [PATCH 005/198] remove assert

---
 src/bounce/collision/gjk/gjk.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index c569598..d8c87e8 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -899,7 +899,6 @@ bool b3GJKRayCast(b3GJKRayCastOutput* output,
 	u32 iter = 0;
 	for (;;)
 	{
-		B3_ASSERT(d < d_max);
 		B3_ASSERT(d >= radius);
 		
 		float32 dt = (d - radius) / d_max;

From 8030c3458a50ec2c0493a594361b6f51416f290e Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Fri, 5 Oct 2018 00:16:56 -0300
Subject: [PATCH 006/198] bugfix, cso gjk cast

---
 src/bounce/collision/gjk/gjk.cpp | 192 ++++++++++++++++++++++++++++++-
 1 file changed, 187 insertions(+), 5 deletions(-)

diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index d8c87e8..40ad582 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -881,11 +881,11 @@ bool b3GJKRayCast(b3GJKRayCastOutput* output,
 		return false;
 	}
 
+	b3Vec3 n = gjkOut.point2 - gjkOut.point1;
+	n /= d;
+
 	if (d < radius + tolerance)
 	{
-		b3Vec3 n = gjkOut.point2 - gjkOut.point1;
-		n /= d;
-
 		// Touch
 		output->t = t;
 		output->point = gjkOut.point1 + r1 * n;
@@ -920,6 +920,14 @@ bool b3GJKRayCast(b3GJKRayCastOutput* output,
 		gjkOut = b3GJK(txf1, proxy1, txf2, proxy2, false, &cache);
 		d = gjkOut.distance;
 
+		if (d == 0.0f)
+		{
+			break;
+		}
+
+		n = gjkOut.point2 - gjkOut.point1;
+		n /= d;
+
 		if (d < radius + tolerance)
 		{
 			break;
@@ -934,12 +942,186 @@ bool b3GJKRayCast(b3GJKRayCastOutput* output,
 		}
 	}
 	
-	b3Vec3 n = gjkOut.point2 - gjkOut.point1;
-	n /= d;
+	if (d > 0.0f)
+	{
+		n = gjkOut.point2 - gjkOut.point1;
+		n /= d;
+	}
 
 	output->t = t;
 	output->point = gjkOut.point1 + r1 * n;
 	output->normal = n;
 	output->iterations = iter;
 	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+// Gino van der Bergen
+// "Smooth Mesh Contacts with GJK"
+// Game Physics Pearls 2010, page 99
+bool b3GJKShapeCast(b3GJKRayCastOutput* output,
+	const b3Transform& xf1, const b3GJKProxy& proxy1,
+	const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2)
+{
+	float32 r1 = proxy1.radius;
+	float32 r2 = proxy2.radius;
+	float32 radius = r1 + r2;
+
+	b3Vec3 r = translation2;
+
+	float32 t = 0.0f;
+	b3Vec3 n = b3Vec3_zero;
+
+	u32 index1 = proxy1.GetSupportIndex(b3MulT(xf1.rotation, -r));
+	u32 index2 = proxy2.GetSupportIndex(b3MulT(xf2.rotation, r));
+	b3Vec3 w1 = xf1 * proxy1.GetVertex(index1);
+	b3Vec3 w2 = xf2 * proxy2.GetVertex(index2);
+	b3Vec3 v = w1 - w2;
+
+	b3Simplex simplex;
+	simplex.m_count = 0;
+
+	b3SimplexVertex* vertices = simplex.m_vertices;
+
+	u32 save1[4], save2[4];
+	u32 saveCount = 0;
+
+	const u32 kMaxIters = 20;
+	const float32 kTolerance = 10.0f * B3_EPSILON;
+
+	float32 maxTolerance = 1.0f;
+
+	u32 iter = 0;
+	while (iter < kMaxIters && b3Abs(b3LengthSquared(v) - radius * radius) > kTolerance * maxTolerance)
+	{
+		// Support in direction -v
+		index1 = proxy1.GetSupportIndex(b3MulT(xf1.rotation, -v));
+		index2 = proxy2.GetSupportIndex(b3MulT(xf2.rotation, v));
+		w1 = xf1 * proxy1.GetVertex(index1);
+		w2 = xf2 * proxy2.GetVertex(index2);
+		b3Vec3 p = w1 - w2;
+
+		// Support plane on boundary of CSO is (-v, p)
+		// -v is normal at p
+		float32 vp = b3Dot(v, p);
+		float32 vr = b3Dot(v, r);
+
+		if (vp - radius > t * vr)
+		{
+			if (vr > 0.0f)
+			{
+				t = (vp - radius) / vr;
+
+				if (t > 1.0f)
+				{
+					output->iterations = iter;
+					return false;
+				}
+
+				n = -v;
+
+				// Flush the simplex
+				simplex.m_count = 0;
+				saveCount = 0;
+			}
+			else
+			{
+				output->iterations = iter;
+				return false;
+			}
+		}
+
+		// Copy simplex so we can identify duplicates.
+		saveCount = simplex.m_count;
+		for (u32 i = 0; i < saveCount; ++i)
+		{
+			save1[i] = vertices[i].index1;
+			save2[i] = vertices[i].index2;
+		}
+
+		// Unite p - s to simplex
+		b3Vec3 s = t * r;
+
+		b3SimplexVertex* vertex = vertices + simplex.m_count;
+		vertex->index1 = index1;
+		vertex->point1 = w1;
+		vertex->index2 = index2;
+		vertex->point2 = w2;
+		vertex->point = p - s;
+
+		// If we found a duplicate support point we must exit to avoid cycling.
+		bool duplicate = false;
+		for (u32 i = 0; i < saveCount; ++i)
+		{
+			if (vertex->index1 == save1[i] && vertex->index2 == save2[i])
+			{
+				duplicate = true;
+				break;
+			}
+		}
+
+		if (duplicate)
+		{
+			break;
+		}
+
+		++simplex.m_count;
+
+		// Compute tolerance
+		maxTolerance = -B3_EPSILON;
+		for (u32 i = 0; i < simplex.m_count; ++i)
+		{
+			maxTolerance = b3Max(maxTolerance, b3LengthSquared(vertices[i].point));
+		}
+
+		// Sub-solve
+		const b3Vec3 origin = b3Vec3_zero;
+
+		switch (simplex.m_count)
+		{
+		case 1:
+			break;
+		case 2:
+			simplex.Solve2(origin);
+			break;
+		case 3:
+			simplex.Solve3(origin);
+			break;
+		case 4:
+			simplex.Solve4(origin);
+			break;
+		default:
+			B3_ASSERT(false);
+			break;
+		}
+
+		if (simplex.m_count == 4)
+		{
+			// Overlap
+			output->iterations = iter;
+			return false;
+		}
+
+		v = simplex.GetClosestPoint();
+
+		++iter;
+	}
+
+	// Prepare output.
+	b3Vec3 point1, point2;
+	simplex.GetClosestPoints(&point1, &point2);
+
+	if (b3LengthSquared(v) > B3_EPSILON * B3_EPSILON)
+	{
+		n = -v;
+	}
+
+	n.Normalize();
+
+	output->t = t;
+	output->point = point1 + r1 * n;
+	output->normal = n;
+	output->iterations = iter;
+	return true;
 }
\ No newline at end of file

From 6b95a04a091ced308392fd644c2353624cd2b887 Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Fri, 5 Oct 2018 11:57:23 -0300
Subject: [PATCH 007/198] rename a function, update a test

---
 examples/testbed/tests/shape_cast.h | 31 ++++++++++++++++-------------
 include/bounce/collision/gjk/gjk.h  |  6 +++---
 src/bounce/collision/gjk/gjk.cpp    | 24 ++++++++++------------
 3 files changed, 31 insertions(+), 30 deletions(-)

diff --git a/examples/testbed/tests/shape_cast.h b/examples/testbed/tests/shape_cast.h
index cfc4611..392ce0c 100644
--- a/examples/testbed/tests/shape_cast.h
+++ b/examples/testbed/tests/shape_cast.h
@@ -6,18 +6,18 @@ class ShapeCast : public Test
 public:
 	ShapeCast()
 	{
-		m_xfA.SetIdentity();
+		m_shapeA.m_hull = &b3BoxHull_identity;
+		m_shapeA.m_radius = 0.0f;
+
+		m_shapeB.m_hull = &b3BoxHull_identity;
+		m_shapeB.m_radius = 0.0f;
+
 		m_xfA.position.Set(-5.0f, 0.0f, 0.0f);
 		m_xfA.rotation.SetIdentity();
-		m_shapeA.m_centers[0].Set(0.0f, -2.0f, 0.0f);
-		m_shapeA.m_centers[1].Set(0.0f, 2.0f, 0.0f);
-		m_shapeA.m_radius = 1.0f;
 
-		m_xfB.SetIdentity();
-		m_xfB.position.Set(5.0f, 0.0f, 0.0f);
+		m_xfB.position.Set(10.0f, 0.0f, 0.0f);
 		m_xfB.rotation.SetIdentity();
-		m_shapeB.m_hull = &b3BoxHull_identity;
-
+		
 		m_proxyA.Set(&m_shapeA, 0);
 		m_proxyB.Set(&m_shapeB, 0);
 	}
@@ -33,18 +33,21 @@ public:
 		m_world.DrawShape(m_xfA, &m_shapeA);
 		m_world.DrawShape(m_xfB, &m_shapeB);
 
-		b3Vec3 translationB = -20.0f * b3Vec3_x;
+		g_draw->DrawSolidShape(&m_shapeA, b3Color_white, m_xfA);
+		g_draw->DrawSolidShape(&m_shapeB, b3Color_white, m_xfB);
+
+		b3Vec3 translationB = -100.0f * b3Vec3_x;
 		g_draw->DrawSegment(m_xfB.position, m_xfB.position + translationB, b3Color_white);
 
-		b3GJKRayCastOutput out;
-		bool hit = b3GJKRayCast(&out, m_xfA, m_proxyA, m_xfB, m_proxyB, translationB);
+		b3GJKShapeCastOutput out;
+		bool hit = b3GJKShapeCast(&out, m_xfA, m_proxyA, m_xfB, m_proxyB, translationB);
 
 		g_draw->DrawString(b3Color_white, "Iterations = %d", out.iterations);
 
 		if (hit)
 		{
-			g_draw->DrawPoint(out.point, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
-			g_draw->DrawSegment(out.point, out.point + out.normal, b3Color(0.0f, 1.0f, 0.0f));
+			g_draw->DrawPoint(out.point, 4.0f, b3Color_green);
+			g_draw->DrawSegment(out.point, out.point + out.normal, b3Color_green);
 
 			b3Transform xfB;
 			xfB.rotation = m_xfB.rotation;
@@ -106,7 +109,7 @@ public:
 		return new ShapeCast();
 	}
 
-	b3CapsuleShape m_shapeA;
+	b3HullShape m_shapeA;
 	b3Transform m_xfA;
 	b3ShapeGJKProxy m_proxyA;
 
diff --git a/include/bounce/collision/gjk/gjk.h b/include/bounce/collision/gjk/gjk.h
index 4053ecf..6261de6 100644
--- a/include/bounce/collision/gjk/gjk.h
+++ b/include/bounce/collision/gjk/gjk.h
@@ -114,8 +114,8 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
 	const b3Transform& xf2, const b3GJKProxy& proxy2,
 	bool applyRadius, b3SimplexCache* cache);
 
-// The output of the GJK-based ray cast algorithm.
-struct b3GJKRayCastOutput
+// The output of the GJK-based shape cast algorithm.
+struct b3GJKShapeCastOutput
 {
 	float32 t; // time of impact
 	b3Vec3 point; // contact point at t
@@ -124,7 +124,7 @@ struct b3GJKRayCastOutput
 };
 
 // Find the time of impact between two proxies given the relative target translation vector.
-bool b3GJKRayCast(b3GJKRayCastOutput* output,
+bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
 	const b3Transform& xf1, const b3GJKProxy& proxy1,
 	const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2);
 
diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index 40ad582..03ea554 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -854,7 +854,7 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
 
 // Brian Mirtich  
 // "Conservative Advancement" 
-bool b3GJKRayCast(b3GJKRayCastOutput* output,
+bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
 	const b3Transform& xf1, const b3GJKProxy& proxy1,
 	const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2)
 {
@@ -960,7 +960,7 @@ bool b3GJKRayCast(b3GJKRayCastOutput* output,
 // Gino van der Bergen
 // "Smooth Mesh Contacts with GJK"
 // Game Physics Pearls 2010, page 99
-bool b3GJKShapeCast(b3GJKRayCastOutput* output,
+bool b3GJKShapeCastCSO(b3GJKShapeCastOutput* output,
 	const b3Transform& xf1, const b3GJKProxy& proxy1,
 	const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2)
 {
@@ -1032,14 +1032,6 @@ bool b3GJKShapeCast(b3GJKRayCastOutput* output,
 			}
 		}
 
-		// Copy simplex so we can identify duplicates.
-		saveCount = simplex.m_count;
-		for (u32 i = 0; i < saveCount; ++i)
-		{
-			save1[i] = vertices[i].index1;
-			save2[i] = vertices[i].index2;
-		}
-
 		// Unite p - s to simplex
 		b3Vec3 s = t * r;
 
@@ -1075,6 +1067,14 @@ bool b3GJKShapeCast(b3GJKRayCastOutput* output,
 			maxTolerance = b3Max(maxTolerance, b3LengthSquared(vertices[i].point));
 		}
 
+		// Copy simplex so we can identify duplicates.
+		saveCount = simplex.m_count;
+		for (u32 i = 0; i < saveCount; ++i)
+		{
+			save1[i] = vertices[i].index1;
+			save2[i] = vertices[i].index2;
+		}
+
 		// Sub-solve
 		const b3Vec3 origin = b3Vec3_zero;
 
@@ -1098,9 +1098,7 @@ bool b3GJKShapeCast(b3GJKRayCastOutput* output,
 
 		if (simplex.m_count == 4)
 		{
-			// Overlap
-			output->iterations = iter;
-			return false;
+			break;
 		}
 
 		v = simplex.GetClosestPoint();

From 41e036f268be078663bda6b5c01b785d13d325f2 Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Sat, 6 Oct 2018 00:26:53 -0300
Subject: [PATCH 008/198] restore a function

---
 include/bounce/collision/shapes/aabb3.h       | 86 +++++++++++++------
 include/bounce/collision/trees/dynamic_tree.h |  4 +-
 include/bounce/collision/trees/static_tree.h  |  4 +-
 3 files changed, 62 insertions(+), 32 deletions(-)

diff --git a/include/bounce/collision/shapes/aabb3.h b/include/bounce/collision/shapes/aabb3.h
index 46f9c5a..1ffd8b4 100644
--- a/include/bounce/collision/shapes/aabb3.h
+++ b/include/bounce/collision/shapes/aabb3.h
@@ -146,40 +146,70 @@ struct b3AABB3
 	}
 
 	// Test if a ray intersects this AABB.
-	// Output the minimum and maximum intersection fractions to derive the minimum and maximum intersection points.
-	bool TestRay(const b3Vec3& p1, const b3Vec3& p2, float32& min_t, float32& max_t) const 
+	bool TestRay(float32& minFraction, const b3Vec3& p1, const b3Vec3& p2, float32 maxFraction) const
 	{
 		b3Vec3 d = p2 - p1;
-		float32 t = d.Normalize();
-		B3_ASSERT(t > B3_EPSILON);
-
-		b3Vec3 inv_d;
-		inv_d.x = 1.0f / d.x;
-		inv_d.y = 1.0f / d.y;
-		inv_d.z = 1.0f / d.z;
-
-		b3Vec3 t1;
-		t1.x = (m_lower.x - p1.x) * inv_d.x;
-		t1.y = (m_lower.y - p1.y) * inv_d.y;
-		t1.z = (m_lower.z - p1.z) * inv_d.z;
-
-		b3Vec3 t2;
-		t2.x = (m_upper.x - p1.x) * inv_d.x;
-		t2.y = (m_upper.y - p1.y) * inv_d.y;
-		t2.z = (m_upper.z - p1.z) * inv_d.z;
-
+		
+		float32 lower = 0.0f;
+		float32 upper = maxFraction;
+		
 		for (u32 i = 0; i < 3; ++i)
 		{
-			min_t = b3Max(min_t, b3Min(t1[i], t2[i]));
-			max_t = b3Min(max_t, b3Max(t1[i], t2[i]));
+			float32 numerators[2], denominators[2];
+
+			numerators[0] = p1[i] - m_lower[i];
+			numerators[1] = m_upper[i] - p1[i];
+
+			denominators[0] = -d[i];
+			denominators[1] = d[i];
+			
+			for (u32 j = 0; j < 2; ++j)
+			{
+				float32 numerator = numerators[j];
+				float32 denominator = denominators[j];
+				
+				if (denominator == 0.0f)
+				{
+					// s is parallel to this half-space.
+					if (numerator < 0.0f)
+					{
+						// s is outside of this half-space.
+						// dot(n, p1) and dot(n, p2) < 0.
+						return false;
+					}
+				}
+				else
+				{
+					if (denominator < 0.0f)
+					{
+						// s enters this half-space.
+						if (numerator < lower * denominator)
+						{
+							// Increase lower.
+							lower = numerator / denominator;
+						}
+					}
+					else
+					{
+						// s exits the half-space.	
+						if (numerator < upper * denominator)
+						{
+							// Decrease upper.
+							upper = numerator / denominator;
+						}
+					}
+					// Exit if intersection becomes empty.
+					if (upper < lower)
+					{
+						return false;
+					}
+				}
+			}
 		}
 
-		if (min_t >= 0.0f && min_t >= max_t && max_t <= t)
-		{
-			return true;
-		}
-
-		return false;
+		B3_ASSERT(lower >= 0.0f && lower <= maxFraction);
+		minFraction = lower;
+		return true;
 	}
 };
 
diff --git a/include/bounce/collision/trees/dynamic_tree.h b/include/bounce/collision/trees/dynamic_tree.h
index 227d68b..761c28c 100644
--- a/include/bounce/collision/trees/dynamic_tree.h
+++ b/include/bounce/collision/trees/dynamic_tree.h
@@ -211,8 +211,8 @@ inline void b3DynamicTree::RayCast(T* callback, const b3RayCastInput& input) con
 
 		const b3Node* node = m_nodes + nodeIndex;
 
-		float32 minFraction = 0.0f;
-		if (node->aabb.TestRay(p1, p2, maxFraction, minFraction) == true) 
+		float32 minFraction;
+		if (node->aabb.TestRay(minFraction, p1, p2, maxFraction) == true)
 		{
 			if (node->IsLeaf() == true) 
 			{
diff --git a/include/bounce/collision/trees/static_tree.h b/include/bounce/collision/trees/static_tree.h
index 1af50ad..069b855 100644
--- a/include/bounce/collision/trees/static_tree.h
+++ b/include/bounce/collision/trees/static_tree.h
@@ -174,8 +174,8 @@ inline void b3StaticTree::RayCast(T* callback, const b3RayCastInput& input) cons
 
 		const b3Node* node = m_nodes + nodeIndex;
 
-		float32 minFraction = 0.0f;
-		if (node->aabb.TestRay(p1, p2, maxFraction, minFraction) == true) 
+		float32 minFraction;
+		if (node->aabb.TestRay(minFraction, p1, p2, maxFraction) == true)
 		{
 			if (node->IsLeaf() == true) 
 			{

From f4d9df413924c81445013fb6126eea464d16f18d Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Sat, 6 Oct 2018 00:54:22 -0300
Subject: [PATCH 009/198] externalize window

---
 examples/testbed/framework/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 211d510..22ff529 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -31,7 +31,7 @@
 #include <testbed/framework/view_model.h>
 
 //
-static GLFWwindow* g_window;
+GLFWwindow* g_window;
 
 //
 static Model* g_model;

From 658ac8298ad59cfb2d9a3304ceedbb833fbae1e4 Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Sat, 6 Oct 2018 13:56:20 -0300
Subject: [PATCH 010/198] replace point click test by character test

---
 examples/testbed/framework/test_entries.cpp |   4 +-
 examples/testbed/tests/character_test.h     | 569 ++++++++++++++++++++
 examples/testbed/tests/point_click.h        |  98 ----
 3 files changed, 571 insertions(+), 100 deletions(-)
 create mode 100644 examples/testbed/tests/character_test.h
 delete mode 100644 examples/testbed/tests/point_click.h

diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index 6416061..69737b1 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -54,7 +54,7 @@
 #include <testbed/tests/pyramids.h>
 #include <testbed/tests/ray_cast.h>
 #include <testbed/tests/sensor_test.h>
-#include <testbed/tests/point_click.h>
+#include <testbed/tests/character_test.h>
 #include <testbed/tests/body_types.h>
 #include <testbed/tests/varying_friction.h>
 #include <testbed/tests/varying_restitution.h>
@@ -108,7 +108,7 @@ TestEntry g_tests[] =
 	{ "Box Pyramid Rows", &Pyramids::Create },
 	{ "Ray Cast", &RayCast::Create },
 	{ "Sensor Test", &SensorTest::Create },
-	{ "Point & Click", &PointClick::Create },
+	{ "Character", &CharacterTest::Create },
 	{ "Body Types", &BodyTypes::Create },
 	{ "Varying Friction", &VaryingFriction::Create },
 	{ "Varying Restitution", &VaryingRestitution::Create },
diff --git a/examples/testbed/tests/character_test.h b/examples/testbed/tests/character_test.h
new file mode 100644
index 0000000..8cf3c44
--- /dev/null
+++ b/examples/testbed/tests/character_test.h
@@ -0,0 +1,569 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CHARACTER_TEST_H
+#define CHARACTER_TEST_H
+
+struct Plane
+{
+	b3Vec3 n;
+	b3Vec3 p;
+};
+
+class CharacterController
+{
+public:
+	CharacterController(b3SphereShape* shape)
+	{
+		m_characterShape = shape;
+		m_characterBody = m_characterShape->GetBody();
+		m_world = m_characterBody->GetWorld();
+		m_translation.SetZero();
+		m_isGrounded = false;
+		
+		UpdateGrounded();
+	}
+
+	~CharacterController()
+	{
+
+	}
+
+	bool IsGrounded() const
+	{
+		return m_isGrounded;
+	}
+
+	void Move(const b3Vec3& translation)
+	{
+		m_translation += translation;
+	}
+
+	void Solve()
+	{
+		b3StackArray<b3Shape*, 32> shapes;
+		CollectStaticShapes(shapes);
+
+		b3StackArray<Plane, 32> planes;
+		CollectOverlapPlanes(planes, shapes);
+
+		b3Vec3 startPosition = m_characterBody->GetWorldCenter();
+
+		b3Vec3 targetPosition = startPosition + m_translation;
+
+		m_translation.SetZero();
+
+		b3Vec3 solvePosition = SolvePositionConstraints(planes, targetPosition);
+
+		b3Vec3 oldSolvePosition = solvePosition;
+
+		for (;;)
+		{
+			b3Vec3 translation = solvePosition - startPosition;
+
+			CollectSweepPlanes(planes, shapes, translation);
+
+			solvePosition = SolvePositionConstraints(planes, targetPosition);
+
+			const float32 tolerance = 0.05f;
+
+			if (b3DistanceSquared(oldSolvePosition, solvePosition) < tolerance * tolerance)
+			{
+				break;
+			}
+
+			oldSolvePosition = solvePosition;
+		}
+
+		// Update body
+		b3Quat orientation = m_characterBody->GetOrientation();
+
+		b3Vec3 axis;
+		float32 angle;
+		orientation.GetAxisAngle(&axis, &angle);
+
+		m_characterBody->SetTransform(solvePosition, axis, angle);
+	}
+
+	void Step()
+	{
+		Solve();
+
+		UpdateGrounded();
+	}
+private:
+	b3Sphere GetCharacterSphere() const
+	{
+		b3Sphere sphere;
+		sphere.vertex = m_characterBody->GetWorldPoint(m_characterShape->m_center);
+		sphere.radius = m_characterShape->m_radius;
+		return sphere;
+	}
+
+	void UpdateGrounded()
+	{
+		b3StackArray<b3Shape*, 32> shapes;
+		CollectStaticShapes(shapes);
+
+		b3StackArray<Plane, 32> planes;
+		CollectOverlapPlanes(planes, shapes);
+
+		m_isGrounded = false;
+		
+		for (u32 i = 0; i < planes.Count(); ++i)
+		{
+			Plane plane = planes[i];
+
+			if (b3Dot(b3Vec3_y, plane.n) > 0.0f)
+			{
+				m_isGrounded = true;
+				break;
+			}
+		}
+	}
+
+	void CollectStaticShapes(b3Array<b3Shape*>& shapes) const
+	{
+		for (b3Body* b = m_world->GetBodyList().m_head; b; b = b->GetNext())
+		{
+			if (b == m_characterBody)
+			{
+				continue;
+			}
+
+			if (b->GetType() != e_staticBody)
+			{
+				continue;
+			}
+
+			for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
+			{
+				if (s->GetType() == e_meshShape)
+				{
+					continue;
+				}
+
+				shapes.PushBack(s);
+			}
+		}
+	}
+
+	void CollectOverlapPlanes(b3Array<Plane>& planes,
+		const b3Array<b3Shape*>& shapes) const
+	{
+		b3Sphere sphere2 = GetCharacterSphere();
+
+		for (u32 i = 0; i < shapes.Count(); ++i)
+		{
+			b3Shape* shape1 = shapes[i];
+			b3Body* body1 = shape1->GetBody();
+			b3Transform xf1 = body1->GetTransform();
+
+			b3TestSphereOutput output;
+			bool overlap = shape1->TestSphere(&output, sphere2, xf1);
+
+			if (overlap == false)
+			{
+				continue;
+			}
+
+			Plane plane;
+			plane.n = output.normal;
+			plane.p = output.point;
+
+			planes.PushBack(plane);
+		}
+	}
+
+	void CollectSweepPlanes(b3Array<Plane>& planes,
+		const b3Array<b3Shape*>& shapes,
+		const b3Vec3& translation2) const
+	{
+		if (b3LengthSquared(translation2) < B3_EPSILON * B3_EPSILON)
+		{
+			return;
+		}
+
+		b3Transform xf2 = m_characterBody->GetTransform();
+
+		b3ShapeGJKProxy proxy2;
+		proxy2.Set(m_characterShape, 0);
+
+		for (u32 i = 0; i < shapes.Count(); ++i)
+		{
+			b3Shape* shape1 = shapes[i];
+			b3Body* body1 = shape1->GetBody();
+
+			b3Transform xf1 = body1->GetTransform();
+
+			b3ShapeGJKProxy proxy1;
+			proxy1.Set(shape1, 0);
+
+			b3GJKShapeCastOutput output;
+			bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
+
+			if (hit == false)
+			{
+				continue;
+			}
+
+			Plane plane;
+			plane.n = output.normal;
+			plane.p = output.point;
+
+			planes.PushBack(plane);
+		}
+	}
+
+	b3Vec3 SolvePositionConstraints(const b3Array<Plane>& planes, const b3Vec3& position) const
+	{
+		b3Vec3 localCenter = m_characterBody->GetLocalCenter();
+		b3Vec3 c = position;
+		b3Quat q = m_characterBody->GetOrientation();
+
+		const u32 kMaxPositionIterations = 10;
+
+		for (u32 i = 0; i < kMaxPositionIterations; ++i)
+		{
+			for (u32 j = 0; j < planes.Count(); ++j)
+			{
+				Plane nc = planes[j];
+				b3Plane plane(nc.n, nc.p);
+
+				b3Transform xf;
+				xf.rotation = b3QuatMat33(q);
+				xf.position = c - b3Mul(xf.rotation, localCenter);
+
+				b3Sphere sphere;
+				sphere.vertex = b3Mul(xf, m_characterShape->m_center);
+				sphere.radius = m_characterShape->m_radius;
+
+				float32 separation = b3Distance(sphere.vertex, plane);
+
+				if (separation > sphere.radius)
+				{
+					continue;
+				}
+
+				separation -= sphere.radius;
+
+				float32 C = b3Clamp(B3_BAUMGARTE * (separation + B3_LINEAR_SLOP), -B3_MAX_LINEAR_CORRECTION, 0.0f);
+				
+				b3Vec3 normal = plane.normal;
+				b3Vec3 P = C * normal;
+
+				c -= P;
+			}
+		}
+
+		return c;
+	}
+
+	b3World* m_world;
+	b3Body* m_characterBody;
+	b3SphereShape* m_characterShape;
+	b3Vec3 m_translation;
+	bool m_isGrounded;
+};
+
+class CharacterTest : public Test
+{
+public:
+	CharacterTest()
+	{
+		{
+			b3BodyDef bdef;
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(-10.0f, 3.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull;
+			boxHull.Set(2.0f, 2.0f, 5.0f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+		
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(-10.0f, 9.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull;
+			boxHull.Set(1.0f, 4.0f, 1.0f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+		
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(-10.0f, 2.7f, 7.0f);
+			bdef.orientation.Set(b3Vec3_x, 0.25f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull;
+			boxHull.Set(2.0f, 0.25f, 3.0f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+		
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(-10.0f, 2.7f, -7.0f);
+			bdef.orientation.Set(b3Vec3_x, -0.25f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull;
+			boxHull.Set(2.0f, 0.25f, 3.0f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(10.0f, 3.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull;
+			boxHull.Set(2.0f, 2.0f, 5.0f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+		
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(10.0f, 9.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull;
+			boxHull.Set(1.0f, 4.0f, 1.0f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(10.0f, 2.7f, 7.0f);
+			bdef.orientation.Set(b3Vec3_x, 0.25f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull;
+			boxHull.Set(2.0f, 0.25f, 3.0f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(10.0f, 2.7f, -7.0f);
+			bdef.orientation.Set(b3Vec3_x, -0.25f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull;
+			boxHull.Set(2.0f, 0.25f, 3.0f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+		
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(0.0f, 4.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull;
+			boxHull.Set(8.0f, 1.0f, 2.0f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+		
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_kinematicBody;
+			bdef.position.Set(0.0f, 1.0f, 20.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3SphereShape sphere;
+			sphere.m_center.SetZero();
+			sphere.m_radius = 1.0f;
+
+			b3ShapeDef sdef;
+			sdef.shape = &sphere;
+
+			b3SphereShape* shape = (b3SphereShape*)body->CreateShape(sdef);
+
+			m_characterController = new CharacterController(shape);
+		}
+	}
+
+	~CharacterTest()
+	{
+		delete m_characterController;
+	}
+
+	void Step()
+	{
+		g_draw->DrawString(b3Color_white, "Arrows - Walk");
+		g_draw->DrawString(b3Color_white, "Space - Jump");
+
+		float32 dt = g_testSettings->inv_hertz;
+
+		const float32 walkSpeed = 10.0f;
+		const float32 jumpSpeed = 300.0f;
+		const float32 gravity = 50.0f * 9.8f;
+		b3Vec3 velocity = b3Vec3_zero;
+
+		bool isGounded = m_characterController->IsGrounded();
+
+		if (isGounded)
+		{
+			extern GLFWwindow* g_window;
+
+			bool leftDown = glfwGetKey(g_window, GLFW_KEY_LEFT);
+			bool rightDown = glfwGetKey(g_window, GLFW_KEY_RIGHT);
+			bool downDown = glfwGetKey(g_window, GLFW_KEY_DOWN);
+			bool upDown = glfwGetKey(g_window, GLFW_KEY_UP);
+			bool spaceDown = glfwGetKey(g_window, GLFW_KEY_SPACE);
+
+			// Walk
+			if (leftDown)
+			{
+				velocity.x -= walkSpeed;
+			}
+
+			if (rightDown)
+			{
+				velocity.x += walkSpeed;
+			}
+
+			if (upDown)
+			{
+				velocity.z -= walkSpeed;
+			}
+
+			if (downDown)
+			{
+				velocity.z += walkSpeed;
+			}
+
+			// Jump
+			if (spaceDown)
+			{
+				velocity.y += jumpSpeed;
+			}
+		}
+
+		// Integrate gravity
+		velocity.y -= dt * gravity;
+
+		// Compute translation
+		b3Vec3 translation = dt * velocity;
+		
+		// Move character
+		m_characterController->Move(translation);
+
+		// Step controllers
+		m_characterController->Step();
+
+		// Step world
+		Test::Step();
+	}
+
+	static Test* Create()
+	{
+		return new CharacterTest();
+	}
+
+	CharacterController* m_characterController;
+};
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/point_click.h b/examples/testbed/tests/point_click.h
deleted file mode 100644
index 0f1f3a1..0000000
--- a/examples/testbed/tests/point_click.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef POINT_CLICK_H
-#define POINT_CLICK_H
-
-class PointClick : public Test
-{
-public:
-	PointClick()
-	{
-		{
-			b3BodyDef bdef;
-			b3Body* ground = m_world.CreateBody(bdef);
-
-			b3MeshShape ms;
-			ms.m_mesh = &m_groundMesh;
-
-			b3ShapeDef sd;
-			sd.shape = &ms;
-			
-			ground->CreateShape(sd);
-		}
-
-		{
-			b3BodyDef bdef;
-			bdef.type = b3BodyType::e_dynamicBody;
-			bdef.fixedRotationY = true;
-			bdef.position.Set(0.0f, 5.0f, 0.0f);
-			
-			m_character = m_world.CreateBody(bdef);
-
-			b3CapsuleShape cap;
-			cap.m_centers[0].Set(0.0f, 1.0f, 0.0f);
-			cap.m_centers[1].Set(0.0f, -1.0f, 0.0f);
-			cap.m_radius = 1.0f;
-
-			b3ShapeDef sdef;
-			sdef.shape = &cap;
-			sdef.density = 1.0f;
-			sdef.friction = 0.5f;
-
-			m_character->CreateShape(sdef);
-		}
-	}
-
-	void BeginDragging()
-	{
-		if (m_bodyDragger.GetBody() == m_character)
-		{
-			m_bodyDragger.StopDragging();
-		}
-	}
-
-	void Step()
-	{
-		if (m_bodyDragger.IsDragging())
-		{
-			if (m_bodyDragger.GetBody() != m_character)
-			{
-				b3Vec3 p1 = m_character->GetPosition();
-				b3Vec3 p2 = m_bodyDragger.GetPointA();
-				
-				b3Vec3 n = b3Normalize(p2 - p1);
-				const float32 k = 1000.0f;
-				b3Vec3 f = k * n;
-
-				m_character->ApplyForceToCenter(f, true);
-			}
-		}
-
-		Test::Step();
-	}
-
-	static Test* Create()
-	{
-		return new PointClick();
-	}
-
-	b3Body* m_character;
-};
-
-#endif
\ No newline at end of file

From 17cf8377124f4bbe63f7dcaa4c5ac8525786be53 Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Sat, 6 Oct 2018 13:58:56 -0300
Subject: [PATCH 011/198] move a function

---
 examples/testbed/tests/character_test.h | 92 ++++++++++++-------------
 1 file changed, 46 insertions(+), 46 deletions(-)

diff --git a/examples/testbed/tests/character_test.h b/examples/testbed/tests/character_test.h
index 8cf3c44..bc4b7b2 100644
--- a/examples/testbed/tests/character_test.h
+++ b/examples/testbed/tests/character_test.h
@@ -54,52 +54,6 @@ public:
 		m_translation += translation;
 	}
 
-	void Solve()
-	{
-		b3StackArray<b3Shape*, 32> shapes;
-		CollectStaticShapes(shapes);
-
-		b3StackArray<Plane, 32> planes;
-		CollectOverlapPlanes(planes, shapes);
-
-		b3Vec3 startPosition = m_characterBody->GetWorldCenter();
-
-		b3Vec3 targetPosition = startPosition + m_translation;
-
-		m_translation.SetZero();
-
-		b3Vec3 solvePosition = SolvePositionConstraints(planes, targetPosition);
-
-		b3Vec3 oldSolvePosition = solvePosition;
-
-		for (;;)
-		{
-			b3Vec3 translation = solvePosition - startPosition;
-
-			CollectSweepPlanes(planes, shapes, translation);
-
-			solvePosition = SolvePositionConstraints(planes, targetPosition);
-
-			const float32 tolerance = 0.05f;
-
-			if (b3DistanceSquared(oldSolvePosition, solvePosition) < tolerance * tolerance)
-			{
-				break;
-			}
-
-			oldSolvePosition = solvePosition;
-		}
-
-		// Update body
-		b3Quat orientation = m_characterBody->GetOrientation();
-
-		b3Vec3 axis;
-		float32 angle;
-		orientation.GetAxisAngle(&axis, &angle);
-
-		m_characterBody->SetTransform(solvePosition, axis, angle);
-	}
-
 	void Step()
 	{
 		Solve();
@@ -274,6 +228,52 @@ private:
 		return c;
 	}
 
+	void Solve()
+	{
+		b3StackArray<b3Shape*, 32> shapes;
+		CollectStaticShapes(shapes);
+
+		b3StackArray<Plane, 32> planes;
+		CollectOverlapPlanes(planes, shapes);
+
+		b3Vec3 startPosition = m_characterBody->GetWorldCenter();
+
+		b3Vec3 targetPosition = startPosition + m_translation;
+
+		m_translation.SetZero();
+
+		b3Vec3 solvePosition = SolvePositionConstraints(planes, targetPosition);
+
+		b3Vec3 oldSolvePosition = solvePosition;
+
+		for (;;)
+		{
+			b3Vec3 translation = solvePosition - startPosition;
+
+			CollectSweepPlanes(planes, shapes, translation);
+
+			solvePosition = SolvePositionConstraints(planes, targetPosition);
+
+			const float32 tolerance = 0.05f;
+
+			if (b3DistanceSquared(oldSolvePosition, solvePosition) < tolerance * tolerance)
+			{
+				break;
+			}
+
+			oldSolvePosition = solvePosition;
+		}
+
+		// Update body
+		b3Quat orientation = m_characterBody->GetOrientation();
+
+		b3Vec3 axis;
+		float32 angle;
+		orientation.GetAxisAngle(&axis, &angle);
+
+		m_characterBody->SetTransform(solvePosition, axis, angle);
+	}
+
 	b3World* m_world;
 	b3Body* m_characterBody;
 	b3SphereShape* m_characterShape;

From cd4afc58b06eb9b65822ca33cc8ae11018f5f82d Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Sat, 6 Oct 2018 20:45:41 -0300
Subject: [PATCH 012/198] bugfix

---
 src/bounce/dynamics/shapes/hull_shape.cpp | 64 +++++++++++++++++------
 1 file changed, 49 insertions(+), 15 deletions(-)

diff --git a/src/bounce/dynamics/shapes/hull_shape.cpp b/src/bounce/dynamics/shapes/hull_shape.cpp
index 7428eba..1c1333e 100644
--- a/src/bounce/dynamics/shapes/hull_shape.cpp
+++ b/src/bounce/dynamics/shapes/hull_shape.cpp
@@ -17,8 +17,10 @@
 */
 
 #include <bounce/dynamics/shapes/hull_shape.h>
-#include <bounce/collision/shapes/hull.h>
 #include <bounce/dynamics/time_step.h>
+#include <bounce/dynamics/contacts/collide/collide.h>
+#include <bounce/collision/shapes/hull.h>
+#include <bounce/collision/gjk/gjk.h>
 
 b3HullShape::b3HullShape()
 {
@@ -184,10 +186,45 @@ bool b3HullShape::TestSphere(const b3Sphere& sphere, const b3Transform& xf) cons
 
 bool b3HullShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf) const
 {
-	// Perform computations in the local space of the first hull.
-	b3Vec3 support = b3MulT(xf, sphere.vertex);
-	float32 radius = m_radius + sphere.radius;
+	b3Transform xf1 = xf;
+	b3Transform xf2 = b3Transform_identity;
+
+	b3ShapeGJKProxy proxy1(this, 0);
 	
+	b3GJKProxy proxy2;
+	proxy2.vertexCount = 1;
+	proxy2.vertexBuffer[0] = sphere.vertex;
+	proxy2.vertices = proxy2.vertexBuffer;
+	proxy2.radius = sphere.radius;
+
+	b3GJKOutput gjk = b3GJK(xf1, proxy1, xf2, proxy2);
+
+	float32 r1 = proxy1.radius;
+	float32 r2 = proxy2.radius;
+
+	float32 totalRadius = r1 + r2;
+
+	if (gjk.distance > totalRadius)
+	{
+		return false;
+	}
+
+	if (gjk.distance > 0.0f)
+	{
+		b3Vec3 c1 = gjk.point1;
+		b3Vec3 c2 = gjk.point2;
+		b3Vec3 n = (c2 - c1) / gjk.distance;
+
+		output->point = c1;
+		output->normal = n;
+		output->separation = gjk.distance - totalRadius;
+
+		return true;
+	}
+
+	// Perform computations in the local space of the first hull.
+	b3Vec3 support = b3MulT(xf1, sphere.vertex);
+
 	u32 maxIndex = ~0;
 	float32 maxSeparation = -B3_MAX_FLOAT;
 
@@ -196,7 +233,7 @@ bool b3HullShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere,
 		b3Plane plane = m_hull->GetPlane(i);
 		float32 separation = b3Distance(support, plane);
 
-		if (separation > radius)
+		if (separation > totalRadius)
 		{
 			return false;
 		}
@@ -208,17 +245,14 @@ bool b3HullShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere,
 		}
 	}
 
-	if (maxIndex != ~0)
-	{
-		b3Plane plane = b3Mul(xf, m_hull->GetPlane(maxIndex));
-		output->point = b3ClosestPointOnPlane(sphere.vertex, plane);
-		output->separation = maxSeparation - radius;
-		output->normal = plane.normal;
-		return true;
-	}
+	B3_ASSERT(maxIndex != ~0);
+
+	b3Plane plane = b3Mul(xf1, m_hull->GetPlane(maxIndex));
 	
-	B3_ASSERT(false);
-	return false;
+	output->point = b3ClosestPointOnPlane(sphere.vertex, plane);
+	output->separation = maxSeparation - totalRadius;
+	output->normal = plane.normal;
+	return true;
 }
 
 bool b3HullShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf) const

From 69e2cd4c563ae42fba3acf937d278456ada72405 Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Sat, 6 Oct 2018 20:47:06 -0300
Subject: [PATCH 013/198] TestSphere for triangles

---
 include/bounce/dynamics/shapes/mesh_shape.h |  2 ++
 include/bounce/dynamics/shapes/shape.h      |  1 +
 src/bounce/dynamics/shapes/mesh_shape.cpp   | 20 ++++++++++++++++++++
 3 files changed, 23 insertions(+)

diff --git a/include/bounce/dynamics/shapes/mesh_shape.h b/include/bounce/dynamics/shapes/mesh_shape.h
index c8215e6..7436e3c 100644
--- a/include/bounce/dynamics/shapes/mesh_shape.h
+++ b/include/bounce/dynamics/shapes/mesh_shape.h
@@ -41,6 +41,8 @@ public:
 
 	bool TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf) const;
 	
+	bool TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf, u32 childIndex) const;
+	
 	bool RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf) const;
 
 	bool RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf, u32 childIndex) const;
diff --git a/include/bounce/dynamics/shapes/shape.h b/include/bounce/dynamics/shapes/shape.h
index 53aa35e..c62df71 100644
--- a/include/bounce/dynamics/shapes/shape.h
+++ b/include/bounce/dynamics/shapes/shape.h
@@ -153,6 +153,7 @@ protected:
 	friend class b3Body;
 	friend class b3Contact;
 	friend class b3ContactManager;
+	friend class b3MeshShape;
 	friend class b3MeshContact;
 	friend class b3ContactSolver;
 	friend class b3List1<b3Shape>;
diff --git a/src/bounce/dynamics/shapes/mesh_shape.cpp b/src/bounce/dynamics/shapes/mesh_shape.cpp
index 7d2fa9e..012028e 100644
--- a/src/bounce/dynamics/shapes/mesh_shape.cpp
+++ b/src/bounce/dynamics/shapes/mesh_shape.cpp
@@ -17,7 +17,9 @@
 */
 
 #include <bounce/dynamics/shapes/mesh_shape.h>
+#include <bounce/dynamics/shapes/hull_shape.h>
 #include <bounce/collision/shapes/mesh.h>
+#include <bounce/collision/shapes/triangle_hull.h>
 
 b3MeshShape::b3MeshShape() 
 {
@@ -88,6 +90,24 @@ bool b3MeshShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere,
 	return false;
 }
 
+bool b3MeshShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf, u32 index) const
+{
+	B3_ASSERT(index < m_mesh->triangleCount);
+	b3Triangle* triangle = m_mesh->triangles + index;
+	b3Vec3 v1 = m_mesh->vertices[triangle->v1];
+	b3Vec3 v2 = m_mesh->vertices[triangle->v2];
+	b3Vec3 v3 = m_mesh->vertices[triangle->v3];
+
+	b3TriangleHull hull(v1, v2, v3);
+
+	b3HullShape hullShape;
+	hullShape.m_body = m_body;
+	hullShape.m_hull = &hull;
+	hullShape.m_radius = B3_HULL_RADIUS;
+
+	return hullShape.TestSphere(output, sphere, xf);
+}
+
 bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf, u32 index) const
 {
 	B3_ASSERT(index < m_mesh->triangleCount);

From f598c72faecfb4b9b0550ee03c2001d9eedced9e Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Sat, 6 Oct 2018 20:48:16 -0300
Subject: [PATCH 014/198] update a test

---
 examples/testbed/tests/character_test.h | 105 +++++++++++++++++-------
 1 file changed, 75 insertions(+), 30 deletions(-)

diff --git a/examples/testbed/tests/character_test.h b/examples/testbed/tests/character_test.h
index bc4b7b2..762bf0c 100644
--- a/examples/testbed/tests/character_test.h
+++ b/examples/testbed/tests/character_test.h
@@ -83,9 +83,14 @@ private:
 		{
 			Plane plane = planes[i];
 
-			if (b3Dot(b3Vec3_y, plane.n) > 0.0f)
+			float32 cosine = b3Dot(b3Vec3_y, plane.n);
+			
+			// ~80 degrees
+			const float32 kTol = 0.17f;
+			
+			if (cosine > kTol)
 			{
-				m_isGrounded = true;
+ 				m_isGrounded = true;
 				break;
 			}
 		}
@@ -107,11 +112,6 @@ private:
 
 			for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
 			{
-				if (s->GetType() == e_meshShape)
-				{
-					continue;
-				}
-
 				shapes.PushBack(s);
 			}
 		}
@@ -128,19 +128,40 @@ private:
 			b3Body* body1 = shape1->GetBody();
 			b3Transform xf1 = body1->GetTransform();
 
-			b3TestSphereOutput output;
-			bool overlap = shape1->TestSphere(&output, sphere2, xf1);
-
-			if (overlap == false)
+			if (shape1->GetType() == e_meshShape)
 			{
-				continue;
+				b3MeshShape* meshShape1 = (b3MeshShape*)shape1;
+				const b3Mesh* mesh1 = meshShape1->m_mesh;
+
+				for (u32 j = 0; j < mesh1->triangleCount; ++j)
+				{
+					b3TestSphereOutput output;
+					bool overlap = meshShape1->TestSphere(&output, sphere2, xf1, j);
+
+					if (overlap)
+					{
+						Plane plane;
+						plane.n = output.normal;
+						plane.p = output.point;
+
+						planes.PushBack(plane);
+					}
+				}
 			}
+			else
+			{
+				b3TestSphereOutput output;
+				bool overlap = shape1->TestSphere(&output, sphere2, xf1);
 
-			Plane plane;
-			plane.n = output.normal;
-			plane.p = output.point;
+				if (overlap)
+				{
+					Plane plane;
+					plane.n = output.normal;
+					plane.p = output.point;
 
-			planes.PushBack(plane);
+					planes.PushBack(plane);
+				}
+			}
 		}
 	}
 
@@ -165,22 +186,46 @@ private:
 
 			b3Transform xf1 = body1->GetTransform();
 
-			b3ShapeGJKProxy proxy1;
-			proxy1.Set(shape1, 0);
-
-			b3GJKShapeCastOutput output;
-			bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
-
-			if (hit == false)
+			if (shape1->GetType() == e_meshShape)
 			{
-				continue;
+				b3MeshShape* meshShape1 = (b3MeshShape*)shape1;
+				const b3Mesh* mesh1 = meshShape1->m_mesh;
+
+				for (u32 j = 0; j < mesh1->triangleCount; ++j)
+				{
+					b3ShapeGJKProxy proxy1;
+					proxy1.Set(shape1, j);
+
+					b3GJKShapeCastOutput output;
+					bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
+
+					if (hit)
+					{
+						Plane plane;
+						plane.n = output.normal;
+						plane.p = output.point;
+
+						planes.PushBack(plane);
+					}
+				}
 			}
+			else
+			{
+				b3ShapeGJKProxy proxy1;
+				proxy1.Set(shape1, 0);
 
-			Plane plane;
-			plane.n = output.normal;
-			plane.p = output.point;
+				b3GJKShapeCastOutput output;
+				bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
 
-			planes.PushBack(plane);
+				if (hit)
+				{
+					Plane plane;
+					plane.n = output.normal;
+					plane.p = output.point;
+
+					planes.PushBack(plane);
+				}
+			}
 		}
 	}
 
@@ -298,7 +343,7 @@ public:
 
 			b3Shape* shape = body->CreateShape(sdef);
 		}
-
+		
 		{
 			b3BodyDef bdef;
 			bdef.position.Set(-10.0f, 3.0f, 0.0f);
@@ -503,7 +548,7 @@ public:
 		b3Vec3 velocity = b3Vec3_zero;
 
 		bool isGounded = m_characterController->IsGrounded();
-
+		
 		if (isGounded)
 		{
 			extern GLFWwindow* g_window;

From c0e324c98814a6a75161c7245e5c1d0661c42949 Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Sun, 7 Oct 2018 11:20:17 -0300
Subject: [PATCH 015/198] remove indirection

---
 .../contacts/collide/collide_capsules.cpp        | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/bounce/dynamics/contacts/collide/collide_capsules.cpp b/src/bounce/dynamics/contacts/collide/collide_capsules.cpp
index 7f1a558..58463f7 100644
--- a/src/bounce/dynamics/contacts/collide/collide_capsules.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_capsules.cpp
@@ -24,7 +24,7 @@
 #include <bounce/common/math/mat22.h>
 
 // Compute the closest point on a segment to a point. 
-static b3Vec3 b3ClosestPoint(const b3Vec3& Q, const b3Capsule& hull)
+static b3Vec3 b3ClosestPointOnSegment(const b3Vec3& Q, const b3Capsule& hull)
 {
 	b3Vec3 A = hull.vertices[0];
 	b3Vec3 B = hull.vertices[1];
@@ -81,13 +81,13 @@ static void b3ClosestPoints(b3Vec3& C1, b3Vec3& C2,
 	if (L1 < B3_LINEAR_SLOP)
 	{
 		C1 = P1;
-		C2 = b3ClosestPoint(P1, hull2);
+		C2 = b3ClosestPointOnSegment(P1, hull2);
 		return;
 	}
 
 	if (L2 < B3_LINEAR_SLOP)
 	{
-		C1 = b3ClosestPoint(P2, hull1);
+		C1 = b3ClosestPointOnSegment(P2, hull1);
 		C2 = P2;
 		return;
 	}
@@ -144,11 +144,11 @@ static void b3ClosestPoints(b3Vec3& C1, b3Vec3& C2,
 		C2 = P2;
 	}
 
-	C1 = b3ClosestPoint(C1, hull1);
+	C1 = b3ClosestPointOnSegment(C1, hull1);
 	
-	C2 = b3ClosestPoint(C1, hull2);
+	C2 = b3ClosestPointOnSegment(C1, hull2);
 	
-	C1 = b3ClosestPoint(C2, hull1);
+	C1 = b3ClosestPointOnSegment(C2, hull1);
 }
 
 static bool b3AreParalell(const b3Capsule& hull1, const b3Capsule& hull2)
@@ -211,8 +211,8 @@ void b3CollideCapsuleAndCapsule(b3Manifold& manifold,
 
 			if (clipCount == 2)
 			{
-				b3Vec3 cp1 = b3ClosestPointOnSegment(clipEdge1[0].position, hull2.vertices[0], hull2.vertices[1]);
-				b3Vec3 cp2 = b3ClosestPointOnSegment(clipEdge1[1].position, hull2.vertices[0], hull2.vertices[1]);
+				b3Vec3 cp1 = b3ClosestPointOnSegment(clipEdge1[0].position, hull2);
+				b3Vec3 cp2 = b3ClosestPointOnSegment(clipEdge1[1].position, hull2);
 
 				float32 d1 = b3Distance(clipEdge1[0].position, cp1);
 				float32 d2 = b3Distance(clipEdge1[1].position, cp2);

From b48b16843a1ccea7dc255d52fc94eb965237789e Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Sun, 7 Oct 2018 20:48:26 -0300
Subject: [PATCH 016/198] removed a couple of bugs in the profiler

---
 examples/testbed/framework/main.cpp           |  6 +++-
 examples/testbed/framework/profiler.cpp       | 35 +++++++++++--------
 examples/testbed/framework/profiler.h         |  4 +--
 .../testbed/framework/recorder_profiler.cpp   | 25 +++++++++++--
 .../testbed/framework/recorder_profiler.h     |  2 ++
 examples/testbed/framework/test.cpp           | 10 ++----
 src/bounce/dynamics/cloth/cloth.cpp           | 10 +++---
 src/bounce/dynamics/cloth/cloth_solver.cpp    |  2 +-
 8 files changed, 60 insertions(+), 34 deletions(-)

diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 22ff529..9cd3863 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -124,7 +124,11 @@ static void Run()
 			for (u32 i = 0; i < records.Count(); ++i)
 			{
 				const ProfilerRecord& r = records[i];
-				g_draw->DrawString(b3Color_white, "%s %.4f (%.4f) [ms]", r.name, r.elapsed, r.maxElapsed);
+				
+				if (r.elapsed > 0.0)
+				{
+					g_draw->DrawString(b3Color_white, "%s %.4f (%.4f) [ms]", r.name, r.elapsed, r.maxElapsed);
+				}
 			}
 		}
 
diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index bc72572..8a47078 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -30,7 +30,7 @@ Profiler::~Profiler()
 {
 }
 
-bool Profiler::PushEvent(const char* name)
+void Profiler::PushEvent(const char* name)
 {
 	m_time.Update();
 
@@ -43,12 +43,8 @@ bool Profiler::PushEvent(const char* name)
 	e.parent = m_top;
 
 	ProfilerEvent* back = m_events.Push(e);
-	if (back)
-	{
-		m_top = back;
-	}
-
-	return back != NULL;
+	B3_ASSERT(back);
+	m_top = back;
 }
 
 void Profiler::PopEvent()
@@ -66,26 +62,37 @@ void Profiler::Begin()
 {
 	// If this assert is hit then it means Profiler::End hasn't been called.
 	B3_ASSERT(m_events.IsEmpty());
+	B3_ASSERT(m_top == NULL);
 }
 
 void Profiler::End(ProfilerListener* listener)
 {
-	listener->BeginEvents();
+	if (listener)
+	{
+		listener->BeginEvents();
+	}
 
 	while (m_events.IsEmpty() == false)
 	{
-		const ProfilerEvent& e = m_events.Front();
+		ProfilerEvent e = m_events.Front();
 
 		m_events.Pop();
 
-		listener->BeginEvent(e.tid, e.pid, e.name, e.t0);
+		if (listener)
+		{
+			listener->BeginEvent(e.tid, e.pid, e.name, e.t0);
 
-		listener->EndEvent(e.tid, e.pid, e.name, e.t1);
-	
-		listener->Duration(e.name, e.t1 - e.t0);
+			listener->EndEvent(e.tid, e.pid, e.name, e.t1);
+
+			listener->Duration(e.name, e.t1 - e.t0);
+		}
 	}
 
 	B3_ASSERT(m_events.IsEmpty());
+	B3_ASSERT(m_top == NULL);
 
-	listener->EndEvents();
+	if (listener)
+	{
+		listener->EndEvents();
+	}
 }
\ No newline at end of file
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index f5c2d8b..b54384d 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -59,11 +59,9 @@ public:
 	void End(ProfilerListener* listener);
 
 	// Add a profiler event to the queue.
-	// Return true if the even has been added to the event queue 
-	// or false if the queue is full.
 	// You can control the maximum number of profiler events using 
 	// MAX_PROFILER_EVENTS.
-	bool PushEvent(const char* name);
+	void PushEvent(const char* name);
 	
 	// Remove the top profiler event.
 	void PopEvent();
diff --git a/examples/testbed/framework/recorder_profiler.cpp b/examples/testbed/framework/recorder_profiler.cpp
index 8b126cb..886689c 100644
--- a/examples/testbed/framework/recorder_profiler.cpp
+++ b/examples/testbed/framework/recorder_profiler.cpp
@@ -22,18 +22,37 @@ RecorderProfiler* g_profilerRecorder = nullptr;
 
 void RecorderProfiler::BeginEvents()
 {
+	m_count = 0;
 	for (u32 i = 0; i < m_records.Count(); ++i)
 	{
 		m_records[i].elapsed = 0.0;
+		m_records[i].call = 0;
 	}
 }
 
 void RecorderProfiler::EndEvents()
 {
+	for (u32 i = 0; i < m_records.Count(); ++i)
+	{
+		ProfilerRecord& r1 = m_records[i];
+
+		for (u32 j = i + 1; j < m_records.Count(); ++j)
+		{
+			ProfilerRecord& r2 = m_records[j];
+
+			if (r2.call < r1.call)
+			{
+				b3Swap(r1, r2);
+				break;
+			}
+		}
+	}
 }
 
 void RecorderProfiler::Add(const char* name, float64 elapsedTime)
 {
+	m_count += 1;
+
 	for (u32 i = 0; i < m_records.Count(); ++i)
 	{
 		ProfilerRecord& r = m_records[i];
@@ -41,14 +60,16 @@ void RecorderProfiler::Add(const char* name, float64 elapsedTime)
 		{
 			r.elapsed += elapsedTime;
 			r.maxElapsed = b3Max(r.maxElapsed, elapsedTime);
+			r.call = m_count;
 			return;
 		}
 	}
 
 	ProfilerRecord r;
 	r.name = name;
-	r.elapsed = 0.0;
-	r.maxElapsed = 0.0;
+	r.elapsed = elapsedTime;
+	r.maxElapsed = elapsedTime;
+	r.call = m_count;
 
 	m_records.PushBack(r);
 }
\ No newline at end of file
diff --git a/examples/testbed/framework/recorder_profiler.h b/examples/testbed/framework/recorder_profiler.h
index 5291901..0c74e41 100644
--- a/examples/testbed/framework/recorder_profiler.h
+++ b/examples/testbed/framework/recorder_profiler.h
@@ -28,6 +28,7 @@ struct ProfilerRecord
 	float64 elapsed;
 	float64 maxElapsed;
 	const char* name;
+	u32 call;
 };
 
 // The profiler recorder simply keeps profile events in an event buffer, 
@@ -45,6 +46,7 @@ public:
 	const b3Array<ProfilerRecord>& GetRecords() const { return m_records; }
 private:
 	b3StackArray<ProfilerRecord, 256> m_records;
+	u32 m_count;
 };
 
 extern RecorderProfiler* g_profilerRecorder;
diff --git a/examples/testbed/framework/test.cpp b/examples/testbed/framework/test.cpp
index 39170c1..befad6c 100644
--- a/examples/testbed/framework/test.cpp
+++ b/examples/testbed/framework/test.cpp
@@ -25,20 +25,14 @@ extern u32 b3_convexCalls, b3_convexCacheHits;
 extern u32 b3_gjkCalls, b3_gjkIters, b3_gjkMaxIters;
 extern bool b3_convexCache;
 
-static bool push_ok = false;
-
 void b3BeginProfileScope(const char* name)
 {
-	push_ok = g_profiler->PushEvent(name);
+	g_profiler->PushEvent(name);
 }
 
 void b3EndProfileScope()
 {
-	if (push_ok)
-	{
-		g_profiler->PopEvent();
-		push_ok = false;
-	}
+	g_profiler->PopEvent();
 }
 
 Test::Test() : 
diff --git a/src/bounce/dynamics/cloth/cloth.cpp b/src/bounce/dynamics/cloth/cloth.cpp
index 95632c0..bd526a9 100644
--- a/src/bounce/dynamics/cloth/cloth.cpp
+++ b/src/bounce/dynamics/cloth/cloth.cpp
@@ -509,7 +509,7 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
 
 void b3Cloth::UpdateBodyContacts()
 {
-	B3_PROFILE("Update Body Contacts");
+	B3_PROFILE("Cloth Update Body Contacts");
 	
 	// Clear buffer
 	b3BodyContact* c = m_bodyContactList.m_head;
@@ -588,7 +588,7 @@ void b3Cloth::UpdateBodyContacts()
 
 void b3Cloth::UpdateParticleContacts()
 {
-	B3_PROFILE("Update Particle Contacts");
+	B3_PROFILE("Cloth Update Particle Contacts");
 
 	// Clear buffer
 	b3ParticleContact* c = m_particleContactList.m_head;
@@ -790,7 +790,7 @@ static B3_FORCE_INLINE void b3Solve3(float32 out[3],
 
 void b3Cloth::UpdateTriangleContacts()
 {
-	B3_PROFILE("Update Triangle Contacts");
+	B3_PROFILE("Cloth Update Triangle Contacts");
 
 	// Clear buffer
 	b3TriangleContact* c = m_triangleContactList.m_head;
@@ -883,7 +883,7 @@ void b3Cloth::UpdateTriangleContacts()
 
 void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 {
-	B3_PROFILE("Solve");
+	B3_PROFILE("Cloth Solve");
 
 	// Solve
 	b3ClothSolverDef solverDef;
@@ -946,7 +946,7 @@ void b3Cloth::UpdateContacts()
 
 void b3Cloth::Step(float32 dt, const b3Vec3& gravity)
 {
-	B3_PROFILE("Step");
+	B3_PROFILE("Cloth Step");
 
 	// Update contacts
 	UpdateContacts();
diff --git a/src/bounce/dynamics/cloth/cloth_solver.cpp b/src/bounce/dynamics/cloth/cloth_solver.cpp
index 763031f..e4d66b2 100644
--- a/src/bounce/dynamics/cloth/cloth_solver.cpp
+++ b/src/bounce/dynamics/cloth/cloth_solver.cpp
@@ -359,7 +359,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
 	const b3SparseSymMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const
 {
-	B3_PROFILE("Solve Ax = b");
+	B3_PROFILE("Cloth Solve Ax = b");
 
 	// P = diag(A)
 	b3DiagMat33 inv_P(m_particleCount);

From f98374143a44a86f563bd270115fb6a7a093908e Mon Sep 17 00:00:00 2001
From: Irlan <->
Date: Mon, 8 Oct 2018 16:18:28 -0300
Subject: [PATCH 017/198] refactoring

---
 examples/testbed/framework/body_dragger.cpp   |  98 ++++++++
 examples/testbed/framework/body_dragger.h     |  72 ++++++
 examples/testbed/framework/cloth_dragger.cpp  | 184 ++++++++++++++
 .../cloth_dragger.h}                          |  64 +++--
 examples/testbed/framework/test.cpp           |  29 +--
 examples/testbed/framework/test.h             |  29 +--
 examples/testbed/framework/test_entries.cpp   |   1 -
 examples/testbed/tests/pinned_cloth.h         |  87 +++++--
 examples/testbed/tests/ray_cast.h             |   4 +-
 examples/testbed/tests/self_collision.h       |  83 ++++++-
 examples/testbed/tests/shirt.h                |  63 ++++-
 examples/testbed/tests/table_cloth.h          |  82 ++++++-
 examples/testbed/tests/tension_mapping.h      |  75 +++++-
 include/bounce/bounce.h                       |  23 +-
 include/bounce/{dynamics => }/cloth/cloth.h   |  72 +++---
 .../cloth/cloth_contact_solver.h              |   0
 .../bounce/{dynamics => }/cloth/cloth_mesh.h  |   0
 .../{dynamics => }/cloth/cloth_solver.h       |   0
 .../bounce/{dynamics => }/cloth/dense_vec3.h  |   0
 .../bounce/{dynamics => }/cloth/diag_mat33.h  |   2 +-
 include/bounce/{dynamics => }/cloth/force.h   |   2 -
 include/bounce/{ => cloth}/garment/garment.h  |   2 +-
 .../bounce/{ => cloth}/garment/garment_mesh.h |   0
 .../{ => cloth}/garment/sewing_pattern.h      |   0
 .../bounce/{dynamics => }/cloth/particle.h    |   4 +-
 .../{dynamics => }/cloth/sparse_sym_mat33.h   |   4 +-
 .../{dynamics => }/cloth/spring_force.h       |   2 +-
 include/bounce/controllers/body_dragger.h     | 129 ----------
 include/bounce/controllers/cloth_dragger.h    | 224 ------------------
 include/bounce/dynamics/cloth/bend_force.h    | 158 ------------
 include/bounce/dynamics/world.h               |  49 +---
 include/bounce/dynamics/world_listeners.h     |   7 -
 include/bounce/{dynamics => }/rope/rope.h     |   0
 include/bounce/{dynamics => rope}/spatial.h   |   0
 premake5.lua                                  |   6 +
 src/bounce/{dynamics => }/cloth/cloth.cpp     |  82 +++----
 .../cloth/cloth_contact_solver.cpp            |   8 +-
 .../{dynamics => }/cloth/cloth_mesh.cpp       |   8 +-
 .../{dynamics => }/cloth/cloth_solver.cpp     |  22 +-
 src/bounce/{dynamics => }/cloth/force.cpp     |  18 +-
 .../{ => cloth}/garment/garment_mesh.cpp      |   6 +-
 src/bounce/{dynamics => }/cloth/particle.cpp  |  10 +-
 .../{dynamics => }/cloth/spring_force.cpp     |  10 +-
 src/bounce/dynamics/cloth/bend_force.cpp      | 128 ----------
 src/bounce/dynamics/world.cpp                 |  90 +------
 src/bounce/{dynamics => }/rope/rope.cpp       |   4 +-
 test/ignore.txt                               |   0
 47 files changed, 895 insertions(+), 1046 deletions(-)
 create mode 100644 examples/testbed/framework/body_dragger.cpp
 create mode 100644 examples/testbed/framework/body_dragger.h
 create mode 100644 examples/testbed/framework/cloth_dragger.cpp
 rename examples/testbed/{tests/cloth_test.h => framework/cloth_dragger.h} (52%)
 rename include/bounce/{dynamics => }/cloth/cloth.h (85%)
 rename include/bounce/{dynamics => }/cloth/cloth_contact_solver.h (100%)
 rename include/bounce/{dynamics => }/cloth/cloth_mesh.h (100%)
 rename include/bounce/{dynamics => }/cloth/cloth_solver.h (100%)
 rename include/bounce/{dynamics => }/cloth/dense_vec3.h (100%)
 rename include/bounce/{dynamics => }/cloth/diag_mat33.h (98%)
 rename include/bounce/{dynamics => }/cloth/force.h (97%)
 rename include/bounce/{ => cloth}/garment/garment.h (98%)
 rename include/bounce/{ => cloth}/garment/garment_mesh.h (100%)
 rename include/bounce/{ => cloth}/garment/sewing_pattern.h (100%)
 rename include/bounce/{dynamics => }/cloth/particle.h (99%)
 rename include/bounce/{dynamics => }/cloth/sparse_sym_mat33.h (98%)
 rename include/bounce/{dynamics => }/cloth/spring_force.h (98%)
 delete mode 100644 include/bounce/controllers/body_dragger.h
 delete mode 100644 include/bounce/controllers/cloth_dragger.h
 delete mode 100644 include/bounce/dynamics/cloth/bend_force.h
 rename include/bounce/{dynamics => }/rope/rope.h (100%)
 rename include/bounce/{dynamics => rope}/spatial.h (100%)
 rename src/bounce/{dynamics => }/cloth/cloth.cpp (92%)
 rename src/bounce/{dynamics => }/cloth/cloth_contact_solver.cpp (99%)
 rename src/bounce/{dynamics => }/cloth/cloth_mesh.cpp (95%)
 rename src/bounce/{dynamics => }/cloth/cloth_solver.cpp (96%)
 rename src/bounce/{dynamics => }/cloth/force.cpp (79%)
 rename src/bounce/{ => cloth}/garment/garment_mesh.cpp (97%)
 rename src/bounce/{dynamics => }/cloth/particle.cpp (91%)
 rename src/bounce/{dynamics => }/cloth/spring_force.cpp (91%)
 delete mode 100644 src/bounce/dynamics/cloth/bend_force.cpp
 rename src/bounce/{dynamics => }/rope/rope.cpp (99%)
 delete mode 100644 test/ignore.txt

diff --git a/examples/testbed/framework/body_dragger.cpp b/examples/testbed/framework/body_dragger.cpp
new file mode 100644
index 0000000..58456a5
--- /dev/null
+++ b/examples/testbed/framework/body_dragger.cpp
@@ -0,0 +1,98 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <testbed/framework/body_dragger.h>
+
+b3BodyDragger::b3BodyDragger(b3Ray3* ray, b3World* world)
+{
+	m_ray = ray;
+	m_world = world;
+	m_shape = nullptr;
+	m_mouseJoint = nullptr;
+}
+
+b3BodyDragger::~b3BodyDragger()
+{
+
+}
+
+bool b3BodyDragger::StartDragging()
+{
+	B3_ASSERT(IsDragging() == false);
+
+	b3RayCastSingleOutput out;
+	if (m_world->RayCastSingle(&out, m_ray->A(), m_ray->B()) == false)
+	{
+		return false;
+	}
+
+	m_x = out.fraction;
+	m_shape = out.shape;
+
+	b3BodyDef bd;
+	b3Body* groundBody = m_world->CreateBody(bd);
+
+	b3Body* body = m_shape->GetBody();
+	body->SetAwake(true);
+
+	b3MouseJointDef jd;
+	jd.bodyA = groundBody;
+	jd.bodyB = body;
+	jd.target = out.point;
+	jd.maxForce = 2000.0f * body->GetMass();
+
+	m_mouseJoint = (b3MouseJoint*)m_world->CreateJoint(jd);
+
+	m_p = body->GetLocalPoint(out.point);
+
+	return true;
+}
+
+void b3BodyDragger::Drag()
+{
+	B3_ASSERT(IsDragging() == true);
+	m_mouseJoint->SetTarget(GetPointB());
+}
+
+void b3BodyDragger::StopDragging()
+{
+	B3_ASSERT(IsDragging() == true);
+	b3Body* groundBody = m_mouseJoint->GetBodyA();
+	m_world->DestroyJoint(m_mouseJoint);
+	m_mouseJoint = nullptr;
+	m_world->DestroyBody(groundBody);
+	m_shape = nullptr;
+}
+
+b3Body* b3BodyDragger::GetBody() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return m_shape->GetBody();
+}
+
+b3Vec3 b3BodyDragger::GetPointA() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return m_shape->GetBody()->GetWorldPoint(m_p);
+}
+
+b3Vec3 b3BodyDragger::GetPointB() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
+}
\ No newline at end of file
diff --git a/examples/testbed/framework/body_dragger.h b/examples/testbed/framework/body_dragger.h
new file mode 100644
index 0000000..10d5a66
--- /dev/null
+++ b/examples/testbed/framework/body_dragger.h
@@ -0,0 +1,72 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_BODY_DRAGGER_H
+#define B3_BODY_DRAGGER_H
+
+#include <bounce/common/geometry.h>
+#include <bounce/common/geometry.h>
+#include <bounce/dynamics/shapes/shape.h>
+#include <bounce/dynamics/body.h>
+#include <bounce/dynamics/world.h>
+#include <bounce/dynamics/joints/mouse_joint.h>
+
+// A body shape dragger.
+class b3BodyDragger
+{
+public:
+	b3BodyDragger(b3Ray3* ray, b3World* world);
+	~b3BodyDragger();
+
+	bool StartDragging();
+
+	void Drag();
+
+	void StopDragging();
+
+	bool IsDragging() const;
+
+	b3Ray3* GetRay() const;
+
+	b3Body* GetBody() const;
+
+	b3Vec3 GetPointA() const;
+
+	b3Vec3 GetPointB() const;
+private:
+	b3Ray3 * m_ray;
+	float32 m_x;
+
+	b3World* m_world;
+	
+	b3Shape* m_shape;
+	b3Vec3 m_p;
+	b3MouseJoint* m_mouseJoint;
+};
+
+inline bool b3BodyDragger::IsDragging() const
+{
+	return m_shape != nullptr;
+}
+
+inline b3Ray3* b3BodyDragger::GetRay() const
+{
+	return m_ray;
+}
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/framework/cloth_dragger.cpp b/examples/testbed/framework/cloth_dragger.cpp
new file mode 100644
index 0000000..ea228ba
--- /dev/null
+++ b/examples/testbed/framework/cloth_dragger.cpp
@@ -0,0 +1,184 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <testbed/framework/cloth_dragger.h>
+#include <bounce/common/draw.h>
+
+b3ClothDragger::b3ClothDragger(b3Ray3* ray, b3Cloth* cloth)
+{
+	m_spring = false;
+	m_ray = ray;
+	m_cloth = cloth;
+	m_triangle = nullptr;
+}
+
+b3ClothDragger::~b3ClothDragger()
+{
+
+}
+
+bool b3ClothDragger::StartDragging()
+{
+	B3_ASSERT(IsDragging() == false);
+
+	b3ClothRayCastSingleOutput rayOut;
+	if (m_cloth->RayCastSingle(&rayOut, m_ray->A(), m_ray->B()) == false)
+	{
+		return false;
+	}
+
+	m_mesh = m_cloth->GetMesh();
+	m_triangle = m_mesh->triangles + rayOut.triangle;
+	m_x = rayOut.fraction;
+
+	b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
+	b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
+	b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3);
+
+	b3Vec3 v1 = p1->GetPosition();
+	b3Vec3 v2 = p2->GetPosition();
+	b3Vec3 v3 = p3->GetPosition();
+
+	b3Vec3 B = GetPointB();
+
+	float32 wABC[4];
+	b3BarycentricCoordinates(wABC, v1, v2, v3, B);
+
+	if (wABC[3] > B3_EPSILON)
+	{
+		m_u = wABC[0] / wABC[3];
+		m_v = wABC[1] / wABC[3];
+	}
+	else
+	{
+		m_u = m_v = 0.0f;
+	}
+
+	if (m_spring)
+	{
+		b3ParticleDef pd;
+		pd.type = e_staticParticle;
+		pd.position = B;
+
+		m_particle = m_cloth->CreateParticle(pd);
+
+		{
+			b3SpringForceDef sfd;
+			sfd.p1 = m_particle;
+			sfd.p2 = p1;
+			sfd.restLength = 0.0f;
+			sfd.structural = 10000.0f;
+			m_s1 = (b3SpringForce*)m_cloth->CreateForce(sfd);
+		}
+
+		{
+			b3SpringForceDef sfd;
+			sfd.p1 = m_particle;
+			sfd.p2 = p2;
+			sfd.restLength = 0.0f;
+			sfd.structural = 10000.0f;
+			m_s2 = (b3SpringForce*)m_cloth->CreateForce(sfd);
+		}
+
+		{
+			b3SpringForceDef sfd;
+			sfd.p1 = m_particle;
+			sfd.p2 = p3;
+			sfd.restLength = 0.0f;
+			sfd.structural = 10000.0f;
+			m_s3 = (b3SpringForce*)m_cloth->CreateForce(sfd);
+		}
+	}
+	else
+	{
+		m_t1 = p1->GetType();
+		p1->SetType(e_staticParticle);
+
+		m_t2 = p2->GetType();
+		p2->SetType(e_staticParticle);
+
+		m_t3 = p3->GetType();
+		p3->SetType(e_staticParticle);
+	}
+
+	return true;
+}
+
+void b3ClothDragger::Drag()
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = GetPointA();
+	b3Vec3 B = GetPointB();
+
+	b3Vec3 dx = B - A;
+
+	if (m_spring)
+	{
+		m_particle->SetPosition(B);
+	}
+	else
+	{
+		b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
+		p1->ApplyTranslation(dx);
+
+		b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
+		p2->ApplyTranslation(dx);
+
+		b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3);
+		p3->ApplyTranslation(dx);
+	}
+}
+
+void b3ClothDragger::StopDragging()
+{
+	B3_ASSERT(IsDragging() == true);
+
+	if (m_spring)
+	{
+		m_cloth->DestroyForce(m_s1);
+		m_cloth->DestroyForce(m_s2);
+		m_cloth->DestroyForce(m_s3);
+		m_cloth->DestroyParticle(m_particle);
+	}
+	else
+	{
+		m_cloth->GetVertexParticle(m_triangle->v1)->SetType(m_t1);
+		m_cloth->GetVertexParticle(m_triangle->v2)->SetType(m_t2);
+		m_cloth->GetVertexParticle(m_triangle->v3)->SetType(m_t3);
+	}
+
+	m_triangle = nullptr;
+}
+
+b3Vec3 b3ClothDragger::GetPointA() const
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = m_cloth->GetVertexParticle(m_triangle->v1)->GetPosition();
+	b3Vec3 B = m_cloth->GetVertexParticle(m_triangle->v2)->GetPosition();
+	b3Vec3 C = m_cloth->GetVertexParticle(m_triangle->v3)->GetPosition();
+
+	return m_u * A + m_v * B + (1.0f - m_u - m_v) * C;
+}
+
+b3Vec3 b3ClothDragger::GetPointB() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
+}
\ No newline at end of file
diff --git a/examples/testbed/tests/cloth_test.h b/examples/testbed/framework/cloth_dragger.h
similarity index 52%
rename from examples/testbed/tests/cloth_test.h
rename to examples/testbed/framework/cloth_dragger.h
index 3f95cce..5058f20 100644
--- a/examples/testbed/tests/cloth_test.h
+++ b/examples/testbed/framework/cloth_dragger.h
@@ -16,37 +16,55 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CLOTH_TESH_H
-#define CLOTH_TESH_H
+#ifndef B3_CLOTH_DRAGGER_H
+#define B3_CLOTH_DRAGGER_H
 
-class ClothTest : public Test
+#include <bounce/common/geometry.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/spring_force.h>
+
+// A cloth triangle dragger.
+class b3ClothDragger
 {
 public:
-	ClothTest()
-	{
-		m_world.SetGravity(b3Vec3(0.0f, -10.0f, 0.0f));
-		m_cloth = nullptr;
-	}
+	b3ClothDragger(b3Ray3* ray, b3Cloth* cloth);
+	~b3ClothDragger();
 
-	void Step()
-	{
-		Test::Step();
+	bool IsDragging() const;
 
-		m_cloth->Draw();
+	bool StartDragging();
 
-		if (m_clothDragger.IsDragging() == true)
-		{
-			g_draw->DrawSegment(m_clothDragger.GetPointA(), m_clothDragger.GetPointB(), b3Color_white);
-		}
+	void Drag();
+
+	void StopDragging();
+
+	b3Vec3 GetPointA() const;
+
+	b3Vec3 GetPointB() const;
+private:
+	b3Ray3* m_ray;
+	float32 m_x;
 
-		extern u32 b3_clothSolverIterations;
-		g_draw->DrawString(b3Color_white, "Iterations = %u", b3_clothSolverIterations);
-		
-		float32 E = m_cloth->GetEnergy();
-		g_draw->DrawString(b3Color_white, "E = %f", E);
-	}
-	
 	b3Cloth* m_cloth;
+	const b3ClothMesh* m_mesh;
+	b3ClothMeshTriangle* m_triangle;
+	float32 m_u, m_v;
+
+	bool m_spring;
+
+	b3Particle* m_particle;
+	b3SpringForce* m_s1;
+	b3SpringForce* m_s2;
+	b3SpringForce* m_s3;
+
+	b3ParticleType m_t1, m_t2, m_t3;
 };
 
+inline bool b3ClothDragger::IsDragging() const
+{
+	return m_triangle != nullptr;
+}
+
 #endif
\ No newline at end of file
diff --git a/examples/testbed/framework/test.cpp b/examples/testbed/framework/test.cpp
index befad6c..12ca6db 100644
--- a/examples/testbed/framework/test.cpp
+++ b/examples/testbed/framework/test.cpp
@@ -18,7 +18,6 @@
 
 #include <testbed/framework/test.h>
 #include <testbed/framework/profiler.h>
-#include <imgui/imgui.h>
 
 extern u32 b3_allocCalls, b3_maxAllocCalls;
 extern u32 b3_convexCalls, b3_convexCacheHits;
@@ -36,8 +35,7 @@ void b3EndProfileScope()
 }
 
 Test::Test() : 
-	m_bodyDragger(&m_ray, &m_world),
-	m_clothDragger(&m_ray, &m_world)
+	m_bodyDragger(&m_ray, &m_world)
 {
 	b3Draw_draw = g_draw;
 	b3_convexCache = g_testSettings->convexCache;
@@ -115,11 +113,6 @@ void Test::Step()
 		g_draw->DrawString(b3Color_white, "Convex Cache Hits %d (%f)", b3_convexCacheHits, convexCacheHitRatio);
 		g_draw->DrawString(b3Color_white, "Frame Allocations %d (%d)", b3_allocCalls, b3_maxAllocCalls);
 	}
-
-	if (m_clothDragger.IsDragging() == true)
-	{
-		g_draw->DrawSegment(m_clothDragger.GetPointA(), m_clothDragger.GetPointB(), b3Color_white);
-	}
 }
 
 void Test::MouseMove(const b3Ray3& pw)
@@ -130,11 +123,6 @@ void Test::MouseMove(const b3Ray3& pw)
 	{
 		m_bodyDragger.Drag();
 	}
-	
-	if (m_clothDragger.IsDragging() == true)
-	{
-		m_clothDragger.Drag();
-	}
 }
 
 void Test::MouseLeftDown(const b3Ray3& pw)
@@ -146,14 +134,6 @@ void Test::MouseLeftDown(const b3Ray3& pw)
 			BeginDragging();
 		}
 	}
-
-	if (m_clothDragger.IsDragging() == false)
-	{
-		if (m_clothDragger.StartDragging() == true)
-		{
-			BeginDragging();
-		}
-	}
 }
 
 void Test::MouseLeftUp(const b3Ray3& pw)
@@ -164,11 +144,4 @@ void Test::MouseLeftUp(const b3Ray3& pw)
 
 		EndDragging();
 	}
-	
-	if (m_clothDragger.IsDragging() == true)
-	{
-		m_clothDragger.StopDragging();
-
-		EndDragging();
-	}
 }
\ No newline at end of file
diff --git a/examples/testbed/framework/test.h b/examples/testbed/framework/test.h
index 481c2ea..4171804 100644
--- a/examples/testbed/framework/test.h
+++ b/examples/testbed/framework/test.h
@@ -22,6 +22,9 @@
 #include <glfw/glfw3.h>
 #include <bounce/bounce.h>
 
+#include <testbed/framework/body_dragger.h>
+#include <testbed/framework/cloth_dragger.h>
+
 #include <testbed/framework/draw.h>
 #include <testbed/framework/view_model.h>
 
@@ -33,27 +36,6 @@ inline float32 RandomFloat(float32 a, float32 b)
 	return a + r;
 }
 
-class RayCastListener : public b3RayCastListener
-{
-public:
-	float32 ReportShape(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction)
-	{
-		hit.shape = shape;
-		hit.point = point;
-		hit.normal = normal;
-		hit.fraction = fraction;
-		return 1.0f;
-	}
-
-	float32 ReportCloth(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction)
-	{
-		B3_ASSERT(false);
-		return 1.0f;
-	}
-	
-	b3RayCastSingleShapeOutput hit;
-};
-
 class Test : public b3ContactListener
 {
 public:
@@ -77,10 +59,9 @@ public:
 	void EndContact(b3Contact* c) override { }
 	void PreSolve(b3Contact* c) override { }
 
-	b3World m_world;
-
 	b3Ray3 m_ray;
-	b3ClothDragger m_clothDragger;
+	
+	b3World m_world;
 	b3BodyDragger m_bodyDragger;
 
 	b3BoxHull m_groundHull;
diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index 69737b1..6da7e6f 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -60,7 +60,6 @@
 #include <testbed/tests/varying_restitution.h>
 #include <testbed/tests/tumbler.h>
 #include <testbed/tests/multiple_pendulum.h>
-#include <testbed/tests/cloth_test.h>
 #include <testbed/tests/table_cloth.h>
 #include <testbed/tests/pinned_cloth.h>
 #include <testbed/tests/shirt.h>
diff --git a/examples/testbed/tests/pinned_cloth.h b/examples/testbed/tests/pinned_cloth.h
index dfafeab..08fe1e8 100644
--- a/examples/testbed/tests/pinned_cloth.h
+++ b/examples/testbed/tests/pinned_cloth.h
@@ -19,7 +19,7 @@
 #ifndef PINNED_CLOTH_H
 #define PINNED_CLOTH_H
 
-class PinnedCloth : public ClothTest
+class PinnedCloth : public Test
 {
 public:
 	PinnedCloth() : m_rectangleGarment(5.0f, 5.0f)
@@ -30,21 +30,26 @@ public:
 		// Create 3D mesh
 		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
 		
-		//  
-		b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
+		// Rotate the mesh
+		b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
 		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
 		{
-			m_rectangleClothMesh.vertices[i] = dq * m_rectangleClothMesh.vertices[i];
+			m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
 		}
 
+		// Create cloth
 		b3ClothDef def;
 		def.mesh = &m_rectangleClothMesh;
 		def.density = 0.2f;
 		def.structural = 100000.0f;
 		def.damping = 0.0f;
 
-		m_cloth = m_world.CreateCloth(def);
+		m_cloth = new b3Cloth(def);
 
+		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
+		m_cloth->SetWorld(&m_world);
+
+		// Freeze some particles
 		b3AABB3 aabb1;
 		aabb1.m_lower.Set(-5.0f, -1.0f, -6.0f);
 		aabb1.m_upper.Set(5.0f, 1.0f, -4.0f);
@@ -65,23 +70,70 @@ public:
 				p->SetType(e_staticParticle);
 			}
 		}
+		
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
 
+	~PinnedCloth()
+	{
+		delete m_clothDragger;
+		delete m_cloth;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		m_cloth->Step(g_testSettings->inv_hertz);
+
+		m_cloth->Draw();
+
+		if (m_clothDragger->IsDragging())
 		{
-			b3BodyDef bd;
-			bd.type = e_dynamicBody;
-			bd.position.Set(0.0f, 5.0f, 0.0f);
+			b3Vec3 pA = m_clothDragger->GetPointA();
+			b3Vec3 pB = m_clothDragger->GetPointB();
 
-			b3Body* b = m_world.CreateBody(bd);
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
 
-			b3SphereShape sphere;
-			sphere.m_center.SetZero();
-			sphere.m_radius = 2.0f;
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
 
-			b3ShapeDef sd;
-			sd.shape = &sphere;
-			sd.density = 1.0f;
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
 
-			b3Shape* s = b->CreateShape(sd);
+		extern u32 b3_clothSolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
+
+		float32 E = m_cloth->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
 		}
 	}
 
@@ -93,6 +145,9 @@ public:
 	b3RectangleGarment m_rectangleGarment;
 	b3GarmentMesh m_rectangleGarmentMesh;
 	b3GarmentClothMesh m_rectangleClothMesh;
+
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger;
 };
 
 #endif
\ No newline at end of file
diff --git a/examples/testbed/tests/ray_cast.h b/examples/testbed/tests/ray_cast.h
index 3b7e7ed..610627f 100644
--- a/examples/testbed/tests/ray_cast.h
+++ b/examples/testbed/tests/ray_cast.h
@@ -178,8 +178,8 @@ public:
 
 	void CastRay(const b3Vec3 p1, const b3Vec3 p2) const
 	{
-		b3RayCastSingleShapeOutput out;
-		if (m_world.RayCastSingleShape(&out, p1, p2))
+		b3RayCastSingleOutput out;
+		if (m_world.RayCastSingle(&out, p1, p2))
 		{
 			g_draw->DrawSegment(p1, out.point, b3Color_green);
 			
diff --git a/examples/testbed/tests/self_collision.h b/examples/testbed/tests/self_collision.h
index 9a3ed52..3135b4f 100644
--- a/examples/testbed/tests/self_collision.h
+++ b/examples/testbed/tests/self_collision.h
@@ -19,7 +19,7 @@
 #ifndef SELF_COLLISION_H
 #define SELF_COLLISION_H
 
-class SelfCollision : public ClothTest
+class SelfCollision : public Test
 {
 public:
 	SelfCollision() : m_rectangleGarment(5.0f, 5.0f)
@@ -30,19 +30,24 @@ public:
 		// Create 3D mesh
 		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
 
-		b3Mat33 Rx = b3Mat33RotationX(0.5f * B3_PI);
+		// Rotate and translate the mesh
+		b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
 		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
 		{
-			m_rectangleClothMesh.vertices[i] = Rx * m_rectangleClothMesh.vertices[i];
+			m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
 			m_rectangleClothMesh.vertices[i].y += 5.0f;
 		}
 
+		// Create cloth
 		b3ClothDef def;
 		def.mesh = &m_rectangleClothMesh;
 		def.density = 1.0f;
 		def.structural = 100000.0f;
 		
-		m_cloth = m_world.CreateCloth(def);
+		m_cloth = new b3Cloth(def);
+
+		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
+		m_cloth->SetWorld(&m_world);
 
 		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
 		{
@@ -67,6 +72,71 @@ public:
 
 			b->CreateShape(sd);
 		}
+
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
+
+	~SelfCollision()
+	{
+		delete m_cloth;
+		delete m_clothDragger;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		m_cloth->Step(g_testSettings->inv_hertz);
+
+		m_cloth->Draw();
+
+		if (m_clothDragger->IsDragging())
+		{
+			b3Vec3 pA = m_clothDragger->GetPointA();
+			b3Vec3 pB = m_clothDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_clothSolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
+
+		float32 E = m_cloth->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
+		}
 	}
 
 	static Test* Create()
@@ -77,6 +147,9 @@ public:
 	b3RectangleGarment m_rectangleGarment;
 	b3GarmentMesh m_rectangleGarmentMesh;
 	b3GarmentClothMesh m_rectangleClothMesh;
-};
+
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger; 
+	};
 
 #endif
\ No newline at end of file
diff --git a/examples/testbed/tests/shirt.h b/examples/testbed/tests/shirt.h
index 158b8f1..1d76f1a 100644
--- a/examples/testbed/tests/shirt.h
+++ b/examples/testbed/tests/shirt.h
@@ -19,7 +19,7 @@
 #ifndef SHIRT_H
 #define SHIRT_H
 
-class Shirt : public ClothTest
+class Shirt : public Test
 {
 public:
 	Shirt()
@@ -57,7 +57,63 @@ public:
 		def.density = 0.2f;
 		def.structural = 10000.0f;
 
-		m_cloth = m_world.CreateCloth(def);
+		m_cloth = new b3Cloth(def);
+
+		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
+		m_cloth->SetWorld(&m_world);
+
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
+	
+	~Shirt()
+	{
+		delete m_clothDragger;
+		delete m_cloth;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		m_cloth->Step(g_testSettings->inv_hertz);
+
+		m_cloth->Draw();
+
+		extern u32 b3_clothSolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
+
+		float32 E = m_cloth->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
+		}
 	}
 
 	static Test* Create()
@@ -68,6 +124,9 @@ public:
 	b3ShirtGarment m_shirtGarment;
 	b3GarmentMesh m_shirtGarmentMesh;
 	b3GarmentClothMesh m_shirtClothMesh;
+
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger;
 };
 
 #endif
\ No newline at end of file
diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index c0ec318..af43732 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -19,7 +19,7 @@
 #ifndef TABLE_CLOTH_H
 #define TABLE_CLOTH_H
 
-class TableCloth : public ClothTest
+class TableCloth : public Test
 {
 public:
 	TableCloth() : m_rectangleGarment(5.0f, 5.0f)
@@ -30,14 +30,15 @@ public:
 		// Create 3D mesh
 		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
 
-		//  
-		b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
+		// Rotate the mesh
+		b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
 		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
 		{
-			m_rectangleClothMesh.vertices[i] = dq * m_rectangleClothMesh.vertices[i];
+			m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
 			m_rectangleClothMesh.vertices[i].y += 5.0f;
 		}
 		
+		// Create cloth
 		b3ClothDef def;
 		def.mesh = &m_rectangleClothMesh;
 		def.density = 0.2f;
@@ -45,7 +46,10 @@ public:
 		def.structural = 10000.0f;
 		def.damping = 0.0f;
 
-		m_cloth = m_world.CreateCloth(def);
+		m_cloth = new b3Cloth(def);
+
+		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
+		m_cloth->SetWorld(&m_world);
 
 		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
 		{
@@ -71,6 +75,71 @@ public:
 
 			b->CreateShape(sd);
 		}
+
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
+
+	~TableCloth()
+	{
+		delete m_clothDragger;
+		delete m_cloth;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		m_cloth->Step(g_testSettings->inv_hertz);
+
+		m_cloth->Draw();
+
+		if (m_clothDragger->IsDragging())
+		{
+			b3Vec3 pA = m_clothDragger->GetPointA();
+			b3Vec3 pB = m_clothDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_clothSolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
+
+		float32 E = m_cloth->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
+		}
 	}
 
 	static Test* Create()
@@ -82,6 +151,9 @@ public:
 	b3GarmentMesh m_rectangleGarmentMesh;
 	b3GarmentClothMesh m_rectangleClothMesh;
 	
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger;
+
 	b3QHull m_tableHull;
 };
 
diff --git a/examples/testbed/tests/tension_mapping.h b/examples/testbed/tests/tension_mapping.h
index 463113d..49d8d23 100644
--- a/examples/testbed/tests/tension_mapping.h
+++ b/examples/testbed/tests/tension_mapping.h
@@ -55,7 +55,7 @@ static inline b3Color Color(float32 x, float32 a, float32 b)
 	return c;
 }
 
-class TensionMapping : public ClothTest
+class TensionMapping : public Test
 {
 public:
 	TensionMapping() : m_rectangleGarment(5.0f, 5.0f)
@@ -66,20 +66,25 @@ public:
 		// Create 3D mesh
 		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
 		
-		//  
-		b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
+		// Rotate the mesh
+		b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
 		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
 		{
-			m_rectangleClothMesh.vertices[i] = dq * m_rectangleClothMesh.vertices[i];
+			m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
 		}
 
+		// Create cloth
 		b3ClothDef def;
 		def.mesh = &m_rectangleClothMesh;
 		def.density = 0.2f;
 		def.structural = 10000.0f;
 
-		m_cloth = m_world.CreateCloth(def);
+		m_cloth = new b3Cloth(def);
 
+		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
+		m_cloth->SetWorld(&m_world);
+
+		// Freeze some particles
 		b3AABB3 aabb;
 		aabb.m_lower.Set(-5.0f, -1.0f, -6.0f);
 		aabb.m_upper.Set(5.0f, 1.0f, -4.0f);
@@ -91,12 +96,22 @@ public:
 				p->SetType(e_staticParticle);
 			}
 		}
+
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
+
+	~TensionMapping()
+	{
+		delete m_clothDragger;
+		delete m_cloth;
 	}
 
 	void Step()
 	{
 		Test::Step();
 
+		m_cloth->Step(g_testSettings->inv_hertz);
+
 		const b3ClothMesh* mesh = m_cloth->GetMesh();
 
 		b3StackArray<b3Vec3, 256> tension;
@@ -120,9 +135,9 @@ public:
 			}
 		}
 
-		for (u32 i = 0; i < m_rectangleClothMesh.triangleCount; ++i)
+		for (u32 i = 0; i < mesh->triangleCount; ++i)
 		{
-			b3ClothMeshTriangle* t = m_rectangleClothMesh.triangles + i;
+			b3ClothMeshTriangle* t = mesh->triangles + i;
 
 			b3Vec3 v1 = m_cloth->GetVertexParticle(t->v1)->GetPosition();
 			b3Vec3 v2 = m_cloth->GetVertexParticle(t->v2)->GetPosition();
@@ -154,18 +169,55 @@ public:
 			g_draw->DrawSolidTriangle(n2, v1, v3, v2, color);
 		}
 
-		if (m_clothDragger.IsDragging() == true)
+		if (m_clothDragger->IsDragging())
 		{
-			g_draw->DrawSegment(m_clothDragger.GetPointA(), m_clothDragger.GetPointB(), b3Color_white);
+			b3Vec3 pA = m_clothDragger->GetPointA();
+			b3Vec3 pB = m_clothDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
 		}
 
 		extern u32 b3_clothSolverIterations;
-		g_draw->DrawString(b3Color_white, "Iterations = %u", b3_clothSolverIterations);
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
 
 		float32 E = m_cloth->GetEnergy();
 		g_draw->DrawString(b3Color_white, "E = %f", E);
 	}
 
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
+		}
+	}
+
 	static Test* Create()
 	{
 		return new TensionMapping();
@@ -174,6 +226,9 @@ public:
 	b3RectangleGarment m_rectangleGarment;
 	b3GarmentMesh m_rectangleGarmentMesh;
 	b3GarmentClothMesh m_rectangleClothMesh;
+
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger; 
 };
 
 #endif
\ No newline at end of file
diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index 1c4162f..ba4633e 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -56,23 +56,20 @@
 #include <bounce/dynamics/contacts/convex_contact.h>
 #include <bounce/dynamics/contacts/mesh_contact.h>
 
-#include <bounce/dynamics/rope/rope.h>
-
-#include <bounce/garment/sewing_pattern.h>
-#include <bounce/garment/garment.h>
-#include <bounce/garment/garment_mesh.h>
-
-#include <bounce/dynamics/cloth/cloth_mesh.h>
-#include <bounce/dynamics/cloth/cloth.h>
-#include <bounce/dynamics/cloth/particle.h>
-#include <bounce/dynamics/cloth/spring_force.h>
-
 #include <bounce/dynamics/body.h>
 
 #include <bounce/dynamics/world.h>
 #include <bounce/dynamics/world_listeners.h>
 
-#include <bounce/controllers/cloth_dragger.h>
-#include <bounce/controllers/body_dragger.h>
+#include <bounce/rope/rope.h>
+
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/spring_force.h>
+
+#include <bounce/cloth/garment/sewing_pattern.h>
+#include <bounce/cloth/garment/garment.h>
+#include <bounce/cloth/garment/garment_mesh.h>
 
 #endif
\ No newline at end of file
diff --git a/include/bounce/dynamics/cloth/cloth.h b/include/bounce/cloth/cloth.h
similarity index 85%
rename from include/bounce/dynamics/cloth/cloth.h
rename to include/bounce/cloth/cloth.h
index 6f2d6f5..b8b6a7c 100644
--- a/include/bounce/dynamics/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -21,6 +21,7 @@
 
 #include <bounce/common/math/transform.h>
 #include <bounce/common/template/list.h>
+#include <bounce/common/memory/stack_allocator.h>
 #include <bounce/common/memory/block_pool.h>
 
 class b3World;
@@ -83,7 +84,20 @@ struct b3ClothDef
 class b3Cloth
 {
 public:
-	// Get the world the cloth belongs to.
+	b3Cloth(const b3ClothDef& def);
+	~b3Cloth();
+
+	// Set the acceleration of gravity.
+	void SetGravity(const b3Vec3& gravity);
+
+	// Get the acceleration of gravity.
+	b3Vec3 GetGravity() const;
+
+	// Attach a world to this cloth. 
+	// The cloth will be able to respond to collisions with the static shapes in the attached world.
+	void SetWorld(b3World* world);
+
+	// Get the world attached to this cloth.
 	const b3World* GetWorld() const;
 	b3World* GetWorld();
 
@@ -99,9 +113,6 @@ public:
 	// Destroy a given force.
 	void DestroyForce(b3Force* force);
 
-	// Perform a ray cast with the cloth.
-	void RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2);
-
 	// Perform a ray cast with the cloth.
 	bool RayCastSingle(b3ClothRayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
 
@@ -129,20 +140,14 @@ public:
 	// Get the next cloth in the world cloth list.
 	b3Cloth* GetNext();
 
+	// Perform a time step. 
+	void Step(float32 dt);
+
 	// Debug draw the cloth using the associated cloth mesh.
 	void Draw() const;
 private:
-	friend class b3World;
-
 	friend class b3List2<b3Cloth>;
 
-	b3Cloth(const b3ClothDef& def, b3World* world);
-	~b3Cloth();
-
-	// Perform a time step. 
-	// Called only inside b3World.
-	void Step(float32 dt, const b3Vec3& gravity);
-
 	// Compute mass of each particle.
 	void ComputeMass();
 
@@ -161,6 +166,15 @@ private:
 	// Solve
 	void Solve(float32 dt, const b3Vec3& gravity);
 
+	// Stack allocator
+	b3StackAllocator m_stackAllocator;
+
+	// The world attached to this cloth
+	b3World* m_world;
+
+	// Gravity acceleration
+	b3Vec3 m_gravity;
+
 	// Proxy mesh
 	const b3ClothMesh* m_mesh;
 	
@@ -196,15 +210,23 @@ private:
 	
 	// List of triangle contacts
 	b3List2<b3TriangleContact> m_triangleContactList;
-	
-	// The parent world of this cloth.
-	b3World* m_world;
-	
-	// Links to the world cloth list.
-	b3Cloth* m_prev;
-	b3Cloth* m_next;
 };
 
+inline void b3Cloth::SetGravity(const b3Vec3& gravity)
+{
+	m_gravity = gravity;
+}
+
+inline b3Vec3 b3Cloth::GetGravity() const
+{
+	return m_gravity;
+}
+
+inline void b3Cloth::SetWorld(b3World* world)
+{
+	m_world = world;
+}
+
 inline const b3World* b3Cloth::GetWorld() const
 {
 	return m_world;
@@ -230,14 +252,4 @@ inline const b3List2<b3Force>& b3Cloth::GetForceList() const
 	return m_forceList;
 }
 
-inline const b3Cloth* b3Cloth::GetNext() const
-{
-	return m_next;
-}
-
-inline b3Cloth* b3Cloth::GetNext()
-{
-	return m_next;
-}
-
 #endif
\ No newline at end of file
diff --git a/include/bounce/dynamics/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
similarity index 100%
rename from include/bounce/dynamics/cloth/cloth_contact_solver.h
rename to include/bounce/cloth/cloth_contact_solver.h
diff --git a/include/bounce/dynamics/cloth/cloth_mesh.h b/include/bounce/cloth/cloth_mesh.h
similarity index 100%
rename from include/bounce/dynamics/cloth/cloth_mesh.h
rename to include/bounce/cloth/cloth_mesh.h
diff --git a/include/bounce/dynamics/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
similarity index 100%
rename from include/bounce/dynamics/cloth/cloth_solver.h
rename to include/bounce/cloth/cloth_solver.h
diff --git a/include/bounce/dynamics/cloth/dense_vec3.h b/include/bounce/cloth/dense_vec3.h
similarity index 100%
rename from include/bounce/dynamics/cloth/dense_vec3.h
rename to include/bounce/cloth/dense_vec3.h
diff --git a/include/bounce/dynamics/cloth/diag_mat33.h b/include/bounce/cloth/diag_mat33.h
similarity index 98%
rename from include/bounce/dynamics/cloth/diag_mat33.h
rename to include/bounce/cloth/diag_mat33.h
index 34272af..24b62ff 100644
--- a/include/bounce/dynamics/cloth/diag_mat33.h
+++ b/include/bounce/cloth/diag_mat33.h
@@ -20,7 +20,7 @@
 #define B3_DIAG_MAT_33_H
 
 #include <bounce/common/math/mat33.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
+#include <bounce/cloth/dense_vec3.h>
 
 // Diagonal matrix storing only the diagonal elements of the 
 // original matrix.
diff --git a/include/bounce/dynamics/cloth/force.h b/include/bounce/cloth/force.h
similarity index 97%
rename from include/bounce/dynamics/cloth/force.h
rename to include/bounce/cloth/force.h
index 87bcb5b..78a18ba 100644
--- a/include/bounce/dynamics/cloth/force.h
+++ b/include/bounce/cloth/force.h
@@ -29,9 +29,7 @@ class b3Particle;
 // Force types
 enum b3ForceType
 {
-	e_frictionForce,
 	e_springForce,
-	e_bendForce,
 };
 
 struct b3ForceDef
diff --git a/include/bounce/garment/garment.h b/include/bounce/cloth/garment/garment.h
similarity index 98%
rename from include/bounce/garment/garment.h
rename to include/bounce/cloth/garment/garment.h
index 742ace0..3605584 100644
--- a/include/bounce/garment/garment.h
+++ b/include/bounce/cloth/garment/garment.h
@@ -19,7 +19,7 @@
 #ifndef B3_GARMENT_H
 #define B3_GARMENT_H
 
-#include <bounce/garment/sewing_pattern.h>
+#include <bounce/cloth/garment/sewing_pattern.h>
 
 struct b3SewingLine
 {
diff --git a/include/bounce/garment/garment_mesh.h b/include/bounce/cloth/garment/garment_mesh.h
similarity index 100%
rename from include/bounce/garment/garment_mesh.h
rename to include/bounce/cloth/garment/garment_mesh.h
diff --git a/include/bounce/garment/sewing_pattern.h b/include/bounce/cloth/garment/sewing_pattern.h
similarity index 100%
rename from include/bounce/garment/sewing_pattern.h
rename to include/bounce/cloth/garment/sewing_pattern.h
diff --git a/include/bounce/dynamics/cloth/particle.h b/include/bounce/cloth/particle.h
similarity index 99%
rename from include/bounce/dynamics/cloth/particle.h
rename to include/bounce/cloth/particle.h
index 11b93d0..7d531dc 100644
--- a/include/bounce/dynamics/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -20,9 +20,9 @@
 #define B3_PARTICLE_H
 
 #include <bounce/common/math/transform.h>
-#include <bounce/common/template/list.h>
-#include <bounce/dynamics/cloth/force.h>
 #include <bounce/common/math/vec2.h>
+#include <bounce/common/template/list.h>
+#include <bounce/cloth/force.h>
 
 class b3Shape;
 class b3Cloth;
diff --git a/include/bounce/dynamics/cloth/sparse_sym_mat33.h b/include/bounce/cloth/sparse_sym_mat33.h
similarity index 98%
rename from include/bounce/dynamics/cloth/sparse_sym_mat33.h
rename to include/bounce/cloth/sparse_sym_mat33.h
index e84f69b..6b688d9 100644
--- a/include/bounce/dynamics/cloth/sparse_sym_mat33.h
+++ b/include/bounce/cloth/sparse_sym_mat33.h
@@ -20,8 +20,8 @@
 #define B3_SPARSE_SYM_MAT_33_H
 
 #include <bounce/common/math/mat33.h>
-#include <bounce/dynamics/cloth/diag_mat33.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
+#include <bounce/cloth/diag_mat33.h>
+#include <bounce/cloth/dense_vec3.h>
 
 // An element in a sparse symmetric matrix.
 struct b3RowValue
diff --git a/include/bounce/dynamics/cloth/spring_force.h b/include/bounce/cloth/spring_force.h
similarity index 98%
rename from include/bounce/dynamics/cloth/spring_force.h
rename to include/bounce/cloth/spring_force.h
index c5d1bba..c0825b7 100644
--- a/include/bounce/dynamics/cloth/spring_force.h
+++ b/include/bounce/cloth/spring_force.h
@@ -19,7 +19,7 @@
 #ifndef B3_SPRING_FORCE_H
 #define B3_SPRING_FORCE_H
 
-#include <bounce/dynamics/cloth/force.h>
+#include <bounce/cloth/force.h>
 
 struct b3SpringForceDef : public b3ForceDef
 {
diff --git a/include/bounce/controllers/body_dragger.h b/include/bounce/controllers/body_dragger.h
deleted file mode 100644
index 37b28dd..0000000
--- a/include/bounce/controllers/body_dragger.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_BODY_DRAGGER_H
-#define B3_BODY_DRAGGER_H
-
-#include <bounce/common/geometry.h>
-#include <bounce/dynamics/body.h>
-
-// A body dragger.
-class b3BodyDragger
-{
-public:
-	b3BodyDragger(b3Ray3* ray, b3World* world)
-	{
-		m_ray = ray;
-		m_world = world;
-		m_shape = nullptr;
-		m_mouseJoint = nullptr;
-	}
-
-	~b3BodyDragger()
-	{
-
-	}
-
-	bool IsDragging() const
-	{
-		return m_shape != nullptr;
-	}
-
-	bool StartDragging()
-	{
-		B3_ASSERT(IsDragging() == false);
-
-		b3RayCastSingleShapeOutput out;
-		if (m_world->RayCastSingleShape(&out, m_ray->A(), m_ray->B()) == false)
-		{
-			return false;
-		}
-
-		m_x = out.fraction;
-		m_shape = out.shape;
-
-		b3BodyDef bd;
-		b3Body* groundBody = m_world->CreateBody(bd);
-
-		b3Body* body = m_shape->GetBody();
-		body->SetAwake(true);
-
-		b3MouseJointDef jd;
-		jd.bodyA = groundBody;
-		jd.bodyB = body;
-		jd.target = out.point;
-		jd.maxForce = 2000.0f * body->GetMass();
-
-		m_mouseJoint = (b3MouseJoint*)m_world->CreateJoint(jd);
-
-		m_p = body->GetLocalPoint(out.point);
-
-		return true;
-	}
-
-	void Drag()
-	{
-		B3_ASSERT(IsDragging() == true);
-		m_mouseJoint->SetTarget(GetPointB());
-	}
-
-	void StopDragging()
-	{
-		B3_ASSERT(IsDragging() == true);
-		b3Body* groundBody = m_mouseJoint->GetBodyA();
-		m_world->DestroyJoint(m_mouseJoint);
-		m_mouseJoint = nullptr;
-		m_world->DestroyBody(groundBody);
-		m_shape = nullptr;
-	}
-
-	b3Ray3* GetRay() const
-	{
-		return m_ray;
-	}
-
-	b3Body* GetBody() const
-	{
-		B3_ASSERT(IsDragging() == true);
-		return m_shape->GetBody();
-	}
-
-	b3Vec3 GetPointA() const
-	{
-		B3_ASSERT(IsDragging() == true);
-		return m_shape->GetBody()->GetWorldPoint(m_p);
-	}
-
-	b3Vec3 GetPointB() const
-	{
-		B3_ASSERT(IsDragging() == true);
-		return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
-	}
-
-private:
-	b3Ray3 * m_ray;
-	float32 m_x;
-
-	b3World* m_world;
-	
-	b3Shape* m_shape;
-	b3Vec3 m_p;
-	b3MouseJoint* m_mouseJoint;
-};
-
-#endif
\ No newline at end of file
diff --git a/include/bounce/controllers/cloth_dragger.h b/include/bounce/controllers/cloth_dragger.h
deleted file mode 100644
index b77060a..0000000
--- a/include/bounce/controllers/cloth_dragger.h
+++ /dev/null
@@ -1,224 +0,0 @@
-/*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_CLOTH_DRAGGER_H
-#define B3_CLOTH_DRAGGER_H
-
-#include <bounce/collision/collision.h>
-#include <bounce/dynamics/cloth/cloth.h>
-#include <bounce/dynamics/cloth/cloth_mesh.h>
-#include <bounce/dynamics/cloth/particle.h>
-#include <bounce/dynamics/cloth/spring_force.h>
-#include <bounce/dynamics/world.h>
-
-// A cloth triangle dragger.
-class b3ClothDragger
-{
-public:
-	b3ClothDragger(b3Ray3* ray, b3World* world) 
-	{
-		m_spring = false;
-		m_ray = ray;
-		m_world = world;
-		m_cloth = nullptr;
-	}
-
-	~b3ClothDragger()
-	{
-
-	}
-
-	bool IsDragging() const
-	{
-		return m_cloth != nullptr;
-	}
-
-	bool StartDragging()
-	{
-		B3_ASSERT(IsDragging() == false);
-
-		b3RayCastSingleClothOutput rayOut;
-		if (m_world->RayCastSingleCloth(&rayOut, m_ray->A(), m_ray->B()) == false)
-		{
-			return false;
-		}
-
-		m_cloth = rayOut.cloth;
-		m_mesh = m_cloth->GetMesh();
-		m_triangle = m_mesh->triangles + rayOut.triangle;
-		m_x = rayOut.fraction;
-
-		b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
-		b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
-		b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3);
-
-		b3Vec3 v1 = p1->GetPosition();
-		b3Vec3 v2 = p2->GetPosition();
-		b3Vec3 v3 = p3->GetPosition();
-
-		b3Vec3 B = GetPointB();
-
-		float32 wABC[4];
-		b3BarycentricCoordinates(wABC, v1, v2, v3, B);
-
-		if (wABC[3] > B3_EPSILON)
-		{
-			m_u = wABC[0] / wABC[3];
-			m_v = wABC[1] / wABC[3];
-		}
-		else
-		{
-			m_u = m_v = 0.0f;
-		}
-
-		if (m_spring)
-		{
-			b3ParticleDef pd;
-			pd.type = e_staticParticle;
-			pd.position = B;
-
-			m_particle = m_cloth->CreateParticle(pd);
-
-			{
-				b3SpringForceDef sfd;
-				sfd.p1 = m_particle;
-				sfd.p2 = p1;
-				sfd.restLength = 0.0f;
-				sfd.structural = 10000.0f;
-				m_s1 = (b3SpringForce*)m_cloth->CreateForce(sfd);
-			}
-
-			{
-				b3SpringForceDef sfd;
-				sfd.p1 = m_particle;
-				sfd.p2 = p2;
-				sfd.restLength = 0.0f;
-				sfd.structural = 10000.0f;
-				m_s2 = (b3SpringForce*)m_cloth->CreateForce(sfd);
-			}
-
-			{
-				b3SpringForceDef sfd;
-				sfd.p1 = m_particle;
-				sfd.p2 = p3;
-				sfd.restLength = 0.0f;
-				sfd.structural = 10000.0f;
-				m_s3 = (b3SpringForce*)m_cloth->CreateForce(sfd);
-			}
-		}
-		else
-		{
-			m_t1 = p1->GetType();
-			p1->SetType(e_staticParticle);
-
-			m_t2 = p2->GetType();
-			p2->SetType(e_staticParticle);
-
-			m_t3 = p3->GetType();
-			p3->SetType(e_staticParticle);
-		}
-
-		return true;
-	}
-
-	void Drag()
-	{
-		B3_ASSERT(IsDragging() == true);
-
-		b3Vec3 A = GetPointA();
-		b3Vec3 B = GetPointB();
-
-		b3Vec3 dx = B - A;
-
-		if (m_spring)
-		{
-			m_particle->SetPosition(B);
-		}
-		else
-		{
-			b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
-			p1->ApplyTranslation(dx);
-
-			b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
-			p2->ApplyTranslation(dx);
-
-			b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3);
-			p3->ApplyTranslation(dx);
-		}
-	}
-
-	void StopDragging()
-	{
-		B3_ASSERT(IsDragging() == true);
-
-		if (m_spring)
-		{
-			m_cloth->DestroyForce(m_s1);
-			m_cloth->DestroyForce(m_s2);
-			m_cloth->DestroyForce(m_s3);
-			m_cloth->DestroyParticle(m_particle);
-		}
-		else
-		{
-			m_cloth->GetVertexParticle(m_triangle->v1)->SetType(m_t1);
-			m_cloth->GetVertexParticle(m_triangle->v2)->SetType(m_t2);
-			m_cloth->GetVertexParticle(m_triangle->v3)->SetType(m_t3);
-		}
-
-		m_cloth = nullptr;
-	}
-
-	b3Vec3 GetPointA() const
-	{
-		B3_ASSERT(IsDragging() == true);
-		
-		b3Vec3 A = m_cloth->GetVertexParticle(m_triangle->v1)->GetPosition();
-		b3Vec3 B = m_cloth->GetVertexParticle(m_triangle->v2)->GetPosition();
-		b3Vec3 C = m_cloth->GetVertexParticle(m_triangle->v3)->GetPosition();
-
-		return m_u * A + m_v * B + (1.0f - m_u - m_v) * C;
-	}
-
-	b3Vec3 GetPointB() const
-	{
-		B3_ASSERT(IsDragging() == true);
-		
-		return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
-	}
-private:
-	b3Ray3* m_ray;
-	float32 m_x;
-
-	b3World* m_world;
-
-	b3Cloth* m_cloth;
-	const b3ClothMesh* m_mesh;
-	b3ClothMeshTriangle* m_triangle;
-	float32 m_u, m_v;
-
-	bool m_spring;
-
-	b3Particle* m_particle;
-	b3SpringForce* m_s1;
-	b3SpringForce* m_s2;
-	b3SpringForce* m_s3;
-
-	b3ParticleType m_t1, m_t2, m_t3;
-};
-
-#endif
\ No newline at end of file
diff --git a/include/bounce/dynamics/cloth/bend_force.h b/include/bounce/dynamics/cloth/bend_force.h
deleted file mode 100644
index 069a88e..0000000
--- a/include/bounce/dynamics/cloth/bend_force.h
+++ /dev/null
@@ -1,158 +0,0 @@
-/*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_BEND_FORCE_H
-#define B3_BEND_FORCE_H
-
-#include <bounce/dynamics/cloth/force.h>
-
-struct b3BendForceDef : public b3ForceDef
-{
-	b3BendForceDef()
-	{
-		type = e_bendForce;
-		p1 = nullptr;
-		p2 = nullptr;
-		p3 = nullptr;
-		p4 = nullptr;
-		restDistance = 0.0f;
-		restAngle = 0.0f;
-		structural = 0.0f;
-		damping = 0.0f;
-	}
-
-	// 
-	void Initialize(b3Particle* particle1, b3Particle* particle2, b3Particle* particle3, b3Particle* particle4, 
-		float32 structuralStiffness, float32 dampingStiffness);
-
-	// Particle 1
-	b3Particle* p1;
-
-	// Particle 2
-	b3Particle* p2;
-
-	// Particle 3
-	b3Particle* p3;
-	
-	// Particle 4
-	b3Particle* p4;
-	
-	// Rest distance
-	float32 restDistance;
-	
-	// Rest angle
-	float32 restAngle;
-
-	// Structural stiffness
-	float32 structural;
-
-	// Damping stiffness
-	float32 damping;
-};
-
-// 
-class b3BendForce : public b3Force
-{
-public:
-	b3Particle* GetParticle1();
-
-	b3Particle* GetParticle2();
-
-	b3Particle* GetParticle3();
-
-	b3Particle* GetParticle4();
-	
-	float32 GetRestDistance() const;
-	
-	float32 GetRestAngle() const;
-
-	float32 GetStructuralStiffness() const;
-
-	float32 GetDampingStiffness() const;
-private:
-	friend class b3Force;
-	friend class b3Cloth;
-
-	b3BendForce(const b3BendForceDef* def);
-	~b3BendForce();
-
-	void Apply(const b3ClothSolverData* data);
-
-	// Solver shared
-
-	// Particle 1
-	b3Particle* m_p1;
-
-	// Particle 2
-	b3Particle* m_p2;
-
-	// Particle 3
-	b3Particle* m_p3;
-	
-	// Particle 4
-	b3Particle* m_p4;
-
-	// Rest distance
-	float32 m_L0;
-
-	// Rest angle
-	float32 m_angle0;
-	
-	// Structural stiffness
-	float32 m_ks;
-
-	// Structural stiffness
-	float32 m_kd;
-};
-
-inline b3Particle* b3BendForce::GetParticle1()
-{
-	return m_p1;
-}
-
-inline b3Particle* b3BendForce::GetParticle2()
-{
-	return m_p2;
-}
-
-inline b3Particle* b3BendForce::GetParticle3()
-{
-	return m_p3;
-}
-
-inline b3Particle* b3BendForce::GetParticle4()
-{
-	return m_p4;
-}
-
-inline float32 b3BendForce::GetRestAngle() const
-{
-	return m_angle0;
-}
-
-inline float32 b3BendForce::GetStructuralStiffness() const
-{
-	return m_ks;
-}
-
-inline float32 b3BendForce::GetDampingStiffness() const
-{
-	return m_kd;
-}
-
-#endif
\ No newline at end of file
diff --git a/include/bounce/dynamics/world.h b/include/bounce/dynamics/world.h
index 2d30247..88a7510 100644
--- a/include/bounce/dynamics/world.h
+++ b/include/bounce/dynamics/world.h
@@ -26,17 +26,15 @@
 #include <bounce/dynamics/joint_manager.h>
 #include <bounce/dynamics/contact_manager.h>
 
-struct b3ClothDef;
 struct b3BodyDef;
 
-class b3Cloth;
 class b3Body;
 class b3QueryListener;
 class b3RayCastListener;
 class b3ContactListener;
 class b3ContactFilter;
 
-struct b3RayCastSingleShapeOutput
+struct b3RayCastSingleOutput
 {
 	b3Shape* shape; // shape
 	b3Vec3 point; // intersection point on surface
@@ -44,15 +42,6 @@ struct b3RayCastSingleShapeOutput
 	float32 fraction; // time of intersection on segment
 };
 
-struct b3RayCastSingleClothOutput
-{
-	b3Cloth* cloth; // cloth
-	u32 triangle; // triangle
-	b3Vec3 point; // intersection point on surface
-	b3Vec3 normal; // surface normal of intersection
-	float32 fraction; // time of intersection on segment
-};
-
 // Use a physics world to create/destroy rigid bodies, execute ray cast and volume queries.
 class b3World
 {
@@ -79,12 +68,6 @@ public:
 	// The acceleration has units of m/s^2.
 	void SetGravity(const b3Vec3& gravity);
 
-	// Create a new deformable cloth.
-	b3Cloth* CreateCloth(const b3ClothDef& def);
-
-	// Destroy an existing deformable cloth.
-	void DestroyCloth(b3Cloth* cloth);
-	
 	// Create a new rigid body.
 	b3Body* CreateBody(const b3BodyDef& def);
 	
@@ -108,29 +91,14 @@ public:
 	// The ray cast output is the intercepted shape, the intersection 
 	// point in world space, the face normal on the shape associated with the point, 
 	// and the intersection fraction.
-	void RayCastShape(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
+	void RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
 
 	// Perform a ray cast with the world.
 	// If the ray doesn't intersect with a shape in the world then return false.
 	// The ray cast output is the intercepted shape, the intersection 
 	// point in world space, the face normal on the shape associated with the point, 
 	// and the intersection fraction.
-	bool RayCastSingleShape(b3RayCastSingleShapeOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
-
-	// Perform a ray cast with the world.
-	// The given ray cast listener will be notified when a ray intersects a shape 
-	// in the world. 
-	// The ray cast output is the intercepted cloth, the intersection 
-	// point in world space, the face normal on the cloth associated with the point, 
-	// and the intersection fraction.
-	void RayCastCloth(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
-
-	// Perform a ray cast with the world.
-	// If the ray doesn't intersect with a cloth in the world then return false.
-	// The ray cast output is the intercepted cloth, the intersection 
-	// point in world space, the face normal on the cloth associated with the point, 
-	// and the intersection fraction.
-	bool RayCastSingleCloth(b3RayCastSingleClothOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
+	bool RayCastSingle(b3RayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
 
 	// Perform a AABB query with the world.
 	// The query listener will be notified when two shape AABBs are overlapping.
@@ -161,8 +129,7 @@ private :
 		e_shapeAddedFlag = 0x0001,
 		e_clearForcesFlag = 0x0002,
 	};
-
-	friend class b3Cloth;
+	
 	friend class b3Body;
 	friend class b3Shape;
 	friend class b3Contact;
@@ -172,20 +139,16 @@ private :
 
 	void Solve(float32 dt, u32 velocityIterations, u32 positionIterations);
 
-	void StepCloth(float32 dt);
-	
 	bool m_sleeping;
 	bool m_warmStarting;
 	u32 m_flags;
 	b3Vec3 m_gravity;
 
 	b3StackAllocator m_stackAllocator;
-	b3BlockPool m_clothBlocks;
+	
+	// Pool of bodies
 	b3BlockPool m_bodyBlocks;
 
-	// List of clothes
-	b3List2<b3Cloth> m_clothList;
-	
 	// List of bodies
 	b3List2<b3Body> m_bodyList;
 	
diff --git a/include/bounce/dynamics/world_listeners.h b/include/bounce/dynamics/world_listeners.h
index cc9fc02..4b87efa 100644
--- a/include/bounce/dynamics/world_listeners.h
+++ b/include/bounce/dynamics/world_listeners.h
@@ -22,7 +22,6 @@
 #include <bounce/common/math/math.h>
 
 class b3Shape;
-class b3Cloth;
 class b3Contact;
 
 class b3QueryListener 
@@ -47,12 +46,6 @@ public:
 	// the intersection point on the shape, the surface normal associated with the point, and the 
 	// intersection fraction for the ray.
 	virtual float32 ReportShape(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction) = 0;
-
-	// Report that a cloth was hit by the ray to this contact listener.
-	// The reported information are the shape hit by the ray,
-	// the intersection point on the cloth, the surface normal associated with the point, the 
-	// intersection fraction for the ray, and the triangle.
-	virtual float32 ReportCloth(b3Cloth* cloth, const b3Vec3& point, const b3Vec3& normal, float32 fraction, u32 triangle) = 0;
 };
 
 class b3ContactListener 
diff --git a/include/bounce/dynamics/rope/rope.h b/include/bounce/rope/rope.h
similarity index 100%
rename from include/bounce/dynamics/rope/rope.h
rename to include/bounce/rope/rope.h
diff --git a/include/bounce/dynamics/spatial.h b/include/bounce/rope/spatial.h
similarity index 100%
rename from include/bounce/dynamics/spatial.h
rename to include/bounce/rope/spatial.h
diff --git a/premake5.lua b/premake5.lua
index 3c43015..625618c 100644
--- a/premake5.lua
+++ b/premake5.lua
@@ -274,6 +274,12 @@ workspace(solution_name)
 			
 			examples_src_dir .. "/testbed/framework/test.h", 
 			
+			examples_src_dir .. "/testbed/framework/body_dragger.h", 
+			examples_src_dir .. "/testbed/framework/cloth_dragger.h", 
+			
+			examples_src_dir .. "/testbed/framework/body_dragger.cpp", 
+			examples_src_dir .. "/testbed/framework/cloth_dragger.cpp", 
+			
 			examples_inc_dir .. "/testbed/tests/**.h", 
 			
 			examples_src_dir .. "/testbed/framework/draw.cpp", 
diff --git a/src/bounce/dynamics/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
similarity index 92%
rename from src/bounce/dynamics/cloth/cloth.cpp
rename to src/bounce/cloth/cloth.cpp
index bd526a9..cc301e3 100644
--- a/src/bounce/dynamics/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -16,19 +16,16 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/dynamics/cloth/cloth.h>
-#include <bounce/dynamics/cloth/cloth_mesh.h>
-#include <bounce/dynamics/cloth/particle.h>
-#include <bounce/dynamics/cloth/force.h>
-#include <bounce/dynamics/cloth/spring_force.h>
-#include <bounce/dynamics/cloth/bend_force.h>
-#include <bounce/dynamics/cloth/cloth_solver.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/force.h>
+#include <bounce/cloth/spring_force.h>
+#include <bounce/cloth/cloth_solver.h>
 #include <bounce/dynamics/world.h>
-#include <bounce/dynamics/world_listeners.h>
 #include <bounce/dynamics/body.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/collision/collision.h>
-#include <bounce/common/memory/stack_allocator.h>
 #include <bounce/common/draw.h>
 
 static B3_FORCE_INLINE u32 b3NextIndex(u32 i)
@@ -149,7 +146,7 @@ static u32 b3FindSharedEdges(b3SharedEdge* sharedEdges, const b3ClothMesh* m)
 	return sharedCount;
 }
 
-b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
+b3Cloth::b3Cloth(const b3ClothDef& def) :
 	m_particleBlocks(sizeof(b3Particle)),
 	m_bodyContactBlocks(sizeof(b3BodyContact)),
 	m_particleContactBlocks(sizeof(b3ParticleContact)),
@@ -158,7 +155,6 @@ b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
 	B3_ASSERT(def.mesh);
 	B3_ASSERT(def.density > 0.0f);
 
-	m_world = world;
 	m_mesh = def.mesh;
 	m_density = def.density;
 
@@ -184,7 +180,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
 	ComputeMass();
 
 	// Create forces
-	b3StackAllocator* allocator = &m_world->m_stackAllocator;
+	b3StackAllocator* allocator = &m_stackAllocator;
 
 	// Worst-case edge memory
 	u32 edgeCount = 3 * m->triangleCount;
@@ -218,8 +214,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
 		b3Particle* p3 = m_vertexParticles[e->nsv1];
 		b3Particle* p4 = m_vertexParticles[e->nsv2];
 
-		b3BendForceDef fd;
-		fd.Initialize(p1, p2, p3, p4, def.bending, def.damping);
+		b3SpringForceDef fd;
+		fd.Initialize(p3, p4, def.bending, def.damping);
 
 		CreateForce(fd);
 	}
@@ -240,6 +236,9 @@ b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
 
 		CreateForce(fd);
 	}
+
+	m_gravity.SetZero();
+	m_world = nullptr;
 }
 
 b3Cloth::~b3Cloth()
@@ -354,33 +353,6 @@ void b3Cloth::ComputeMass()
 	}
 }
 
-void b3Cloth::RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2)
-{
-	b3RayCastInput input;
-	input.p1 = p1;
-	input.p2 = p2;
-	input.maxFraction = 1.0f;
-
-	for (u32 i = 0; i < m_mesh->triangleCount; ++i)
-	{
-		b3RayCastOutput subOutput;
-		if (RayCast(&subOutput, &input, i))
-		{
-			float32 fraction = subOutput.fraction;
-			b3Vec3 point = (1.0f - fraction) * input.p1 + fraction * input.p2;
-			b3Vec3 normal = subOutput.normal;
-
-			float32 newFraction = listener->ReportCloth(this, point, normal, fraction, i);
-
-			if (newFraction == 0.0f)
-			{
-				// The client has stopped the query.
-				return;
-			}
-		}
-	}
-}
-
 bool b3Cloth::RayCastSingle(b3ClothRayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
 {
 	b3RayCastInput input;
@@ -440,7 +412,6 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
 		return false;
 	}
 
-	B3_ASSERT(len > B3_EPSILON);
 	n /= len;
 
 	float32 numerator = b3Dot(n, v1 - p1);
@@ -483,11 +454,8 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
 	float32 v = b3Dot(QC_x_QA, AB_x_AC);
 	float32 w = b3Dot(QA_x_QB, AB_x_AC);
 
-	// Characteristic length of triangle
-	const float32 kTol = -B3_EPSILON;
-
 	// Is the intersection on the triangle?
-	if (u > kTol && v > kTol && w > kTol)
+	if (u >= 0.0f && v >= 0.0f && w >= 0.0f)
 	{
 		output->fraction = fraction;
 
@@ -509,6 +477,12 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
 
 void b3Cloth::UpdateBodyContacts()
 {
+	// Is there a world attached to this cloth?
+	if (m_world == nullptr)
+	{
+		return;
+	}
+
 	B3_PROFILE("Cloth Update Body Contacts");
 	
 	// Clear buffer
@@ -537,9 +511,13 @@ void b3Cloth::UpdateBodyContacts()
 
 		for (b3Body* body = m_world->GetBodyList().m_head; body; body = body->GetNext())
 		{
-			if (p->m_type != e_dynamicParticle && body->GetType() != e_dynamicBody)
+			if (p->m_type != e_dynamicParticle)
+			{
+				continue;
+			}
+
+			if (body->GetType() != e_staticBody)
 			{
-				// At least one body should be kinematic or dynamic.
 				continue;
 			}
 
@@ -887,7 +865,7 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 
 	// Solve
 	b3ClothSolverDef solverDef;
-	solverDef.stack = &m_world->m_stackAllocator;
+	solverDef.stack = &m_stackAllocator;
 	solverDef.particleCapacity = m_particleList.m_count;
 	solverDef.forceCapacity = m_forceList.m_count;
 	solverDef.bodyContactCapacity = m_bodyContactList.m_count;
@@ -937,14 +915,16 @@ void b3Cloth::UpdateContacts()
 	// Update body contacts
 	UpdateBodyContacts();
 
+#if 0
 	// Update particle contacts
 	UpdateParticleContacts();
 
 	// Update triangle contacts
 	UpdateTriangleContacts();
+#endif
 }
 
-void b3Cloth::Step(float32 dt, const b3Vec3& gravity)
+void b3Cloth::Step(float32 dt)
 {
 	B3_PROFILE("Cloth Step");
 
@@ -954,7 +934,7 @@ void b3Cloth::Step(float32 dt, const b3Vec3& gravity)
 	// Solve constraints, integrate state, clear forces and translations. 
 	if (dt > 0.0f)
 	{
-		Solve(dt, gravity);
+		Solve(dt, m_gravity);
 	}
 }
 
diff --git a/src/bounce/dynamics/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
similarity index 99%
rename from src/bounce/dynamics/cloth/cloth_contact_solver.cpp
rename to src/bounce/cloth/cloth_contact_solver.cpp
index cf05921..e553df2 100644
--- a/src/bounce/dynamics/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -16,12 +16,12 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/dynamics/cloth/cloth_contact_solver.h>
-#include <bounce/dynamics/cloth/particle.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
+#include <bounce/cloth/cloth_contact_solver.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/dense_vec3.h>
+#include <bounce/common/memory/stack_allocator.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/dynamics/body.h>
-#include <bounce/common/memory/stack_allocator.h>
 
 b3ClothContactSolver::b3ClothContactSolver(const b3ClothContactSolverDef& def)
 {
diff --git a/src/bounce/dynamics/cloth/cloth_mesh.cpp b/src/bounce/cloth/cloth_mesh.cpp
similarity index 95%
rename from src/bounce/dynamics/cloth/cloth_mesh.cpp
rename to src/bounce/cloth/cloth_mesh.cpp
index f51c408..5018104 100644
--- a/src/bounce/dynamics/cloth/cloth_mesh.cpp
+++ b/src/bounce/cloth/cloth_mesh.cpp
@@ -16,10 +16,10 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/dynamics/cloth/cloth_mesh.h>
-#include <bounce/garment/garment.h>
-#include <bounce/garment/garment_mesh.h>
-#include <bounce/garment/sewing_pattern.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/garment/garment.h>
+#include <bounce/cloth/garment/garment_mesh.h>
+#include <bounce/cloth/garment/sewing_pattern.h>
 
 b3GarmentClothMesh::b3GarmentClothMesh()
 {
diff --git a/src/bounce/dynamics/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
similarity index 96%
rename from src/bounce/dynamics/cloth/cloth_solver.cpp
rename to src/bounce/cloth/cloth_solver.cpp
index e4d66b2..2684966 100644
--- a/src/bounce/dynamics/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -16,18 +16,18 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/dynamics/cloth/cloth_solver.h>
-#include <bounce/dynamics/cloth/cloth_contact_solver.h>
-#include <bounce/dynamics/cloth/cloth.h>
-#include <bounce/dynamics/cloth/particle.h>
-#include <bounce/dynamics/cloth/force.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
-#include <bounce/dynamics/cloth/diag_mat33.h>
-#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
-#include <bounce/dynamics/shapes/shape.h>
-#include <bounce/dynamics/body.h>
+#include <bounce/cloth/cloth_solver.h>
+#include <bounce/cloth/cloth_contact_solver.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/force.h>
+#include <bounce/cloth/dense_vec3.h>
+#include <bounce/cloth/diag_mat33.h>
+#include <bounce/cloth/sparse_sym_mat33.h>
 #include <bounce/common/memory/stack_allocator.h>
 #include <bounce/common/math/mat.h>
+#include <bounce/dynamics/shapes/shape.h>
+#include <bounce/dynamics/body.h>
 
 // Here, we solve Ax = b using the Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
 // described in the paper:
@@ -298,7 +298,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 
 	// Solve velocity constraints
 	{
-		const u32 kVelocityIterations = 5;
+		const u32 kVelocityIterations = 10;
 
 		for (u32 i = 0; i < kVelocityIterations; ++i)
 		{
diff --git a/src/bounce/dynamics/cloth/force.cpp b/src/bounce/cloth/force.cpp
similarity index 79%
rename from src/bounce/dynamics/cloth/force.cpp
rename to src/bounce/cloth/force.cpp
index 0365c66..53e4fce 100644
--- a/src/bounce/dynamics/cloth/force.cpp
+++ b/src/bounce/cloth/force.cpp
@@ -16,9 +16,8 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/dynamics/cloth/force.h>
-#include <bounce/dynamics/cloth/spring_force.h>
-#include <bounce/dynamics/cloth/bend_force.h>
+#include <bounce/cloth/force.h>
+#include <bounce/cloth/spring_force.h>
 
 b3Force* b3Force::Create(const b3ForceDef* def)
 {
@@ -31,12 +30,6 @@ b3Force* b3Force::Create(const b3ForceDef* def)
 		force = new (block) b3SpringForce((b3SpringForceDef*)def);
 		break;
 	}
-	case e_bendForce:
-	{
-		void* block = b3Alloc(sizeof(b3BendForce));
-		force = new (block) b3BendForce((b3BendForceDef*)def);
-		break;
-	}
 	default:
 	{
 		B3_ASSERT(false);
@@ -60,13 +53,6 @@ void b3Force::Destroy(b3Force* force)
 		b3Free(force);
 		break;
 	}
-	case e_bendForce:
-	{
-		b3BendForce* o = (b3BendForce*)force;
-		o->~b3BendForce();
-		b3Free(force);
-		break;
-	}
 	default:
 	{
 		B3_ASSERT(false);
diff --git a/src/bounce/garment/garment_mesh.cpp b/src/bounce/cloth/garment/garment_mesh.cpp
similarity index 97%
rename from src/bounce/garment/garment_mesh.cpp
rename to src/bounce/cloth/garment/garment_mesh.cpp
index ffc2a5e..473b5f0 100644
--- a/src/bounce/garment/garment_mesh.cpp
+++ b/src/bounce/cloth/garment/garment_mesh.cpp
@@ -16,9 +16,9 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/garment/garment_mesh.h>
-#include <bounce/garment/garment.h>
-#include <bounce/garment/sewing_pattern.h>
+#include <bounce/cloth/garment/garment_mesh.h>
+#include <bounce/cloth/garment/garment.h>
+#include <bounce/cloth/garment/sewing_pattern.h>
 
 #define ANSI_DECLARATORS
 #define REAL double
diff --git a/src/bounce/dynamics/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
similarity index 91%
rename from src/bounce/dynamics/cloth/particle.cpp
rename to src/bounce/cloth/particle.cpp
index cd4c2fe..0da1c6d 100644
--- a/src/bounce/dynamics/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -16,11 +16,11 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/dynamics/cloth/particle.h>
-#include <bounce/dynamics/cloth/cloth.h>
-#include <bounce/dynamics/cloth/cloth_solver.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
-#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_solver.h>
+#include <bounce/cloth/dense_vec3.h>
+#include <bounce/cloth/sparse_sym_mat33.h>
 
 void b3BodyContactWorldPoint::Initialize(const b3BodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
 {
diff --git a/src/bounce/dynamics/cloth/spring_force.cpp b/src/bounce/cloth/spring_force.cpp
similarity index 91%
rename from src/bounce/dynamics/cloth/spring_force.cpp
rename to src/bounce/cloth/spring_force.cpp
index 25ba831..4a634fb 100644
--- a/src/bounce/dynamics/cloth/spring_force.cpp
+++ b/src/bounce/cloth/spring_force.cpp
@@ -16,11 +16,11 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/dynamics/cloth/spring_force.h>
-#include <bounce/dynamics/cloth/particle.h>
-#include <bounce/dynamics/cloth/cloth_solver.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
-#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
+#include <bounce/cloth/spring_force.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_solver.h>
+#include <bounce/cloth/dense_vec3.h>
+#include <bounce/cloth/sparse_sym_mat33.h>
 
 void b3SpringForceDef::Initialize(b3Particle* particle1, b3Particle* particle2, float32 structuralStiffness, float32 dampingStiffness)
 {
diff --git a/src/bounce/dynamics/cloth/bend_force.cpp b/src/bounce/dynamics/cloth/bend_force.cpp
deleted file mode 100644
index d540706..0000000
--- a/src/bounce/dynamics/cloth/bend_force.cpp
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <bounce/dynamics/cloth/bend_force.h>
-#include <bounce/dynamics/cloth/particle.h>
-#include <bounce/dynamics/cloth/cloth_solver.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
-#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
-
-void b3BendForceDef::Initialize(b3Particle* particle1, b3Particle* particle2, b3Particle* particle3, b3Particle* particle4, float32 structuralStiffness, float32 dampingStiffness)
-{
-	type = e_bendForce;
-	p1 = particle1;
-	p2 = particle2;
-	p3 = particle3;
-	p4 = particle4;
-	
-	b3Vec3 x1 = p1->GetPosition();
-	b3Vec3 x2 = p2->GetPosition();
-	b3Vec3 x3 = p3->GetPosition();
-	b3Vec3 x4 = p4->GetPosition();
-
-	restDistance = b3Distance(x2, x3);
-	structural = structuralStiffness;
-	damping = dampingStiffness;
-}
-
-b3BendForce::b3BendForce(const b3BendForceDef* def)
-{
-	m_type = e_bendForce;
-	m_p1 = def->p1;
-	m_p2 = def->p2;
-	m_p3 = def->p3;
-	m_p4 = def->p4;
-	m_L0 = def->restDistance;
-	m_angle0 = def->restAngle;
-	m_ks = def->structural;
-	m_kd = def->damping;
-}
-
-b3BendForce::~b3BendForce()
-{
-
-}
-
-void b3BendForce::Apply(const b3ClothSolverData* data)
-{
-	b3DenseVec3& x = *data->x;
-	b3DenseVec3& v = *data->v;
-	b3DenseVec3& f = *data->f;
-	b3SparseSymMat33& dfdx = *data->dfdx;
-	b3SparseSymMat33& dfdv = *data->dfdv;
-
-	u32 i1 = m_p2->m_solverId;
-	u32 i2 = m_p3->m_solverId;
-
-	b3Vec3 x1 = x[i1];
-	b3Vec3 v1 = v[i1];
-
-	b3Vec3 x2 = x[i2];
-	b3Vec3 v2 = v[i2];
-
-	b3Mat33 I; I.SetIdentity();
-
-	b3Vec3 ef; ef.SetZero();
-
-	if (m_ks > 0.0f)
-	{
-		b3Vec3 dx = x1 - x2;
-
-		float32 L = b3Length(dx);
-
-		if (L >= m_L0)
-		{
-			// Apply tension
-			b3Vec3 n = dx / L;
-
-			ef += -m_ks * (L - m_L0) * n;
-
-			// Jacobian
-			b3Mat33 Jx11 = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx)));
-			b3Mat33 Jx12 = -Jx11;
-			//b3Mat33 Jx21 = Jx12;
-			b3Mat33 Jx22 = Jx11;
-
-			dfdx(i1, i1) += Jx11;
-			dfdx(i1, i2) += Jx12;
-			//dfdx(i2, i1) += Jx21;
-			dfdx(i2, i2) += Jx22;
-		}
-	}
-
-	if (m_kd > 0.0f)
-	{
-		// Apply damping
-		b3Vec3 dv = v1 - v2;
-
-		ef += -m_kd * dv;
-
-		b3Mat33 Jv11 = -m_kd * I;
-		b3Mat33 Jv12 = -Jv11;
-		//b3Mat33 Jv21 = Jv12;
-		b3Mat33 Jv22 = Jv11;
-
-		dfdv(i1, i1) += Jv11;
-		dfdv(i1, i2) += Jv12;
-		//dfdv(i2, i1) += Jv21;
-		dfdv(i2, i2) += Jv22;
-	}
-
-	f[i1] += ef;
-	f[i2] -= ef;
-}
\ No newline at end of file
diff --git a/src/bounce/dynamics/world.cpp b/src/bounce/dynamics/world.cpp
index aa9647a..bc688b7 100644
--- a/src/bounce/dynamics/world.cpp
+++ b/src/bounce/dynamics/world.cpp
@@ -17,7 +17,6 @@
 */
 
 #include <bounce/dynamics/world.h>
-#include <bounce/dynamics/cloth/cloth.h>
 #include <bounce/dynamics/body.h>
 #include <bounce/dynamics/island.h>
 #include <bounce/dynamics/world_listeners.h>
@@ -32,7 +31,6 @@ extern u32 b3_gjkCalls, b3_gjkIters, b3_gjkMaxIters;
 extern bool b3_convexCache;
 
 b3World::b3World() : 
-	m_clothBlocks(sizeof(b3Cloth)),
 	m_bodyBlocks(sizeof(b3Body))
 {
 	b3_allocCalls = 0;
@@ -54,14 +52,6 @@ b3World::b3World() :
 
 b3World::~b3World()
 {
-	b3Cloth* c = m_clothList.m_head;
-	while (c)
-	{
-		b3Cloth* c0 = c;
-		c = c->m_next;
-		c0->~b3Cloth();
-	}
-		
 	b3Body* b = m_bodyList.m_head;
 	while (b)
 	{
@@ -93,21 +83,6 @@ void b3World::SetSleeping(bool flag)
 	}
 }
 
-b3Cloth* b3World::CreateCloth(const b3ClothDef& def)
-{
-	void* mem = m_clothBlocks.Allocate();
-	b3Cloth* c = new(mem) b3Cloth(def, this);
-	m_clothList.PushFront(c);
-	return c;
-}
-
-void b3World::DestroyCloth(b3Cloth* c)
-{
-	m_clothList.Remove(c);
-	c->~b3Cloth();
-	m_clothBlocks.Free(c);
-}
-
 b3Body* b3World::CreateBody(const b3BodyDef& def)
 {
 	void* mem = m_bodyBlocks.Allocate();
@@ -166,11 +141,6 @@ void b3World::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 	{
 		Solve(dt, velocityIterations, positionIterations);
 	}
-
-	//SolveTOI
-
-	// Step cloth dynamics
-	StepCloth(dt);
 }
 
 void b3World::Solve(float32 dt, u32 velocityIterations, u32 positionIterations)
@@ -366,16 +336,6 @@ void b3World::Solve(float32 dt, u32 velocityIterations, u32 positionIterations)
 	}
 }
 
-void b3World::StepCloth(float32 dt)
-{
-	B3_PROFILE("Step Cloth");
-
-	for (b3Cloth* c = m_clothList.m_head; c; c = c->GetNext())
-	{
-		c->Step(dt, m_gravity);
-	}
-}
-
 struct b3ShapeRayCastCallback
 {
 	float32 Report(const b3RayCastInput& input, u32 proxyId)
@@ -411,7 +371,7 @@ struct b3ShapeRayCastCallback
 	const b3BroadPhase* broadPhase;
 };
 
-void b3World::RayCastShape(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const
+void b3World::RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const
 {
 	b3RayCastInput input;
 	input.p1 = p1;
@@ -456,7 +416,7 @@ struct b3RayCastSingleShapeCallback
 	const b3BroadPhase* broadPhase;
 };
 
-bool b3World::RayCastSingleShape(b3RayCastSingleShapeOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
+bool b3World::RayCastSingle(b3RayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
 {
 	b3RayCastInput input;
 	input.p1 = p1;
@@ -489,52 +449,6 @@ bool b3World::RayCastSingleShape(b3RayCastSingleShapeOutput* output, const b3Vec
 	return false;
 }
 
-void b3World::RayCastCloth(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const
-{
-	for (b3Cloth* c = m_clothList.m_head; c; c = c->m_next)
-	{
-		c->RayCast(listener, p1, p2);
-	}
-}
-
-bool b3World::RayCastSingleCloth(b3RayCastSingleClothOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
-{
-	b3Cloth* cloth0 = NULL;
-	b3ClothRayCastSingleOutput output0;
-	output0.fraction = B3_MAX_FLOAT;
-
-	for (b3Cloth* c = m_clothList.m_head; c; c = c->m_next)
-	{
-		b3ClothRayCastSingleOutput subOutput;
-		if (c->RayCastSingle(&subOutput, p1, p2))
-		{
-			if (subOutput.fraction < output0.fraction)
-			{
-				cloth0 = c;
-				output0 = subOutput;
-			}
-		}
-	}
-
-	if (cloth0 != NULL)
-	{
-		u32 triangle = output0.triangle;
-		float32 fraction = output0.fraction;
-		b3Vec3 point = (1.0f - fraction) * p1 + fraction * p2;
-		b3Vec3 normal = output0.normal;
-
-		output->cloth = cloth0;
-		output->triangle = triangle;
-		output->point = point;
-		output->normal = normal;
-		output->fraction = fraction;
-
-		return true;
-	}
-
-	return false;
-}
-
 struct b3QueryAABBCallback
 {
 	bool Report(u32 proxyID)
diff --git a/src/bounce/dynamics/rope/rope.cpp b/src/bounce/rope/rope.cpp
similarity index 99%
rename from src/bounce/dynamics/rope/rope.cpp
rename to src/bounce/rope/rope.cpp
index 6ddec52..d839180 100644
--- a/src/bounce/dynamics/rope/rope.cpp
+++ b/src/bounce/rope/rope.cpp
@@ -16,8 +16,8 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/dynamics/rope/rope.h>
-#include <bounce/dynamics/spatial.h>
+#include <bounce/rope/rope.h>
+#include <bounce/rope/spatial.h>
 #include <bounce/common/draw.h>
 
 struct b3RopeBody
diff --git a/test/ignore.txt b/test/ignore.txt
deleted file mode 100644
index e69de29..0000000

From be3912c7626d85524a258a4eef99a2c3b325d923 Mon Sep 17 00:00:00 2001
From: Irlan Robson <irlanrobson@users.noreply.github.com>
Date: Mon, 8 Oct 2018 16:19:56 -0300
Subject: [PATCH 018/198] Update readme.md

---
 readme.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/readme.md b/readme.md
index 8879dfa..cd2eedb 100644
--- a/readme.md
+++ b/readme.md
@@ -1,6 +1,6 @@
 ## Bounce
 
-**Welcome! Bounce is a 3D physics engine.**
+**Welcome! Bounce is a 3D physics engine for games.**
 
 Feel free to ask questions, give feedback and suggestions using the issue tracker. 
 

From 1f65a9f79d493e633b51cd04c03c17810aa11ba0 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 26 Feb 2019 16:41:28 -0300
Subject: [PATCH 019/198] update license headers

---
 examples/hello_world/main.cpp                                   | 2 +-
 examples/testbed/framework/body_dragger.cpp                     | 2 +-
 examples/testbed/framework/body_dragger.h                       | 2 +-
 examples/testbed/framework/cloth_dragger.cpp                    | 2 +-
 examples/testbed/framework/cloth_dragger.h                      | 2 +-
 examples/testbed/framework/draw.cpp                             | 2 +-
 examples/testbed/framework/draw.h                               | 2 +-
 examples/testbed/framework/draw_gl2.h                           | 2 +-
 examples/testbed/framework/json_profiler.cpp                    | 2 +-
 examples/testbed/framework/json_profiler.h                      | 2 +-
 examples/testbed/framework/main.cpp                             | 2 +-
 examples/testbed/framework/model.cpp                            | 2 +-
 examples/testbed/framework/model.h                              | 2 +-
 examples/testbed/framework/profiler.cpp                         | 2 +-
 examples/testbed/framework/profiler.h                           | 2 +-
 examples/testbed/framework/recorder_profiler.cpp                | 2 +-
 examples/testbed/framework/recorder_profiler.h                  | 2 +-
 examples/testbed/framework/test.cpp                             | 2 +-
 examples/testbed/framework/test.h                               | 2 +-
 examples/testbed/framework/test_entries.cpp                     | 2 +-
 examples/testbed/framework/testbed_listener.h                   | 2 +-
 examples/testbed/framework/view.cpp                             | 2 +-
 examples/testbed/framework/view.h                               | 2 +-
 examples/testbed/framework/view_model.cpp                       | 2 +-
 examples/testbed/framework/view_model.h                         | 2 +-
 examples/testbed/tests/angular_motion.h                         | 2 +-
 examples/testbed/tests/body_types.h                             | 2 +-
 examples/testbed/tests/box_edge_contact.h                       | 2 +-
 examples/testbed/tests/box_face_contact.h                       | 2 +-
 examples/testbed/tests/box_stack.h                              | 2 +-
 examples/testbed/tests/capsule_collision.h                      | 2 +-
 examples/testbed/tests/capsule_spin.h                           | 2 +-
 examples/testbed/tests/capsule_stack.h                          | 2 +-
 examples/testbed/tests/character_test.h                         | 2 +-
 examples/testbed/tests/cluster.h                                | 2 +-
 examples/testbed/tests/collide_test.h                           | 2 +-
 examples/testbed/tests/compound_body.h                          | 2 +-
 examples/testbed/tests/cone_test.h                              | 2 +-
 examples/testbed/tests/convex_hull.h                            | 2 +-
 examples/testbed/tests/deep_capsule.h                           | 2 +-
 examples/testbed/tests/degenerate_capsule.h                     | 2 +-
 examples/testbed/tests/distance_test.h                          | 2 +-
 examples/testbed/tests/gyro_motion.h                            | 2 +-
 examples/testbed/tests/hinge_chain.h                            | 2 +-
 examples/testbed/tests/hinge_motor.h                            | 2 +-
 examples/testbed/tests/hull_collision.h                         | 2 +-
 examples/testbed/tests/hull_contact_test.h                      | 2 +-
 examples/testbed/tests/initial_overlap.h                        | 2 +-
 examples/testbed/tests/jenga.h                                  | 2 +-
 examples/testbed/tests/linear_motion.h                          | 2 +-
 examples/testbed/tests/mass_spring.h                            | 2 +-
 examples/testbed/tests/mesh_contact_test.h                      | 2 +-
 examples/testbed/tests/multiple_pendulum.h                      | 2 +-
 examples/testbed/tests/newton_cradle.h                          | 2 +-
 examples/testbed/tests/particle_types.h                         | 2 +-
 examples/testbed/tests/pinned_cloth.h                           | 2 +-
 examples/testbed/tests/pyramid.h                                | 2 +-
 examples/testbed/tests/pyramids.h                               | 2 +-
 examples/testbed/tests/quadric_shapes.h                         | 2 +-
 examples/testbed/tests/ragdoll.h                                | 2 +-
 examples/testbed/tests/ray_cast.h                               | 2 +-
 examples/testbed/tests/rope_test.h                              | 2 +-
 examples/testbed/tests/self_collision.h                         | 2 +-
 examples/testbed/tests/sensor_test.h                            | 2 +-
 examples/testbed/tests/shape_stack.h                            | 2 +-
 examples/testbed/tests/sheet_stack.h                            | 2 +-
 examples/testbed/tests/shirt.h                                  | 2 +-
 examples/testbed/tests/single_pendulum.h                        | 2 +-
 examples/testbed/tests/sphere_stack.h                           | 2 +-
 examples/testbed/tests/spring.h                                 | 2 +-
 examples/testbed/tests/table_cloth.h                            | 2 +-
 examples/testbed/tests/tension_mapping.h                        | 2 +-
 examples/testbed/tests/tumbler.h                                | 2 +-
 examples/testbed/tests/varying_friction.h                       | 2 +-
 examples/testbed/tests/varying_restitution.h                    | 2 +-
 examples/testbed/tests/weld_test.h                              | 2 +-
 include/bounce/bounce.h                                         | 2 +-
 include/bounce/cloth/cloth.h                                    | 2 +-
 include/bounce/cloth/cloth_contact_solver.h                     | 2 +-
 include/bounce/cloth/cloth_mesh.h                               | 2 +-
 include/bounce/cloth/cloth_solver.h                             | 2 +-
 include/bounce/cloth/dense_vec3.h                               | 2 +-
 include/bounce/cloth/diag_mat33.h                               | 2 +-
 include/bounce/cloth/force.h                                    | 2 +-
 include/bounce/cloth/garment/garment.h                          | 2 +-
 include/bounce/cloth/garment/garment_mesh.h                     | 2 +-
 include/bounce/cloth/garment/sewing_pattern.h                   | 2 +-
 include/bounce/cloth/particle.h                                 | 2 +-
 include/bounce/cloth/sparse_sym_mat33.h                         | 2 +-
 include/bounce/cloth/spring_force.h                             | 2 +-
 include/bounce/collision/broad_phase.h                          | 2 +-
 include/bounce/collision/collision.h                            | 2 +-
 include/bounce/collision/gjk/gjk.h                              | 2 +-
 include/bounce/collision/gjk/gjk_proxy.h                        | 2 +-
 include/bounce/collision/sat/sat.h                              | 2 +-
 include/bounce/collision/sat/sat_edge_and_hull.h                | 2 +-
 include/bounce/collision/sat/sat_vertex_and_hull.h              | 2 +-
 include/bounce/collision/shapes/aabb3.h                         | 2 +-
 include/bounce/collision/shapes/box_hull.h                      | 2 +-
 include/bounce/collision/shapes/capsule.h                       | 2 +-
 include/bounce/collision/shapes/grid_mesh.h                     | 2 +-
 include/bounce/collision/shapes/hull.h                          | 2 +-
 include/bounce/collision/shapes/mesh.h                          | 2 +-
 include/bounce/collision/shapes/qhull.h                         | 2 +-
 include/bounce/collision/shapes/sphere.h                        | 2 +-
 include/bounce/collision/shapes/triangle_hull.h                 | 2 +-
 include/bounce/collision/trees/dynamic_tree.h                   | 2 +-
 include/bounce/collision/trees/static_tree.h                    | 2 +-
 include/bounce/common/draw.h                                    | 2 +-
 include/bounce/common/geometry.h                                | 2 +-
 include/bounce/common/math/mat.h                                | 2 +-
 include/bounce/common/math/mat22.h                              | 2 +-
 include/bounce/common/math/mat33.h                              | 2 +-
 include/bounce/common/math/mat44.h                              | 2 +-
 include/bounce/common/math/math.h                               | 2 +-
 include/bounce/common/math/quat.h                               | 2 +-
 include/bounce/common/math/transform.h                          | 2 +-
 include/bounce/common/math/vec2.h                               | 2 +-
 include/bounce/common/math/vec3.h                               | 2 +-
 include/bounce/common/math/vec4.h                               | 2 +-
 include/bounce/common/memory/block_pool.h                       | 2 +-
 include/bounce/common/memory/stack_allocator.h                  | 2 +-
 include/bounce/common/settings.h                                | 2 +-
 include/bounce/common/template/array.h                          | 2 +-
 include/bounce/common/template/list.h                           | 2 +-
 include/bounce/common/template/object_array.h                   | 2 +-
 include/bounce/common/template/queue.h                          | 2 +-
 include/bounce/common/template/stack.h                          | 2 +-
 include/bounce/common/time.h                                    | 2 +-
 include/bounce/dynamics/body.h                                  | 2 +-
 include/bounce/dynamics/contact_manager.h                       | 2 +-
 include/bounce/dynamics/contacts/collide/clip.h                 | 2 +-
 include/bounce/dynamics/contacts/collide/collide.h              | 2 +-
 include/bounce/dynamics/contacts/contact.h                      | 2 +-
 include/bounce/dynamics/contacts/contact_cluster.h              | 2 +-
 include/bounce/dynamics/contacts/contact_solver.h               | 2 +-
 include/bounce/dynamics/contacts/convex_contact.h               | 2 +-
 include/bounce/dynamics/contacts/manifold.h                     | 2 +-
 include/bounce/dynamics/contacts/mesh_contact.h                 | 2 +-
 include/bounce/dynamics/island.h                                | 2 +-
 include/bounce/dynamics/joint_manager.h                         | 2 +-
 include/bounce/dynamics/joints/cone_joint.h                     | 2 +-
 include/bounce/dynamics/joints/joint.h                          | 2 +-
 include/bounce/dynamics/joints/joint_solver.h                   | 2 +-
 include/bounce/dynamics/joints/mouse_joint.h                    | 2 +-
 include/bounce/dynamics/joints/revolute_joint.h                 | 2 +-
 include/bounce/dynamics/joints/sphere_joint.h                   | 2 +-
 include/bounce/dynamics/joints/spring_joint.h                   | 2 +-
 include/bounce/dynamics/joints/weld_joint.h                     | 2 +-
 include/bounce/dynamics/shapes/capsule_shape.h                  | 2 +-
 include/bounce/dynamics/shapes/hull_shape.h                     | 2 +-
 include/bounce/dynamics/shapes/mesh_shape.h                     | 2 +-
 include/bounce/dynamics/shapes/shape.h                          | 2 +-
 include/bounce/dynamics/shapes/sphere_shape.h                   | 2 +-
 include/bounce/dynamics/time_step.h                             | 2 +-
 include/bounce/dynamics/world.h                                 | 2 +-
 include/bounce/dynamics/world_listeners.h                       | 2 +-
 include/bounce/quickhull/qh_hull.h                              | 2 +-
 include/bounce/rope/rope.h                                      | 2 +-
 include/bounce/rope/spatial.h                                   | 2 +-
 src/bounce/cloth/cloth.cpp                                      | 2 +-
 src/bounce/cloth/cloth_contact_solver.cpp                       | 2 +-
 src/bounce/cloth/cloth_mesh.cpp                                 | 2 +-
 src/bounce/cloth/cloth_solver.cpp                               | 2 +-
 src/bounce/cloth/force.cpp                                      | 2 +-
 src/bounce/cloth/garment/garment_mesh.cpp                       | 2 +-
 src/bounce/cloth/particle.cpp                                   | 2 +-
 src/bounce/cloth/spring_force.cpp                               | 2 +-
 src/bounce/collision/broad_phase.cpp                            | 2 +-
 src/bounce/collision/collision.cpp                              | 2 +-
 src/bounce/collision/gjk/gjk.cpp                                | 2 +-
 src/bounce/collision/gjk/gjk_feature_pair.cpp                   | 2 +-
 src/bounce/collision/sat/sat.cpp                                | 2 +-
 src/bounce/collision/sat/sat_edge_and_hull.cpp                  | 2 +-
 src/bounce/collision/sat/sat_vertex_and_hull.cpp                | 2 +-
 src/bounce/collision/shapes/hull.cpp                            | 2 +-
 src/bounce/collision/shapes/qhull.cpp                           | 2 +-
 src/bounce/collision/trees/dynamic_tree.cpp                     | 2 +-
 src/bounce/collision/trees/static_tree.cpp                      | 2 +-
 src/bounce/common/math/math.cpp                                 | 2 +-
 src/bounce/common/memory/block_pool.cpp                         | 2 +-
 src/bounce/common/memory/stack_allocator.cpp                    | 2 +-
 src/bounce/common/settings.cpp                                  | 2 +-
 src/bounce/dynamics/body.cpp                                    | 2 +-
 src/bounce/dynamics/contact_manager.cpp                         | 2 +-
 src/bounce/dynamics/contacts/collide/clip.cpp                   | 2 +-
 src/bounce/dynamics/contacts/collide/collide.cpp                | 2 +-
 src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp   | 2 +-
 src/bounce/dynamics/contacts/collide/collide_capsules.cpp       | 2 +-
 src/bounce/dynamics/contacts/collide/collide_hulls.cpp          | 2 +-
 src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp    | 2 +-
 src/bounce/dynamics/contacts/collide/collide_sphere_capsule.cpp | 2 +-
 src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp    | 2 +-
 src/bounce/dynamics/contacts/collide/collide_spheres.cpp        | 2 +-
 src/bounce/dynamics/contacts/contact.cpp                        | 2 +-
 src/bounce/dynamics/contacts/contact_cluster.cpp                | 2 +-
 src/bounce/dynamics/contacts/contact_solver.cpp                 | 2 +-
 src/bounce/dynamics/contacts/convex_contact.cpp                 | 2 +-
 src/bounce/dynamics/contacts/manifold.cpp                       | 2 +-
 src/bounce/dynamics/contacts/mesh_contact.cpp                   | 2 +-
 src/bounce/dynamics/draw_world.cpp                              | 2 +-
 src/bounce/dynamics/island.cpp                                  | 2 +-
 src/bounce/dynamics/joint_manager.cpp                           | 2 +-
 src/bounce/dynamics/joints/cone_joint.cpp                       | 2 +-
 src/bounce/dynamics/joints/joint.cpp                            | 2 +-
 src/bounce/dynamics/joints/joint_solver.cpp                     | 2 +-
 src/bounce/dynamics/joints/mouse_joint.cpp                      | 2 +-
 src/bounce/dynamics/joints/revolute_joint.cpp                   | 2 +-
 src/bounce/dynamics/joints/sphere_joint.cpp                     | 2 +-
 src/bounce/dynamics/joints/spring_joint.cpp                     | 2 +-
 src/bounce/dynamics/joints/weld_joint.cpp                       | 2 +-
 src/bounce/dynamics/shapes/capsule_shape.cpp                    | 2 +-
 src/bounce/dynamics/shapes/hull_shape.cpp                       | 2 +-
 src/bounce/dynamics/shapes/mesh_shape.cpp                       | 2 +-
 src/bounce/dynamics/shapes/shape.cpp                            | 2 +-
 src/bounce/dynamics/shapes/sphere_shape.cpp                     | 2 +-
 src/bounce/dynamics/world.cpp                                   | 2 +-
 src/bounce/quickhull/qh_hull.cpp                                | 2 +-
 src/bounce/rope/rope.cpp                                        | 2 +-
 219 files changed, 219 insertions(+), 219 deletions(-)

diff --git a/examples/hello_world/main.cpp b/examples/hello_world/main.cpp
index 5715060..d68db49 100644
--- a/examples/hello_world/main.cpp
+++ b/examples/hello_world/main.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/body_dragger.cpp b/examples/testbed/framework/body_dragger.cpp
index 58456a5..5e0be78 100644
--- a/examples/testbed/framework/body_dragger.cpp
+++ b/examples/testbed/framework/body_dragger.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/body_dragger.h b/examples/testbed/framework/body_dragger.h
index 10d5a66..d7f4858 100644
--- a/examples/testbed/framework/body_dragger.h
+++ b/examples/testbed/framework/body_dragger.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/cloth_dragger.cpp b/examples/testbed/framework/cloth_dragger.cpp
index ea228ba..47ee7fc 100644
--- a/examples/testbed/framework/cloth_dragger.cpp
+++ b/examples/testbed/framework/cloth_dragger.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/cloth_dragger.h b/examples/testbed/framework/cloth_dragger.h
index 5058f20..d0e49de 100644
--- a/examples/testbed/framework/cloth_dragger.h
+++ b/examples/testbed/framework/cloth_dragger.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/draw.cpp b/examples/testbed/framework/draw.cpp
index 480e66f..1ed646c 100644
--- a/examples/testbed/framework/draw.cpp
+++ b/examples/testbed/framework/draw.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/draw.h b/examples/testbed/framework/draw.h
index e1e6755..b4db22b 100644
--- a/examples/testbed/framework/draw.h
+++ b/examples/testbed/framework/draw.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/draw_gl2.h b/examples/testbed/framework/draw_gl2.h
index d4ab35c..3cf7810 100644
--- a/examples/testbed/framework/draw_gl2.h
+++ b/examples/testbed/framework/draw_gl2.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/json_profiler.cpp b/examples/testbed/framework/json_profiler.cpp
index d11fa5a..1f4a38a 100644
--- a/examples/testbed/framework/json_profiler.cpp
+++ b/examples/testbed/framework/json_profiler.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/json_profiler.h b/examples/testbed/framework/json_profiler.h
index 3ff6fb8..15bcc2c 100644
--- a/examples/testbed/framework/json_profiler.h
+++ b/examples/testbed/framework/json_profiler.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 9cd3863..dad7c74 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/model.cpp b/examples/testbed/framework/model.cpp
index 581616a..df3357d 100644
--- a/examples/testbed/framework/model.cpp
+++ b/examples/testbed/framework/model.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/model.h b/examples/testbed/framework/model.h
index e41d97b..310e6f2 100644
--- a/examples/testbed/framework/model.h
+++ b/examples/testbed/framework/model.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index 8a47078..81b6aec 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index b54384d..5428ee1 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/recorder_profiler.cpp b/examples/testbed/framework/recorder_profiler.cpp
index 886689c..3b21a1a 100644
--- a/examples/testbed/framework/recorder_profiler.cpp
+++ b/examples/testbed/framework/recorder_profiler.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/recorder_profiler.h b/examples/testbed/framework/recorder_profiler.h
index 0c74e41..49f2edf 100644
--- a/examples/testbed/framework/recorder_profiler.h
+++ b/examples/testbed/framework/recorder_profiler.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/test.cpp b/examples/testbed/framework/test.cpp
index 12ca6db..3b83bb6 100644
--- a/examples/testbed/framework/test.cpp
+++ b/examples/testbed/framework/test.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/test.h b/examples/testbed/framework/test.h
index 4171804..8e21ca7 100644
--- a/examples/testbed/framework/test.h
+++ b/examples/testbed/framework/test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index 6da7e6f..8526371 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/testbed_listener.h b/examples/testbed/framework/testbed_listener.h
index 35dc5d3..ee50dba 100644
--- a/examples/testbed/framework/testbed_listener.h
+++ b/examples/testbed/framework/testbed_listener.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/view.cpp b/examples/testbed/framework/view.cpp
index 23b03a1..d2d68dc 100644
--- a/examples/testbed/framework/view.cpp
+++ b/examples/testbed/framework/view.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/view.h b/examples/testbed/framework/view.h
index 26c4e57..edb0be1 100644
--- a/examples/testbed/framework/view.h
+++ b/examples/testbed/framework/view.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/view_model.cpp b/examples/testbed/framework/view_model.cpp
index 370a231..ffb3372 100644
--- a/examples/testbed/framework/view_model.cpp
+++ b/examples/testbed/framework/view_model.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/framework/view_model.h b/examples/testbed/framework/view_model.h
index 7d5925f..8b10a0c 100644
--- a/examples/testbed/framework/view_model.h
+++ b/examples/testbed/framework/view_model.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/angular_motion.h b/examples/testbed/tests/angular_motion.h
index a5674cc..ae3578e 100644
--- a/examples/testbed/tests/angular_motion.h
+++ b/examples/testbed/tests/angular_motion.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/body_types.h b/examples/testbed/tests/body_types.h
index ab3449a..ac71468 100644
--- a/examples/testbed/tests/body_types.h
+++ b/examples/testbed/tests/body_types.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/box_edge_contact.h b/examples/testbed/tests/box_edge_contact.h
index 9847880..5e90f7f 100644
--- a/examples/testbed/tests/box_edge_contact.h
+++ b/examples/testbed/tests/box_edge_contact.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/box_face_contact.h b/examples/testbed/tests/box_face_contact.h
index 99d6b9f..71243e3 100644
--- a/examples/testbed/tests/box_face_contact.h
+++ b/examples/testbed/tests/box_face_contact.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/box_stack.h b/examples/testbed/tests/box_stack.h
index 6cf636a..1d1e9ef 100644
--- a/examples/testbed/tests/box_stack.h
+++ b/examples/testbed/tests/box_stack.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/capsule_collision.h b/examples/testbed/tests/capsule_collision.h
index 8551b03..00a51ac 100644
--- a/examples/testbed/tests/capsule_collision.h
+++ b/examples/testbed/tests/capsule_collision.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/capsule_spin.h b/examples/testbed/tests/capsule_spin.h
index 0d6cc5a..94be411 100644
--- a/examples/testbed/tests/capsule_spin.h
+++ b/examples/testbed/tests/capsule_spin.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/capsule_stack.h b/examples/testbed/tests/capsule_stack.h
index f0462b8..d4b370c 100644
--- a/examples/testbed/tests/capsule_stack.h
+++ b/examples/testbed/tests/capsule_stack.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/character_test.h b/examples/testbed/tests/character_test.h
index 762bf0c..ec6e322 100644
--- a/examples/testbed/tests/character_test.h
+++ b/examples/testbed/tests/character_test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/cluster.h b/examples/testbed/tests/cluster.h
index bd7b0b2..74bf446 100644
--- a/examples/testbed/tests/cluster.h
+++ b/examples/testbed/tests/cluster.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/collide_test.h b/examples/testbed/tests/collide_test.h
index 4818df3..560df43 100644
--- a/examples/testbed/tests/collide_test.h
+++ b/examples/testbed/tests/collide_test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/compound_body.h b/examples/testbed/tests/compound_body.h
index 0445d03..a1d1922 100644
--- a/examples/testbed/tests/compound_body.h
+++ b/examples/testbed/tests/compound_body.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/cone_test.h b/examples/testbed/tests/cone_test.h
index dfa6691..a75a598 100644
--- a/examples/testbed/tests/cone_test.h
+++ b/examples/testbed/tests/cone_test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/convex_hull.h b/examples/testbed/tests/convex_hull.h
index a9b0e3c..1ddb27d 100644
--- a/examples/testbed/tests/convex_hull.h
+++ b/examples/testbed/tests/convex_hull.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/deep_capsule.h b/examples/testbed/tests/deep_capsule.h
index c4cb36e..98eb010 100644
--- a/examples/testbed/tests/deep_capsule.h
+++ b/examples/testbed/tests/deep_capsule.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/degenerate_capsule.h b/examples/testbed/tests/degenerate_capsule.h
index 0ca046c..7a5b575 100644
--- a/examples/testbed/tests/degenerate_capsule.h
+++ b/examples/testbed/tests/degenerate_capsule.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/distance_test.h b/examples/testbed/tests/distance_test.h
index 44cbb20..e5ea4ac 100644
--- a/examples/testbed/tests/distance_test.h
+++ b/examples/testbed/tests/distance_test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/gyro_motion.h b/examples/testbed/tests/gyro_motion.h
index cfbd897..2d35f1b 100644
--- a/examples/testbed/tests/gyro_motion.h
+++ b/examples/testbed/tests/gyro_motion.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/hinge_chain.h b/examples/testbed/tests/hinge_chain.h
index 3cc2e6b..7c0e297 100644
--- a/examples/testbed/tests/hinge_chain.h
+++ b/examples/testbed/tests/hinge_chain.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/hinge_motor.h b/examples/testbed/tests/hinge_motor.h
index 829f42b..0e8d01f 100644
--- a/examples/testbed/tests/hinge_motor.h
+++ b/examples/testbed/tests/hinge_motor.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/hull_collision.h b/examples/testbed/tests/hull_collision.h
index 8aad10e..1a24a06 100644
--- a/examples/testbed/tests/hull_collision.h
+++ b/examples/testbed/tests/hull_collision.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/hull_contact_test.h b/examples/testbed/tests/hull_contact_test.h
index 51fc123..186f387 100644
--- a/examples/testbed/tests/hull_contact_test.h
+++ b/examples/testbed/tests/hull_contact_test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/initial_overlap.h b/examples/testbed/tests/initial_overlap.h
index b3e7156..fbfeec9 100644
--- a/examples/testbed/tests/initial_overlap.h
+++ b/examples/testbed/tests/initial_overlap.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/jenga.h b/examples/testbed/tests/jenga.h
index 8695def..7079d82 100644
--- a/examples/testbed/tests/jenga.h
+++ b/examples/testbed/tests/jenga.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/linear_motion.h b/examples/testbed/tests/linear_motion.h
index cd70d40..b94b5ac 100644
--- a/examples/testbed/tests/linear_motion.h
+++ b/examples/testbed/tests/linear_motion.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/mass_spring.h b/examples/testbed/tests/mass_spring.h
index 4c10924..dac0e58 100644
--- a/examples/testbed/tests/mass_spring.h
+++ b/examples/testbed/tests/mass_spring.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/mesh_contact_test.h b/examples/testbed/tests/mesh_contact_test.h
index d81f05f..6589eb4 100644
--- a/examples/testbed/tests/mesh_contact_test.h
+++ b/examples/testbed/tests/mesh_contact_test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/multiple_pendulum.h b/examples/testbed/tests/multiple_pendulum.h
index 487b73f..6bc43b7 100644
--- a/examples/testbed/tests/multiple_pendulum.h
+++ b/examples/testbed/tests/multiple_pendulum.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/newton_cradle.h b/examples/testbed/tests/newton_cradle.h
index 445cd1c..865cb3a 100644
--- a/examples/testbed/tests/newton_cradle.h
+++ b/examples/testbed/tests/newton_cradle.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/particle_types.h b/examples/testbed/tests/particle_types.h
index 5aa4c71..55f51f6 100644
--- a/examples/testbed/tests/particle_types.h
+++ b/examples/testbed/tests/particle_types.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/pinned_cloth.h b/examples/testbed/tests/pinned_cloth.h
index 08fe1e8..b2a28ef 100644
--- a/examples/testbed/tests/pinned_cloth.h
+++ b/examples/testbed/tests/pinned_cloth.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/pyramid.h b/examples/testbed/tests/pyramid.h
index ecb3235..d7528e3 100644
--- a/examples/testbed/tests/pyramid.h
+++ b/examples/testbed/tests/pyramid.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/pyramids.h b/examples/testbed/tests/pyramids.h
index 60f4cff..e440e9d 100644
--- a/examples/testbed/tests/pyramids.h
+++ b/examples/testbed/tests/pyramids.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/quadric_shapes.h b/examples/testbed/tests/quadric_shapes.h
index 8bb1395..f00133a 100644
--- a/examples/testbed/tests/quadric_shapes.h
+++ b/examples/testbed/tests/quadric_shapes.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/ragdoll.h b/examples/testbed/tests/ragdoll.h
index 4942ebb..5dac8cb 100644
--- a/examples/testbed/tests/ragdoll.h
+++ b/examples/testbed/tests/ragdoll.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/ray_cast.h b/examples/testbed/tests/ray_cast.h
index 610627f..579bdd8 100644
--- a/examples/testbed/tests/ray_cast.h
+++ b/examples/testbed/tests/ray_cast.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/rope_test.h b/examples/testbed/tests/rope_test.h
index de9252d..389f517 100644
--- a/examples/testbed/tests/rope_test.h
+++ b/examples/testbed/tests/rope_test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be hebd liable for any damages
diff --git a/examples/testbed/tests/self_collision.h b/examples/testbed/tests/self_collision.h
index 3135b4f..3051748 100644
--- a/examples/testbed/tests/self_collision.h
+++ b/examples/testbed/tests/self_collision.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/sensor_test.h b/examples/testbed/tests/sensor_test.h
index 63bc2c4..3d8e64f 100644
--- a/examples/testbed/tests/sensor_test.h
+++ b/examples/testbed/tests/sensor_test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/shape_stack.h b/examples/testbed/tests/shape_stack.h
index a22b6ba..8d6097c 100644
--- a/examples/testbed/tests/shape_stack.h
+++ b/examples/testbed/tests/shape_stack.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/sheet_stack.h b/examples/testbed/tests/sheet_stack.h
index afdbba9..7a32e93 100644
--- a/examples/testbed/tests/sheet_stack.h
+++ b/examples/testbed/tests/sheet_stack.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/shirt.h b/examples/testbed/tests/shirt.h
index 1d76f1a..5e3e0c9 100644
--- a/examples/testbed/tests/shirt.h
+++ b/examples/testbed/tests/shirt.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/single_pendulum.h b/examples/testbed/tests/single_pendulum.h
index 4746d3e..3808548 100644
--- a/examples/testbed/tests/single_pendulum.h
+++ b/examples/testbed/tests/single_pendulum.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/sphere_stack.h b/examples/testbed/tests/sphere_stack.h
index 1800e56..b5f48b6 100644
--- a/examples/testbed/tests/sphere_stack.h
+++ b/examples/testbed/tests/sphere_stack.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/spring.h b/examples/testbed/tests/spring.h
index 4d4f8be..ad5df0b 100644
--- a/examples/testbed/tests/spring.h
+++ b/examples/testbed/tests/spring.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index af43732..71ee69d 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/tension_mapping.h b/examples/testbed/tests/tension_mapping.h
index 49d8d23..74d93ae 100644
--- a/examples/testbed/tests/tension_mapping.h
+++ b/examples/testbed/tests/tension_mapping.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/tumbler.h b/examples/testbed/tests/tumbler.h
index 9f79bf0..471fb2c 100644
--- a/examples/testbed/tests/tumbler.h
+++ b/examples/testbed/tests/tumbler.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/varying_friction.h b/examples/testbed/tests/varying_friction.h
index 0a1c2ab..30726a7 100644
--- a/examples/testbed/tests/varying_friction.h
+++ b/examples/testbed/tests/varying_friction.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/varying_restitution.h b/examples/testbed/tests/varying_restitution.h
index d6ffeb6..b25e9fc 100644
--- a/examples/testbed/tests/varying_restitution.h
+++ b/examples/testbed/tests/varying_restitution.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/examples/testbed/tests/weld_test.h b/examples/testbed/tests/weld_test.h
index b35c825..1ca7aac 100644
--- a/examples/testbed/tests/weld_test.h
+++ b/examples/testbed/tests/weld_test.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index ba4633e..b44bacc 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index b8b6a7c..c78e921 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index a4a03f5..4752adc 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/cloth_mesh.h b/include/bounce/cloth/cloth_mesh.h
index 593f6dc..391f88e 100644
--- a/include/bounce/cloth/cloth_mesh.h
+++ b/include/bounce/cloth/cloth_mesh.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index ed56b82..2c53294 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/dense_vec3.h b/include/bounce/cloth/dense_vec3.h
index 34820e1..78a5b52 100644
--- a/include/bounce/cloth/dense_vec3.h
+++ b/include/bounce/cloth/dense_vec3.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/diag_mat33.h b/include/bounce/cloth/diag_mat33.h
index 24b62ff..b08065e 100644
--- a/include/bounce/cloth/diag_mat33.h
+++ b/include/bounce/cloth/diag_mat33.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/force.h b/include/bounce/cloth/force.h
index 78a18ba..04c456f 100644
--- a/include/bounce/cloth/force.h
+++ b/include/bounce/cloth/force.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/garment/garment.h b/include/bounce/cloth/garment/garment.h
index 3605584..8e16f93 100644
--- a/include/bounce/cloth/garment/garment.h
+++ b/include/bounce/cloth/garment/garment.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/garment/garment_mesh.h b/include/bounce/cloth/garment/garment_mesh.h
index 66e97ca..9057d24 100644
--- a/include/bounce/cloth/garment/garment_mesh.h
+++ b/include/bounce/cloth/garment/garment_mesh.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/garment/sewing_pattern.h b/include/bounce/cloth/garment/sewing_pattern.h
index 3d2ee57..635bed9 100644
--- a/include/bounce/cloth/garment/sewing_pattern.h
+++ b/include/bounce/cloth/garment/sewing_pattern.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index 7d531dc..7db88a4 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/sparse_sym_mat33.h b/include/bounce/cloth/sparse_sym_mat33.h
index 6b688d9..daf2664 100644
--- a/include/bounce/cloth/sparse_sym_mat33.h
+++ b/include/bounce/cloth/sparse_sym_mat33.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/cloth/spring_force.h b/include/bounce/cloth/spring_force.h
index c0825b7..aee0425 100644
--- a/include/bounce/cloth/spring_force.h
+++ b/include/bounce/cloth/spring_force.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/broad_phase.h b/include/bounce/collision/broad_phase.h
index 8e703f6..b9483a2 100644
--- a/include/bounce/collision/broad_phase.h
+++ b/include/bounce/collision/broad_phase.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/collision.h b/include/bounce/collision/collision.h
index 1fde28f..9eda6de 100644
--- a/include/bounce/collision/collision.h
+++ b/include/bounce/collision/collision.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/gjk/gjk.h b/include/bounce/collision/gjk/gjk.h
index 6261de6..0d85e50 100644
--- a/include/bounce/collision/gjk/gjk.h
+++ b/include/bounce/collision/gjk/gjk.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/gjk/gjk_proxy.h b/include/bounce/collision/gjk/gjk_proxy.h
index 5a4766e..71638ea 100644
--- a/include/bounce/collision/gjk/gjk_proxy.h
+++ b/include/bounce/collision/gjk/gjk_proxy.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/sat/sat.h b/include/bounce/collision/sat/sat.h
index 8f45ee2..a21fa12 100644
--- a/include/bounce/collision/sat/sat.h
+++ b/include/bounce/collision/sat/sat.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/sat/sat_edge_and_hull.h b/include/bounce/collision/sat/sat_edge_and_hull.h
index 60ecb2f..8998a40 100644
--- a/include/bounce/collision/sat/sat_edge_and_hull.h
+++ b/include/bounce/collision/sat/sat_edge_and_hull.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/sat/sat_vertex_and_hull.h b/include/bounce/collision/sat/sat_vertex_and_hull.h
index 52a59d5..4f78c32 100644
--- a/include/bounce/collision/sat/sat_vertex_and_hull.h
+++ b/include/bounce/collision/sat/sat_vertex_and_hull.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/shapes/aabb3.h b/include/bounce/collision/shapes/aabb3.h
index 1ffd8b4..a9e562e 100644
--- a/include/bounce/collision/shapes/aabb3.h
+++ b/include/bounce/collision/shapes/aabb3.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/shapes/box_hull.h b/include/bounce/collision/shapes/box_hull.h
index 5d384fa..b655c18 100644
--- a/include/bounce/collision/shapes/box_hull.h
+++ b/include/bounce/collision/shapes/box_hull.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/shapes/capsule.h b/include/bounce/collision/shapes/capsule.h
index 3c5464b..ea434e5 100644
--- a/include/bounce/collision/shapes/capsule.h
+++ b/include/bounce/collision/shapes/capsule.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/shapes/grid_mesh.h b/include/bounce/collision/shapes/grid_mesh.h
index 4561277..358416d 100644
--- a/include/bounce/collision/shapes/grid_mesh.h
+++ b/include/bounce/collision/shapes/grid_mesh.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/shapes/hull.h b/include/bounce/collision/shapes/hull.h
index 46a7f11..48f152d 100644
--- a/include/bounce/collision/shapes/hull.h
+++ b/include/bounce/collision/shapes/hull.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/shapes/mesh.h b/include/bounce/collision/shapes/mesh.h
index a5395dc..3fbde6d 100644
--- a/include/bounce/collision/shapes/mesh.h
+++ b/include/bounce/collision/shapes/mesh.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/shapes/qhull.h b/include/bounce/collision/shapes/qhull.h
index c900135..42f3c66 100644
--- a/include/bounce/collision/shapes/qhull.h
+++ b/include/bounce/collision/shapes/qhull.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/shapes/sphere.h b/include/bounce/collision/shapes/sphere.h
index 7156fb0..b0bc4bb 100644
--- a/include/bounce/collision/shapes/sphere.h
+++ b/include/bounce/collision/shapes/sphere.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/shapes/triangle_hull.h b/include/bounce/collision/shapes/triangle_hull.h
index 1ed5964..92c67ef 100644
--- a/include/bounce/collision/shapes/triangle_hull.h
+++ b/include/bounce/collision/shapes/triangle_hull.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/trees/dynamic_tree.h b/include/bounce/collision/trees/dynamic_tree.h
index 761c28c..969f46d 100644
--- a/include/bounce/collision/trees/dynamic_tree.h
+++ b/include/bounce/collision/trees/dynamic_tree.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/collision/trees/static_tree.h b/include/bounce/collision/trees/static_tree.h
index 069b855..4a07ba1 100644
--- a/include/bounce/collision/trees/static_tree.h
+++ b/include/bounce/collision/trees/static_tree.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/draw.h b/include/bounce/common/draw.h
index cbb2b51..f6790b8 100644
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/geometry.h b/include/bounce/common/geometry.h
index 7cb1582..212a17f 100644
--- a/include/bounce/common/geometry.h
+++ b/include/bounce/common/geometry.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/mat.h b/include/bounce/common/math/mat.h
index 75eab32..0f9cd93 100644
--- a/include/bounce/common/math/mat.h
+++ b/include/bounce/common/math/mat.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/mat22.h b/include/bounce/common/math/mat22.h
index bc66b82..b976cf1 100644
--- a/include/bounce/common/math/mat22.h
+++ b/include/bounce/common/math/mat22.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/mat33.h b/include/bounce/common/math/mat33.h
index 3696e22..598210c 100644
--- a/include/bounce/common/math/mat33.h
+++ b/include/bounce/common/math/mat33.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/mat44.h b/include/bounce/common/math/mat44.h
index 0285422..57691e2 100644
--- a/include/bounce/common/math/mat44.h
+++ b/include/bounce/common/math/mat44.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/math.h b/include/bounce/common/math/math.h
index 4bbc091..3521d30 100644
--- a/include/bounce/common/math/math.h
+++ b/include/bounce/common/math/math.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/quat.h b/include/bounce/common/math/quat.h
index 7f745ac..a027a99 100644
--- a/include/bounce/common/math/quat.h
+++ b/include/bounce/common/math/quat.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/transform.h b/include/bounce/common/math/transform.h
index 13a9101..da6530e 100644
--- a/include/bounce/common/math/transform.h
+++ b/include/bounce/common/math/transform.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/vec2.h b/include/bounce/common/math/vec2.h
index 4fcaac9..b833016 100644
--- a/include/bounce/common/math/vec2.h
+++ b/include/bounce/common/math/vec2.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/vec3.h b/include/bounce/common/math/vec3.h
index 0b04bda..67c2524 100644
--- a/include/bounce/common/math/vec3.h
+++ b/include/bounce/common/math/vec3.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/math/vec4.h b/include/bounce/common/math/vec4.h
index 304e45f..8b44ec8 100644
--- a/include/bounce/common/math/vec4.h
+++ b/include/bounce/common/math/vec4.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/memory/block_pool.h b/include/bounce/common/memory/block_pool.h
index 583b6b6..3f81955 100644
--- a/include/bounce/common/memory/block_pool.h
+++ b/include/bounce/common/memory/block_pool.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/memory/stack_allocator.h b/include/bounce/common/memory/stack_allocator.h
index db64bb8..be70249 100644
--- a/include/bounce/common/memory/stack_allocator.h
+++ b/include/bounce/common/memory/stack_allocator.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/settings.h b/include/bounce/common/settings.h
index 7aeba36..431ab59 100644
--- a/include/bounce/common/settings.h
+++ b/include/bounce/common/settings.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/template/array.h b/include/bounce/common/template/array.h
index 028dfd2..c6d09b4 100644
--- a/include/bounce/common/template/array.h
+++ b/include/bounce/common/template/array.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/template/list.h b/include/bounce/common/template/list.h
index 58c00b6..8d83141 100644
--- a/include/bounce/common/template/list.h
+++ b/include/bounce/common/template/list.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/template/object_array.h b/include/bounce/common/template/object_array.h
index 8f4a885..f691a6e 100644
--- a/include/bounce/common/template/object_array.h
+++ b/include/bounce/common/template/object_array.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/template/queue.h b/include/bounce/common/template/queue.h
index 327f169..0992b4d 100644
--- a/include/bounce/common/template/queue.h
+++ b/include/bounce/common/template/queue.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/template/stack.h b/include/bounce/common/template/stack.h
index 46d28bd..ca938d0 100644
--- a/include/bounce/common/template/stack.h
+++ b/include/bounce/common/template/stack.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/common/time.h b/include/bounce/common/time.h
index 4625535..b6b7900 100644
--- a/include/bounce/common/time.h
+++ b/include/bounce/common/time.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/body.h b/include/bounce/dynamics/body.h
index 692201b..24ba1c8 100644
--- a/include/bounce/dynamics/body.h
+++ b/include/bounce/dynamics/body.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/contact_manager.h b/include/bounce/dynamics/contact_manager.h
index a32ffc9..5be9470 100644
--- a/include/bounce/dynamics/contact_manager.h
+++ b/include/bounce/dynamics/contact_manager.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/contacts/collide/clip.h b/include/bounce/dynamics/contacts/collide/clip.h
index d87ccbb..ced23e1 100644
--- a/include/bounce/dynamics/contacts/collide/clip.h
+++ b/include/bounce/dynamics/contacts/collide/clip.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/contacts/collide/collide.h b/include/bounce/dynamics/contacts/collide/collide.h
index 12ec99a..f3741b9 100644
--- a/include/bounce/dynamics/contacts/collide/collide.h
+++ b/include/bounce/dynamics/contacts/collide/collide.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/contacts/contact.h b/include/bounce/dynamics/contacts/contact.h
index 3988f38..c934c5f 100644
--- a/include/bounce/dynamics/contacts/contact.h
+++ b/include/bounce/dynamics/contacts/contact.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/contacts/contact_cluster.h b/include/bounce/dynamics/contacts/contact_cluster.h
index 4d316e9..f2a0de7 100644
--- a/include/bounce/dynamics/contacts/contact_cluster.h
+++ b/include/bounce/dynamics/contacts/contact_cluster.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/contacts/contact_solver.h b/include/bounce/dynamics/contacts/contact_solver.h
index e8d0c6c..51a3f4e 100644
--- a/include/bounce/dynamics/contacts/contact_solver.h
+++ b/include/bounce/dynamics/contacts/contact_solver.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/contacts/convex_contact.h b/include/bounce/dynamics/contacts/convex_contact.h
index 22eb9df..0610b3e 100644
--- a/include/bounce/dynamics/contacts/convex_contact.h
+++ b/include/bounce/dynamics/contacts/convex_contact.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/contacts/manifold.h b/include/bounce/dynamics/contacts/manifold.h
index 66b4d47..b47e763 100644
--- a/include/bounce/dynamics/contacts/manifold.h
+++ b/include/bounce/dynamics/contacts/manifold.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/contacts/mesh_contact.h b/include/bounce/dynamics/contacts/mesh_contact.h
index 2b3df78..0a626e4 100644
--- a/include/bounce/dynamics/contacts/mesh_contact.h
+++ b/include/bounce/dynamics/contacts/mesh_contact.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/island.h b/include/bounce/dynamics/island.h
index efdb6e0..2a74da7 100644
--- a/include/bounce/dynamics/island.h
+++ b/include/bounce/dynamics/island.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/joint_manager.h b/include/bounce/dynamics/joint_manager.h
index af66e73..d399bb2 100644
--- a/include/bounce/dynamics/joint_manager.h
+++ b/include/bounce/dynamics/joint_manager.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/joints/cone_joint.h b/include/bounce/dynamics/joints/cone_joint.h
index 663d8aa..1e092b7 100644
--- a/include/bounce/dynamics/joints/cone_joint.h
+++ b/include/bounce/dynamics/joints/cone_joint.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/joints/joint.h b/include/bounce/dynamics/joints/joint.h
index f973d99..6130f3f 100644
--- a/include/bounce/dynamics/joints/joint.h
+++ b/include/bounce/dynamics/joints/joint.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/joints/joint_solver.h b/include/bounce/dynamics/joints/joint_solver.h
index 4ccb9d5..ef36fa9 100644
--- a/include/bounce/dynamics/joints/joint_solver.h
+++ b/include/bounce/dynamics/joints/joint_solver.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/joints/mouse_joint.h b/include/bounce/dynamics/joints/mouse_joint.h
index e044495..a2a35e0 100644
--- a/include/bounce/dynamics/joints/mouse_joint.h
+++ b/include/bounce/dynamics/joints/mouse_joint.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/joints/revolute_joint.h b/include/bounce/dynamics/joints/revolute_joint.h
index 336c5c9..12e707d 100644
--- a/include/bounce/dynamics/joints/revolute_joint.h
+++ b/include/bounce/dynamics/joints/revolute_joint.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/joints/sphere_joint.h b/include/bounce/dynamics/joints/sphere_joint.h
index 086b366..16d82ab 100644
--- a/include/bounce/dynamics/joints/sphere_joint.h
+++ b/include/bounce/dynamics/joints/sphere_joint.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/joints/spring_joint.h b/include/bounce/dynamics/joints/spring_joint.h
index cbd16e2..32f57db 100644
--- a/include/bounce/dynamics/joints/spring_joint.h
+++ b/include/bounce/dynamics/joints/spring_joint.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/joints/weld_joint.h b/include/bounce/dynamics/joints/weld_joint.h
index e6ced48..29cfb47 100644
--- a/include/bounce/dynamics/joints/weld_joint.h
+++ b/include/bounce/dynamics/joints/weld_joint.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/shapes/capsule_shape.h b/include/bounce/dynamics/shapes/capsule_shape.h
index 579e48f..2c3d089 100644
--- a/include/bounce/dynamics/shapes/capsule_shape.h
+++ b/include/bounce/dynamics/shapes/capsule_shape.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/shapes/hull_shape.h b/include/bounce/dynamics/shapes/hull_shape.h
index 193798f..7cc3f7e 100644
--- a/include/bounce/dynamics/shapes/hull_shape.h
+++ b/include/bounce/dynamics/shapes/hull_shape.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/shapes/mesh_shape.h b/include/bounce/dynamics/shapes/mesh_shape.h
index 7436e3c..e75775c 100644
--- a/include/bounce/dynamics/shapes/mesh_shape.h
+++ b/include/bounce/dynamics/shapes/mesh_shape.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/shapes/shape.h b/include/bounce/dynamics/shapes/shape.h
index c62df71..a11619c 100644
--- a/include/bounce/dynamics/shapes/shape.h
+++ b/include/bounce/dynamics/shapes/shape.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/shapes/sphere_shape.h b/include/bounce/dynamics/shapes/sphere_shape.h
index be5514b..7e398d6 100644
--- a/include/bounce/dynamics/shapes/sphere_shape.h
+++ b/include/bounce/dynamics/shapes/sphere_shape.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/time_step.h b/include/bounce/dynamics/time_step.h
index 670c074..6736ffe 100644
--- a/include/bounce/dynamics/time_step.h
+++ b/include/bounce/dynamics/time_step.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/world.h b/include/bounce/dynamics/world.h
index 88a7510..d33a5a8 100644
--- a/include/bounce/dynamics/world.h
+++ b/include/bounce/dynamics/world.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/dynamics/world_listeners.h b/include/bounce/dynamics/world_listeners.h
index 4b87efa..275f505 100644
--- a/include/bounce/dynamics/world_listeners.h
+++ b/include/bounce/dynamics/world_listeners.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/quickhull/qh_hull.h b/include/bounce/quickhull/qh_hull.h
index 108f236..877097f 100644
--- a/include/bounce/quickhull/qh_hull.h
+++ b/include/bounce/quickhull/qh_hull.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/rope/rope.h b/include/bounce/rope/rope.h
index 4e04763..92e782a 100644
--- a/include/bounce/rope/rope.h
+++ b/include/bounce/rope/rope.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/include/bounce/rope/spatial.h b/include/bounce/rope/spatial.h
index 2c944ca..a1b6bd6 100644
--- a/include/bounce/rope/spatial.h
+++ b/include/bounce/rope/spatial.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index cc301e3..3ca1e95 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index e553df2..a01de49 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/cloth/cloth_mesh.cpp b/src/bounce/cloth/cloth_mesh.cpp
index 5018104..59b106e 100644
--- a/src/bounce/cloth/cloth_mesh.cpp
+++ b/src/bounce/cloth/cloth_mesh.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 2684966..9e3b325 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/cloth/force.cpp b/src/bounce/cloth/force.cpp
index 53e4fce..4f658df 100644
--- a/src/bounce/cloth/force.cpp
+++ b/src/bounce/cloth/force.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/cloth/garment/garment_mesh.cpp b/src/bounce/cloth/garment/garment_mesh.cpp
index 473b5f0..1d54f89 100644
--- a/src/bounce/cloth/garment/garment_mesh.cpp
+++ b/src/bounce/cloth/garment/garment_mesh.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index 0da1c6d..169e5bc 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/cloth/spring_force.cpp b/src/bounce/cloth/spring_force.cpp
index 4a634fb..3e68424 100644
--- a/src/bounce/cloth/spring_force.cpp
+++ b/src/bounce/cloth/spring_force.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/broad_phase.cpp b/src/bounce/collision/broad_phase.cpp
index 83372bd..58c1212 100644
--- a/src/bounce/collision/broad_phase.cpp
+++ b/src/bounce/collision/broad_phase.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/collision.cpp b/src/bounce/collision/collision.cpp
index 9826e31..30fbc81 100644
--- a/src/bounce/collision/collision.cpp
+++ b/src/bounce/collision/collision.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index 03ea554..a6a9a85 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/gjk/gjk_feature_pair.cpp b/src/bounce/collision/gjk/gjk_feature_pair.cpp
index 34ada7d..42a0283 100644
--- a/src/bounce/collision/gjk/gjk_feature_pair.cpp
+++ b/src/bounce/collision/gjk/gjk_feature_pair.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/sat/sat.cpp b/src/bounce/collision/sat/sat.cpp
index 565cabf..6d38811 100644
--- a/src/bounce/collision/sat/sat.cpp
+++ b/src/bounce/collision/sat/sat.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/sat/sat_edge_and_hull.cpp b/src/bounce/collision/sat/sat_edge_and_hull.cpp
index fe639df..3df7dc5 100644
--- a/src/bounce/collision/sat/sat_edge_and_hull.cpp
+++ b/src/bounce/collision/sat/sat_edge_and_hull.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/sat/sat_vertex_and_hull.cpp b/src/bounce/collision/sat/sat_vertex_and_hull.cpp
index 96a4b81..10a90ce 100644
--- a/src/bounce/collision/sat/sat_vertex_and_hull.cpp
+++ b/src/bounce/collision/sat/sat_vertex_and_hull.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/shapes/hull.cpp b/src/bounce/collision/shapes/hull.cpp
index 873604a..74cecd7 100644
--- a/src/bounce/collision/shapes/hull.cpp
+++ b/src/bounce/collision/shapes/hull.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/shapes/qhull.cpp b/src/bounce/collision/shapes/qhull.cpp
index 1db841b..06ff300 100644
--- a/src/bounce/collision/shapes/qhull.cpp
+++ b/src/bounce/collision/shapes/qhull.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/trees/dynamic_tree.cpp b/src/bounce/collision/trees/dynamic_tree.cpp
index c609677..99d482f 100644
--- a/src/bounce/collision/trees/dynamic_tree.cpp
+++ b/src/bounce/collision/trees/dynamic_tree.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/collision/trees/static_tree.cpp b/src/bounce/collision/trees/static_tree.cpp
index 490cfa0..7dd0436 100644
--- a/src/bounce/collision/trees/static_tree.cpp
+++ b/src/bounce/collision/trees/static_tree.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/common/math/math.cpp b/src/bounce/common/math/math.cpp
index f50ff18..793e5c5 100644
--- a/src/bounce/common/math/math.cpp
+++ b/src/bounce/common/math/math.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/common/memory/block_pool.cpp b/src/bounce/common/memory/block_pool.cpp
index 307c39f..e6a0619 100644
--- a/src/bounce/common/memory/block_pool.cpp
+++ b/src/bounce/common/memory/block_pool.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/common/memory/stack_allocator.cpp b/src/bounce/common/memory/stack_allocator.cpp
index f158ff9..1077899 100644
--- a/src/bounce/common/memory/stack_allocator.cpp
+++ b/src/bounce/common/memory/stack_allocator.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/common/settings.cpp b/src/bounce/common/settings.cpp
index 8da10c4..9c663c4 100644
--- a/src/bounce/common/settings.cpp
+++ b/src/bounce/common/settings.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/body.cpp b/src/bounce/dynamics/body.cpp
index 9116d14..e7e010d 100644
--- a/src/bounce/dynamics/body.cpp
+++ b/src/bounce/dynamics/body.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contact_manager.cpp b/src/bounce/dynamics/contact_manager.cpp
index b6d5ddc..715298d 100644
--- a/src/bounce/dynamics/contact_manager.cpp
+++ b/src/bounce/dynamics/contact_manager.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/collide/clip.cpp b/src/bounce/dynamics/contacts/collide/clip.cpp
index ded4e26..78be3c8 100644
--- a/src/bounce/dynamics/contacts/collide/clip.cpp
+++ b/src/bounce/dynamics/contacts/collide/clip.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/collide/collide.cpp b/src/bounce/dynamics/contacts/collide/collide.cpp
index 9292145..3e716ec 100644
--- a/src/bounce/dynamics/contacts/collide/collide.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp b/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
index 8a5d586..5d66029 100644
--- a/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/collide/collide_capsules.cpp b/src/bounce/dynamics/contacts/collide/collide_capsules.cpp
index 58463f7..51d70c2 100644
--- a/src/bounce/dynamics/contacts/collide/collide_capsules.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_capsules.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/collide/collide_hulls.cpp b/src/bounce/dynamics/contacts/collide/collide_hulls.cpp
index 70005e1..af2a549 100644
--- a/src/bounce/dynamics/contacts/collide/collide_hulls.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_hulls.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp b/src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp
index a7cada8..b4d02f2 100644
--- a/src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/collide/collide_sphere_capsule.cpp b/src/bounce/dynamics/contacts/collide/collide_sphere_capsule.cpp
index ae8e843..0ffc545 100644
--- a/src/bounce/dynamics/contacts/collide/collide_sphere_capsule.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_sphere_capsule.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp b/src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp
index 5b425a0..15ebb47 100644
--- a/src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/collide/collide_spheres.cpp b/src/bounce/dynamics/contacts/collide/collide_spheres.cpp
index 3826736..66d8c4f 100644
--- a/src/bounce/dynamics/contacts/collide/collide_spheres.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_spheres.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/contact.cpp b/src/bounce/dynamics/contacts/contact.cpp
index 973ad49..82da917 100644
--- a/src/bounce/dynamics/contacts/contact.cpp
+++ b/src/bounce/dynamics/contacts/contact.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/contact_cluster.cpp b/src/bounce/dynamics/contacts/contact_cluster.cpp
index 1c4be98..bdc4109 100644
--- a/src/bounce/dynamics/contacts/contact_cluster.cpp
+++ b/src/bounce/dynamics/contacts/contact_cluster.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/contact_solver.cpp b/src/bounce/dynamics/contacts/contact_solver.cpp
index ee3d7ec..4d33001 100644
--- a/src/bounce/dynamics/contacts/contact_solver.cpp
+++ b/src/bounce/dynamics/contacts/contact_solver.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/convex_contact.cpp b/src/bounce/dynamics/contacts/convex_contact.cpp
index 472e997..fd4bc3d 100644
--- a/src/bounce/dynamics/contacts/convex_contact.cpp
+++ b/src/bounce/dynamics/contacts/convex_contact.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/manifold.cpp b/src/bounce/dynamics/contacts/manifold.cpp
index 4164e8c..bbe0380 100644
--- a/src/bounce/dynamics/contacts/manifold.cpp
+++ b/src/bounce/dynamics/contacts/manifold.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/contacts/mesh_contact.cpp b/src/bounce/dynamics/contacts/mesh_contact.cpp
index e5a69e7..f3aaf99 100644
--- a/src/bounce/dynamics/contacts/mesh_contact.cpp
+++ b/src/bounce/dynamics/contacts/mesh_contact.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/draw_world.cpp b/src/bounce/dynamics/draw_world.cpp
index 3b674d4..1d197c8 100644
--- a/src/bounce/dynamics/draw_world.cpp
+++ b/src/bounce/dynamics/draw_world.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/island.cpp b/src/bounce/dynamics/island.cpp
index 305c66f..d0e831a 100644
--- a/src/bounce/dynamics/island.cpp
+++ b/src/bounce/dynamics/island.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/joint_manager.cpp b/src/bounce/dynamics/joint_manager.cpp
index b81c579..fb29016 100644
--- a/src/bounce/dynamics/joint_manager.cpp
+++ b/src/bounce/dynamics/joint_manager.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/joints/cone_joint.cpp b/src/bounce/dynamics/joints/cone_joint.cpp
index 15f41ac..fcf54c2 100644
--- a/src/bounce/dynamics/joints/cone_joint.cpp
+++ b/src/bounce/dynamics/joints/cone_joint.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/joints/joint.cpp b/src/bounce/dynamics/joints/joint.cpp
index 2d1593c..1f380b7 100644
--- a/src/bounce/dynamics/joints/joint.cpp
+++ b/src/bounce/dynamics/joints/joint.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/joints/joint_solver.cpp b/src/bounce/dynamics/joints/joint_solver.cpp
index 234b74a..7336a80 100644
--- a/src/bounce/dynamics/joints/joint_solver.cpp
+++ b/src/bounce/dynamics/joints/joint_solver.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/joints/mouse_joint.cpp b/src/bounce/dynamics/joints/mouse_joint.cpp
index dc38de1..e816c1f 100644
--- a/src/bounce/dynamics/joints/mouse_joint.cpp
+++ b/src/bounce/dynamics/joints/mouse_joint.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/joints/revolute_joint.cpp b/src/bounce/dynamics/joints/revolute_joint.cpp
index 07dbec8..550c47e 100644
--- a/src/bounce/dynamics/joints/revolute_joint.cpp
+++ b/src/bounce/dynamics/joints/revolute_joint.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/joints/sphere_joint.cpp b/src/bounce/dynamics/joints/sphere_joint.cpp
index ecbdd16..72bc346 100644
--- a/src/bounce/dynamics/joints/sphere_joint.cpp
+++ b/src/bounce/dynamics/joints/sphere_joint.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/joints/spring_joint.cpp b/src/bounce/dynamics/joints/spring_joint.cpp
index 93d2541..8ce5759 100644
--- a/src/bounce/dynamics/joints/spring_joint.cpp
+++ b/src/bounce/dynamics/joints/spring_joint.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/joints/weld_joint.cpp b/src/bounce/dynamics/joints/weld_joint.cpp
index 22e15b0..ccd21ae 100644
--- a/src/bounce/dynamics/joints/weld_joint.cpp
+++ b/src/bounce/dynamics/joints/weld_joint.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/shapes/capsule_shape.cpp b/src/bounce/dynamics/shapes/capsule_shape.cpp
index 76af86d..06da598 100644
--- a/src/bounce/dynamics/shapes/capsule_shape.cpp
+++ b/src/bounce/dynamics/shapes/capsule_shape.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/shapes/hull_shape.cpp b/src/bounce/dynamics/shapes/hull_shape.cpp
index 1c1333e..78da7bc 100644
--- a/src/bounce/dynamics/shapes/hull_shape.cpp
+++ b/src/bounce/dynamics/shapes/hull_shape.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/shapes/mesh_shape.cpp b/src/bounce/dynamics/shapes/mesh_shape.cpp
index 012028e..4331b1d 100644
--- a/src/bounce/dynamics/shapes/mesh_shape.cpp
+++ b/src/bounce/dynamics/shapes/mesh_shape.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/shapes/shape.cpp b/src/bounce/dynamics/shapes/shape.cpp
index 4fe4ef5..da720b5 100644
--- a/src/bounce/dynamics/shapes/shape.cpp
+++ b/src/bounce/dynamics/shapes/shape.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/shapes/sphere_shape.cpp b/src/bounce/dynamics/shapes/sphere_shape.cpp
index 8d3819c..ba600c2 100644
--- a/src/bounce/dynamics/shapes/sphere_shape.cpp
+++ b/src/bounce/dynamics/shapes/sphere_shape.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/dynamics/world.cpp b/src/bounce/dynamics/world.cpp
index bc688b7..700f284 100644
--- a/src/bounce/dynamics/world.cpp
+++ b/src/bounce/dynamics/world.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/quickhull/qh_hull.cpp b/src/bounce/quickhull/qh_hull.cpp
index b2fb740..2b11141 100644
--- a/src/bounce/quickhull/qh_hull.cpp
+++ b/src/bounce/quickhull/qh_hull.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
diff --git a/src/bounce/rope/rope.cpp b/src/bounce/rope/rope.cpp
index d839180..38824d7 100644
--- a/src/bounce/rope/rope.cpp
+++ b/src/bounce/rope/rope.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

From 4984fa2a2eb465183253023174556c0831936f18 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 27 Mar 2019 10:14:53 -0300
Subject: [PATCH 020/198] grow event buffer

---
 examples/testbed/framework/profiler.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 5428ee1..38165cd 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -25,8 +25,8 @@
 #include <bounce/common/template/array.h>
 
 // This defines the maximum number of profiler events that can be 
-// queued per frame until the function Profiler::Flush is called.
-#define MAX_PROFILER_EVENTS 256
+// queued per frame until the function Profiler::End is called.
+#define MAX_PROFILER_EVENTS 2048
 
 class ProfilerListener;
 

From 812ee84d7ecbca0c6dbf55ff265b233982c5dabc Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 30 Mar 2019 10:48:24 -0300
Subject: [PATCH 021/198] bugfix

---
 examples/testbed/framework/json_profiler.cpp  | 12 +++----
 examples/testbed/framework/json_profiler.h    |  4 +--
 examples/testbed/framework/main.cpp           |  5 ++-
 examples/testbed/framework/profiler.cpp       | 34 +++++++++----------
 examples/testbed/framework/profiler.h         | 18 +++-------
 .../testbed/framework/recorder_profiler.cpp   | 32 +++++++++++------
 .../testbed/framework/recorder_profiler.h     |  8 +++--
 examples/testbed/framework/testbed_listener.h | 23 ++++++-------
 8 files changed, 69 insertions(+), 67 deletions(-)

diff --git a/examples/testbed/framework/json_profiler.cpp b/examples/testbed/framework/json_profiler.cpp
index 1f4a38a..ac2415c 100644
--- a/examples/testbed/framework/json_profiler.cpp
+++ b/examples/testbed/framework/json_profiler.cpp
@@ -75,7 +75,7 @@ void JsonProfiler::EndEvents()
 	m_file = nullptr;
 }
 
-void JsonProfiler::BeginEvent(i32 tid, i32 pid, const char* name, float64 t)
+void JsonProfiler::BeginEvent(const char* name, float64 t)
 {
 	if (!m_writer)
 	{
@@ -87,8 +87,8 @@ void JsonProfiler::BeginEvent(i32 tid, i32 pid, const char* name, float64 t)
 	float64 scale = 1000.0;
 
 	m_writer->StartObject();
-	m_writer->STRING("pid");  m_writer->Int(pid);
-	m_writer->STRING("tid");  m_writer->Int(tid);
+	m_writer->STRING("pid");  m_writer->Int(0);
+	m_writer->STRING("tid");  m_writer->Int(0);
 	m_writer->STRING("ts");   m_writer->Int64((u64)(t * scale));
 	m_writer->STRING("ph");   m_writer->String(phase, 1);
 	m_writer->STRING("cat");  m_writer->STRING("physics");
@@ -97,7 +97,7 @@ void JsonProfiler::BeginEvent(i32 tid, i32 pid, const char* name, float64 t)
 	m_writer->EndObject();
 }
 
-void JsonProfiler::EndEvent(i32 tid, i32 pid, const char* name, float64 t)
+void JsonProfiler::EndEvent(const char* name, float64 t)
 {
 	if (!m_writer)
 	{
@@ -109,8 +109,8 @@ void JsonProfiler::EndEvent(i32 tid, i32 pid, const char* name, float64 t)
 	float64 scale = 1000.0;
 
 	m_writer->StartObject();
-	m_writer->STRING("pid");  m_writer->Int(pid);
-	m_writer->STRING("tid");  m_writer->Int(tid);
+	m_writer->STRING("pid");  m_writer->Int(0);
+	m_writer->STRING("tid");  m_writer->Int(0);
 	m_writer->STRING("ts");   m_writer->Int64((u64)(t * scale));
 	m_writer->STRING("ph");   m_writer->String(phase, 1);
 	m_writer->STRING("cat");  m_writer->STRING("physics");
diff --git a/examples/testbed/framework/json_profiler.h b/examples/testbed/framework/json_profiler.h
index 15bcc2c..dbca993 100644
--- a/examples/testbed/framework/json_profiler.h
+++ b/examples/testbed/framework/json_profiler.h
@@ -43,9 +43,9 @@ public:
 
 	void EndEvents();
 
-	void BeginEvent(i32 tid, i32 pid, const char* name, float64 time);
+	void BeginEvent(const char* name, float64 time);
 
-	void EndEvent(i32 tid, i32 pid, const char* name, float64 time);
+	void EndEvent(const char* name, float64 time);
 private:
 	FILE * m_file;
 	FileWriteStream* m_stream;
diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index dad7c74..f47c194 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -124,8 +124,7 @@ static void Run()
 			for (u32 i = 0; i < records.Count(); ++i)
 			{
 				const ProfilerRecord& r = records[i];
-				
-				if (r.elapsed > 0.0)
+				if (r.call != 0)
 				{
 					g_draw->DrawString(b3Color_white, "%s %.4f (%.4f) [ms]", r.name, r.elapsed, r.maxElapsed);
 				}
@@ -140,7 +139,7 @@ static void Run()
 
 		g_profiler->PopEvent();
 		
-		g_profiler->End(g_profilerListener);
+		g_profiler->End();
 
 		glfwSwapBuffers(g_window);
 		glfwPollEvents();
diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index 81b6aec..296db7f 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -35,26 +35,24 @@ void Profiler::PushEvent(const char* name)
 	m_time.Update();
 
 	ProfilerEvent e;
-	e.tid = -1;
-	e.pid = -1;
 	e.t0 = m_time.GetCurrentMilis();
-	e.t1 = 0.0;
+	e.t1 = -1.0;
 	e.name = name;
 	e.parent = m_top;
 
-	ProfilerEvent* back = m_events.Push(e);
-	B3_ASSERT(back);
-	m_top = back;
+	m_events.PushBack(e);
+
+	m_top = &m_events.Back();
 }
 
 void Profiler::PopEvent()
 {
-	B3_ASSERT(m_top);
-	B3_ASSERT(m_top->t1 == 0.0);
-
 	m_time.Update();
+	
 	m_top->t1 = m_time.GetCurrentMilis();
-	B3_ASSERT(m_top->t1 != 0.0);
+
+	B3_ASSERT(m_top->t1 > m_top->t0);
+
 	m_top = m_top->parent;
 }
 
@@ -65,29 +63,31 @@ void Profiler::Begin()
 	B3_ASSERT(m_top == NULL);
 }
 
-void Profiler::End(ProfilerListener* listener)
+void Profiler::End()
 {
+	ProfilerListener* listener = g_profilerListener;
+
 	if (listener)
 	{
 		listener->BeginEvents();
 	}
 
-	while (m_events.IsEmpty() == false)
+	for (u32 i = 0; i < m_events.Count(); ++i)
 	{
-		ProfilerEvent e = m_events.Front();
-
-		m_events.Pop();
+		ProfilerEvent e = m_events[i];
 
 		if (listener)
 		{
-			listener->BeginEvent(e.tid, e.pid, e.name, e.t0);
+			listener->BeginEvent(e.name, e.t0);
 
-			listener->EndEvent(e.tid, e.pid, e.name, e.t1);
+			listener->EndEvent(e.name, e.t1);
 
 			listener->Duration(e.name, e.t1 - e.t0);
 		}
 	}
 
+	m_events.Resize(0);
+
 	B3_ASSERT(m_events.IsEmpty());
 	B3_ASSERT(m_top == NULL);
 
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 38165cd..aa18bba 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -24,17 +24,11 @@
 #include <bounce/common/template/queue.h>
 #include <bounce/common/template/array.h>
 
-// This defines the maximum number of profiler events that can be 
-// queued per frame until the function Profiler::End is called.
-#define MAX_PROFILER_EVENTS 2048
-
 class ProfilerListener;
 
 // A time-stamped profiler event.
 struct ProfilerEvent
 {
-	i32 tid;
-	i32 pid;
 	const char* name;
 	float64 t0;
 	float64 t1;
@@ -56,7 +50,7 @@ public:
 	// The function will report all events in this profiler 
 	// to the given event listener in the correct calling order.
 	// This function also flushes the profiler.
-	void End(ProfilerListener* listener);
+	void End();
 
 	// Add a profiler event to the queue.
 	// You can control the maximum number of profiler events using 
@@ -67,7 +61,7 @@ public:
 	void PopEvent();
 private:
 	b3Time m_time;
-	b3BoundedQueue<ProfilerEvent, MAX_PROFILER_EVENTS> m_events;
+	b3StackArray<ProfilerEvent, 256> m_events;
 	ProfilerEvent* m_top;
 };
 
@@ -86,19 +80,15 @@ public:
 	virtual void EndEvents() { }
 	
 	// This function is called when a profiler event begins.
-	virtual void BeginEvent(i32 tid, i32 pid, const char* name, float64 time) 
+	virtual void BeginEvent(const char* name, float64 time) 
 	{
-		B3_NOT_USED(tid);
-		B3_NOT_USED(pid);
 		B3_NOT_USED(name);
 		B3_NOT_USED(time);
 	}
 
 	// This function is called when a profiler event ends.
-	virtual void EndEvent(i32 tid, i32 pid, const char* name, float64 time)
+	virtual void EndEvent(const char* name, float64 time)
 	{
-		B3_NOT_USED(tid);
-		B3_NOT_USED(pid);
 		B3_NOT_USED(name);
 		B3_NOT_USED(time);
 	}
diff --git a/examples/testbed/framework/recorder_profiler.cpp b/examples/testbed/framework/recorder_profiler.cpp
index 3b21a1a..d597a49 100644
--- a/examples/testbed/framework/recorder_profiler.cpp
+++ b/examples/testbed/framework/recorder_profiler.cpp
@@ -22,7 +22,7 @@ RecorderProfiler* g_profilerRecorder = nullptr;
 
 void RecorderProfiler::BeginEvents()
 {
-	m_count = 0;
+	m_call = 0;
 	for (u32 i = 0; i < m_records.Count(); ++i)
 	{
 		m_records[i].elapsed = 0.0;
@@ -43,33 +43,45 @@ void RecorderProfiler::EndEvents()
 			if (r2.call < r1.call)
 			{
 				b3Swap(r1, r2);
-				break;
 			}
 		}
 	}
 }
 
-void RecorderProfiler::Add(const char* name, float64 elapsedTime)
+ProfilerRecord* RecorderProfiler::FindRecord(const char* name)
 {
-	m_count += 1;
-
 	for (u32 i = 0; i < m_records.Count(); ++i)
 	{
 		ProfilerRecord& r = m_records[i];
 		if (r.name == name)
 		{
-			r.elapsed += elapsedTime;
-			r.maxElapsed = b3Max(r.maxElapsed, elapsedTime);
-			r.call = m_count;
-			return;
+			return &r;
 		}
 	}
+	return nullptr;
+}
+
+void RecorderProfiler::Add(const char* name, float64 elapsedTime)
+{
+	B3_ASSERT(elapsedTime >= 0.0);
+
+	++m_call;
+
+	ProfilerRecord* fr = FindRecord(name);
+	if (fr)
+	{
+		fr->elapsed += elapsedTime;
+		fr->maxElapsed = b3Max(fr->maxElapsed, elapsedTime);
+		fr->call = m_call;
+
+		return;
+	}
 
 	ProfilerRecord r;
 	r.name = name;
 	r.elapsed = elapsedTime;
 	r.maxElapsed = elapsedTime;
-	r.call = m_count;
+	r.call = m_call;
 
 	m_records.PushBack(r);
 }
\ No newline at end of file
diff --git a/examples/testbed/framework/recorder_profiler.h b/examples/testbed/framework/recorder_profiler.h
index 49f2edf..c623851 100644
--- a/examples/testbed/framework/recorder_profiler.h
+++ b/examples/testbed/framework/recorder_profiler.h
@@ -25,9 +25,9 @@
 // An event in the profiler event recorder.
 struct ProfilerRecord
 {
+	const char* name;
 	float64 elapsed;
 	float64 maxElapsed;
-	const char* name;
 	u32 call;
 };
 
@@ -43,10 +43,12 @@ public:
 
 	void Add(const char* name, float64 elapsedTime);
 
+	ProfilerRecord* FindRecord(const char* name);
+
 	const b3Array<ProfilerRecord>& GetRecords() const { return m_records; }
 private:
-	b3StackArray<ProfilerRecord, 256> m_records;
-	u32 m_count;
+	b3StackArray<ProfilerRecord, 256> m_records; // persistent records sorted by call order
+	u32 m_call;
 };
 
 extern RecorderProfiler* g_profilerRecorder;
diff --git a/examples/testbed/framework/testbed_listener.h b/examples/testbed/framework/testbed_listener.h
index ee50dba..847b700 100644
--- a/examples/testbed/framework/testbed_listener.h
+++ b/examples/testbed/framework/testbed_listener.h
@@ -54,25 +54,24 @@ public:
 
 	}
 
-	void BeginEvent(i32 tid, i32 pid, const char* name, float64 time) override
+	void BeginEvent(const char* name, float64 time) override
 	{
 #if (PROFILE_JSON == 1)
-		m_jsonListener.BeginEvent(tid, pid, name, time);
+		m_jsonListener.BeginEvent(name, time);
+#endif
+	}
+
+	void EndEvent(const char* name, float64 time) override
+	{
+#if (PROFILE_JSON == 1)
+		m_jsonListener.EndEvent(name, time);
 #endif
 
 	}
 
-	void EndEvent(i32 tid, i32 pid, const char* name, float64 time) override
+	void Duration(const char* name, float64 duration) override
 	{
-#if (PROFILE_JSON == 1)
-		m_jsonListener.EndEvent(tid, pid, name, time);
-#endif
-
-	}
-
-	void Duration(const char* name, float64 time) override
-	{
-		m_recorderProfiler.Add(name, time);
+		m_recorderProfiler.Add(name, duration);
 	}
 
 	RecorderProfiler m_recorderProfiler;

From f59df50fbd4c8c0c4ebdd4f15b926fea5a8ea31e Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 30 Mar 2019 11:51:55 -0300
Subject: [PATCH 022/198] consistency

---
 examples/testbed/framework/model.cpp          |  2 +-
 examples/testbed/framework/profiler.cpp       |  2 --
 examples/testbed/framework/profiler.h         |  8 ------
 .../testbed/framework/recorder_profiler.cpp   | 26 ++++++++++++-------
 .../testbed/framework/recorder_profiler.h     |  5 +++-
 examples/testbed/framework/testbed_listener.h | 16 +++++-------
 6 files changed, 29 insertions(+), 30 deletions(-)

diff --git a/examples/testbed/framework/model.cpp b/examples/testbed/framework/model.cpp
index df3357d..df07d7f 100644
--- a/examples/testbed/framework/model.cpp
+++ b/examples/testbed/framework/model.cpp
@@ -26,7 +26,7 @@ Model::Model()
 	g_draw = &m_draw;
 	g_camera = &m_camera;
 	g_profiler = &m_profiler;
-	g_profilerRecorder = &m_profilerListener.m_recorderProfiler;
+	g_profilerRecorder = &m_profilerListener.m_recorderListener;
 	g_profilerListener = &m_profilerListener;
 
 	m_test = nullptr;
diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index 296db7f..3678fe9 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -81,8 +81,6 @@ void Profiler::End()
 			listener->BeginEvent(e.name, e.t0);
 
 			listener->EndEvent(e.name, e.t1);
-
-			listener->Duration(e.name, e.t1 - e.t0);
 		}
 	}
 
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index aa18bba..6189092 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -92,14 +92,6 @@ public:
 		B3_NOT_USED(name);
 		B3_NOT_USED(time);
 	}
-
-	// This function is called when a profiler event ends.
-	// However it supplies the duration of the last begin and end events.
-	virtual void Duration(const char* name, float64 duration)
-	{
-		B3_NOT_USED(name);
-		B3_NOT_USED(duration);
-	}
 };
 
 extern ProfilerListener* g_profilerListener;
diff --git a/examples/testbed/framework/recorder_profiler.cpp b/examples/testbed/framework/recorder_profiler.cpp
index d597a49..016dbf0 100644
--- a/examples/testbed/framework/recorder_profiler.cpp
+++ b/examples/testbed/framework/recorder_profiler.cpp
@@ -61,27 +61,35 @@ ProfilerRecord* RecorderProfiler::FindRecord(const char* name)
 	return nullptr;
 }
 
-void RecorderProfiler::Add(const char* name, float64 elapsedTime)
+void RecorderProfiler::BeginEvent(const char* name, float64 time)
 {
-	B3_ASSERT(elapsedTime >= 0.0);
-
 	++m_call;
-
+	
 	ProfilerRecord* fr = FindRecord(name);
 	if (fr)
 	{
-		fr->elapsed += elapsedTime;
-		fr->maxElapsed = b3Max(fr->maxElapsed, elapsedTime);
+		fr->time = time;
 		fr->call = m_call;
-
 		return;
 	}
 
 	ProfilerRecord r;
 	r.name = name;
-	r.elapsed = elapsedTime;
-	r.maxElapsed = elapsedTime;
+	r.time = time;
+	r.elapsed = 0.0;
+	r.maxElapsed = 0.0;
 	r.call = m_call;
 
 	m_records.PushBack(r);
+}
+
+void RecorderProfiler::EndEvent(const char* name, float64 time)
+{
+	ProfilerRecord* fr = FindRecord(name);
+	B3_ASSERT(fr != nullptr);
+
+	float64 elapsedTime = time - fr->time;
+
+	fr->elapsed += elapsedTime;
+	fr->maxElapsed = b3Max(fr->maxElapsed, elapsedTime);
 }
\ No newline at end of file
diff --git a/examples/testbed/framework/recorder_profiler.h b/examples/testbed/framework/recorder_profiler.h
index c623851..f7b1fde 100644
--- a/examples/testbed/framework/recorder_profiler.h
+++ b/examples/testbed/framework/recorder_profiler.h
@@ -26,6 +26,7 @@
 struct ProfilerRecord
 {
 	const char* name;
+	float64 time;
 	float64 elapsed;
 	float64 maxElapsed;
 	u32 call;
@@ -41,7 +42,9 @@ public:
 
 	void EndEvents();
 
-	void Add(const char* name, float64 elapsedTime);
+	void BeginEvent(const char* name, float64 time);
+	
+	void EndEvent(const char* name, float64 time);
 
 	ProfilerRecord* FindRecord(const char* name);
 
diff --git a/examples/testbed/framework/testbed_listener.h b/examples/testbed/framework/testbed_listener.h
index 847b700..9545384 100644
--- a/examples/testbed/framework/testbed_listener.h
+++ b/examples/testbed/framework/testbed_listener.h
@@ -36,7 +36,7 @@ class TestbedListener : public ProfilerListener
 public:
 	void BeginEvents() override
 	{
-		m_recorderProfiler.BeginEvents();
+		m_recorderListener.BeginEvents();
 
 #if (PROFILE_JSON == 1)
 		m_jsonListener.BeginEvents();
@@ -46,7 +46,7 @@ public:
 
 	void EndEvents() override
 	{
-		m_recorderProfiler.EndEvents();
+		m_recorderListener.EndEvents();
 
 #if (PROFILE_JSON == 1)
 		m_jsonListener.EndEvents();
@@ -56,6 +56,8 @@ public:
 
 	void BeginEvent(const char* name, float64 time) override
 	{
+		m_recorderListener.BeginEvent(name, time);
+
 #if (PROFILE_JSON == 1)
 		m_jsonListener.BeginEvent(name, time);
 #endif
@@ -63,18 +65,14 @@ public:
 
 	void EndEvent(const char* name, float64 time) override
 	{
+		m_recorderListener.EndEvent(name, time);
+
 #if (PROFILE_JSON == 1)
 		m_jsonListener.EndEvent(name, time);
 #endif
-
 	}
 
-	void Duration(const char* name, float64 duration) override
-	{
-		m_recorderProfiler.Add(name, duration);
-	}
-
-	RecorderProfiler m_recorderProfiler;
+	RecorderProfiler m_recorderListener;
 
 #if (PROFILE_JSON == 1)
 	JsonProfiler m_jsonListener;

From 117f9846980f8c0b99e34ce87c439c6534ce8f5a Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 30 Mar 2019 11:59:20 -0300
Subject: [PATCH 023/198] consistency

---
 examples/testbed/framework/main.cpp                         | 2 +-
 examples/testbed/framework/model.cpp                        | 4 ++--
 examples/testbed/framework/model.h                          | 4 ++--
 examples/testbed/framework/recorder_profiler.cpp            | 2 +-
 examples/testbed/framework/recorder_profiler.h              | 6 +++---
 .../framework/{testbed_listener.h => testbed_profiler.h}    | 5 ++---
 6 files changed, 11 insertions(+), 12 deletions(-)
 rename examples/testbed/framework/{testbed_listener.h => testbed_profiler.h} (94%)

diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index f47c194..749c6f1 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -120,7 +120,7 @@ static void Run()
 
 		if (g_settings->drawProfile)
 		{
-			const b3Array<ProfilerRecord>& records = g_profilerRecorder->GetRecords();
+			const b3Array<ProfilerRecord>& records = g_recorderProfiler->GetRecords();
 			for (u32 i = 0; i < records.Count(); ++i)
 			{
 				const ProfilerRecord& r = records[i];
diff --git a/examples/testbed/framework/model.cpp b/examples/testbed/framework/model.cpp
index df07d7f..37c9aab 100644
--- a/examples/testbed/framework/model.cpp
+++ b/examples/testbed/framework/model.cpp
@@ -26,7 +26,7 @@ Model::Model()
 	g_draw = &m_draw;
 	g_camera = &m_camera;
 	g_profiler = &m_profiler;
-	g_profilerRecorder = &m_profilerListener.m_recorderListener;
+	g_recorderProfiler = &m_profilerListener.m_recorderListener;
 	g_profilerListener = &m_profilerListener;
 
 	m_test = nullptr;
@@ -53,7 +53,7 @@ Model::~Model()
 	g_draw = nullptr;
 	g_camera = nullptr;
 	g_profiler = nullptr;
-	g_profilerRecorder = nullptr;
+	g_recorderProfiler = nullptr;
 	g_profilerListener = nullptr;
 
 	delete m_test;
diff --git a/examples/testbed/framework/model.h b/examples/testbed/framework/model.h
index 310e6f2..2580055 100644
--- a/examples/testbed/framework/model.h
+++ b/examples/testbed/framework/model.h
@@ -20,7 +20,7 @@
 #define MODEL_H
 
 #include <testbed/framework/draw.h>
-#include <testbed/framework/testbed_listener.h>
+#include <testbed/framework/testbed_profiler.h>
 
 class Test;
 
@@ -63,7 +63,7 @@ private:
 	Draw m_draw;
 	Camera m_camera;
 	Profiler m_profiler;
-	TestbedListener m_profilerListener;
+	TestbedProfiler m_profilerListener;
 	Test* m_test;
 	bool m_setTest;
 	bool m_pause;
diff --git a/examples/testbed/framework/recorder_profiler.cpp b/examples/testbed/framework/recorder_profiler.cpp
index 016dbf0..4edfaed 100644
--- a/examples/testbed/framework/recorder_profiler.cpp
+++ b/examples/testbed/framework/recorder_profiler.cpp
@@ -18,7 +18,7 @@
 
 #include <testbed/framework/recorder_profiler.h>
 
-RecorderProfiler* g_profilerRecorder = nullptr;
+RecorderProfiler* g_recorderProfiler = nullptr;
 
 void RecorderProfiler::BeginEvents()
 {
diff --git a/examples/testbed/framework/recorder_profiler.h b/examples/testbed/framework/recorder_profiler.h
index f7b1fde..3934ae7 100644
--- a/examples/testbed/framework/recorder_profiler.h
+++ b/examples/testbed/framework/recorder_profiler.h
@@ -46,14 +46,14 @@ public:
 	
 	void EndEvent(const char* name, float64 time);
 
-	ProfilerRecord* FindRecord(const char* name);
-
 	const b3Array<ProfilerRecord>& GetRecords() const { return m_records; }
 private:
+	ProfilerRecord* FindRecord(const char* name);
+	
 	b3StackArray<ProfilerRecord, 256> m_records; // persistent records sorted by call order
 	u32 m_call;
 };
 
-extern RecorderProfiler* g_profilerRecorder;
+extern RecorderProfiler* g_recorderProfiler;
 
 #endif
\ No newline at end of file
diff --git a/examples/testbed/framework/testbed_listener.h b/examples/testbed/framework/testbed_profiler.h
similarity index 94%
rename from examples/testbed/framework/testbed_listener.h
rename to examples/testbed/framework/testbed_profiler.h
index 9545384..0e19f3b 100644
--- a/examples/testbed/framework/testbed_listener.h
+++ b/examples/testbed/framework/testbed_profiler.h
@@ -22,7 +22,7 @@
 #include <testbed/framework/profiler.h>
 #include <testbed/framework/recorder_profiler.h>
 
-// Set to 1 then the testbed listener will write profile events into a .json file.
+// Set to 1 then the testbed profiler will write profile events into a .json file.
 // Set to 0 otherwise.
 #define PROFILE_JSON 0
 
@@ -30,8 +30,7 @@
 	#include <testbed\framework\json_profiler.h>
 #endif
 
-
-class TestbedListener : public ProfilerListener
+class TestbedProfiler : public ProfilerListener
 {
 public:
 	void BeginEvents() override

From 5c6a7a967aec6c3ed08146e9a8d260e19e4a6d99 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 30 Mar 2019 12:01:28 -0300
Subject: [PATCH 024/198] remove include

---
 examples/testbed/framework/profiler.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 6189092..e1f2225 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -21,7 +21,6 @@
 
 #include <bounce/common/math/math.h>
 #include <bounce/common/time.h>
-#include <bounce/common/template/queue.h>
 #include <bounce/common/template/array.h>
 
 class ProfilerListener;

From f446f90266b4de161595f46c82cf7f2c9d79f8b2 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 31 Mar 2019 10:20:01 -0300
Subject: [PATCH 025/198] rename header

---
 examples/testbed/framework/testbed_profiler.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/testbed/framework/testbed_profiler.h b/examples/testbed/framework/testbed_profiler.h
index 0e19f3b..a770937 100644
--- a/examples/testbed/framework/testbed_profiler.h
+++ b/examples/testbed/framework/testbed_profiler.h
@@ -16,8 +16,8 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef TESTBED_LISTENER_H
-#define TESTBED_LISTENER_H
+#ifndef TESTBED_PROFILER_H
+#define TESTBED_PROFILER_H
 
 #include <testbed/framework/profiler.h>
 #include <testbed/framework/recorder_profiler.h>

From 701e4c5b15bb144cd79406bd32d2d96513b92323 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 31 Mar 2019 10:20:17 -0300
Subject: [PATCH 026/198] profiler hierarchy

---
 examples/testbed/framework/profiler.cpp | 97 ++++++++++++++++++-------
 examples/testbed/framework/profiler.h   | 28 ++++---
 2 files changed, 88 insertions(+), 37 deletions(-)

diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index 3678fe9..579c968 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -21,36 +21,62 @@
 Profiler* g_profiler = nullptr;
 ProfilerListener* g_profilerListener = nullptr;
 
-Profiler::Profiler()
+Profiler::Profiler() : m_pool(sizeof(ProfilerNode))
 {
+	m_root = nullptr;
 	m_top = nullptr;
 }
 
 Profiler::~Profiler()
 {
+	B3_ASSERT(m_root == nullptr);
+	B3_ASSERT(m_top == nullptr);
+}
+
+ProfilerNode* Profiler::CreateNode()
+{
+	void* block = m_pool.Allocate();
+	ProfilerNode* n = new (block) ProfilerNode();
+	return n;
+}
+
+void Profiler::DestroyNode(ProfilerNode* node)
+{
+	node->~ProfilerNode();
+	m_pool.Free(node);
 }
 
 void Profiler::PushEvent(const char* name)
 {
 	m_time.Update();
 
-	ProfilerEvent e;
-	e.t0 = m_time.GetCurrentMilis();
-	e.t1 = -1.0;
-	e.name = name;
-	e.parent = m_top;
+	ProfilerNode* n = CreateNode();
+	n->name = name;
+	n->t0 = m_time.GetCurrentMilis();
+	n->t1 = 0.0;
+	n->parent = m_top;
 
-	m_events.PushBack(e);
+	if (m_root == nullptr)
+	{
+		m_root = n;
+		m_top = n;
+		return;
+	}
 
-	m_top = &m_events.Back();
+	if (m_top)
+	{
+		m_top->children.PushBack(n);
+	}
+
+	m_top = n;
 }
 
 void Profiler::PopEvent()
 {
 	m_time.Update();
 	
+	B3_ASSERT(m_top != nullptr);
 	m_top->t1 = m_time.GetCurrentMilis();
-
 	B3_ASSERT(m_top->t1 > m_top->t0);
 
 	m_top = m_top->parent;
@@ -59,12 +85,41 @@ void Profiler::PopEvent()
 void Profiler::Begin()
 {
 	// If this assert is hit then it means Profiler::End hasn't been called.
-	B3_ASSERT(m_events.IsEmpty());
-	B3_ASSERT(m_top == NULL);
+	B3_ASSERT(m_root == nullptr);
+	B3_ASSERT(m_top == nullptr);
+}
+
+static inline void RecurseEvents(ProfilerNode* node)
+{
+	ProfilerListener* listener = g_profilerListener;
+
+	if (listener)
+	{
+		listener->BeginEvent(node->name, node->t0);
+
+		listener->EndEvent(node->name, node->t1);
+	}
+
+	for (u32 i = 0; i < node->children.Count(); ++i)
+	{
+		RecurseEvents(node->children[i]);
+	}
+}
+
+void Profiler::RecurseDestroy(ProfilerNode* node)
+{
+	for (u32 i = 0; i < node->children.Count(); ++i)
+	{
+		RecurseDestroy(node->children[i]);
+	}
+
+	DestroyNode(node);
 }
 
 void Profiler::End()
 {
+	B3_ASSERT(m_top == nullptr);
+	
 	ProfilerListener* listener = g_profilerListener;
 
 	if (listener)
@@ -72,22 +127,12 @@ void Profiler::End()
 		listener->BeginEvents();
 	}
 
-	for (u32 i = 0; i < m_events.Count(); ++i)
-	{
-		ProfilerEvent e = m_events[i];
+	RecurseEvents(m_root);
+	
+	RecurseDestroy(m_root);
+	m_root = nullptr;
 
-		if (listener)
-		{
-			listener->BeginEvent(e.name, e.t0);
-
-			listener->EndEvent(e.name, e.t1);
-		}
-	}
-
-	m_events.Resize(0);
-
-	B3_ASSERT(m_events.IsEmpty());
-	B3_ASSERT(m_top == NULL);
+	B3_ASSERT(m_root == nullptr);
 
 	if (listener)
 	{
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index e1f2225..3a463ed 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -20,21 +20,23 @@
 #define PROFILER_H
 
 #include <bounce/common/math/math.h>
-#include <bounce/common/time.h>
+#include <bounce/common/memory/block_pool.h>
 #include <bounce/common/template/array.h>
+#include <bounce/common/time.h>
 
 class ProfilerListener;
 
-// A time-stamped profiler event.
-struct ProfilerEvent
+// Profiler node
+struct ProfilerNode
 {
 	const char* name;
 	float64 t0;
 	float64 t1;
-	ProfilerEvent* parent;
+	ProfilerNode* parent;
+	b3StackArray<ProfilerNode*, 256> children;
 };
 
-// A single-threaded event-based profiler.
+// A single-threaded profiler.
 class Profiler
 {
 public:
@@ -51,17 +53,21 @@ public:
 	// This function also flushes the profiler.
 	void End();
 
-	// Add a profiler event to the queue.
-	// You can control the maximum number of profiler events using 
-	// MAX_PROFILER_EVENTS.
+	// Push an event.
 	void PushEvent(const char* name);
 	
 	// Remove the top profiler event.
 	void PopEvent();
 private:
-	b3Time m_time;
-	b3StackArray<ProfilerEvent, 256> m_events;
-	ProfilerEvent* m_top;
+	ProfilerNode* CreateNode();
+	void DestroyNode(ProfilerNode* node);
+	
+	void RecurseDestroy(ProfilerNode* node);
+
+	b3BlockPool m_pool; // pool of nodes
+	b3Time m_time; // timer
+	ProfilerNode* m_root; // tree root node
+	ProfilerNode* m_top; // top node
 };
 
 extern Profiler* g_profiler;

From 725ca3ce31bda5cc6d5f5343a337021d605c2a23 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 31 Mar 2019 10:21:53 -0300
Subject: [PATCH 027/198] reduce stack size

---
 examples/testbed/framework/profiler.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 3a463ed..18f2a96 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -33,7 +33,7 @@ struct ProfilerNode
 	float64 t0;
 	float64 t1;
 	ProfilerNode* parent;
-	b3StackArray<ProfilerNode*, 256> children;
+	b3StackArray<ProfilerNode*, 32> children;
 };
 
 // A single-threaded profiler.

From fb895192e7971625669d288920d1e7ed6bdce8d4 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 31 Mar 2019 11:02:26 -0300
Subject: [PATCH 028/198] rename

---
 examples/testbed/framework/profiler.cpp | 4 ++--
 examples/testbed/framework/profiler.h   | 8 ++++----
 examples/testbed/framework/test.cpp     | 4 ++--
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index 579c968..fd50f61 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -46,7 +46,7 @@ void Profiler::DestroyNode(ProfilerNode* node)
 	m_pool.Free(node);
 }
 
-void Profiler::PushEvent(const char* name)
+void Profiler::BeginScope(const char* name)
 {
 	m_time.Update();
 
@@ -71,7 +71,7 @@ void Profiler::PushEvent(const char* name)
 	m_top = n;
 }
 
-void Profiler::PopEvent()
+void Profiler::EndScope()
 {
 	m_time.Update();
 	
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 18f2a96..004f878 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -53,11 +53,11 @@ public:
 	// This function also flushes the profiler.
 	void End();
 
-	// Push an event.
-	void PushEvent(const char* name);
+	// Begin a new scope.
+	void BeginScope(const char* name);
 	
-	// Remove the top profiler event.
-	void PopEvent();
+	// End the top scope.
+	void EndScope();
 private:
 	ProfilerNode* CreateNode();
 	void DestroyNode(ProfilerNode* node);
diff --git a/examples/testbed/framework/test.cpp b/examples/testbed/framework/test.cpp
index 3b83bb6..f5779aa 100644
--- a/examples/testbed/framework/test.cpp
+++ b/examples/testbed/framework/test.cpp
@@ -26,12 +26,12 @@ extern bool b3_convexCache;
 
 void b3BeginProfileScope(const char* name)
 {
-	g_profiler->PushEvent(name);
+	g_profiler->BeginScope(name);
 }
 
 void b3EndProfileScope()
 {
-	g_profiler->PopEvent();
+	g_profiler->EndScope();
 }
 
 Test::Test() : 

From 1c99a105368ff79b17407013b97bf8329e6b739b Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 31 Mar 2019 11:03:02 -0300
Subject: [PATCH 029/198] bugfix

---
 examples/testbed/framework/main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 749c6f1..7b466ba 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -105,7 +105,7 @@ static void Run()
 	{
 		g_profiler->Begin();
 
-		g_profiler->PushEvent("Frame");
+		g_profiler->BeginScope("Frame");
 		
 		g_view->BeginInterface();
 
@@ -137,7 +137,7 @@ static void Run()
 
 		g_view->EndInterface();
 
-		g_profiler->PopEvent();
+		g_profiler->EndScope();
 		
 		g_profiler->End();
 

From 3f55504a913289055f9d7722f153667ecbbb3cae Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 31 Mar 2019 11:07:05 -0300
Subject: [PATCH 030/198] use assert instead of B3_ASSERT

---
 examples/testbed/framework/profiler.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index fd50f61..92521eb 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -29,8 +29,8 @@ Profiler::Profiler() : m_pool(sizeof(ProfilerNode))
 
 Profiler::~Profiler()
 {
-	B3_ASSERT(m_root == nullptr);
-	B3_ASSERT(m_top == nullptr);
+	assert(m_root == nullptr);
+	assert(m_top == nullptr);
 }
 
 ProfilerNode* Profiler::CreateNode()
@@ -75,9 +75,9 @@ void Profiler::EndScope()
 {
 	m_time.Update();
 	
-	B3_ASSERT(m_top != nullptr);
+	assert(m_top != nullptr);
 	m_top->t1 = m_time.GetCurrentMilis();
-	B3_ASSERT(m_top->t1 > m_top->t0);
+	assert(m_top->t1 > m_top->t0);
 
 	m_top = m_top->parent;
 }
@@ -85,8 +85,8 @@ void Profiler::EndScope()
 void Profiler::Begin()
 {
 	// If this assert is hit then it means Profiler::End hasn't been called.
-	B3_ASSERT(m_root == nullptr);
-	B3_ASSERT(m_top == nullptr);
+	assert(m_root == nullptr);
+	assert(m_top == nullptr);
 }
 
 static inline void RecurseEvents(ProfilerNode* node)
@@ -118,7 +118,7 @@ void Profiler::RecurseDestroy(ProfilerNode* node)
 
 void Profiler::End()
 {
-	B3_ASSERT(m_top == nullptr);
+	assert(m_top == nullptr);
 	
 	ProfilerListener* listener = g_profilerListener;
 
@@ -132,7 +132,7 @@ void Profiler::End()
 	RecurseDestroy(m_root);
 	m_root = nullptr;
 
-	B3_ASSERT(m_root == nullptr);
+	assert(m_root == nullptr);
 
 	if (listener)
 	{

From f195e77be7ab1ca6d6b66127842745aeb3321ba4 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 1 Apr 2019 11:03:12 -0300
Subject: [PATCH 031/198] improve profiler

---
 examples/testbed/framework/json_profiler.h    |  12 +-
 examples/testbed/framework/main.cpp           |  18 ++-
 examples/testbed/framework/model.cpp          |  10 +-
 examples/testbed/framework/model.h            |  17 ++-
 examples/testbed/framework/profiler.h         |   2 +
 .../testbed/framework/recorder_profiler.cpp   | 121 +++++++++++-------
 .../testbed/framework/recorder_profiler.h     |  33 +++--
 examples/testbed/framework/testbed_profiler.h |  82 ------------
 8 files changed, 133 insertions(+), 162 deletions(-)
 delete mode 100644 examples/testbed/framework/testbed_profiler.h

diff --git a/examples/testbed/framework/json_profiler.h b/examples/testbed/framework/json_profiler.h
index dbca993..8266302 100644
--- a/examples/testbed/framework/json_profiler.h
+++ b/examples/testbed/framework/json_profiler.h
@@ -19,6 +19,8 @@
 #ifndef JSON_PROFILER_H
 #define JSON_PROFILER_H
 
+#include <testbed/framework/profiler.h>
+
 #include <bounce/common/settings.h>
 
 #include <rapidjson/filewritestream.h>
@@ -33,19 +35,19 @@ using namespace rapidjson;
 // Say chrome://tracing to the web browser and load the file
 // This file is by default called "profile.json". Any name can be given. 
 // For implementation details, see json_profile.cpp.
-class JsonProfiler
+class JsonProfiler : public ProfilerListener
 {
 public:
 	JsonProfiler();
 	~JsonProfiler();
 
-	void BeginEvents();
+	void BeginEvents() override;
 
-	void EndEvents();
+	void EndEvents() override;
 
-	void BeginEvent(const char* name, float64 time);
+	void BeginEvent(const char* name, float64 time) override;
 
-	void EndEvent(const char* name, float64 time);
+	void EndEvent(const char* name, float64 time) override;
 private:
 	FILE * m_file;
 	FileWriteStream* m_stream;
diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 7b466ba..1ff1c07 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -101,6 +101,8 @@ static void Run()
 	glfwGetWindowSize(g_window, &w, &h);
 	g_view->Event_SetWindowSize(u32(w), u32(h));
 	
+	b3StackArray<ProfilerRecord*, 256> records;
+
 	while (glfwWindowShouldClose(g_window) == 0)
 	{
 		g_profiler->Begin();
@@ -120,14 +122,10 @@ static void Run()
 
 		if (g_settings->drawProfile)
 		{
-			const b3Array<ProfilerRecord>& records = g_recorderProfiler->GetRecords();
 			for (u32 i = 0; i < records.Count(); ++i)
 			{
-				const ProfilerRecord& r = records[i];
-				if (r.call != 0)
-				{
-					g_draw->DrawString(b3Color_white, "%s %.4f (%.4f) [ms]", r.name, r.elapsed, r.maxElapsed);
-				}
+				ProfilerRecord* r = records[i];
+				g_draw->DrawString(b3Color_white, "%s %.4f (min = %.4f) (max = %.4f) (calls = %d) [ms]", r->name, r->elapsed, r->minElapsed, r->maxElapsed, r->callCount);
 			}
 		}
 
@@ -138,6 +136,14 @@ static void Run()
 		g_view->EndInterface();
 
 		g_profiler->EndScope();
+
+		g_recorderProfiler->BuildRecords();
+
+		if (g_settings->drawProfile)
+		{
+			records.Resize(0);
+			g_recorderProfiler->BuildSortedRecords(records);
+		}
 		
 		g_profiler->End();
 
diff --git a/examples/testbed/framework/model.cpp b/examples/testbed/framework/model.cpp
index 37c9aab..f3f2c8c 100644
--- a/examples/testbed/framework/model.cpp
+++ b/examples/testbed/framework/model.cpp
@@ -26,8 +26,11 @@ Model::Model()
 	g_draw = &m_draw;
 	g_camera = &m_camera;
 	g_profiler = &m_profiler;
-	g_recorderProfiler = &m_profilerListener.m_recorderListener;
-	g_profilerListener = &m_profilerListener;
+	g_recorderProfiler = &m_recorderProfiler;
+	
+#if (PROFILE_JSON == 1)
+	g_profilerListener = &m_jsonListener;
+#endif
 
 	m_test = nullptr;
 
@@ -54,7 +57,10 @@ Model::~Model()
 	g_camera = nullptr;
 	g_profiler = nullptr;
 	g_recorderProfiler = nullptr;
+
+#if (PROFILE_JSON == 1)
 	g_profilerListener = nullptr;
+#endif
 
 	delete m_test;
 }
diff --git a/examples/testbed/framework/model.h b/examples/testbed/framework/model.h
index 2580055..6371131 100644
--- a/examples/testbed/framework/model.h
+++ b/examples/testbed/framework/model.h
@@ -20,7 +20,15 @@
 #define MODEL_H
 
 #include <testbed/framework/draw.h>
-#include <testbed/framework/testbed_profiler.h>
+#include <testbed/framework/profiler.h>
+#include <testbed/framework/recorder_profiler.h>
+
+// Set to 1 to write profile events into a .json file. Set to 0 otherwise.
+#define PROFILE_JSON 1
+
+#if (PROFILE_JSON == 1)
+#include <testbed\framework\json_profiler.h>
+#endif
 
 class Test;
 
@@ -63,7 +71,12 @@ private:
 	Draw m_draw;
 	Camera m_camera;
 	Profiler m_profiler;
-	TestbedProfiler m_profilerListener;
+	RecorderProfiler m_recorderProfiler;
+
+#if (PROFILE_JSON == 1)
+	JsonProfiler m_jsonListener;
+#endif
+
 	Test* m_test;
 	bool m_setTest;
 	bool m_pause;
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 004f878..aa70633 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -59,6 +59,8 @@ public:
 	// End the top scope.
 	void EndScope();
 private:
+	friend class RecorderProfiler;
+	
 	ProfilerNode* CreateNode();
 	void DestroyNode(ProfilerNode* node);
 	
diff --git a/examples/testbed/framework/recorder_profiler.cpp b/examples/testbed/framework/recorder_profiler.cpp
index 4edfaed..143ab83 100644
--- a/examples/testbed/framework/recorder_profiler.cpp
+++ b/examples/testbed/framework/recorder_profiler.cpp
@@ -17,37 +17,10 @@
 */
 
 #include <testbed/framework/recorder_profiler.h>
+#include <testbed/framework/profiler.h>
 
 RecorderProfiler* g_recorderProfiler = nullptr;
 
-void RecorderProfiler::BeginEvents()
-{
-	m_call = 0;
-	for (u32 i = 0; i < m_records.Count(); ++i)
-	{
-		m_records[i].elapsed = 0.0;
-		m_records[i].call = 0;
-	}
-}
-
-void RecorderProfiler::EndEvents()
-{
-	for (u32 i = 0; i < m_records.Count(); ++i)
-	{
-		ProfilerRecord& r1 = m_records[i];
-
-		for (u32 j = i + 1; j < m_records.Count(); ++j)
-		{
-			ProfilerRecord& r2 = m_records[j];
-
-			if (r2.call < r1.call)
-			{
-				b3Swap(r1, r2);
-			}
-		}
-	}
-}
-
 ProfilerRecord* RecorderProfiler::FindRecord(const char* name)
 {
 	for (u32 i = 0; i < m_records.Count(); ++i)
@@ -61,35 +34,87 @@ ProfilerRecord* RecorderProfiler::FindRecord(const char* name)
 	return nullptr;
 }
 
-void RecorderProfiler::BeginEvent(const char* name, float64 time)
+void RecorderProfiler::RecurseBuildRecords(ProfilerNode* node)
 {
-	++m_call;
-	
-	ProfilerRecord* fr = FindRecord(name);
+	ProfilerRecord* fr = FindRecord(node->name);
 	if (fr)
 	{
-		fr->time = time;
-		fr->call = m_call;
-		return;
+		float64 elapsedTime = node->t1 - node->t0;
+
+		fr->elapsed += elapsedTime;
+		fr->minElapsed = b3Min(fr->minElapsed, elapsedTime);
+		fr->maxElapsed = b3Max(fr->maxElapsed, elapsedTime);
+		++fr->callCount;
 	}
+	else
+	{
+		float64 elapsedTime = node->t1 - node->t0;
 
-	ProfilerRecord r;
-	r.name = name;
-	r.time = time;
-	r.elapsed = 0.0;
-	r.maxElapsed = 0.0;
-	r.call = m_call;
+		ProfilerRecord r;
+		r.name = node->name;
+		r.elapsed = elapsedTime;
+		r.minElapsed = elapsedTime;
+		r.maxElapsed = elapsedTime;
+		r.callCount = 1;
 
-	m_records.PushBack(r);
+		m_records.PushBack(r);
+	}
+	
+	for (u32 i = 0; i < node->children.Count(); ++i)
+	{
+		RecurseBuildRecords(node->children[i]);
+	}
 }
 
-void RecorderProfiler::EndEvent(const char* name, float64 time)
+void RecorderProfiler::BuildRecords()
 {
-	ProfilerRecord* fr = FindRecord(name);
-	B3_ASSERT(fr != nullptr);
+	for (u32 i = 0; i < m_records.Count(); ++i)
+	{
+		m_records[i].elapsed = 0.0;
+		m_records[i].callCount = 0;
+	}
 
-	float64 elapsedTime = time - fr->time;
+	RecurseBuildRecords(g_profiler->m_root);
+}
 
-	fr->elapsed += elapsedTime;
-	fr->maxElapsed = b3Max(fr->maxElapsed, elapsedTime);
+static ProfilerRecord* FindSortedRecord(b3Array<ProfilerRecord*>& records, const char* name)
+{
+	for (u32 i = 0; i < records.Count(); ++i)
+	{
+		ProfilerRecord* r = records[i];
+		if (r->name == name)
+		{
+			return r;
+		}
+	}
+	return nullptr;
+}
+
+void RecorderProfiler::RecurseBuildSortedRecords(ProfilerNode* node, b3Array<ProfilerRecord*>& output)
+{
+	ProfilerRecord* fsr = FindSortedRecord(output, node->name);
+	
+	if (fsr == nullptr)
+	{
+		ProfilerRecord* fr = FindRecord(node->name);
+	
+		assert(fr != nullptr);
+
+		// Push back the first ocurrence of call in calling order
+		output.PushBack(fr);
+	}
+	
+	for (u32 i = 0; i < node->children.Count(); ++i)
+	{
+		RecurseBuildSortedRecords(node->children[i], output);
+	}	
+}
+
+void RecorderProfiler::BuildSortedRecords(b3Array<ProfilerRecord*>& output) 
+{
+	assert(output.Count() == 0);
+	
+	output.Reserve(m_records.Count());
+	
+	RecurseBuildSortedRecords(g_profiler->m_root, output);
 }
\ No newline at end of file
diff --git a/examples/testbed/framework/recorder_profiler.h b/examples/testbed/framework/recorder_profiler.h
index 3934ae7..9d6eae6 100644
--- a/examples/testbed/framework/recorder_profiler.h
+++ b/examples/testbed/framework/recorder_profiler.h
@@ -19,39 +19,38 @@
 #ifndef RECORDER_PROFILER_H
 #define RECORDER_PROFILER_H
 
-#include <bounce/common/template/array.h>
 #include <bounce/common/math/math.h>
+#include <bounce/common/template/array.h>
 
-// An event in the profiler event recorder.
+struct ProfilerNode;
+
+// A persistent profiler record
 struct ProfilerRecord
 {
 	const char* name;
-	float64 time;
 	float64 elapsed;
+	float64 minElapsed;
 	float64 maxElapsed;
-	u32 call;
+	u32 callCount;
 };
 
-// The profiler recorder simply keeps profile events in an event buffer, 
-// so that they can be rendered, saved to a file, etc. later in a 
-// particular position in code.
+// This class maintains persistent profiler records
 class RecorderProfiler
 {
 public:
-	void BeginEvents();
-
-	void EndEvents();
-
-	void BeginEvent(const char* name, float64 time);
+	void BuildRecords();
+	
+	void BuildSortedRecords(b3Array<ProfilerRecord*>& output);
 	
-	void EndEvent(const char* name, float64 time);
-
 	const b3Array<ProfilerRecord>& GetRecords() const { return m_records; }
 private:
-	ProfilerRecord* FindRecord(const char* name);
+	void RecurseBuildRecords(ProfilerNode* node);
 	
-	b3StackArray<ProfilerRecord, 256> m_records; // persistent records sorted by call order
-	u32 m_call;
+	void RecurseBuildSortedRecords(ProfilerNode* node, b3Array<ProfilerRecord*>& output);
+
+	ProfilerRecord* FindRecord(const char* name);
+
+	b3StackArray<ProfilerRecord, 256> m_records; // persistent profiler records
 };
 
 extern RecorderProfiler* g_recorderProfiler;
diff --git a/examples/testbed/framework/testbed_profiler.h b/examples/testbed/framework/testbed_profiler.h
deleted file mode 100644
index a770937..0000000
--- a/examples/testbed/framework/testbed_profiler.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef TESTBED_PROFILER_H
-#define TESTBED_PROFILER_H
-
-#include <testbed/framework/profiler.h>
-#include <testbed/framework/recorder_profiler.h>
-
-// Set to 1 then the testbed profiler will write profile events into a .json file.
-// Set to 0 otherwise.
-#define PROFILE_JSON 0
-
-#if (PROFILE_JSON == 1)
-	#include <testbed\framework\json_profiler.h>
-#endif
-
-class TestbedProfiler : public ProfilerListener
-{
-public:
-	void BeginEvents() override
-	{
-		m_recorderListener.BeginEvents();
-
-#if (PROFILE_JSON == 1)
-		m_jsonListener.BeginEvents();
-#endif
-
-	}
-
-	void EndEvents() override
-	{
-		m_recorderListener.EndEvents();
-
-#if (PROFILE_JSON == 1)
-		m_jsonListener.EndEvents();
-#endif
-
-	}
-
-	void BeginEvent(const char* name, float64 time) override
-	{
-		m_recorderListener.BeginEvent(name, time);
-
-#if (PROFILE_JSON == 1)
-		m_jsonListener.BeginEvent(name, time);
-#endif
-	}
-
-	void EndEvent(const char* name, float64 time) override
-	{
-		m_recorderListener.EndEvent(name, time);
-
-#if (PROFILE_JSON == 1)
-		m_jsonListener.EndEvent(name, time);
-#endif
-	}
-
-	RecorderProfiler m_recorderListener;
-
-#if (PROFILE_JSON == 1)
-	JsonProfiler m_jsonListener;
-#endif
-
-};
-
-#endif
\ No newline at end of file

From 2e4b7004c9fc1a7d69dbb8870a77463e7c252656 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 1 Apr 2019 11:15:39 -0300
Subject: [PATCH 032/198] some renaming

---
 examples/testbed/framework/main.cpp                |  4 ++--
 examples/testbed/framework/model.cpp               |  4 ++--
 examples/testbed/framework/model.h                 |  6 +++---
 examples/testbed/framework/profiler.h              |  2 +-
 ...recorder_profiler.cpp => profiler_recorder.cpp} | 14 +++++++-------
 .../{recorder_profiler.h => profiler_recorder.h}   |  8 ++++----
 6 files changed, 19 insertions(+), 19 deletions(-)
 rename examples/testbed/framework/{recorder_profiler.cpp => profiler_recorder.cpp} (86%)
 rename examples/testbed/framework/{recorder_profiler.h => profiler_recorder.h} (92%)

diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 1ff1c07..bd498ff 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -137,12 +137,12 @@ static void Run()
 
 		g_profiler->EndScope();
 
-		g_recorderProfiler->BuildRecords();
+		g_profilerRecorder->BuildRecords();
 
 		if (g_settings->drawProfile)
 		{
 			records.Resize(0);
-			g_recorderProfiler->BuildSortedRecords(records);
+			g_profilerRecorder->BuildSortedRecords(records);
 		}
 		
 		g_profiler->End();
diff --git a/examples/testbed/framework/model.cpp b/examples/testbed/framework/model.cpp
index f3f2c8c..325bfa0 100644
--- a/examples/testbed/framework/model.cpp
+++ b/examples/testbed/framework/model.cpp
@@ -26,7 +26,7 @@ Model::Model()
 	g_draw = &m_draw;
 	g_camera = &m_camera;
 	g_profiler = &m_profiler;
-	g_recorderProfiler = &m_recorderProfiler;
+	g_profilerRecorder = &m_profilerRecorder;
 	
 #if (PROFILE_JSON == 1)
 	g_profilerListener = &m_jsonListener;
@@ -56,7 +56,7 @@ Model::~Model()
 	g_draw = nullptr;
 	g_camera = nullptr;
 	g_profiler = nullptr;
-	g_recorderProfiler = nullptr;
+	g_profilerRecorder = nullptr;
 
 #if (PROFILE_JSON == 1)
 	g_profilerListener = nullptr;
diff --git a/examples/testbed/framework/model.h b/examples/testbed/framework/model.h
index 6371131..22dc4cc 100644
--- a/examples/testbed/framework/model.h
+++ b/examples/testbed/framework/model.h
@@ -21,10 +21,10 @@
 
 #include <testbed/framework/draw.h>
 #include <testbed/framework/profiler.h>
-#include <testbed/framework/recorder_profiler.h>
+#include <testbed/framework/profiler_recorder.h>
 
 // Set to 1 to write profile events into a .json file. Set to 0 otherwise.
-#define PROFILE_JSON 1
+#define PROFILE_JSON 0
 
 #if (PROFILE_JSON == 1)
 #include <testbed\framework\json_profiler.h>
@@ -71,7 +71,7 @@ private:
 	Draw m_draw;
 	Camera m_camera;
 	Profiler m_profiler;
-	RecorderProfiler m_recorderProfiler;
+	ProfilerRecorder m_profilerRecorder;
 
 #if (PROFILE_JSON == 1)
 	JsonProfiler m_jsonListener;
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index aa70633..bcc978a 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -59,7 +59,7 @@ public:
 	// End the top scope.
 	void EndScope();
 private:
-	friend class RecorderProfiler;
+	friend class ProfilerRecorder;
 	
 	ProfilerNode* CreateNode();
 	void DestroyNode(ProfilerNode* node);
diff --git a/examples/testbed/framework/recorder_profiler.cpp b/examples/testbed/framework/profiler_recorder.cpp
similarity index 86%
rename from examples/testbed/framework/recorder_profiler.cpp
rename to examples/testbed/framework/profiler_recorder.cpp
index 143ab83..94b0dc7 100644
--- a/examples/testbed/framework/recorder_profiler.cpp
+++ b/examples/testbed/framework/profiler_recorder.cpp
@@ -16,12 +16,12 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <testbed/framework/recorder_profiler.h>
+#include <testbed/framework/profiler_recorder.h>
 #include <testbed/framework/profiler.h>
 
-RecorderProfiler* g_recorderProfiler = nullptr;
+ProfilerRecorder* g_profilerRecorder = nullptr;
 
-ProfilerRecord* RecorderProfiler::FindRecord(const char* name)
+ProfilerRecord* ProfilerRecorder::FindRecord(const char* name)
 {
 	for (u32 i = 0; i < m_records.Count(); ++i)
 	{
@@ -34,7 +34,7 @@ ProfilerRecord* RecorderProfiler::FindRecord(const char* name)
 	return nullptr;
 }
 
-void RecorderProfiler::RecurseBuildRecords(ProfilerNode* node)
+void ProfilerRecorder::RecurseBuildRecords(ProfilerNode* node)
 {
 	ProfilerRecord* fr = FindRecord(node->name);
 	if (fr)
@@ -66,7 +66,7 @@ void RecorderProfiler::RecurseBuildRecords(ProfilerNode* node)
 	}
 }
 
-void RecorderProfiler::BuildRecords()
+void ProfilerRecorder::BuildRecords()
 {
 	for (u32 i = 0; i < m_records.Count(); ++i)
 	{
@@ -90,7 +90,7 @@ static ProfilerRecord* FindSortedRecord(b3Array<ProfilerRecord*>& records, const
 	return nullptr;
 }
 
-void RecorderProfiler::RecurseBuildSortedRecords(ProfilerNode* node, b3Array<ProfilerRecord*>& output)
+void ProfilerRecorder::RecurseBuildSortedRecords(ProfilerNode* node, b3Array<ProfilerRecord*>& output)
 {
 	ProfilerRecord* fsr = FindSortedRecord(output, node->name);
 	
@@ -110,7 +110,7 @@ void RecorderProfiler::RecurseBuildSortedRecords(ProfilerNode* node, b3Array<Pro
 	}	
 }
 
-void RecorderProfiler::BuildSortedRecords(b3Array<ProfilerRecord*>& output) 
+void ProfilerRecorder::BuildSortedRecords(b3Array<ProfilerRecord*>& output)
 {
 	assert(output.Count() == 0);
 	
diff --git a/examples/testbed/framework/recorder_profiler.h b/examples/testbed/framework/profiler_recorder.h
similarity index 92%
rename from examples/testbed/framework/recorder_profiler.h
rename to examples/testbed/framework/profiler_recorder.h
index 9d6eae6..b3ea5b4 100644
--- a/examples/testbed/framework/recorder_profiler.h
+++ b/examples/testbed/framework/profiler_recorder.h
@@ -16,8 +16,8 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef RECORDER_PROFILER_H
-#define RECORDER_PROFILER_H
+#ifndef PROFILER_RECORDER_H
+#define PROFILER_RECORDER_H
 
 #include <bounce/common/math/math.h>
 #include <bounce/common/template/array.h>
@@ -35,7 +35,7 @@ struct ProfilerRecord
 };
 
 // This class maintains persistent profiler records
-class RecorderProfiler
+class ProfilerRecorder
 {
 public:
 	void BuildRecords();
@@ -53,6 +53,6 @@ private:
 	b3StackArray<ProfilerRecord, 256> m_records; // persistent profiler records
 };
 
-extern RecorderProfiler* g_recorderProfiler;
+extern ProfilerRecorder* g_profilerRecorder;
 
 #endif
\ No newline at end of file

From cca8ccad3204090542f874d765fbb42858dc353d Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 1 Apr 2019 13:25:25 -0300
Subject: [PATCH 033/198] use forward slashes

---
 examples/testbed/framework/model.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/testbed/framework/model.h b/examples/testbed/framework/model.h
index 22dc4cc..0354f56 100644
--- a/examples/testbed/framework/model.h
+++ b/examples/testbed/framework/model.h
@@ -27,7 +27,7 @@
 #define PROFILE_JSON 0
 
 #if (PROFILE_JSON == 1)
-#include <testbed\framework\json_profiler.h>
+#include <testbed/framework/json_profiler.h>
 #endif
 
 class Test;

From 16421febc43bdb85061493c6b74b2fde79db3845 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 2 Apr 2019 09:21:43 -0300
Subject: [PATCH 034/198] update main

---
 examples/testbed/framework/main.cpp | 31 ++++++++++++-----------------
 1 file changed, 13 insertions(+), 18 deletions(-)

diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index bd498ff..4c68c4e 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -100,8 +100,6 @@ static void Run()
 	int w, h;
 	glfwGetWindowSize(g_window, &w, &h);
 	g_view->Event_SetWindowSize(u32(w), u32(h));
-	
-	b3StackArray<ProfilerRecord*, 256> records;
 
 	while (glfwWindowShouldClose(g_window) == 0)
 	{
@@ -120,8 +118,19 @@ static void Run()
 			g_draw->DrawString(b3Color_white, "*PLAYING*");
 		}
 
+		g_view->Interface();
+
+		g_model->Update();
+
+		g_profiler->EndScope();
+		
+		g_profilerRecorder->BuildRecords();
+
 		if (g_settings->drawProfile)
 		{
+			b3StackArray<ProfilerRecord*, 256> records;
+			g_profilerRecorder->BuildSortedRecords(records);
+
 			for (u32 i = 0; i < records.Count(); ++i)
 			{
 				ProfilerRecord* r = records[i];
@@ -129,23 +138,9 @@ static void Run()
 			}
 		}
 
-		g_view->Interface();
-
-		g_model->Update();
-
-		g_view->EndInterface();
-
-		g_profiler->EndScope();
-
-		g_profilerRecorder->BuildRecords();
-
-		if (g_settings->drawProfile)
-		{
-			records.Resize(0);
-			g_profilerRecorder->BuildSortedRecords(records);
-		}
-		
 		g_profiler->End();
+		
+		g_view->EndInterface();
 
 		glfwSwapBuffers(g_window);
 		glfwPollEvents();

From c638a0a52cb736162e39efeb92c8f06255546be1 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 2 Apr 2019 10:26:54 -0300
Subject: [PATCH 035/198] renaming

---
 examples/testbed/framework/profiler.cpp | 6 +++---
 examples/testbed/framework/profiler.h   | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index 92521eb..0422084 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -106,11 +106,11 @@ static inline void RecurseEvents(ProfilerNode* node)
 	}
 }
 
-void Profiler::RecurseDestroy(ProfilerNode* node)
+void Profiler::RecurseDestroyNode(ProfilerNode* node)
 {
 	for (u32 i = 0; i < node->children.Count(); ++i)
 	{
-		RecurseDestroy(node->children[i]);
+		RecurseDestroyNode(node->children[i]);
 	}
 
 	DestroyNode(node);
@@ -129,7 +129,7 @@ void Profiler::End()
 
 	RecurseEvents(m_root);
 	
-	RecurseDestroy(m_root);
+	RecurseDestroyNode(m_root);
 	m_root = nullptr;
 
 	assert(m_root == nullptr);
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index bcc978a..d87ed3e 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -64,7 +64,7 @@ private:
 	ProfilerNode* CreateNode();
 	void DestroyNode(ProfilerNode* node);
 	
-	void RecurseDestroy(ProfilerNode* node);
+	void RecurseDestroyNode(ProfilerNode* node);
 
 	b3BlockPool m_pool; // pool of nodes
 	b3Time m_time; // timer

From 756c4d354ab722efe11f306096c882a562d42fd3 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 2 Apr 2019 12:30:29 -0300
Subject: [PATCH 036/198] remove some inefficient code, add some test code

---
 include/bounce/cloth/cloth.h      |   8 +-
 src/bounce/cloth/cloth.cpp        | 241 +-----------------------------
 src/bounce/cloth/cloth_solver.cpp |  51 +++++++
 3 files changed, 53 insertions(+), 247 deletions(-)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index c78e921..17c25c0 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -156,9 +156,6 @@ private:
 
 	// Update particle contacts. 
 	void UpdateParticleContacts();
-	
-	// Update triangle contacts. 
-	void UpdateTriangleContacts();
 
 	// Update contacts
 	void UpdateContacts();
@@ -192,10 +189,7 @@ private:
 	
 	// Pool of particle contacts
 	b3BlockPool m_particleContactBlocks;
-	
-	// Pool of triangle contacts
-	b3BlockPool m_triangleContactBlocks;
-	
+
 	// List of particles
 	b3List2<b3Particle> m_particleList;
 	
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 3ca1e95..7e36935 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -149,8 +149,7 @@ static u32 b3FindSharedEdges(b3SharedEdge* sharedEdges, const b3ClothMesh* m)
 b3Cloth::b3Cloth(const b3ClothDef& def) :
 	m_particleBlocks(sizeof(b3Particle)),
 	m_bodyContactBlocks(sizeof(b3BodyContact)),
-	m_particleContactBlocks(sizeof(b3ParticleContact)),
-	m_triangleContactBlocks(sizeof(b3TriangleContact))
+	m_particleContactBlocks(sizeof(b3ParticleContact))
 {
 	B3_ASSERT(def.mesh);
 	B3_ASSERT(def.density > 0.0f);
@@ -624,241 +623,6 @@ void b3Cloth::UpdateParticleContacts()
 	}
 }
 
-static B3_FORCE_INLINE void b3Barycentric(float32 out[3],
-	const b3Vec3& A, const b3Vec3& B,
-	const b3Vec3& Q)
-{
-	b3Vec3 AB = B - A;
-	b3Vec3 QA = A - Q;
-	b3Vec3 QB = B - Q;
-
-	//float32 divisor = b3Dot(AB, AB);
-
-	out[0] = b3Dot(QB, AB);
-	out[1] = -b3Dot(QA, AB);
-	out[2] = out[0] + out[1];
-}
-
-// Convert a point Q from Cartesian coordinates to Barycentric coordinates (u, v, w) 
-// with respect to a triangle ABC.
-// The last output value is the divisor.
-static B3_FORCE_INLINE void b3Barycentric(float32 out[4],
-	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
-	const b3Vec3& Q)
-{
-	b3Vec3 AB = B - A;
-	b3Vec3 AC = C - A;
-
-	b3Vec3 QA = A - Q;
-	b3Vec3 QB = B - Q;
-	b3Vec3 QC = C - Q;
-
-	b3Vec3 QB_x_QC = b3Cross(QB, QC);
-	b3Vec3 QC_x_QA = b3Cross(QC, QA);
-	b3Vec3 QA_x_QB = b3Cross(QA, QB);
-
-	b3Vec3 AB_x_AC = b3Cross(AB, AC);
-
-	//float32 divisor = b3Dot(AB_x_AC, AB_x_AC);
-
-	out[0] = b3Dot(QB_x_QC, AB_x_AC);
-	out[1] = b3Dot(QC_x_QA, AB_x_AC);
-	out[2] = b3Dot(QA_x_QB, AB_x_AC);
-	out[3] = out[0] + out[1] + out[2];
-}
-
-static B3_FORCE_INLINE void b3Solve3(float32 out[3],
-	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C, 
-	const b3Vec3& Q)
-{
-	// Test vertex regions
-	float32 wAB[3], wBC[3], wCA[3];
-	b3Barycentric(wAB, A, B, Q);
-	b3Barycentric(wBC, B, C, Q);
-	b3Barycentric(wCA, C, A, Q);
-
-	// R A
-	if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
-	{
-		out[0] = 1.0f;
-		out[1] = 0.0f;
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R B
-	if (wAB[0] <= 0.0f && wBC[1] <= 0.0f)
-	{
-		out[0] = 0.0f;
-		out[1] = 1.0f;
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R C
-	if (wBC[0] <= 0.0f && wCA[1] <= 0.0f)
-	{
-		out[0] = 0.0f;
-		out[1] = 0.0f;
-		out[2] = 1.0f;
-		return;
-	}
-
-	// Test edge regions		
-	float32 wABC[4];
-	b3Barycentric(wABC, A, B, C, Q);
-
-	// This is used to help testing if the face degenerates 
-	// into an edge.
-	float32 area = wABC[3];
-
-	// R AB
-	if (wAB[0] > 0.0f && wAB[1] > 0.0f && area * wABC[2] <= 0.0f)
-	{
-		float32 divisor = wAB[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = s * wAB[0];
-		out[1] = s * wAB[1];
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R BC
-	if (wBC[0] > 0.0f && wBC[1] > 0.0f && area * wABC[0] <= 0.0f)
-	{
-		float32 divisor = wBC[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = 0.0f;
-		out[1] = s * wBC[0];
-		out[2] = s * wBC[1];
-		return;
-	}
-
-	// R CA
-	if (wCA[0] > 0.0f && wCA[1] > 0.0f && area * wABC[1] <= 0.0f)
-	{
-		float32 divisor = wCA[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = 0.0f;
-		out[2] = s * wCA[0];
-		out[1] = s * wCA[1];
-		return;
-	}
-
-	// R ABC/ACB
-	float32 divisor = wABC[3];
-	if (divisor <= 0.0f)
-	{
-		float32 s = 1.0f / 3.0f;
-		out[0] = s;
-		out[2] = s;
-		out[1] = s;
-		return;
-	}
-
-	B3_ASSERT(divisor > 0.0f);
-	float32 s = 1.0f / divisor;
-	out[0] = s * wABC[0];
-	out[1] = s * wABC[1];
-	out[2] = s * wABC[2];
-}
-
-void b3Cloth::UpdateTriangleContacts()
-{
-	B3_PROFILE("Cloth Update Triangle Contacts");
-
-	// Clear buffer
-	b3TriangleContact* c = m_triangleContactList.m_head;
-	while (c)
-	{
-		b3TriangleContact* c0 = c;
-		c = c->m_next;
-		m_triangleContactList.Remove(c0);
-		c0->~b3TriangleContact();
-		m_triangleContactBlocks.Free(c0);
-	}
-
-	// Create triangle contacts
-	for (b3Particle* p1 = m_particleList.m_head; p1; p1 = p1->m_next)
-	{
-		for (u32 i = 0; i < m_mesh->triangleCount; ++i)
-		{
-			b3ClothMeshTriangle* triangle = m_mesh->triangles + i;
-
-			b3Particle* p2 = m_vertexParticles[triangle->v1];
-			b3Particle* p3 = m_vertexParticles[triangle->v2];
-			b3Particle* p4 = m_vertexParticles[triangle->v3];
-
-			if (p1 == p2 || p1 == p3 || p1 == p4)
-			{
-				continue;
-			}
-
-			float32 r1 = p1->m_radius;
-			float32 r2 = 0.0f;
-
-			float32 totalRadius = r1 + r2;
-
-			b3Vec3 A = p2->m_position;
-			b3Vec3 B = p3->m_position;
-			b3Vec3 C = p4->m_position;
-			
-			b3Vec3 P = p1->m_position;
-
-			b3Vec3 n = b3Cross(B - A, C - A);
-			float32 n_len = n.Normalize();
-
-			float32 distance = b3Dot(n, P - A);
-
-			if (distance < -totalRadius)
-			{
-				continue;
-			}
-
-			if (distance > totalRadius)
-			{
-				continue;
-			}
-
-			// Project particle on triangle plane
-			b3Vec3 Q = P - distance * n;
-			
-			// Barycentric coordinates for Q
-			float32 wABC[3];
-			b3Solve3(wABC, A, B, C, Q);
-
-			b3Vec3 c1 = p1->m_position;
-			b3Vec3 c2 = wABC[0] * A + wABC[1] * B + wABC[2] * C;
-
-			if (b3DistanceSquared(c1, c2) > totalRadius * totalRadius)
-			{
-				continue;
-			}
-
-			bool front = false;
-
-			// Is the the other point in front of the triangle plane? 
-			if (distance >= 0.0f)
-			{
-				front = true;
-			}
-
-			b3TriangleContact* c = (b3TriangleContact*)m_triangleContactBlocks.Allocate();
-			c->p1 = p1;
-			c->p2 = p2;
-			c->p3 = p3;
-			c->p4 = p4;
-			c->front = front;
-			c->normalImpulse = 0.0f;
-
-			m_triangleContactList.PushFront(c);
-		}
-	}
-}
-
 void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 {
 	B3_PROFILE("Cloth Solve");
@@ -918,9 +682,6 @@ void b3Cloth::UpdateContacts()
 #if 0
 	// Update particle contacts
 	UpdateParticleContacts();
-
-	// Update triangle contacts
-	UpdateTriangleContacts();
 #endif
 }
 
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 9e3b325..95c2c2f 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -155,6 +155,7 @@ void b3ClothSolver::ApplyConstraints()
 {
 	b3DiagMat33& S = *m_solverData.S;
 	b3DenseVec3& z = *m_solverData.z;
+	b3DenseVec3& x = *m_solverData.x;
 
 	S.SetIdentity();
 	z.SetZero();
@@ -172,6 +173,35 @@ void b3ClothSolver::ApplyConstraints()
 		}
 	}
 
+#if 0
+	for (u32 i = 0; i < m_bodyContactCount; ++i)
+	{
+		b3BodyContact* bc = m_bodyContacts[i];
+		
+		b3Particle* p1 = bc->p1;
+		
+		B3_ASSERT(p1->m_type == e_dynamicParticle);
+
+		b3Transform xf1; 
+		xf1.position = x[p1->m_solverId];
+		xf1.rotation.SetIdentity();
+
+		b3Shape* s2 = bc->s2;
+		b3Body* b2 = s2->GetBody();
+		b3Transform xf2 = b2->GetTransform();
+
+		b3BodyContactWorldPoint bcwp;
+		bcwp.Initialize(bc, p1->m_radius, xf1, s2->m_radius, xf2);
+		
+		b3AccelerationConstraint* ac = m_constraints + m_constraintCount;
+		++m_constraintCount;
+		ac->i1 = p1->m_solverId;
+		ac->ndof = 2;
+		ac->p = bcwp.normal;
+		ac->z.SetZero();
+	}
+#endif
+
 	for (u32 i = 0; i < m_constraintCount; ++i)
 	{
 		m_constraints[i].Apply(&m_solverData);
@@ -223,6 +253,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		m_solverData.S = &S;
 		m_solverData.z = &z;
 
+		// Apply position correction
 		for (u32 i = 0; i < m_particleCount; ++i)
 		{
 			b3Particle* p = m_particles[i];
@@ -230,7 +261,27 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 			sy[i] = p->m_translation;
 			sx0[i] = p->m_x;
 		}
+		
+#if 0
+		for (u32 i = 0; i < m_bodyContactCount; ++i)
+		{
+			b3BodyContact* bc = m_bodyContacts[i];
 
+			b3Particle* p1 = bc->p1;
+			b3Transform xf1;
+			xf1.position = sx[p1->m_solverId];
+			xf1.rotation.SetIdentity();
+
+			b3Shape* s2 = bc->s2;
+			b3Body* b2 = s2->GetBody();
+			b3Transform xf2 = b2->GetTransform();
+
+			b3BodyContactWorldPoint bcwp;
+			bcwp.Initialize(bc, p1->m_radius, xf1, s2->m_radius, xf2);
+
+			sy[p1->m_solverId] += bcwp.separation * bcwp.normal;
+		}
+#endif
 		// Apply internal forces
 		ApplyForces();
 

From f86ec88adfbbf234bb072f85af4230bfba116dc7 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 2 Apr 2019 12:48:49 -0300
Subject: [PATCH 037/198] removed unused code

---
 include/bounce/cloth/cloth.h                |   6 +-
 include/bounce/cloth/cloth_contact_solver.h |  33 ---
 include/bounce/cloth/cloth_solver.h         |   9 +-
 include/bounce/cloth/particle.h             |  21 --
 src/bounce/cloth/cloth.cpp                  |   6 -
 src/bounce/cloth/cloth_contact_solver.cpp   | 278 --------------------
 src/bounce/cloth/cloth_solver.cpp           |  22 +-
 7 files changed, 4 insertions(+), 371 deletions(-)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 17c25c0..3d5535f 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -31,7 +31,6 @@ class b3Particle;
 class b3Force;
 class b3BodyContact;
 class b3ParticleContact;
-class b3TriangleContact;
 
 struct b3ParticleDef;
 struct b3ForceDef;
@@ -186,7 +185,7 @@ private:
 
 	// Pool of body contacts
 	b3BlockPool m_bodyContactBlocks;
-	
+
 	// Pool of particle contacts
 	b3BlockPool m_particleContactBlocks;
 
@@ -201,9 +200,6 @@ private:
 	
 	// List of particle contacts
 	b3List2<b3ParticleContact> m_particleContactList;
-	
-	// List of triangle contacts
-	b3List2<b3TriangleContact> m_triangleContactList;
 };
 
 inline void b3Cloth::SetGravity(const b3Vec3& gravity)
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index 4752adc..30b1e80 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -29,7 +29,6 @@ class b3Body;
 
 class b3BodyContact;
 class b3ParticleContact;
-class b3TriangleContact;
 
 struct b3DenseVec3;
 
@@ -136,23 +135,6 @@ struct b3ClothSolverTriangleContactVelocityConstraint
 	float32 normalImpulse;
 };
 
-struct b3ClothSolverTriangleContactPositionConstraint
-{
-	u32 indexA;
-	float32 invMassA;
-	float32 radiusA;
-
-	u32 indexB;
-	float32 invMassB;
-	u32 indexC;
-	float32 invMassC;
-	u32 indexD;
-	float32 invMassD;
-	float32 triangleRadius;
-
-	bool front;
-};
-
 struct b3ClothContactSolverDef
 {
 	b3StackAllocator* allocator;
@@ -165,9 +147,6 @@ struct b3ClothContactSolverDef
 	
 	u32 particleContactCount;
 	b3ParticleContact** particleContacts;
-
-	u32 triangleContactCount;
-	b3TriangleContact** triangleContacts;
 };
 
 inline float32 b3MixFriction(float32 u1, float32 u2)
@@ -185,24 +164,17 @@ public:
 
 	void InitializeParticleContactConstraints();
 
-	void InitializeTriangleContactConstraints();
-
 	void WarmStart();
 
 	void SolveBodyContactVelocityConstraints();
 
 	void SolveParticleContactVelocityConstraints();
 
-	void SolveTriangleContactVelocityConstraints();
-
 	void StoreImpulses();
 
 	bool SolveBodyContactPositionConstraints();
 
 	bool SolveParticleContactPositionConstraints();
-
-	bool SolveTriangleContactPositionConstraints();
-
 protected:
 	b3StackAllocator* m_allocator;
 
@@ -218,11 +190,6 @@ protected:
 	b3ParticleContact** m_particleContacts;
 	b3ClothSolverParticleContactVelocityConstraint* m_particleVelocityConstraints;
 	b3ClothSolverParticleContactPositionConstraint* m_particlePositionConstraints;
-
-	u32 m_triangleContactCount;
-	b3TriangleContact** m_triangleContacts;
-	b3ClothSolverTriangleContactVelocityConstraint* m_triangleVelocityConstraints;
-	b3ClothSolverTriangleContactPositionConstraint* m_trianglePositionConstraints;
 };
 
 #endif
\ No newline at end of file
diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index 2c53294..6b0b896 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -34,7 +34,6 @@ struct b3SparseSymMat33;
 
 class b3BodyContact;
 class b3ParticleContact;
-class b3TriangleContact;
 
 struct b3ClothSolverDef
 {
@@ -43,7 +42,6 @@ struct b3ClothSolverDef
 	u32 forceCapacity;
 	u32 bodyContactCapacity;
 	u32 particleContactCapacity;
-	u32 triangleContactCapacity;
 };
 
 struct b3ClothSolverData
@@ -79,7 +77,6 @@ public:
 	void Add(b3Force* f);
 	void Add(b3BodyContact* c);
 	void Add(b3ParticleContact* c);
-	void Add(b3TriangleContact* c);
 
 	void Solve(float32 dt, const b3Vec3& gravity);
 private:
@@ -113,11 +110,7 @@ private:
 	u32 m_particleContactCapacity;
 	u32 m_particleContactCount;
 	b3ParticleContact** m_particleContacts;
-	
-	u32 m_triangleContactCapacity;
-	u32 m_triangleContactCount;
-	b3TriangleContact** m_triangleContacts;
-	
+
 	b3ClothSolverData m_solverData;
 };
 
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index 7db88a4..afa6318 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -123,27 +123,6 @@ struct b3ParticleContactWorldPoint
 	float32 separation;
 };
 
-// A contact between a particle and a triangle
-class b3TriangleContact
-{
-public:
-	b3TriangleContact() { }
-	~b3TriangleContact() { }
-
-	b3Particle* p1;	
-	b3Particle* p2;
-	b3Particle* p3;
-	b3Particle* p4;
-
-	bool front;
-
-	// Contact constraint
-	float32 normalImpulse;
-
-	b3TriangleContact* m_prev;
-	b3TriangleContact* m_next;
-};
-
 // A cloth particle.
 class b3Particle
 {
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 7e36935..7844fdf 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -634,7 +634,6 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 	solverDef.forceCapacity = m_forceList.m_count;
 	solverDef.bodyContactCapacity = m_bodyContactList.m_count;
 	solverDef.particleContactCapacity = m_particleContactList.m_count;
-	solverDef.triangleContactCapacity = m_triangleContactList.m_count;
 
 	b3ClothSolver solver(solverDef);
 
@@ -658,11 +657,6 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 		solver.Add(c);
 	}
 	
-	for (b3TriangleContact* c = m_triangleContactList.m_head; c; c = c->m_next)
-	{
-		solver.Add(c);
-	}
-	
 	// Solve	
 	solver.Solve(dt, gravity);
 
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index a01de49..5052198 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -39,18 +39,10 @@ b3ClothContactSolver::b3ClothContactSolver(const b3ClothContactSolverDef& def)
 	m_particleContacts = def.particleContacts;
 	m_particleVelocityConstraints = (b3ClothSolverParticleContactVelocityConstraint*)m_allocator->Allocate(m_particleContactCount * sizeof(b3ClothSolverParticleContactVelocityConstraint));
 	m_particlePositionConstraints = (b3ClothSolverParticleContactPositionConstraint*)m_allocator->Allocate(m_particleContactCount * sizeof(b3ClothSolverParticleContactPositionConstraint));
-
-	m_triangleContactCount = def.triangleContactCount;
-	m_triangleContacts = def.triangleContacts;
-	m_triangleVelocityConstraints = (b3ClothSolverTriangleContactVelocityConstraint*)m_allocator->Allocate(m_triangleContactCount * sizeof(b3ClothSolverTriangleContactVelocityConstraint));
-	m_trianglePositionConstraints = (b3ClothSolverTriangleContactPositionConstraint*)m_allocator->Allocate(m_triangleContactCount * sizeof(b3ClothSolverTriangleContactPositionConstraint));
 }
 
 b3ClothContactSolver::~b3ClothContactSolver()
 {
-	m_allocator->Free(m_trianglePositionConstraints);
-	m_allocator->Free(m_triangleVelocityConstraints);
-
 	m_allocator->Free(m_particlePositionConstraints);
 	m_allocator->Free(m_particleVelocityConstraints);
 
@@ -270,93 +262,6 @@ void b3ClothContactSolver::InitializeParticleContactConstraints()
 	}
 }
 
-void b3ClothContactSolver::InitializeTriangleContactConstraints()
-{
-	b3DenseVec3& x = *m_positions;
-
-	for (u32 i = 0; i < m_triangleContactCount; ++i)
-	{
-		b3TriangleContact* c = m_triangleContacts[i];
-		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
-		b3ClothSolverTriangleContactPositionConstraint* pc = m_trianglePositionConstraints + i;
-
-		vc->indexA = c->p1->m_solverId;
-		vc->invMassA = c->p1->m_type == e_staticParticle ? 0.0f : c->p1->m_invMass;
-
-		vc->indexB = c->p2->m_solverId;
-		vc->invMassB = c->p2->m_type == e_staticParticle ? 0.0f : c->p2->m_invMass;
-
-		vc->indexC = c->p3->m_solverId;
-		vc->invMassC = c->p3->m_type == e_staticParticle ? 0.0f : c->p3->m_invMass;
-
-		vc->indexD = c->p4->m_solverId;
-		vc->invMassD = c->p4->m_type == e_staticParticle ? 0.0f : c->p4->m_invMass;
-
-		pc->indexA = c->p1->m_solverId;
-		pc->invMassA = c->p1->m_type == e_staticParticle ? 0.0f : c->p1->m_invMass;
-		pc->radiusA = c->p1->m_radius;
-
-		pc->indexB = c->p2->m_solverId;
-		pc->invMassB = c->p2->m_type == e_staticParticle ? 0.0f : c->p2->m_invMass;
-
-		pc->indexC = c->p3->m_solverId;
-		pc->invMassC = c->p3->m_type == e_staticParticle ? 0.0f : c->p3->m_invMass;
-
-		pc->indexD = c->p4->m_solverId;
-		pc->invMassD = c->p4->m_type == e_staticParticle ? 0.0f : c->p4->m_invMass;
-
-		pc->triangleRadius = 0.0f;
-		pc->front = c->front;
-
-		u32 indexA = pc->indexA;
-		float32 mA = pc->invMassA;
-
-		u32 indexB = pc->indexB;
-		float32 mB = pc->invMassB;
-
-		u32 indexC = pc->indexC;
-		float32 mC = pc->invMassC;
-
-		u32 indexD = pc->indexD;
-		float32 mD = pc->invMassD;
-
-		b3Vec3 xA = x[indexA];
-		b3Vec3 xB = x[indexB];
-		b3Vec3 xC = x[indexC];
-		b3Vec3 xD = x[indexD];
-
-		b3Vec3 n = b3Cross(xC - xB, xD - xB);
-
-		if (pc->front == false)
-		{
-			n = -n;
-		}
-
-		float32 n_len = n.Normalize();
-
-		b3Mat33 I; I.SetIdentity();
-
-		b3Mat33 N = I - b3Outer(n, n);
-		if (n_len > B3_EPSILON)
-		{
-			N = (1.0f / n_len) * N;
-		}
-
-		b3Vec3 N_n = N * n;
-
-		vc->JA = n;
-		vc->JC = b3Cross(xD - xB, N_n);
-		vc->JD = b3Cross(xC - xB, N_n);
-		vc->JB = b3Cross(xC - xD, N_n) - n;
-
-		// Compute effective mass.
-		float32 K = mA + mB + mC + mD;
-
-		vc->normalMass = K > 0.0f ? 1.0f / K : 0.0f;
-		vc->normalImpulse = c->normalImpulse;
-	}
-}
-
 void b3ClothContactSolver::WarmStart()
 {
 	b3DenseVec3& v = *m_velocities;
@@ -430,41 +335,6 @@ void b3ClothContactSolver::WarmStart()
 		v[indexA] = vA;
 		v[indexB] = vB;
 	}
-
-	for (u32 i = 0; i < m_triangleContactCount; ++i)
-	{
-		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
-
-		u32 indexA = vc->indexA;
-		u32 indexB = vc->indexB;
-		u32 indexC = vc->indexC;
-		u32 indexD = vc->indexD;
-
-		b3Vec3 vA = v[indexA];
-		b3Vec3 vB = v[indexB];
-		b3Vec3 vC = v[indexC];
-		b3Vec3 vD = v[indexD];
-
-		float32 mA = vc->invMassA;
-		float32 mB = vc->invMassB;
-		float32 mC = vc->invMassC;
-		float32 mD = vc->invMassD;
-
-		b3Vec3 PA = vc->normalImpulse * vc->JA;
-		b3Vec3 PB = vc->normalImpulse * vc->JB;
-		b3Vec3 PC = vc->normalImpulse * vc->JC;
-		b3Vec3 PD = vc->normalImpulse * vc->JD;
-
-		vA += mA * PA;
-		vB += mB * PB;
-		vC += mC * PC;
-		vD += mD * PD;
-
-		v[indexA] = vA;
-		v[indexB] = vB;
-		v[indexC] = vC;
-		v[indexD] = vD;
-	}
 }
 
 void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
@@ -626,59 +496,6 @@ void b3ClothContactSolver::SolveParticleContactVelocityConstraints()
 	}
 }
 
-void b3ClothContactSolver::SolveTriangleContactVelocityConstraints()
-{
-	b3DenseVec3& v = *m_velocities;
-
-	for (u32 i = 0; i < m_triangleContactCount; ++i)
-	{
-		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
-
-		u32 indexA = vc->indexA;
-		float32 mA = vc->invMassA;
-
-		u32 indexB = vc->indexB;
-		float32 mB = vc->invMassB;
-
-		u32 indexC = vc->indexC;
-		float32 mC = vc->invMassC;
-
-		u32 indexD = vc->indexD;
-		float32 mD = vc->invMassD;
-
-		b3Vec3 vA = v[indexA];
-		b3Vec3 vB = v[indexB];
-		b3Vec3 vC = v[indexC];
-		b3Vec3 vD = v[indexD];
-
-		b3Vec3 n = vc->JA;
-
-		// Allow some slop and prevent large corrections.
-		float32 Cdot = b3Dot(n, vA - vB);
-
-		float32 impulse = -vc->normalMass * Cdot;
-
-		float32 oldImpulse = vc->normalImpulse;
-		vc->normalImpulse = b3Max(vc->normalImpulse + impulse, 0.0f);
-		impulse = vc->normalImpulse - oldImpulse;
-
-		b3Vec3 PA = impulse * vc->JA;
-		b3Vec3 PB = impulse * vc->JB;
-		b3Vec3 PC = impulse * vc->JC;
-		b3Vec3 PD = impulse * vc->JD;
-
-		vA += mA * PA;
-		vB += mB * PB;
-		vC += mC * PC;
-		vD += mD * PD;
-
-		v[indexA] = vA;
-		v[indexB] = vB;
-		v[indexC] = vC;
-		v[indexD] = vD;
-	}
-}
-
 void b3ClothContactSolver::StoreImpulses()
 {
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
@@ -698,14 +515,6 @@ void b3ClothContactSolver::StoreImpulses()
 		c->normalImpulse = vc->normalImpulse;
 		c->tangentImpulse = vc->tangentImpulse;
 	}
-
-	for (u32 i = 0; i < m_triangleContactCount; ++i)
-	{
-		b3TriangleContact* c = m_triangleContacts[i];
-		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
-
-		c->normalImpulse = vc->normalImpulse;
-	}
 }
 
 struct b3ClothSolverBodyContactSolverPoint
@@ -891,92 +700,5 @@ bool b3ClothContactSolver::SolveParticleContactPositionConstraints()
 		x[indexB] = xB;
 	}
 
-	return minSeparation >= -3.0f * B3_LINEAR_SLOP;
-}
-
-bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
-{
-	b3DenseVec3& x = *m_positions;
-
-	float32 minSeparation = 0.0f;
-
-	for (u32 i = 0; i < m_triangleContactCount; ++i)
-	{
-		b3ClothSolverTriangleContactPositionConstraint* pc = m_trianglePositionConstraints + i;
-
-		u32 indexA = pc->indexA;
-		float32 mA = pc->invMassA;
-		float32 radiusA = pc->radiusA;
-
-		u32 indexB = pc->indexB;
-		float32 mB = pc->invMassB;
-
-		u32 indexC = pc->indexC;
-		float32 mC = pc->invMassC;
-
-		u32 indexD = pc->indexD;
-		float32 mD = pc->invMassD;
-
-		float32 triangleRadius = pc->triangleRadius;
-
-		b3Vec3 xA = x[indexA];
-		b3Vec3 xB = x[indexB];
-		b3Vec3 xC = x[indexC];
-		b3Vec3 xD = x[indexD];
-
-		b3Vec3 n = b3Cross(xC - xB, xD - xB);
-		if (pc->front == false)
-		{
-			n = -n;
-		}
-
-		float32 n_len = n.Normalize();
-
-		float32 distance = b3Dot(n, xA - xB);
-		float32 separation = distance - radiusA - triangleRadius;
-
-		// Update max constraint error.
-		minSeparation = b3Min(minSeparation, separation);
-
-		// Allow some slop and prevent large corrections.
-		float32 C = b3Clamp(B3_BAUMGARTE * (separation + B3_LINEAR_SLOP), -B3_MAX_LINEAR_CORRECTION, 0.0f);
-
-		b3Mat33 I; I.SetIdentity();
-
-		b3Mat33 N = I - b3Outer(n, n);
-		if (n_len > B3_EPSILON)
-		{
-			N = (1.0f / n_len) * N;
-		}
-
-		b3Vec3 N_n = N * n;
-
-		b3Vec3 JA = n;
-		b3Vec3 JC = b3Cross(xD - xB, N_n);
-		b3Vec3 JD = b3Cross(xC - xB, N_n);
-		b3Vec3 JB = b3Cross(xC - xD, N_n) - n;
-
-		// Compute effective mass.
-		float32 K = mA + mB + mC + mD;
-
-		// Compute normal impulse.
-		float32 impulse = K > 0.0f ? -C / K : 0.0f;
-
-		b3Vec3 PA = impulse * JA;
-		b3Vec3 PB = impulse * JB;
-		b3Vec3 PC = impulse * JC;
-		b3Vec3 PD = impulse * JD;
-
-		xA += mA * PA;
-		xB += mB * PB;
-		xC += mC * PC;
-		xD += mD * PD;
-
-		x[indexA] = xA;
-		x[indexB] = xB;
-		x[indexC] = xC;
-		x[indexD] = xD;
-	}
-
 	return minSeparation >= -3.0f * B3_LINEAR_SLOP;
 }
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 95c2c2f..737ffd6 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -61,15 +61,10 @@ b3ClothSolver::b3ClothSolver(const b3ClothSolverDef& def)
 	m_particleContactCapacity = def.particleContactCapacity;
 	m_particleContactCount = 0;
 	m_particleContacts = (b3ParticleContact**)m_allocator->Allocate(m_particleContactCapacity * sizeof(b3ParticleContact*));;
-
-	m_triangleContactCapacity = def.triangleContactCapacity;
-	m_triangleContactCount = 0;
-	m_triangleContacts = (b3TriangleContact**)m_allocator->Allocate(m_triangleContactCapacity * sizeof(b3TriangleContact*));;
 }
 
 b3ClothSolver::~b3ClothSolver()
 {
-	m_allocator->Free(m_triangleContacts);
 	m_allocator->Free(m_particleContacts);
 	m_allocator->Free(m_bodyContacts);
 
@@ -99,11 +94,6 @@ void b3ClothSolver::Add(b3ParticleContact* c)
 	m_particleContacts[m_particleContactCount++] = c;
 }
 
-void b3ClothSolver::Add(b3TriangleContact* c)
-{
-	m_triangleContacts[m_triangleContactCount++] = c;
-}
-
 void b3ClothSolver::ApplyForces()
 {
 	for (u32 i = 0; i < m_forceCount; ++i)
@@ -173,7 +163,6 @@ void b3ClothSolver::ApplyConstraints()
 		}
 	}
 
-#if 0
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
 		b3BodyContact* bc = m_bodyContacts[i];
@@ -200,7 +189,6 @@ void b3ClothSolver::ApplyConstraints()
 		ac->p = bcwp.normal;
 		ac->z.SetZero();
 	}
-#endif
 
 	for (u32 i = 0; i < m_constraintCount; ++i)
 	{
@@ -262,7 +250,6 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 			sx0[i] = p->m_x;
 		}
 		
-#if 0
 		for (u32 i = 0; i < m_bodyContactCount; ++i)
 		{
 			b3BodyContact* bc = m_bodyContacts[i];
@@ -281,7 +268,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 
 			sy[p1->m_solverId] += bcwp.separation * bcwp.normal;
 		}
-#endif
+
 		// Apply internal forces
 		ApplyForces();
 
@@ -332,15 +319,12 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 	contactSolverDef.bodyContacts = m_bodyContacts;
 	contactSolverDef.particleContactCount = m_particleContactCount;
 	contactSolverDef.particleContacts = m_particleContacts;
-	contactSolverDef.triangleContactCount = m_triangleContactCount;
-	contactSolverDef.triangleContacts = m_triangleContacts;
 
 	b3ClothContactSolver contactSolver(contactSolverDef);
 
 	{
 		contactSolver.InitializeBodyContactConstraints();
 		contactSolver.InitializeParticleContactConstraints();
-		contactSolver.InitializeTriangleContactConstraints();
 	}
 
 	{
@@ -355,7 +339,6 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		{
 			contactSolver.SolveBodyContactVelocityConstraints();
 			contactSolver.SolveParticleContactVelocityConstraints();
-			contactSolver.SolveTriangleContactVelocityConstraints();
 		}
 	}
 	
@@ -375,9 +358,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		{
 			bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
 			bool particleContactsSolved = contactSolver.SolveParticleContactPositionConstraints();
-			bool triangleContactsSolved = contactSolver.SolveTriangleContactPositionConstraints();
 			
-			if (bodyContactsSolved && particleContactsSolved && triangleContactsSolved)
+			if (bodyContactsSolved && particleContactsSolved)
 			{
 				positionSolved = true;
 				break;

From 397a8eeee3184d1145b3418956918fc1f13896a5 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 2 Apr 2019 12:52:13 -0300
Subject: [PATCH 038/198] remove dead structure

---
 include/bounce/cloth/cloth_contact_solver.h | 21 ---------------------
 1 file changed, 21 deletions(-)

diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index 30b1e80..011d3fb 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -114,27 +114,6 @@ struct b3ClothSolverParticleContactPositionConstraint
 	float32 radiusB;
 };
 
-struct b3ClothSolverTriangleContactVelocityConstraint
-{
-	u32 indexA;
-	float32 invMassA;
-
-	u32 indexB;
-	float32 invMassB;
-	u32 indexC;
-	float32 invMassC;
-	u32 indexD;
-	float32 invMassD;
-
-	b3Vec3 JA;
-	b3Vec3 JB;
-	b3Vec3 JC;
-	b3Vec3 JD;
-
-	float32 normalMass;
-	float32 normalImpulse;
-};
-
 struct b3ClothContactSolverDef
 {
 	b3StackAllocator* allocator;

From b4d33305797d7433f8413becaf7c97cc0fd50fd2 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 3 Apr 2019 11:05:21 -0300
Subject: [PATCH 039/198] Caching impulses for b3BodyContact has been added. 
 Also added some code for completeness.

---
 include/bounce/cloth/cloth.h      |   6 --
 include/bounce/cloth/particle.h   |  18 +++-
 src/bounce/cloth/cloth.cpp        | 137 ++++++++++++++++++++++++------
 src/bounce/cloth/cloth_solver.cpp |  92 +++++++++++---------
 src/bounce/cloth/particle.cpp     |   2 +-
 5 files changed, 176 insertions(+), 79 deletions(-)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 3d5535f..e02e6a1 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -183,9 +183,6 @@ private:
 	// Pool of particles
 	b3BlockPool m_particleBlocks;
 
-	// Pool of body contacts
-	b3BlockPool m_bodyContactBlocks;
-
 	// Pool of particle contacts
 	b3BlockPool m_particleContactBlocks;
 
@@ -195,9 +192,6 @@ private:
 	// List of forces
 	b3List2<b3Force> m_forceList;
 
-	// List of particle contacts
-	b3List2<b3BodyContact> m_bodyContactList;
-	
 	// List of particle contacts
 	b3List2<b3ParticleContact> m_particleContactList;
 };
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index afa6318..abe1b20 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -71,6 +71,16 @@ public:
 	b3Particle* p1;
 	b3Shape* s2;
 
+	// Contact constraint
+	float32 s;
+	b3Vec3 p;
+	b3Vec3 n;
+	float32 fn0;
+	float32 fn;
+	float32 ft1, ft2;
+	bool t1Active;
+	bool t2Active;
+
 	// Contact constraint
 	b3Vec3 localPoint1;
 	b3Vec3 localPoint2;
@@ -80,8 +90,7 @@ public:
 	b3Vec3 t1, t2;
 	b3Vec2 tangentImpulse;
 
-	b3BodyContact* m_prev;
-	b3BodyContact* m_next;
+	bool active;
 };
 
 struct b3BodyContactWorldPoint
@@ -198,7 +207,7 @@ private:
 	// Applied external force
 	b3Vec3 m_force;
 
-	// Applied external translation
+	// Applied translation
 	b3Vec3 m_translation;
 
 	// Mass
@@ -230,6 +239,9 @@ private:
 	// 
 	b3Cloth* m_cloth;
 
+	// 
+	b3BodyContact m_bodyContact;
+
 	// 
 	b3Particle* m_prev;
 
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 7844fdf..30cfe2f 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -148,7 +148,6 @@ static u32 b3FindSharedEdges(b3SharedEdge* sharedEdges, const b3ClothMesh* m)
 
 b3Cloth::b3Cloth(const b3ClothDef& def) :
 	m_particleBlocks(sizeof(b3Particle)),
-	m_bodyContactBlocks(sizeof(b3BodyContact)),
 	m_particleContactBlocks(sizeof(b3ParticleContact))
 {
 	B3_ASSERT(def.mesh);
@@ -484,17 +483,6 @@ void b3Cloth::UpdateBodyContacts()
 
 	B3_PROFILE("Cloth Update Body Contacts");
 	
-	// Clear buffer
-	b3BodyContact* c = m_bodyContactList.m_head;
-	while (c)
-	{
-		b3BodyContact* c0 = c;
-		c = c->m_next;
-		m_bodyContactList.Remove(c0);
-		c0->~b3BodyContact();
-		m_bodyContactBlocks.Free(c0);
-	}
-
 	// Create contacts 
 	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
 	{
@@ -539,6 +527,7 @@ void b3Cloth::UpdateBodyContacts()
 
 		if (bestShape == nullptr)
 		{
+			p->m_bodyContact.active = false;
 			continue;
 		}
 
@@ -549,17 +538,108 @@ void b3Cloth::UpdateBodyContacts()
 		b3Vec3 point = bestPoint;
 		b3Vec3 normal = -bestNormal;
 
-		b3BodyContact* c = (b3BodyContact*)m_bodyContactBlocks.Allocate();
+		b3BodyContact* c = &p->m_bodyContact;
+		
+		b3BodyContact c0 = *c;
+
+		c->active = true;
 		c->p1 = p;
 		c->s2 = shape;
+		c->s = separation;
+		c->p = point;
+		c->n = normal;
+		c->fn0 = 0.0f;
+		c->fn = 0.0f;
+		c->ft1 = 0.0f;
+		c->ft2 = 0.0f;
+		c->t1Active = false;
+		c->t2Active = false;
 		c->localPoint1.SetZero();
 		c->localPoint2 = body->GetLocalPoint(point);
 		c->t1 = b3Perp(normal);
 		c->t2 = b3Cross(c->t1, normal);
 		c->normalImpulse = 0.0f;
 		c->tangentImpulse.SetZero();
+		
+#if 0
+		// Apply position correction
+		b3Vec3 dx = separation * normal;
+		p->m_translation += dx;
+#endif
 
-		m_bodyContactList.PushFront(c);
+		// Update contact state
+		if (c0.active == true)
+		{
+			c->fn0 = c0.fn0;
+			c->fn = c0.fn;
+			c->ft1 = c0.ft1;
+			c->ft2 = c0.ft2;
+
+			c->normalImpulse = c0.normalImpulse;
+			c->tangentImpulse = c0.tangentImpulse;
+#if 0 
+			const float32 kForceTol = 0.0f;
+
+			// Allow the contact to release when the constraint force 
+			// switches from a repulsive force to an attractive one.
+			// if (c0.fn0 < kForceTol && c0.fn > kForceTol)
+			if (c0.fn > kForceTol)
+			{
+				// Contact force is attractive.
+				c->active = false;
+				continue;
+			}
+#endif
+		}
+#if 0
+		// A friction force requires an associated normal force.
+		if (c0.active == false)
+		{
+			continue;
+		}
+		b3Vec3 v1; v1.SetZero();
+		b3Vec3 v2 = p->m_velocity;
+		b3Vec3 dv = v2 - v1;
+
+		const float32 kVelTol = B3_EPSILON * B3_EPSILON;
+
+		// Lock particle on surface
+		float32 dvt1 = b3Dot(dv, c->t1);
+		if (dvt1 * dvt1 < kVelTol * kVelTol)
+		{
+			c->t1Active = true;
+		}
+
+		float32 dvt2 = b3Dot(dv, c->t2);
+		if (dvt2 * dvt2 < kVelTol * kVelTol)
+		{
+			c->t2Active = true;
+		}
+
+		// Unlock particle off surface
+		float32 normalForce = c->fn;
+		
+		float32 friction = shape->GetFriction();
+		float32 maxFrictionForce = friction * normalForce;
+
+		if (c0.t1Active == true)
+		{
+			float32 tangentForce1 = c0.ft1;
+			if (tangentForce1 * tangentForce1 > maxFrictionForce * maxFrictionForce)
+			{
+				c->t1Active = false;
+			}
+		}
+
+		if (c0.t2Active == true)
+		{
+			float32 tangentForce2 = c0.ft2;
+			if (tangentForce2 * tangentForce2 > maxFrictionForce* maxFrictionForce)
+			{
+				c->t2Active = false;
+			}
+		}
+#endif
 	}
 }
 
@@ -632,7 +712,7 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 	solverDef.stack = &m_stackAllocator;
 	solverDef.particleCapacity = m_particleList.m_count;
 	solverDef.forceCapacity = m_forceList.m_count;
-	solverDef.bodyContactCapacity = m_bodyContactList.m_count;
+	solverDef.bodyContactCapacity = m_particleList.m_count;
 	solverDef.particleContactCapacity = m_particleContactList.m_count;
 
 	b3ClothSolver solver(solverDef);
@@ -646,26 +726,22 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 	{
 		solver.Add(f);
 	}
-	
-	for (b3BodyContact* c = m_bodyContactList.m_head; c; c = c->m_next)
+
+	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
 	{
-		solver.Add(c);
+		if (p->m_bodyContact.active)
+		{
+			solver.Add(&p->m_bodyContact);
+		}
 	}
-	
+
 	for (b3ParticleContact* c = m_particleContactList.m_head; c; c = c->m_next)
 	{
 		solver.Add(c);
 	}
-	
+
 	// Solve	
 	solver.Solve(dt, gravity);
-
-	// Clear external applied forces and translations
-	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
-	{
-		p->m_force.SetZero();
-		p->m_translation.SetZero();
-	}
 }
 
 void b3Cloth::UpdateContacts()
@@ -691,6 +767,13 @@ void b3Cloth::Step(float32 dt)
 	{
 		Solve(dt, m_gravity);
 	}
+
+	// Clear external applied forces and translations
+	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
+	{
+		p->m_force.SetZero();
+		p->m_translation.SetZero();
+	}
 }
 
 void b3Cloth::Draw() const
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 737ffd6..cc46370 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -149,7 +149,7 @@ void b3ClothSolver::ApplyConstraints()
 
 	S.SetIdentity();
 	z.SetZero();
-
+	
 	for (u32 i = 0; i < m_particleCount; ++i)
 	{
 		b3Particle* p = m_particles[i];
@@ -162,33 +162,42 @@ void b3ClothSolver::ApplyConstraints()
 			ac->z.SetZero();
 		}
 	}
-
+#if 0
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
 		b3BodyContact* bc = m_bodyContacts[i];
-		
+
 		b3Particle* p1 = bc->p1;
-		
+
 		B3_ASSERT(p1->m_type == e_dynamicParticle);
 
-		b3Transform xf1; 
-		xf1.position = x[p1->m_solverId];
-		xf1.rotation.SetIdentity();
-
-		b3Shape* s2 = bc->s2;
-		b3Body* b2 = s2->GetBody();
-		b3Transform xf2 = b2->GetTransform();
-
-		b3BodyContactWorldPoint bcwp;
-		bcwp.Initialize(bc, p1->m_radius, xf1, s2->m_radius, xf2);
-		
 		b3AccelerationConstraint* ac = m_constraints + m_constraintCount;
 		++m_constraintCount;
 		ac->i1 = p1->m_solverId;
 		ac->ndof = 2;
-		ac->p = bcwp.normal;
+		ac->p = bc->n;
 		ac->z.SetZero();
+
+		if (bc->t1Active && bc->t2Active)
+		{
+			ac->ndof = 0;
+		}
+		else
+		{
+			if (bc->t1Active)
+			{
+				ac->ndof = 1;
+				ac->q = bc->t1;
+			}
+
+			if (bc->t2Active)
+			{
+				ac->ndof = 1;
+				ac->q = bc->t2;
+			}
+		}
 	}
+#endif
 
 	for (u32 i = 0; i < m_constraintCount; ++i)
 	{
@@ -210,7 +219,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 	m_solverData.x = &sx;
 	m_solverData.v = &sv;
 	m_solverData.f = &sf;
-	
+
 	for (u32 i = 0; i < m_particleCount; ++i)
 	{
 		b3Particle* p = m_particles[i];
@@ -249,25 +258,6 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 			sy[i] = p->m_translation;
 			sx0[i] = p->m_x;
 		}
-		
-		for (u32 i = 0; i < m_bodyContactCount; ++i)
-		{
-			b3BodyContact* bc = m_bodyContacts[i];
-
-			b3Particle* p1 = bc->p1;
-			b3Transform xf1;
-			xf1.position = sx[p1->m_solverId];
-			xf1.rotation.SetIdentity();
-
-			b3Shape* s2 = bc->s2;
-			b3Body* b2 = s2->GetBody();
-			b3Transform xf2 = b2->GetTransform();
-
-			b3BodyContactWorldPoint bcwp;
-			bcwp.Initialize(bc, p1->m_radius, xf1, s2->m_radius, xf2);
-
-			sy[p1->m_solverId] += bcwp.separation * bcwp.normal;
-		}
 
 		// Apply internal forces
 		ApplyForces();
@@ -290,16 +280,33 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 
 		// b
 		b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
-		
+
 		// x
 		b3DenseVec3 x(m_particleCount);
 		u32 iterations = 0;
 		Solve(x, iterations, A, b, S, z, sx0);
 		b3_clothSolverIterations = iterations;
+#if 0
+		// Copy constraint forces to the contacts
+		b3DenseVec3 f = A * x - b;
 
+		for (u32 i = 0; i < m_bodyContactCount; ++i)
+		{
+			b3BodyContact* c = m_bodyContacts[i];
+
+			b3Vec3 cf = f[i];
+
+			c->fn0 = c->fn;
+			c->fn = b3Dot(cf, c->n);
+			c->ft1 = b3Dot(cf, c->t1);
+			c->ft2 = b3Dot(cf, c->t2);
+		}
+#endif
+		// 
 		sv = sv + x;
 		sx = sx + sy;
 
+		// Copy state buffers back to the particle
 		for (u32 i = 0; i < m_particleCount; ++i)
 		{
 			b3Particle* p = m_particles[i];
@@ -309,7 +316,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 			p->m_velocity = sv[i];
 		}
 	}
-
+#if 1
 	// Solve constraints
 	b3ClothContactSolverDef contactSolverDef;
 	contactSolverDef.allocator = m_allocator;
@@ -341,10 +348,11 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 			contactSolver.SolveParticleContactVelocityConstraints();
 		}
 	}
-	
+
 	{
 		contactSolver.StoreImpulses();
 	}
+#endif
 
 	// Integrate positions
 	sx = sx + h * sv;
@@ -358,7 +366,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		{
 			bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
 			bool particleContactsSolved = contactSolver.SolveParticleContactPositionConstraints();
-			
+
 			if (bodyContactsSolved && particleContactsSolved)
 			{
 				positionSolved = true;
@@ -366,7 +374,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 			}
 		}
 	}
-
+#if 0
 	// Synchronize bodies
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
@@ -378,7 +386,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 
 		body->SynchronizeShapes();
 	}
-
+#endif
 	// Copy state buffers back to the particles
 	for (u32 i = 0; i < m_particleCount; ++i)
 	{
diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index 169e5bc..7dde875 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -73,7 +73,6 @@ b3Particle::b3Particle(const b3ParticleDef& def, b3Cloth* cloth)
 {
 	m_cloth = cloth;
 	m_type = def.type;
-	
 	m_position = def.position;
 	m_velocity = def.velocity;
 	m_force = def.force;
@@ -85,6 +84,7 @@ b3Particle::b3Particle(const b3ParticleDef& def, b3Cloth* cloth)
 	m_userData = nullptr;
 	m_x.SetZero();
 	m_vertex = ~0;
+	m_bodyContact.active = false;
 }
 
 b3Particle::~b3Particle()

From dbc5b189c777e548488087f5312ee668c7b11609 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 3 Apr 2019 14:53:10 -0300
Subject: [PATCH 040/198] Add sewing lines to pattern mesh for completeness.

---
 src/bounce/cloth/garment/garment_mesh.cpp | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/src/bounce/cloth/garment/garment_mesh.cpp b/src/bounce/cloth/garment/garment_mesh.cpp
index 1d54f89..3d107ba 100644
--- a/src/bounce/cloth/garment/garment_mesh.cpp
+++ b/src/bounce/cloth/garment/garment_mesh.cpp
@@ -186,4 +186,21 @@ void b3GarmentMesh::Set(b3Garment* g, float32 desiredArea)
 	{
 		b3Set(meshes + i, desiredArea, garment->patterns[i]);
 	}
+
+	// It's okay to do run the following code because
+	// the first vertices of a sewing pattern mesh are the vertices of its
+	// corresponding sewing pattern. 
+	sewingCount = garment->sewingCount;
+	sewingLines = (b3GarmentMeshSewingLine*)b3Alloc(garment->sewingCount * sizeof(b3GarmentMeshSewingLine));
+	for (u32 i = 0; i < garment->sewingCount; ++i)
+	{
+		b3SewingLine* sewingLine = garment->sewingLines + i;
+		b3GarmentMeshSewingLine* line = sewingLines + i;
+
+		line->s1 = sewingLine->p1;
+		line->v1 = sewingLine->v1;
+		
+		line->s2 = sewingLine->p2;
+		line->v2 = sewingLine->v2;
+	}
 }
\ No newline at end of file

From 62838a4887aa00ea4ee9a17f9a631dfb332c568f Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 3 Apr 2019 15:33:56 -0300
Subject: [PATCH 041/198] Assert some code

---
 src/bounce/cloth/garment/garment_mesh.cpp | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/src/bounce/cloth/garment/garment_mesh.cpp b/src/bounce/cloth/garment/garment_mesh.cpp
index 3d107ba..b42be19 100644
--- a/src/bounce/cloth/garment/garment_mesh.cpp
+++ b/src/bounce/cloth/garment/garment_mesh.cpp
@@ -65,7 +65,12 @@ static void b3Set(b3SewingPatternMesh* mesh, float32 desiredArea, const b3Sewing
 		in.pointlist[i] = (REAL)fp[i];
 	}
 	in.pointattributelist = NULL;
-	in.pointmarkerlist = NULL;
+	in.pointmarkerlist = (int*)malloc(pattern->vertexCount * sizeof(int));
+	for (u32 i = 0; i < pattern->vertexCount; ++i)
+	{
+		in.pointmarkerlist[i] = 10 + int(i);
+	}
+
 	in.numberofpoints = pattern->vertexCount;
 	in.numberofpointattributes = 0;
 
@@ -132,6 +137,18 @@ static void b3Set(b3SewingPatternMesh* mesh, float32 desiredArea, const b3Sewing
 	// r - read triangles
 	triangulate("zpcra", &mid, &out, NULL);
 
+	// The first vertices of the output structure must be the vertices of the input structure.
+	for (int i = 0; i < in.numberofpoints; ++i)
+	{
+		B3_ASSERT(in.pointmarkerlist[i] == out.pointmarkerlist[i]);
+	}
+	
+	// Note: comparing doubles
+	for (int i = 0; i < in.numberofpoints * 2; ++i)
+	{
+		B3_ASSERT(in.pointlist[i] == out.pointlist[i]);
+	}
+
 	// Convert the output structure 
 
 	// The mesh must be empty
@@ -159,6 +176,7 @@ static void b3Set(b3SewingPatternMesh* mesh, float32 desiredArea, const b3Sewing
 
 	// Free the input structure
 	free(in.pointlist);
+	free(in.pointmarkerlist);
 
 	// Free the middle structure
 	free(mid.pointlist);

From 7c15a8eaf80be12b9e2ac840b347f9a5e2e16cc8 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 3 Apr 2019 19:02:21 -0300
Subject: [PATCH 042/198] Fit windows to content

---
 examples/testbed/framework/draw.cpp | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/examples/testbed/framework/draw.cpp b/examples/testbed/framework/draw.cpp
index 1ed646c..3640a76 100644
--- a/examples/testbed/framework/draw.cpp
+++ b/examples/testbed/framework/draw.cpp
@@ -480,13 +480,17 @@ void Draw::DrawString(const b3Color& color, const b3Vec3& pw, const char* text,
 
 	va_list args;
 	va_start(args, text);
+	
+	ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
 	ImGui::SetNextWindowBgAlpha(0.0f);
 	ImGui::SetNextWindowPos(ImVec2(0.0f, 0.0f));
-	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width, g_camera->m_height));
+	ImGui::SetNextWindowSize(ImVec2(0.0f, 0.0f));
 	ImGui::Begin("Superlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
 	ImGui::SetCursorPos(ImVec2(ps.x, ps.y));
 	ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, args);
 	ImGui::End();
+	ImGui::PopStyleVar();
+	
 	va_end(args);
 }
 
@@ -495,13 +499,15 @@ void Draw::DrawString(const b3Color& color, const char* text, ...)
 	va_list args;
 	va_start(args, text);
 
+	ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f); 
 	ImGui::SetNextWindowBgAlpha(0.0f);
 	ImGui::SetNextWindowPos(ImVec2(0.0f, 40.0f));
-	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width, g_camera->m_height));
+	ImGui::SetNextWindowSize(ImVec2(0.0f, 0.0f));
 	ImGui::Begin("Overlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
 	ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, args);
 	ImGui::End();
-
+	ImGui::PopStyleVar();
+	
 	va_end(args);
 }
 

From 4407e31d8aee33dabf9d55e90605fca729e9b175 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 3 Apr 2019 19:12:17 -0300
Subject: [PATCH 043/198] Draw the profiler tree.

---
 examples/testbed/framework/main.cpp     |  5 +++
 examples/testbed/framework/profiler.h   |  3 ++
 examples/testbed/framework/view.cpp     | 49 +++++++++++++++++++++++++
 examples/testbed/framework/view.h       |  1 +
 examples/testbed/framework/view_model.h |  2 +
 5 files changed, 60 insertions(+)

diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 4c68c4e..03dcebd 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -124,6 +124,11 @@ static void Run()
 
 		g_profiler->EndScope();
 		
+		if (g_settings->drawProfileTree)
+		{
+			g_view->InterfaceProfileTree();
+		}
+
 		g_profilerRecorder->BuildRecords();
 
 		if (g_settings->drawProfile)
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index d87ed3e..7c27dac 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -58,6 +58,9 @@ public:
 	
 	// End the top scope.
 	void EndScope();
+
+	// Get the root profiler node.
+	ProfilerNode* GetRoot() { return m_root; }
 private:
 	friend class ProfilerRecorder;
 	
diff --git a/examples/testbed/framework/view.cpp b/examples/testbed/framework/view.cpp
index d2d68dc..adaea83 100644
--- a/examples/testbed/framework/view.cpp
+++ b/examples/testbed/framework/view.cpp
@@ -19,6 +19,7 @@
 #include <testbed/framework/view.h>
 #include <testbed/framework/view_model.h>
 #include <testbed/framework/test.h>
+#include <testbed/framework/profiler.h>
 
 #include <imgui/imgui.h>
 #if defined (U_OPENGL_2)
@@ -218,6 +219,7 @@ void View::Interface()
 		if (ImGui::BeginMenu("View"))
 		{
 			ImGui::MenuItem("Profile", "", &settings.drawProfile);
+			ImGui::MenuItem("Profile Tree", "", &settings.drawProfileTree);
 			ImGui::MenuItem("Statistics", "", &settings.drawStats);
 
 			ImGui::Separator();
@@ -400,6 +402,53 @@ void View::Interface()
 	ImGui::End();
 }
 
+static void TreeNode(ProfilerNode* node, u32& index)
+{
+	ImGui::PushID(index);
+	++index;
+
+	if (ImGui::TreeNode(node->name))
+	{
+		float64 elapsedTime = node->t1 - node->t0;
+		ImGui::Text("%.4f [ms]", elapsedTime);
+
+		for (u32 i = 0; i < node->children.Count(); ++i)
+		{
+			TreeNode(node->children[i], index);
+		}
+		ImGui::TreePop();
+	}	
+	
+	ImGui::PopID();
+}
+
+void View::InterfaceProfileTree()
+{
+	ImGui::Begin("Overlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
+	ImVec2 ws = ImGui::GetWindowSize();
+	ImVec2 wp = ImGui::GetWindowPos();
+	ImGui::End();
+
+	ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
+	
+	ImGui::SetNextWindowBgAlpha(0.0f);
+	ImGui::SetNextWindowPos(ImVec2(0.0f, wp.y + ws.y));
+	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width - 250.0f, 0.0f));
+
+	ImGui::Begin("##ProfileTree", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_AlwaysAutoResize);
+
+	ProfilerNode* root = g_profiler->GetRoot();
+	if (root)
+	{
+		u32 index = 0;
+		TreeNode(root, index);
+	}
+	
+	ImGui::End();
+	
+	ImGui::PopStyleVar();
+}
+
 void View::EndInterface()
 {
 	ImGui::PopStyleVar();
diff --git a/examples/testbed/framework/view.h b/examples/testbed/framework/view.h
index edb0be1..2650e81 100644
--- a/examples/testbed/framework/view.h
+++ b/examples/testbed/framework/view.h
@@ -41,6 +41,7 @@ public:
 
 	void BeginInterface();
 	void Interface();
+	void InterfaceProfileTree();
 	void EndInterface();
 private:
 	friend class ViewModel;
diff --git a/examples/testbed/framework/view_model.h b/examples/testbed/framework/view_model.h
index 8b10a0c..2d133ef 100644
--- a/examples/testbed/framework/view_model.h
+++ b/examples/testbed/framework/view_model.h
@@ -33,6 +33,7 @@ struct Settings
 		drawTriangles = true;
 		drawGrid = true;
 		drawProfile = false;
+		drawProfileTree = false;
 		drawStats = false;
 	}
 
@@ -43,6 +44,7 @@ struct Settings
 	bool drawTriangles;
 	bool drawGrid;
 	bool drawProfile;
+	bool drawProfileTree;
 	bool drawStats;
 };
 

From 00ae0296e7fda30f00028d49ae08651c2c8f51b5 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 4 Apr 2019 10:12:56 -0300
Subject: [PATCH 044/198] Applied a bugfix.

---
 src/bounce/cloth/spring_force.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bounce/cloth/spring_force.cpp b/src/bounce/cloth/spring_force.cpp
index 3e68424..723b1ac 100644
--- a/src/bounce/cloth/spring_force.cpp
+++ b/src/bounce/cloth/spring_force.cpp
@@ -77,7 +77,7 @@ void b3SpringForce::Apply(const b3ClothSolverData* data)
 
 		float32 L = b3Length(dx);
 
-		if (L >= m_L0)
+		if (L > m_L0)
 		{
 			// Apply tension
 			b3Vec3 n = dx / L;

From e32c2e61ee45dd43194d3fdaead6900ddd6748af Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 4 Apr 2019 10:35:13 -0300
Subject: [PATCH 045/198] Update shirt.h

---
 examples/testbed/tests/shirt.h | 30 ++++++++++++++++++++----------
 1 file changed, 20 insertions(+), 10 deletions(-)

diff --git a/examples/testbed/tests/shirt.h b/examples/testbed/tests/shirt.h
index 5e3e0c9..f081326 100644
--- a/examples/testbed/tests/shirt.h
+++ b/examples/testbed/tests/shirt.h
@@ -30,6 +30,14 @@ public:
 		// Create 3D mesh
 		m_shirtClothMesh.Set(&m_shirtGarmentMesh);
 
+		// Create cloth
+		b3ClothDef def;
+		def.mesh = &m_shirtClothMesh;
+		def.density = 0.2f;
+		def.structural = 1000.0f;
+
+		m_cloth = new b3Cloth(def);
+
 		// Perform fitting
 		for (u32 i = 0; i < 3; ++i)
 		{
@@ -37,7 +45,12 @@ public:
 			for (u32 j = 0; j < front->vertexCount; ++j)
 			{
 				u32 v = front->startVertex + j;
-				m_shirtClothMesh.vertices[v].z = -1.0f;
+				b3Particle* p = m_cloth->GetVertexParticle(v);
+
+				b3Vec3 x = p->GetPosition();
+				x.z = -1.0f;
+
+				p->SetPosition(x);
 			}
 		}
 
@@ -47,18 +60,15 @@ public:
 			for (u32 j = 0; j < back->vertexCount; ++j)
 			{
 				u32 v = back->startVertex + j;
-				m_shirtClothMesh.vertices[v].z = 1.0f;
+				b3Particle* p = m_cloth->GetVertexParticle(v);
+
+				b3Vec3 x = p->GetPosition();
+				x.z = 1.0f;
+
+				p->SetPosition(x);
 			}
 		}
 
-		// Create cloth
-		b3ClothDef def;
-		def.mesh = &m_shirtClothMesh;
-		def.density = 0.2f;
-		def.structural = 10000.0f;
-
-		m_cloth = new b3Cloth(def);
-
 		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
 		m_cloth->SetWorld(&m_world);
 

From d8637415873705b6669cafa3ffcbbc69e25ebbea Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 4 Apr 2019 14:00:40 -0300
Subject: [PATCH 046/198] Add more code for completeness

---
 include/bounce/cloth/particle.h   |  1 +
 src/bounce/cloth/cloth.cpp        | 55 ++++++++++++++++++-------------
 src/bounce/cloth/cloth_solver.cpp |  8 ++++-
 3 files changed, 40 insertions(+), 24 deletions(-)

diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index abe1b20..91480c2 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -78,6 +78,7 @@ public:
 	float32 fn0;
 	float32 fn;
 	float32 ft1, ft2;
+	bool nActive;
 	bool t1Active;
 	bool t2Active;
 
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 30cfe2f..5d85cc8 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -552,6 +552,7 @@ void b3Cloth::UpdateBodyContacts()
 		c->fn = 0.0f;
 		c->ft1 = 0.0f;
 		c->ft2 = 0.0f;
+		c->nActive = true;
 		c->t1Active = false;
 		c->t2Active = false;
 		c->localPoint1.SetZero();
@@ -560,48 +561,56 @@ void b3Cloth::UpdateBodyContacts()
 		c->t2 = b3Cross(c->t1, normal);
 		c->normalImpulse = 0.0f;
 		c->tangentImpulse.SetZero();
-		
+
 #if 0
 		// Apply position correction
-		b3Vec3 dx = separation * normal;
-		p->m_translation += dx;
+		p->m_translation += separation * normal;
 #endif
 
 		// Update contact state
 		if (c0.active == true)
 		{
-			c->fn0 = c0.fn0;
-			c->fn = c0.fn;
-			c->ft1 = c0.ft1;
-			c->ft2 = c0.ft2;
-
-			c->normalImpulse = c0.normalImpulse;
-			c->tangentImpulse = c0.tangentImpulse;
-#if 0 
-			const float32 kForceTol = 0.0f;
-
-			// Allow the contact to release when the constraint force 
-			// switches from a repulsive force to an attractive one.
-			// if (c0.fn0 < kForceTol && c0.fn > kForceTol)
-			if (c0.fn > kForceTol)
+			if (c0.nActive == true)
 			{
-				// Contact force is attractive.
-				c->active = false;
-				continue;
-			}
+				c->fn0 = c0.fn0;
+				c->fn = c0.fn;
+				c->ft1 = c0.ft1;
+				c->ft2 = c0.ft2;
+
+				c->normalImpulse = c0.normalImpulse;
+				c->tangentImpulse = c0.tangentImpulse;
+#if 1 
+				const float32 kForceTol = 0.0f;
+
+				// Allow the contact to release when the constraint force 
+				// switches from a repulsive force to an attractive one.
+				// if (c0.fn0 < kForceTol && c0.fn > kForceTol)
+				if (c0.fn > kForceTol)
+				{
+					// Contact force is attractive.
+					c->nActive = false;
+					continue;
+				}
 #endif
+			}
 		}
 #if 0
-		// A friction force requires an associated normal force.
 		if (c0.active == false)
 		{
 			continue;
 		}
+		
+		// A friction force requires an associated normal force.
+		if (c0.nActive == false)
+		{
+			continue;
+		}
+		
 		b3Vec3 v1; v1.SetZero();
 		b3Vec3 v2 = p->m_velocity;
 		b3Vec3 dv = v2 - v1;
 
-		const float32 kVelTol = B3_EPSILON * B3_EPSILON;
+		const float32 kVelTol = 2.0f * B3_EPSILON;
 
 		// Lock particle on surface
 		float32 dvt1 = b3Dot(dv, c->t1);
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index cc46370..46a7da7 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -166,6 +166,11 @@ void b3ClothSolver::ApplyConstraints()
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
 		b3BodyContact* bc = m_bodyContacts[i];
+		
+		if (bc->nActive == false)
+		{
+			continue;
+		}
 
 		b3Particle* p1 = bc->p1;
 
@@ -357,6 +362,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 	// Integrate positions
 	sx = sx + h * sv;
 
+#if 1
 	// Solve position constraints
 	{
 		const u32 kPositionIterations = 2;
@@ -374,7 +380,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 			}
 		}
 	}
-#if 0
+
 	// Synchronize bodies
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{

From ff535f9f7b3163eb7bdef7d174931d3bf6a3c2fa Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 4 Apr 2019 14:02:37 -0300
Subject: [PATCH 047/198] Unset if

---
 src/bounce/cloth/cloth.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 5d85cc8..baffc6b 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -579,7 +579,7 @@ void b3Cloth::UpdateBodyContacts()
 
 				c->normalImpulse = c0.normalImpulse;
 				c->tangentImpulse = c0.tangentImpulse;
-#if 1 
+#if 0
 				const float32 kForceTol = 0.0f;
 
 				// Allow the contact to release when the constraint force 

From 1ef6d46d33646957c36f406f898b62814f8d86c0 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 6 Apr 2019 18:06:20 -0300
Subject: [PATCH 048/198] Add a statistical profiler. Also applied a bugfix
 b3Profiler.

- This is a compact hierarchical profiler which also stores node statistics
- Might need to use a hash-table to lookup statistic for node because each frame trees are build
---
 examples/testbed/framework/main.cpp           |  23 +-
 examples/testbed/framework/model.cpp          |   4 +-
 examples/testbed/framework/model.h            |   4 +-
 examples/testbed/framework/profiler.cpp       |  11 +-
 examples/testbed/framework/profiler.h         |   2 -
 .../testbed/framework/profiler_recorder.cpp   | 120 -----------
 .../testbed/framework/profiler_recorder.h     |  58 -----
 examples/testbed/framework/profiler_st.cpp    | 199 ++++++++++++++++++
 examples/testbed/framework/profiler_st.h      |  94 +++++++++
 examples/testbed/framework/test.cpp           |   3 +
 examples/testbed/framework/view.cpp           |  63 +++++-
 examples/testbed/framework/view.h             |   1 +
 examples/testbed/framework/view_model.h       |   4 +-
 13 files changed, 381 insertions(+), 205 deletions(-)
 delete mode 100644 examples/testbed/framework/profiler_recorder.cpp
 delete mode 100644 examples/testbed/framework/profiler_recorder.h
 create mode 100644 examples/testbed/framework/profiler_st.cpp
 create mode 100644 examples/testbed/framework/profiler_st.h

diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 03dcebd..3917fd1 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -104,9 +104,13 @@ static void Run()
 	while (glfwWindowShouldClose(g_window) == 0)
 	{
 		g_profiler->Begin();
+		
+		g_profilerSt->Begin();
 
 		g_profiler->BeginScope("Frame");
-		
+
+		g_profilerSt->BeginScope("Frame");
+
 		g_view->BeginInterface();
 
 		if (g_model->IsPaused())
@@ -122,6 +126,8 @@ static void Run()
 
 		g_model->Update();
 
+		g_profilerSt->EndScope();
+		
 		g_profiler->EndScope();
 		
 		if (g_settings->drawProfileTree)
@@ -129,20 +135,13 @@ static void Run()
 			g_view->InterfaceProfileTree();
 		}
 
-		g_profilerRecorder->BuildRecords();
-
-		if (g_settings->drawProfile)
+		if (g_settings->drawProfileTreeStats)
 		{
-			b3StackArray<ProfilerRecord*, 256> records;
-			g_profilerRecorder->BuildSortedRecords(records);
-
-			for (u32 i = 0; i < records.Count(); ++i)
-			{
-				ProfilerRecord* r = records[i];
-				g_draw->DrawString(b3Color_white, "%s %.4f (min = %.4f) (max = %.4f) (calls = %d) [ms]", r->name, r->elapsed, r->minElapsed, r->maxElapsed, r->callCount);
-			}
+			g_view->InterfaceProfileTreeStats();
 		}
 
+		g_profilerSt->End();
+
 		g_profiler->End();
 		
 		g_view->EndInterface();
diff --git a/examples/testbed/framework/model.cpp b/examples/testbed/framework/model.cpp
index 325bfa0..d15067b 100644
--- a/examples/testbed/framework/model.cpp
+++ b/examples/testbed/framework/model.cpp
@@ -26,7 +26,7 @@ Model::Model()
 	g_draw = &m_draw;
 	g_camera = &m_camera;
 	g_profiler = &m_profiler;
-	g_profilerRecorder = &m_profilerRecorder;
+	g_profilerSt = &m_profilerSt;
 	
 #if (PROFILE_JSON == 1)
 	g_profilerListener = &m_jsonListener;
@@ -56,7 +56,7 @@ Model::~Model()
 	g_draw = nullptr;
 	g_camera = nullptr;
 	g_profiler = nullptr;
-	g_profilerRecorder = nullptr;
+	g_profilerSt = nullptr;
 
 #if (PROFILE_JSON == 1)
 	g_profilerListener = nullptr;
diff --git a/examples/testbed/framework/model.h b/examples/testbed/framework/model.h
index 0354f56..017c7ce 100644
--- a/examples/testbed/framework/model.h
+++ b/examples/testbed/framework/model.h
@@ -21,7 +21,7 @@
 
 #include <testbed/framework/draw.h>
 #include <testbed/framework/profiler.h>
-#include <testbed/framework/profiler_recorder.h>
+#include <testbed/framework/profiler_st.h>
 
 // Set to 1 to write profile events into a .json file. Set to 0 otherwise.
 #define PROFILE_JSON 0
@@ -71,7 +71,7 @@ private:
 	Draw m_draw;
 	Camera m_camera;
 	Profiler m_profiler;
-	ProfilerRecorder m_profilerRecorder;
+	ProfilerSt m_profilerSt;
 
 #if (PROFILE_JSON == 1)
 	JsonProfiler m_jsonListener;
diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index 0422084..faef74e 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -127,12 +127,13 @@ void Profiler::End()
 		listener->BeginEvents();
 	}
 
-	RecurseEvents(m_root);
-	
-	RecurseDestroyNode(m_root);
-	m_root = nullptr;
+	if (m_root)
+	{
+		RecurseEvents(m_root);
 
-	assert(m_root == nullptr);
+		RecurseDestroyNode(m_root);
+		m_root = nullptr;
+	}
 
 	if (listener)
 	{
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 7c27dac..75861f8 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -62,8 +62,6 @@ public:
 	// Get the root profiler node.
 	ProfilerNode* GetRoot() { return m_root; }
 private:
-	friend class ProfilerRecorder;
-	
 	ProfilerNode* CreateNode();
 	void DestroyNode(ProfilerNode* node);
 	
diff --git a/examples/testbed/framework/profiler_recorder.cpp b/examples/testbed/framework/profiler_recorder.cpp
deleted file mode 100644
index 94b0dc7..0000000
--- a/examples/testbed/framework/profiler_recorder.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <testbed/framework/profiler_recorder.h>
-#include <testbed/framework/profiler.h>
-
-ProfilerRecorder* g_profilerRecorder = nullptr;
-
-ProfilerRecord* ProfilerRecorder::FindRecord(const char* name)
-{
-	for (u32 i = 0; i < m_records.Count(); ++i)
-	{
-		ProfilerRecord& r = m_records[i];
-		if (r.name == name)
-		{
-			return &r;
-		}
-	}
-	return nullptr;
-}
-
-void ProfilerRecorder::RecurseBuildRecords(ProfilerNode* node)
-{
-	ProfilerRecord* fr = FindRecord(node->name);
-	if (fr)
-	{
-		float64 elapsedTime = node->t1 - node->t0;
-
-		fr->elapsed += elapsedTime;
-		fr->minElapsed = b3Min(fr->minElapsed, elapsedTime);
-		fr->maxElapsed = b3Max(fr->maxElapsed, elapsedTime);
-		++fr->callCount;
-	}
-	else
-	{
-		float64 elapsedTime = node->t1 - node->t0;
-
-		ProfilerRecord r;
-		r.name = node->name;
-		r.elapsed = elapsedTime;
-		r.minElapsed = elapsedTime;
-		r.maxElapsed = elapsedTime;
-		r.callCount = 1;
-
-		m_records.PushBack(r);
-	}
-	
-	for (u32 i = 0; i < node->children.Count(); ++i)
-	{
-		RecurseBuildRecords(node->children[i]);
-	}
-}
-
-void ProfilerRecorder::BuildRecords()
-{
-	for (u32 i = 0; i < m_records.Count(); ++i)
-	{
-		m_records[i].elapsed = 0.0;
-		m_records[i].callCount = 0;
-	}
-
-	RecurseBuildRecords(g_profiler->m_root);
-}
-
-static ProfilerRecord* FindSortedRecord(b3Array<ProfilerRecord*>& records, const char* name)
-{
-	for (u32 i = 0; i < records.Count(); ++i)
-	{
-		ProfilerRecord* r = records[i];
-		if (r->name == name)
-		{
-			return r;
-		}
-	}
-	return nullptr;
-}
-
-void ProfilerRecorder::RecurseBuildSortedRecords(ProfilerNode* node, b3Array<ProfilerRecord*>& output)
-{
-	ProfilerRecord* fsr = FindSortedRecord(output, node->name);
-	
-	if (fsr == nullptr)
-	{
-		ProfilerRecord* fr = FindRecord(node->name);
-	
-		assert(fr != nullptr);
-
-		// Push back the first ocurrence of call in calling order
-		output.PushBack(fr);
-	}
-	
-	for (u32 i = 0; i < node->children.Count(); ++i)
-	{
-		RecurseBuildSortedRecords(node->children[i], output);
-	}	
-}
-
-void ProfilerRecorder::BuildSortedRecords(b3Array<ProfilerRecord*>& output)
-{
-	assert(output.Count() == 0);
-	
-	output.Reserve(m_records.Count());
-	
-	RecurseBuildSortedRecords(g_profiler->m_root, output);
-}
\ No newline at end of file
diff --git a/examples/testbed/framework/profiler_recorder.h b/examples/testbed/framework/profiler_recorder.h
deleted file mode 100644
index b3ea5b4..0000000
--- a/examples/testbed/framework/profiler_recorder.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef PROFILER_RECORDER_H
-#define PROFILER_RECORDER_H
-
-#include <bounce/common/math/math.h>
-#include <bounce/common/template/array.h>
-
-struct ProfilerNode;
-
-// A persistent profiler record
-struct ProfilerRecord
-{
-	const char* name;
-	float64 elapsed;
-	float64 minElapsed;
-	float64 maxElapsed;
-	u32 callCount;
-};
-
-// This class maintains persistent profiler records
-class ProfilerRecorder
-{
-public:
-	void BuildRecords();
-	
-	void BuildSortedRecords(b3Array<ProfilerRecord*>& output);
-	
-	const b3Array<ProfilerRecord>& GetRecords() const { return m_records; }
-private:
-	void RecurseBuildRecords(ProfilerNode* node);
-	
-	void RecurseBuildSortedRecords(ProfilerNode* node, b3Array<ProfilerRecord*>& output);
-
-	ProfilerRecord* FindRecord(const char* name);
-
-	b3StackArray<ProfilerRecord, 256> m_records; // persistent profiler records
-};
-
-extern ProfilerRecorder* g_profilerRecorder;
-
-#endif
\ No newline at end of file
diff --git a/examples/testbed/framework/profiler_st.cpp b/examples/testbed/framework/profiler_st.cpp
new file mode 100644
index 0000000..bb3523a
--- /dev/null
+++ b/examples/testbed/framework/profiler_st.cpp
@@ -0,0 +1,199 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <testbed/framework/profiler_st.h>
+
+ProfilerSt* g_profilerSt = nullptr;
+
+ProfilerSt::ProfilerSt() : m_pool(sizeof(ProfilerStNode))
+{
+	m_root = nullptr;
+	m_top = nullptr;
+}
+
+ProfilerSt::~ProfilerSt()
+{
+	if (m_root)
+	{
+		RecurseDestroyNode(m_root);
+	}
+}
+
+ProfilerStNodeStat* ProfilerSt::FindStat(const char* name)
+{
+	for (u32 i = 0; i < m_stats.Count(); ++i)
+	{
+		if (m_stats[i].name == name)
+		{
+			return &m_stats[i];
+		}
+	}
+
+	return nullptr;
+}
+
+ProfilerStNodeStat* ProfilerSt::CreateStat()
+{
+	m_stats.PushBack(ProfilerStNodeStat());
+	return &m_stats.Back();
+}
+
+ProfilerStNode* ProfilerSt::CreateNode()
+{
+	void* block = m_pool.Allocate();
+	return new (block) ProfilerStNode();
+}
+
+void ProfilerSt::DestroyNode(ProfilerStNode* node)
+{
+	node->~ProfilerStNode();
+	m_pool.Free(node);
+}
+
+void ProfilerSt::RecurseDestroyNode(ProfilerStNode* node)
+{
+	for (u32 i = 0; i < node->children.Count(); ++i)
+	{
+		return RecurseDestroyNode(node->children[i]);
+	}
+
+	DestroyNode(node);
+}
+
+static ProfilerStNode* RecurseFindNode(ProfilerStNode* node, const char* name)
+{
+	if (node->name == name)
+	{
+		return node;
+	}
+
+	ProfilerStNode* result = nullptr;
+	for (u32 i = 0; result == nullptr && i < node->children.Count(); ++i)
+	{
+		result = RecurseFindNode(node->children[i], name);
+	}
+
+	return result;
+}
+
+ProfilerStNode* ProfilerSt::FindNode(const char* name)
+{
+	if (m_top)
+	{
+		return RecurseFindNode(m_top, name);
+	}
+
+	if (m_root)
+	{
+		return RecurseFindNode(m_root, name);
+	}
+
+	return nullptr;
+}
+
+void ProfilerSt::BeginScope(const char* name)
+{
+	ProfilerStNode* fn = FindNode(name);
+
+	if (fn)
+	{
+		m_time.Update();
+		fn->t0 = m_time.GetCurrentMilis();
+		++fn->callCount;
+		m_top = fn;
+		return;
+	}
+
+	m_time.Update();
+
+	ProfilerStNode* n = CreateNode();
+	n->name = name;
+	n->t0 = m_time.GetCurrentMilis();
+	n->elapsed = 0.0f;
+	n->callCount = 1;
+	n->parent = m_top;
+	n->stat = nullptr;
+
+	if (m_root == nullptr)
+	{
+		m_root = n;
+		m_top = n;
+
+		return;
+	}
+
+	if (m_top)
+	{
+		m_top->children.PushBack(n);
+	}
+
+	m_top = n;
+}
+
+void ProfilerSt::EndScope()
+{
+	assert(m_top != nullptr);
+
+	m_time.Update();
+
+	m_top->t1 = m_time.GetCurrentMilis();
+	
+	float64 elapsedTime = m_top->t1 - m_top->t0;
+
+	m_top->elapsed += elapsedTime;
+	
+	ProfilerStNodeStat* stat = FindStat(m_top->name);
+
+	if (stat == nullptr)
+	{
+		stat = CreateStat();
+		stat->name = m_top->name;
+		stat->minElapsed = elapsedTime;
+		stat->maxElapsed = elapsedTime;	
+	}
+	else
+	{
+		stat->minElapsed = b3Min(stat->minElapsed, elapsedTime);
+		stat->maxElapsed = b3Max(stat->maxElapsed, elapsedTime);
+	}
+
+	if (m_top->stat == nullptr)
+	{
+		m_top->stat = stat;
+	}
+
+	assert(m_top->stat == stat);
+
+	m_top = m_top->parent;
+}
+
+void ProfilerSt::Begin()
+{
+	assert(m_top == nullptr);
+}
+
+void ProfilerSt::End()
+{
+	assert(m_top == nullptr);
+	
+	if (m_root)
+	{
+		RecurseDestroyNode(m_root);
+		m_root = nullptr;
+	}
+}
\ No newline at end of file
diff --git a/examples/testbed/framework/profiler_st.h b/examples/testbed/framework/profiler_st.h
new file mode 100644
index 0000000..9cb1290
--- /dev/null
+++ b/examples/testbed/framework/profiler_st.h
@@ -0,0 +1,94 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef PROFILER_ST_H
+#define PROFILER_ST_H
+
+#include <bounce/common/math/math.h>
+#include <bounce/common/memory/block_pool.h>
+#include <bounce/common/template/array.h>
+#include <bounce/common/time.h>
+
+// Profiler tree node statistics
+struct ProfilerStNodeStat
+{
+	const char* name;
+	float64 minElapsed;
+	float64 maxElapsed;
+};
+
+// A profiler tree node
+struct ProfilerStNode
+{
+	const char* name; 
+	float64 t0;
+	float64 t1; 
+	
+	float64 elapsed;
+	u32 callCount;
+	
+	ProfilerStNode* parent;
+	b3StackArray<ProfilerStNode*, 32> children;
+
+	ProfilerStNodeStat* stat;
+};
+
+// A profiler tree 
+class ProfilerSt
+{
+public:
+	ProfilerSt();
+	
+	~ProfilerSt();
+
+	// Must be called before profiling. 
+	void Begin();
+
+	// Must be called after profiling.
+	void End();
+
+	// Begin a new scope.
+	void BeginScope(const char* name);
+
+	// End the top scope.
+	void EndScope();
+
+	ProfilerStNode* GetRoot() { return m_root; }
+private:
+	ProfilerStNode* CreateNode();
+	void DestroyNode(ProfilerStNode* node);
+	
+	void RecurseDestroyNode(ProfilerStNode* node);
+
+	ProfilerStNode* FindNode(const char* name);
+
+	ProfilerStNodeStat* CreateStat();
+
+	ProfilerStNodeStat* FindStat(const char* name);
+
+	b3BlockPool m_pool; // pool of nodes
+	b3Time m_time; // timer
+	ProfilerStNode* m_root; // tree root node
+	ProfilerStNode* m_top; // top node
+
+	b3StackArray<ProfilerStNodeStat, 256> m_stats; // node statistics
+};
+
+extern ProfilerSt* g_profilerSt;
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/framework/test.cpp b/examples/testbed/framework/test.cpp
index f5779aa..d6dc8b0 100644
--- a/examples/testbed/framework/test.cpp
+++ b/examples/testbed/framework/test.cpp
@@ -18,6 +18,7 @@
 
 #include <testbed/framework/test.h>
 #include <testbed/framework/profiler.h>
+#include <testbed/framework/profiler_st.h>
 
 extern u32 b3_allocCalls, b3_maxAllocCalls;
 extern u32 b3_convexCalls, b3_convexCacheHits;
@@ -27,11 +28,13 @@ extern bool b3_convexCache;
 void b3BeginProfileScope(const char* name)
 {
 	g_profiler->BeginScope(name);
+	g_profilerSt->BeginScope(name);
 }
 
 void b3EndProfileScope()
 {
 	g_profiler->EndScope();
+	g_profilerSt->EndScope();
 }
 
 Test::Test() : 
diff --git a/examples/testbed/framework/view.cpp b/examples/testbed/framework/view.cpp
index adaea83..0f4cffb 100644
--- a/examples/testbed/framework/view.cpp
+++ b/examples/testbed/framework/view.cpp
@@ -20,6 +20,7 @@
 #include <testbed/framework/view_model.h>
 #include <testbed/framework/test.h>
 #include <testbed/framework/profiler.h>
+#include <testbed/framework/profiler_st.h>
 
 #include <imgui/imgui.h>
 #if defined (U_OPENGL_2)
@@ -218,8 +219,8 @@ void View::Interface()
 
 		if (ImGui::BeginMenu("View"))
 		{
-			ImGui::MenuItem("Profile", "", &settings.drawProfile);
 			ImGui::MenuItem("Profile Tree", "", &settings.drawProfileTree);
+			ImGui::MenuItem("Profile Tree Statistics", "", &settings.drawProfileTreeStats);
 			ImGui::MenuItem("Statistics", "", &settings.drawStats);
 
 			ImGui::Separator();
@@ -435,7 +436,7 @@ void View::InterfaceProfileTree()
 	ImGui::SetNextWindowPos(ImVec2(0.0f, wp.y + ws.y));
 	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width - 250.0f, 0.0f));
 
-	ImGui::Begin("##ProfileTree", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_AlwaysAutoResize);
+	ImGui::Begin("Profile Tree", NULL, ImGuiWindowFlags_AlwaysAutoResize);
 
 	ProfilerNode* root = g_profiler->GetRoot();
 	if (root)
@@ -449,6 +450,64 @@ void View::InterfaceProfileTree()
 	ImGui::PopStyleVar();
 }
 
+static void TreeNode(ProfilerStNode* node, u32& index)
+{
+	ImGui::PushID(index);
+	++index;
+
+	if (ImGui::TreeNode(node->name))
+	{
+		ImGui::Text("%.4f (min = %.4f) (max = %.4f) (calls = %d) [ms]", node->elapsed, node->stat->minElapsed, node->stat->maxElapsed, node->callCount);
+
+		for (u32 i = 0; i < node->children.Count(); ++i)
+		{
+			TreeNode(node->children[i], index);
+		}
+		ImGui::TreePop();
+	}
+
+	ImGui::PopID();
+}
+
+void View::InterfaceProfileTreeStats()
+{
+	ImGui::Begin("Overlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
+	ImVec2 wp = ImGui::GetWindowPos();
+	ImVec2 ws = ImGui::GetWindowSize();
+	ImGui::End();
+
+	wp.y = wp.y + ws.y;
+
+	if (g_settings->drawProfileTree)
+	{
+		ImGui::Begin("Profile Tree", NULL, ImGuiWindowFlags_AlwaysAutoResize);
+		ImVec2 ptwp = ImGui::GetWindowPos();
+		ImVec2 ptws = ImGui::GetWindowSize();
+		ImGui::End();
+
+		wp.y = ptwp.y + ptws.y;
+	}
+
+	ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
+
+	ImGui::SetNextWindowBgAlpha(0.0f);
+	ImGui::SetNextWindowPos(ImVec2(0.0f, wp.y));
+	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width - 250.0f, 0.0f));
+
+	ImGui::Begin("Profile Tree Statistics", NULL, ImGuiWindowFlags_AlwaysAutoResize);
+
+	ProfilerStNode* root = g_profilerSt->GetRoot();
+	if (root)
+	{
+		u32 index = 0;
+		TreeNode(root, index);
+	}
+
+	ImGui::End();
+
+	ImGui::PopStyleVar();
+}
+
 void View::EndInterface()
 {
 	ImGui::PopStyleVar();
diff --git a/examples/testbed/framework/view.h b/examples/testbed/framework/view.h
index 2650e81..3851e0c 100644
--- a/examples/testbed/framework/view.h
+++ b/examples/testbed/framework/view.h
@@ -42,6 +42,7 @@ public:
 	void BeginInterface();
 	void Interface();
 	void InterfaceProfileTree();
+	void InterfaceProfileTreeStats();
 	void EndInterface();
 private:
 	friend class ViewModel;
diff --git a/examples/testbed/framework/view_model.h b/examples/testbed/framework/view_model.h
index 2d133ef..09f46ab 100644
--- a/examples/testbed/framework/view_model.h
+++ b/examples/testbed/framework/view_model.h
@@ -32,8 +32,8 @@ struct Settings
 		drawLines = true;
 		drawTriangles = true;
 		drawGrid = true;
-		drawProfile = false;
 		drawProfileTree = false;
+		drawProfileTreeStats = false;
 		drawStats = false;
 	}
 
@@ -43,8 +43,8 @@ struct Settings
 	bool drawLines;
 	bool drawTriangles;
 	bool drawGrid;
-	bool drawProfile;
 	bool drawProfileTree;
+	bool drawProfileTreeStats;
 	bool drawStats;
 };
 

From 7ed4166f0ca2de3c2adccd8a3f46ea6da5efbd3b Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 7 Apr 2019 08:07:34 -0300
Subject: [PATCH 049/198] Remove code

---
 examples/testbed/framework/profiler_st.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/examples/testbed/framework/profiler_st.cpp b/examples/testbed/framework/profiler_st.cpp
index bb3523a..3866e84 100644
--- a/examples/testbed/framework/profiler_st.cpp
+++ b/examples/testbed/framework/profiler_st.cpp
@@ -28,10 +28,8 @@ ProfilerSt::ProfilerSt() : m_pool(sizeof(ProfilerStNode))
 
 ProfilerSt::~ProfilerSt()
 {
-	if (m_root)
-	{
-		RecurseDestroyNode(m_root);
-	}
+	assert(m_root == nullptr);
+	assert(m_top == nullptr);
 }
 
 ProfilerStNodeStat* ProfilerSt::FindStat(const char* name)

From 6aa677e1331070c384d964e00704710ec374a0c9 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 8 Apr 2019 13:53:35 -0300
Subject: [PATCH 050/198] Removed profiler listener

---
 examples/testbed/framework/json_profiler.cpp |  2 ++
 examples/testbed/framework/json_profiler.h   | 18 +++++-----
 examples/testbed/framework/main.cpp          |  4 +++
 examples/testbed/framework/model.cpp         | 36 ++++++++++++++++++--
 examples/testbed/framework/model.h           |  8 +++--
 examples/testbed/framework/profiler.cpp      | 32 -----------------
 examples/testbed/framework/profiler.h        | 31 -----------------
 7 files changed, 54 insertions(+), 77 deletions(-)

diff --git a/examples/testbed/framework/json_profiler.cpp b/examples/testbed/framework/json_profiler.cpp
index ac2415c..bce7c98 100644
--- a/examples/testbed/framework/json_profiler.cpp
+++ b/examples/testbed/framework/json_profiler.cpp
@@ -18,6 +18,8 @@
 
 #include <testbed/framework/json_profiler.h>
 
+JsonProfiler* g_jsonProfiler = nullptr;
+
 #define STRING(x) String(x, sizeof(x) - 1)
 
 JsonProfiler::JsonProfiler()
diff --git a/examples/testbed/framework/json_profiler.h b/examples/testbed/framework/json_profiler.h
index 8266302..dc547a5 100644
--- a/examples/testbed/framework/json_profiler.h
+++ b/examples/testbed/framework/json_profiler.h
@@ -19,8 +19,6 @@
 #ifndef JSON_PROFILER_H
 #define JSON_PROFILER_H
 
-#include <testbed/framework/profiler.h>
-
 #include <bounce/common/settings.h>
 
 #include <rapidjson/filewritestream.h>
@@ -28,30 +26,32 @@
 
 using namespace rapidjson;
 
-// The following profiler listener is notified by a profiler when events are initiated 
+// The following profiler is notified when events are initiated 
 // or terminated.
 // When it receives the notification it immediately saves its data into a .json file format.
 // The .json file can be read and interpreted by the Google Chrome Tracing.
 // Say chrome://tracing to the web browser and load the file
 // This file is by default called "profile.json". Any name can be given. 
 // For implementation details, see json_profile.cpp.
-class JsonProfiler : public ProfilerListener
+class JsonProfiler
 {
 public:
 	JsonProfiler();
 	~JsonProfiler();
 
-	void BeginEvents() override;
+	void BeginEvents();
 
-	void EndEvents() override;
+	void EndEvents();
 
-	void BeginEvent(const char* name, float64 time) override;
+	void BeginEvent(const char* name, float64 time);
 
-	void EndEvent(const char* name, float64 time) override;
+	void EndEvent(const char* name, float64 time);
 private:
-	FILE * m_file;
+	FILE* m_file;
 	FileWriteStream* m_stream;
 	Writer<FileWriteStream>* m_writer;
 };
 
+extern JsonProfiler* g_jsonProfiler;
+
 #endif
\ No newline at end of file
diff --git a/examples/testbed/framework/main.cpp b/examples/testbed/framework/main.cpp
index 3917fd1..823170d 100644
--- a/examples/testbed/framework/main.cpp
+++ b/examples/testbed/framework/main.cpp
@@ -142,6 +142,10 @@ static void Run()
 
 		g_profilerSt->End();
 
+#if PROFILE_JSON == 1
+		g_model->UpdateJson();
+#endif
+
 		g_profiler->End();
 		
 		g_view->EndInterface();
diff --git a/examples/testbed/framework/model.cpp b/examples/testbed/framework/model.cpp
index d15067b..ce522d8 100644
--- a/examples/testbed/framework/model.cpp
+++ b/examples/testbed/framework/model.cpp
@@ -29,7 +29,7 @@ Model::Model()
 	g_profilerSt = &m_profilerSt;
 	
 #if (PROFILE_JSON == 1)
-	g_profilerListener = &m_jsonListener;
+	g_jsonProfiler = &m_jsonProfiler;
 #endif
 
 	m_test = nullptr;
@@ -59,7 +59,7 @@ Model::~Model()
 	g_profilerSt = nullptr;
 
 #if (PROFILE_JSON == 1)
-	g_profilerListener = nullptr;
+	g_jsonProfiler = nullptr;
 #endif
 
 	delete m_test;
@@ -229,4 +229,34 @@ void Model::Update()
 	m_test->Step();
 
 	m_draw.Flush();
-}
\ No newline at end of file
+}
+
+#if (PROFILE_JSON == 1)
+
+static inline void RecurseEvents(ProfilerNode* node)
+{
+	g_jsonProfiler->BeginEvent(node->name, node->t0);
+	
+	g_jsonProfiler->EndEvent(node->name, node->t1);
+
+	for (u32 i = 0; i < node->children.Count(); ++i)
+	{
+		RecurseEvents(node->children[i]);
+	}
+}
+
+void Model::UpdateJson()
+{
+	m_jsonProfiler.BeginEvents();
+
+	ProfilerNode* root = m_profiler.GetRoot();
+
+	if (root)
+	{
+		RecurseEvents(root);
+	}
+
+	m_jsonProfiler.EndEvents();
+}
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/framework/model.h b/examples/testbed/framework/model.h
index 017c7ce..f586afa 100644
--- a/examples/testbed/framework/model.h
+++ b/examples/testbed/framework/model.h
@@ -61,7 +61,11 @@ public:
 	void Command_ZoomCamera(float32 d);
 
 	void Update();
-	
+
+#if (PROFILE_JSON == 1)
+	void UpdateJson();
+#endif
+
 	bool IsPaused() const { return m_pause; }
 private:
 	friend class ViewModel;
@@ -74,7 +78,7 @@ private:
 	ProfilerSt m_profilerSt;
 
 #if (PROFILE_JSON == 1)
-	JsonProfiler m_jsonListener;
+	JsonProfiler m_jsonProfiler;
 #endif
 
 	Test* m_test;
diff --git a/examples/testbed/framework/profiler.cpp b/examples/testbed/framework/profiler.cpp
index faef74e..fea9077 100644
--- a/examples/testbed/framework/profiler.cpp
+++ b/examples/testbed/framework/profiler.cpp
@@ -19,7 +19,6 @@
 #include <testbed/framework/profiler.h>
 
 Profiler* g_profiler = nullptr;
-ProfilerListener* g_profilerListener = nullptr;
 
 Profiler::Profiler() : m_pool(sizeof(ProfilerNode))
 {
@@ -89,23 +88,6 @@ void Profiler::Begin()
 	assert(m_top == nullptr);
 }
 
-static inline void RecurseEvents(ProfilerNode* node)
-{
-	ProfilerListener* listener = g_profilerListener;
-
-	if (listener)
-	{
-		listener->BeginEvent(node->name, node->t0);
-
-		listener->EndEvent(node->name, node->t1);
-	}
-
-	for (u32 i = 0; i < node->children.Count(); ++i)
-	{
-		RecurseEvents(node->children[i]);
-	}
-}
-
 void Profiler::RecurseDestroyNode(ProfilerNode* node)
 {
 	for (u32 i = 0; i < node->children.Count(); ++i)
@@ -119,24 +101,10 @@ void Profiler::RecurseDestroyNode(ProfilerNode* node)
 void Profiler::End()
 {
 	assert(m_top == nullptr);
-	
-	ProfilerListener* listener = g_profilerListener;
-
-	if (listener)
-	{
-		listener->BeginEvents();
-	}
 
 	if (m_root)
 	{
-		RecurseEvents(m_root);
-
 		RecurseDestroyNode(m_root);
 		m_root = nullptr;
 	}
-
-	if (listener)
-	{
-		listener->EndEvents();
-	}
 }
\ No newline at end of file
diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 75861f8..3940537 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -24,8 +24,6 @@
 #include <bounce/common/template/array.h>
 #include <bounce/common/time.h>
 
-class ProfilerListener;
-
 // Profiler node
 struct ProfilerNode
 {
@@ -75,33 +73,4 @@ private:
 
 extern Profiler* g_profiler;
 
-// Any implementation of this interface passed to Profiler::End will listen to profile events.
-class ProfilerListener
-{
-public:
-	virtual ~ProfilerListener() { }
-
-	// This function is called when profiling has began.
-	virtual void BeginEvents() { }
-
-	// This function is called when profiling has ended.
-	virtual void EndEvents() { }
-	
-	// This function is called when a profiler event begins.
-	virtual void BeginEvent(const char* name, float64 time) 
-	{
-		B3_NOT_USED(name);
-		B3_NOT_USED(time);
-	}
-
-	// This function is called when a profiler event ends.
-	virtual void EndEvent(const char* name, float64 time)
-	{
-		B3_NOT_USED(name);
-		B3_NOT_USED(time);
-	}
-};
-
-extern ProfilerListener* g_profilerListener;
-
 #endif
\ No newline at end of file

From daacb4fde748517b4837b4058bcada533bc33eee Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 8 Apr 2019 15:38:41 -0300
Subject: [PATCH 051/198] Update premake5.lua

---
 premake5.lua | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/premake5.lua b/premake5.lua
index 625618c..f0ef7e9 100644
--- a/premake5.lua
+++ b/premake5.lua
@@ -264,9 +264,8 @@ workspace(solution_name)
 		{ 
 			examples_inc_dir .. "/testbed/framework/draw.h", 
 			examples_inc_dir .. "/testbed/framework/profiler.h", 
-			examples_inc_dir .. "/testbed/framework/recorder_profiler.h", 
+			examples_inc_dir .. "/testbed/framework/profiler_st.h", 
 			examples_inc_dir .. "/testbed/framework/json_profiler.h", 
-			examples_inc_dir .. "/testbed/framework/testbed_listener.h", 
 			
 			examples_inc_dir .. "/testbed/framework/model.h", 
 			examples_inc_dir .. "/testbed/framework/view.h", 
@@ -284,7 +283,7 @@ workspace(solution_name)
 			
 			examples_src_dir .. "/testbed/framework/draw.cpp", 
 			examples_src_dir .. "/testbed/framework/profiler.cpp", 
-			examples_src_dir .. "/testbed/framework/recorder_profiler.cpp", 
+			examples_src_dir .. "/testbed/framework/profiler_st.cpp", 
 			examples_src_dir .. "/testbed/framework/json_profiler.cpp", 
 			
 			examples_inc_dir .. "/testbed/framework/model.cpp", 

From 8352e29847e02922b3b84640090eadd79df8d446 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 9 Apr 2019 16:26:14 -0300
Subject: [PATCH 052/198] Remove comment

---
 examples/testbed/framework/profiler.h | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/examples/testbed/framework/profiler.h b/examples/testbed/framework/profiler.h
index 3940537..070ae7e 100644
--- a/examples/testbed/framework/profiler.h
+++ b/examples/testbed/framework/profiler.h
@@ -46,9 +46,6 @@ public:
 	void Begin();
 
 	// Must be called after profiling.
-	// The function will report all events in this profiler 
-	// to the given event listener in the correct calling order.
-	// This function also flushes the profiler.
 	void End();
 
 	// Begin a new scope.

From 8950df2ef6a5743a5e9701c82d9196b98d477a3b Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 10 Apr 2019 08:03:06 -0300
Subject: [PATCH 053/198] Fix #48

---
 include/bounce/common/template/object_array.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/include/bounce/common/template/object_array.h b/include/bounce/common/template/object_array.h
index f691a6e..348f9e2 100644
--- a/include/bounce/common/template/object_array.h
+++ b/include/bounce/common/template/object_array.h
@@ -93,6 +93,9 @@ public:
 	{
 		B3_ASSERT(m_count > 0);
 		--m_count;
+		
+		T* e = m_elements + m_count;
+		e->~T();
 	}
 
 	const T& Back() const

From d34fce1e4d3860ff92e3c60c81fb89f2939e7b3e Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 10 Apr 2019 08:15:55 -0300
Subject: [PATCH 054/198] Just equal instead of less than or equal

---
 src/bounce/dynamics/contacts/collide/collide_hulls.cpp       | 2 +-
 src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/bounce/dynamics/contacts/collide/collide_hulls.cpp b/src/bounce/dynamics/contacts/collide/collide_hulls.cpp
index af2a549..63ae512 100644
--- a/src/bounce/dynamics/contacts/collide/collide_hulls.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_hulls.cpp
@@ -54,7 +54,7 @@ void b3BuildEdgeContact(b3Manifold& manifold,
 	// Compute the closest points on the two lines.
 	float32 b = b3Dot(N1, N2);
 	float32 den = 1.0f - b * b;
-	if (den <= 0.0f)
+	if (den == 0.0f)
 	{
 		return;
 	}
diff --git a/src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp b/src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp
index b4d02f2..bcdc59e 100644
--- a/src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp
@@ -63,7 +63,7 @@ static void b3RebuildEdgeContact(b3Manifold& manifold,
 	// Compute the closest points on the two lines.
 	float32 b = b3Dot(N1, N2);
 	float32 den = 1.0f - b * b;
-	if (den <= 0.0f)
+	if (den == 0.0f)
 	{
 		return;
 	}

From 5b95cb4e1ffef9c8bb28dcddb1e1162ee9696625 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 10 Apr 2019 08:26:19 -0300
Subject: [PATCH 055/198] Equal instad of less than or equal

---
 src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp b/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
index 5d66029..fef0862 100644
--- a/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
+++ b/src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
@@ -52,7 +52,7 @@ static void b3BuildEdgeContact(b3Manifold& manifold,
 	// Compute the closest points on the two lines.
 	float32 b = b3Dot(N1, N2);
 	float32 den = 1.0f - b * b;
-	if (den <= 0.0f)
+	if (den == 0.0f)
 	{
 		return;
 	}

From 255f7363cb3507e03ec7526441d8ed2181ef8cc4 Mon Sep 17 00:00:00 2001
From: Irlan Robson <irlanrobson@users.noreply.github.com>
Date: Sun, 14 Apr 2019 11:23:29 -0300
Subject: [PATCH 056/198] Update license.txt

---
 license.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/license.txt b/license.txt
index a99dc41..f92063f 100644
--- a/license.txt
+++ b/license.txt
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson http://www.irlan.net
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -14,4 +14,4 @@
 * 2. Altered source versions must be plainly marked as such, and must not be
 * misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
-*/
\ No newline at end of file
+*/

From 5c2cc41254ce801421cee0a17ca8301a51f690b7 Mon Sep 17 00:00:00 2001
From: Irlan Robson <irlanrobson@users.noreply.github.com>
Date: Sun, 14 Apr 2019 11:24:16 -0300
Subject: [PATCH 057/198] Update license.txt

---
 license.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/license.txt b/license.txt
index f92063f..afe08e9 100644
--- a/license.txt
+++ b/license.txt
@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2019 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

From df33dd5cab88cf900087f008ae06d7806cec89fb Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 18 Apr 2019 11:02:04 -0300
Subject: [PATCH 058/198] Setter and getter for spring mode cloth dragging

---
 examples/testbed/framework/cloth_dragger.cpp | 15 +++++++++++++++
 examples/testbed/framework/cloth_dragger.h   |  9 +++++++++
 2 files changed, 24 insertions(+)

diff --git a/examples/testbed/framework/cloth_dragger.cpp b/examples/testbed/framework/cloth_dragger.cpp
index 47ee7fc..e05d447 100644
--- a/examples/testbed/framework/cloth_dragger.cpp
+++ b/examples/testbed/framework/cloth_dragger.cpp
@@ -145,6 +145,21 @@ void b3ClothDragger::Drag()
 	}
 }
 
+void b3ClothDragger::SetSpring(bool bit)
+{
+	if (bit == m_spring)
+	{
+		return;
+	}
+
+	if (IsDragging())
+	{
+		StopDragging();
+	}
+
+	m_spring = bit;
+}
+
 void b3ClothDragger::StopDragging()
 {
 	B3_ASSERT(IsDragging() == true);
diff --git a/examples/testbed/framework/cloth_dragger.h b/examples/testbed/framework/cloth_dragger.h
index d0e49de..6bbb797 100644
--- a/examples/testbed/framework/cloth_dragger.h
+++ b/examples/testbed/framework/cloth_dragger.h
@@ -32,6 +32,10 @@ public:
 	b3ClothDragger(b3Ray3* ray, b3Cloth* cloth);
 	~b3ClothDragger();
 
+	void SetSpring(bool bit);
+
+	bool GetSpring() const;
+
 	bool IsDragging() const;
 
 	bool StartDragging();
@@ -62,6 +66,11 @@ private:
 	b3ParticleType m_t1, m_t2, m_t3;
 };
 
+inline bool b3ClothDragger::GetSpring() const
+{
+	return m_spring;
+}
+
 inline bool b3ClothDragger::IsDragging() const
 {
 	return m_triangle != nullptr;

From 36f2484663d1e3070f09220eaf48e56820ae1786 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 18 Apr 2019 11:03:28 -0300
Subject: [PATCH 059/198] Assert triangle area against zero instead of epsilon

---
 src/bounce/cloth/cloth.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index baffc6b..efbfd10 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -330,7 +330,7 @@ void b3Cloth::ComputeMass()
 		b3Vec3 v3 = m_mesh->vertices[triangle->v3];
 
 		float32 area = b3Area(v1, v2, v3);
-		B3_ASSERT(area > B3_EPSILON);
+		B3_ASSERT(area > 0.0f);
 
 		float32 mass = rho * area;
 

From 923a069408058c83babd9030363750607bf2f01e Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 18 Apr 2019 11:05:13 -0300
Subject: [PATCH 060/198] Allow moving while jumping. Disable gravity when
 grounded. Change some parameters.

---
 examples/testbed/tests/character_test.h | 84 ++++++++++++++-----------
 1 file changed, 47 insertions(+), 37 deletions(-)

diff --git a/examples/testbed/tests/character_test.h b/examples/testbed/tests/character_test.h
index ec6e322..93a8f02 100644
--- a/examples/testbed/tests/character_test.h
+++ b/examples/testbed/tests/character_test.h
@@ -68,7 +68,7 @@ private:
 		sphere.radius = m_characterShape->m_radius;
 		return sphere;
 	}
-
+	
 	void UpdateGrounded()
 	{
 		b3StackArray<b3Shape*, 32> shapes;
@@ -278,6 +278,7 @@ private:
 		b3StackArray<b3Shape*, 32> shapes;
 		CollectStaticShapes(shapes);
 
+		// Collect collision planes
 		b3StackArray<Plane, 32> planes;
 		CollectOverlapPlanes(planes, shapes);
 
@@ -293,8 +294,9 @@ private:
 
 		for (;;)
 		{
+			// Collect collision planes
 			b3Vec3 translation = solvePosition - startPosition;
-
+			
 			CollectSweepPlanes(planes, shapes, translation);
 
 			solvePosition = SolvePositionConstraints(planes, targetPosition);
@@ -309,7 +311,7 @@ private:
 			oldSolvePosition = solvePosition;
 		}
 
-		// Update body
+		// Synchronize body
 		b3Quat orientation = m_characterBody->GetOrientation();
 
 		b3Vec3 axis;
@@ -543,42 +545,48 @@ public:
 		float32 dt = g_testSettings->inv_hertz;
 
 		const float32 walkSpeed = 10.0f;
-		const float32 jumpSpeed = 300.0f;
-		const float32 gravity = 50.0f * 9.8f;
-		b3Vec3 velocity = b3Vec3_zero;
-
-		bool isGounded = m_characterController->IsGrounded();
+		const float32 jumpSpeed = 10.0f;
+		const float32 gravityAcc = 9.8f;
 		
-		if (isGounded)
+		static b3Vec3 velocity = b3Vec3_zero;
+
+		velocity.x = 0.0f;
+		velocity.z = 0.0f;
+
+		extern GLFWwindow* g_window;
+
+		bool leftDown = glfwGetKey(g_window, GLFW_KEY_LEFT);
+		bool rightDown = glfwGetKey(g_window, GLFW_KEY_RIGHT);
+		bool downDown = glfwGetKey(g_window, GLFW_KEY_DOWN);
+		bool upDown = glfwGetKey(g_window, GLFW_KEY_UP);
+		bool spaceDown = glfwGetKey(g_window, GLFW_KEY_SPACE);
+
+		bool isGrounded = m_characterController->IsGrounded();
+
+		// Walk
+		if (leftDown)
 		{
-			extern GLFWwindow* g_window;
+			velocity.x -= walkSpeed;
+		}
 
-			bool leftDown = glfwGetKey(g_window, GLFW_KEY_LEFT);
-			bool rightDown = glfwGetKey(g_window, GLFW_KEY_RIGHT);
-			bool downDown = glfwGetKey(g_window, GLFW_KEY_DOWN);
-			bool upDown = glfwGetKey(g_window, GLFW_KEY_UP);
-			bool spaceDown = glfwGetKey(g_window, GLFW_KEY_SPACE);
+		if (rightDown)
+		{
+			velocity.x += walkSpeed;
+		}
 
-			// Walk
-			if (leftDown)
-			{
-				velocity.x -= walkSpeed;
-			}
+		if (upDown)
+		{
+			velocity.z -= walkSpeed;
+		}
 
-			if (rightDown)
-			{
-				velocity.x += walkSpeed;
-			}
+		if (downDown)
+		{
+			velocity.z += walkSpeed;
+		}
 
-			if (upDown)
-			{
-				velocity.z -= walkSpeed;
-			}
-
-			if (downDown)
-			{
-				velocity.z += walkSpeed;
-			}
+		if (isGrounded)
+		{	
+			velocity.y = 0.0f;
 
 			// Jump
 			if (spaceDown)
@@ -586,10 +594,12 @@ public:
 				velocity.y += jumpSpeed;
 			}
 		}
-
-		// Integrate gravity
-		velocity.y -= dt * gravity;
-
+		else
+		{
+			// Integrate gravity
+			velocity.y -= dt * gravityAcc;
+		}
+		
 		// Compute translation
 		b3Vec3 translation = dt * velocity;
 		

From 2f9abcbe9264d541465ebe7b1a654a4d4d528e73 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 18 Apr 2019 18:48:10 -0300
Subject: [PATCH 061/198] Applied a bugfix on constraint solver and removed
 some frozen code

---
 include/bounce/cloth/cloth.h                |   9 -
 include/bounce/cloth/cloth_contact_solver.h |  50 +---
 include/bounce/cloth/cloth_solver.h         |   1 -
 include/bounce/cloth/particle.h             |  30 --
 src/bounce/cloth/cloth.cpp                  |  69 +----
 src/bounce/cloth/cloth_contact_solver.cpp   | 293 +-------------------
 src/bounce/cloth/cloth_solver.cpp           |  12 +-
 src/bounce/cloth/particle.cpp               |  36 +--
 8 files changed, 10 insertions(+), 490 deletions(-)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index e02e6a1..3c1a5b4 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -153,9 +153,6 @@ private:
 	// Update body contacts. 
 	void UpdateBodyContacts();
 
-	// Update particle contacts. 
-	void UpdateParticleContacts();
-
 	// Update contacts
 	void UpdateContacts();
 
@@ -183,17 +180,11 @@ private:
 	// Pool of particles
 	b3BlockPool m_particleBlocks;
 
-	// Pool of particle contacts
-	b3BlockPool m_particleContactBlocks;
-
 	// List of particles
 	b3List2<b3Particle> m_particleList;
 	
 	// List of forces
 	b3List2<b3Force> m_forceList;
-
-	// List of particle contacts
-	b3List2<b3ParticleContact> m_particleContactList;
 };
 
 inline void b3Cloth::SetGravity(const b3Vec3& gravity)
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index 011d3fb..1fe3070 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -28,7 +28,6 @@ class b3Particle;
 class b3Body;
 
 class b3BodyContact;
-class b3ParticleContact;
 
 struct b3DenseVec3;
 
@@ -76,44 +75,11 @@ struct b3ClothSolverBodyContactPositionConstraint
 	b3Vec3 rA;
 	b3Vec3 rB;
 
+	b3Vec3 normalA;
 	b3Vec3 localPointA;
 	b3Vec3 localPointB;
 };
 
-struct b3ClothSolverParticleContactVelocityConstraint
-{
-	u32 indexA;
-	float32 invMassA;
-
-	u32 indexB;
-	float32 invMassB;
-
-	float32 friction;
-
-	b3Vec3 point;
-
-	b3Vec3 normal;
-	float32 normalMass;
-	float32 normalImpulse;
-	float32 velocityBias;
-
-	b3Vec3 tangent1;
-	b3Vec3 tangent2;
-	b3Mat22 tangentMass;
-	b3Vec2 tangentImpulse;
-};
-
-struct b3ClothSolverParticleContactPositionConstraint
-{
-	u32 indexA;
-	float32 invMassA;
-	float32 radiusA;
-
-	u32 indexB;
-	float32 invMassB;
-	float32 radiusB;
-};
-
 struct b3ClothContactSolverDef
 {
 	b3StackAllocator* allocator;
@@ -123,9 +89,6 @@ struct b3ClothContactSolverDef
 	
 	u32 bodyContactCount;
 	b3BodyContact** bodyContacts;
-	
-	u32 particleContactCount;
-	b3ParticleContact** particleContacts;
 };
 
 inline float32 b3MixFriction(float32 u1, float32 u2)
@@ -141,19 +104,13 @@ public:
 
 	void InitializeBodyContactConstraints();
 
-	void InitializeParticleContactConstraints();
-
 	void WarmStart();
 
 	void SolveBodyContactVelocityConstraints();
 
-	void SolveParticleContactVelocityConstraints();
-
 	void StoreImpulses();
 
 	bool SolveBodyContactPositionConstraints();
-
-	bool SolveParticleContactPositionConstraints();
 protected:
 	b3StackAllocator* m_allocator;
 
@@ -164,11 +121,6 @@ protected:
 	b3BodyContact** m_bodyContacts;
 	b3ClothSolverBodyContactVelocityConstraint* m_bodyVelocityConstraints;
 	b3ClothSolverBodyContactPositionConstraint* m_bodyPositionConstraints;
-
-	u32 m_particleContactCount;
-	b3ParticleContact** m_particleContacts;
-	b3ClothSolverParticleContactVelocityConstraint* m_particleVelocityConstraints;
-	b3ClothSolverParticleContactPositionConstraint* m_particlePositionConstraints;
 };
 
 #endif
\ No newline at end of file
diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index 6b0b896..52b6e66 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -41,7 +41,6 @@ struct b3ClothSolverDef
 	u32 particleCapacity;
 	u32 forceCapacity;
 	u32 bodyContactCapacity;
-	u32 particleContactCapacity;
 };
 
 struct b3ClothSolverData
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index 91480c2..bec7da6 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -103,36 +103,6 @@ struct b3BodyContactWorldPoint
 	float32 separation;
 };
 
-// A contact between two particles
-class b3ParticleContact
-{
-public:
-	b3ParticleContact() { }
-	~b3ParticleContact() { }
-
-	b3Particle* p1;
-	b3Particle* p2;
-
-	// Contact constraint
-	float32 normalImpulse;
-
-	// Friction constraint
-	b3Vec3 t1, t2;
-	b3Vec2 tangentImpulse;
-
-	b3ParticleContact* m_prev;
-	b3ParticleContact* m_next;
-};
-
-struct b3ParticleContactWorldPoint
-{
-	void Initialize(const b3ParticleContact* c);
-
-	b3Vec3 point;
-	b3Vec3 normal;
-	float32 separation;
-};
-
 // A cloth particle.
 class b3Particle
 {
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index efbfd10..2866748 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -147,8 +147,7 @@ static u32 b3FindSharedEdges(b3SharedEdge* sharedEdges, const b3ClothMesh* m)
 }
 
 b3Cloth::b3Cloth(const b3ClothDef& def) :
-	m_particleBlocks(sizeof(b3Particle)),
-	m_particleContactBlocks(sizeof(b3ParticleContact))
+	m_particleBlocks(sizeof(b3Particle))
 {
 	B3_ASSERT(def.mesh);
 	B3_ASSERT(def.density > 0.0f);
@@ -652,66 +651,6 @@ void b3Cloth::UpdateBodyContacts()
 	}
 }
 
-void b3Cloth::UpdateParticleContacts()
-{
-	B3_PROFILE("Cloth Update Particle Contacts");
-
-	// Clear buffer
-	b3ParticleContact* c = m_particleContactList.m_head;
-	while (c)
-	{
-		b3ParticleContact* c0 = c;
-		c = c->m_next;
-		m_particleContactList.Remove(c0);
-		c0->~b3ParticleContact();
-		m_particleContactBlocks.Free(c0);
-	}
-
-	// Create particle contacts
-	for (b3Particle* p1 = m_particleList.m_head; p1; p1 = p1->m_next)
-	{
-		for (b3Particle* p2 = p1->m_next; p2; p2 = p2->m_next)
-		{
-			if (p1->m_type != e_dynamicParticle && p2->m_type != e_dynamicBody)
-			{
-				// At least one particle should be kinematic or dynamic.
-				continue;
-			}
-
-			b3Vec3 c1 = p1->m_position;
-			float32 r1 = p1->m_radius;
-
-			b3Vec3 c2 = p2->m_position;
-			float32 r2 = p2->m_radius;
-
-			b3Vec3 d = c2 - c1;
-			float32 dd = b3Dot(d, d);
-			float32 totalRadius = r1 + r2;
-			if (dd > totalRadius * totalRadius)
-			{
-				continue;
-			}
-
-			b3Vec3 n(0.0f, 1.0f, 0.0f);
-			if (dd > B3_EPSILON * B3_EPSILON)
-			{
-				float32 distance = b3Sqrt(dd);
-				n = d / distance;
-			}
-
-			b3ParticleContact* c = (b3ParticleContact*)m_particleContactBlocks.Allocate();
-			c->p1 = p1;
-			c->p2 = p2;
-			c->normalImpulse = 0.0f;
-			c->t1 = b3Perp(n);
-			c->t2 = b3Cross(c->t1, n);
-			c->tangentImpulse.SetZero();
-
-			m_particleContactList.PushFront(c);
-		}
-	}
-}
-
 void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 {
 	B3_PROFILE("Cloth Solve");
@@ -722,7 +661,6 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 	solverDef.particleCapacity = m_particleList.m_count;
 	solverDef.forceCapacity = m_forceList.m_count;
 	solverDef.bodyContactCapacity = m_particleList.m_count;
-	solverDef.particleContactCapacity = m_particleContactList.m_count;
 
 	b3ClothSolver solver(solverDef);
 
@@ -744,11 +682,6 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 		}
 	}
 
-	for (b3ParticleContact* c = m_particleContactList.m_head; c; c = c->m_next)
-	{
-		solver.Add(c);
-	}
-
 	// Solve	
 	solver.Solve(dt, gravity);
 }
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index 5052198..ac97dfc 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -34,18 +34,10 @@ b3ClothContactSolver::b3ClothContactSolver(const b3ClothContactSolverDef& def)
 	m_bodyContacts = def.bodyContacts;
 	m_bodyVelocityConstraints = (b3ClothSolverBodyContactVelocityConstraint*)m_allocator->Allocate(m_bodyContactCount * sizeof(b3ClothSolverBodyContactVelocityConstraint));
 	m_bodyPositionConstraints = (b3ClothSolverBodyContactPositionConstraint*)m_allocator->Allocate(m_bodyContactCount * sizeof(b3ClothSolverBodyContactPositionConstraint));
-
-	m_particleContactCount = def.particleContactCount;
-	m_particleContacts = def.particleContacts;
-	m_particleVelocityConstraints = (b3ClothSolverParticleContactVelocityConstraint*)m_allocator->Allocate(m_particleContactCount * sizeof(b3ClothSolverParticleContactVelocityConstraint));
-	m_particlePositionConstraints = (b3ClothSolverParticleContactPositionConstraint*)m_allocator->Allocate(m_particleContactCount * sizeof(b3ClothSolverParticleContactPositionConstraint));
 }
 
 b3ClothContactSolver::~b3ClothContactSolver()
 {
-	m_allocator->Free(m_particlePositionConstraints);
-	m_allocator->Free(m_particleVelocityConstraints);
-
 	m_allocator->Free(m_bodyPositionConstraints);
 	m_allocator->Free(m_bodyVelocityConstraints);
 }
@@ -87,6 +79,7 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 		pc->localCenterA.SetZero();
 		pc->localCenterB = pc->bodyB->m_sweep.localCenter;
 
+		pc->normalA = c->n;
 		pc->localPointA = c->localPoint1;
 		pc->localPointB = c->localPoint2;
 	}
@@ -178,90 +171,6 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 	}
 }
 
-void b3ClothContactSolver::InitializeParticleContactConstraints()
-{
-	b3DenseVec3& x = *m_positions;
-	b3DenseVec3& v = *m_velocities;
-
-	for (u32 i = 0; i < m_particleContactCount; ++i)
-	{
-		b3ParticleContact* c = m_particleContacts[i];
-		b3ClothSolverParticleContactVelocityConstraint* vc = m_particleVelocityConstraints + i;
-		b3ClothSolverParticleContactPositionConstraint* pc = m_particlePositionConstraints + i;
-
-		vc->indexA = c->p1->m_solverId;
-		vc->indexB = c->p2->m_solverId;
-
-		vc->invMassA = c->p1->m_type == e_staticParticle ? 0.0f : c->p1->m_invMass;
-		vc->invMassB = c->p2->m_type == e_staticParticle ? 0.0f : c->p2->m_invMass;
-
-		vc->friction = b3MixFriction(c->p1->m_friction, c->p2->m_friction);
-
-		pc->indexA = c->p1->m_solverId;
-		pc->indexB = c->p2->m_solverId;
-
-		pc->invMassA = c->p1->m_type == e_staticParticle ? 0.0f : c->p1->m_invMass;
-		pc->invMassB = c->p2->m_type == e_staticParticle ? 0.0f : c->p2->m_invMass;
-
-		pc->radiusA = c->p1->m_radius;
-		pc->radiusB = c->p2->m_radius;
-	}
-
-	for (u32 i = 0; i < m_particleContactCount; ++i)
-	{
-		b3ParticleContact* c = m_particleContacts[i];
-		b3ClothSolverParticleContactVelocityConstraint* vc = m_particleVelocityConstraints + i;
-		b3ClothSolverParticleContactPositionConstraint* pc = m_particlePositionConstraints + i;
-
-		u32 indexA = vc->indexA;
-		u32 indexB = vc->indexB;
-
-		float32 mA = vc->invMassA;
-		float32 mB = vc->invMassB;
-
-		b3Vec3 xA = x[indexA];
-		b3Vec3 xB = x[indexB];
-
-		b3ParticleContactWorldPoint wp;
-		wp.Initialize(c);
-
-		vc->normal = wp.normal;
-		vc->tangent1 = c->t1;
-		vc->tangent2 = c->t2;
-		vc->point = wp.point;
-
-		b3Vec3 point = vc->point;
-
-		vc->normalImpulse = c->normalImpulse;
-		vc->tangentImpulse = c->tangentImpulse;
-
-		{
-			b3Vec3 n = vc->normal;
-
-			float32 K = mA + mB;
-
-			vc->normalMass = K > 0.0f ? 1.0f / K : 0.0f;
-
-			vc->velocityBias = 0.0f;
-		}
-
-		{
-			b3Vec3 t1 = vc->tangent1;
-			b3Vec3 t2 = vc->tangent2;
-
-			float32 k11 = mA + mB;
-			float32 k12 = 0.0f;
-			float32 k22 = mA + mB;
-
-			b3Mat22 K;
-			K.x.Set(k11, k12);
-			K.y.Set(k12, k22);
-
-			vc->tangentMass = b3Inverse(K);
-		}
-	}
-}
-
 void b3ClothContactSolver::WarmStart()
 {
 	b3DenseVec3& v = *m_velocities;
@@ -307,34 +216,6 @@ void b3ClothContactSolver::WarmStart()
 		bodyB->SetLinearVelocity(vB);
 		bodyB->SetAngularVelocity(wB);
 	}
-
-	for (u32 i = 0; i < m_particleContactCount; ++i)
-	{
-		b3ClothSolverParticleContactVelocityConstraint* vc = m_particleVelocityConstraints + i;
-
-		u32 indexA = vc->indexA;
-		u32 indexB = vc->indexB;
-
-		b3Vec3 vA = v[indexA];
-		b3Vec3 vB = v[indexB];
-
-		float32 mA = vc->invMassA;
-		float32 mB = vc->invMassB;
-
-		b3Vec3 P = vc->normalImpulse * vc->normal;
-
-		vA -= mA * P;
-		vB += mB * P;
-
-		b3Vec3 P1 = vc->tangentImpulse.x * vc->tangent1;
-		b3Vec3 P2 = vc->tangentImpulse.y * vc->tangent2;
-
-		vA -= mA * (P1 + P2);
-		vB += mB * (P1 + P2);
-
-		v[indexA] = vA;
-		v[indexB] = vB;
-	}
 }
 
 void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
@@ -425,77 +306,6 @@ void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
 	}
 }
 
-void b3ClothContactSolver::SolveParticleContactVelocityConstraints()
-{
-	b3DenseVec3& v = *m_velocities;
-
-	for (u32 i = 0; i < m_particleContactCount; ++i)
-	{
-		b3ClothSolverParticleContactVelocityConstraint* vc = m_particleVelocityConstraints + i;
-
-		u32 indexA = vc->indexA;
-		u32 indexB = vc->indexB;
-
-		b3Vec3 vA = v[indexA];
-		b3Vec3 vB = v[indexB];
-
-		float32 mA = vc->invMassA;
-		float32 mB = vc->invMassB;
-
-		b3Vec3 normal = vc->normal;
-		b3Vec3 point = vc->point;
-
-		// Solve normal constraint.
-		{
-			b3Vec3 dv = vB - vA;
-			float32 Cdot = b3Dot(normal, dv);
-
-			float32 impulse = vc->normalMass * (-Cdot + vc->velocityBias);
-
-			float32 oldImpulse = vc->normalImpulse;
-			vc->normalImpulse = b3Max(vc->normalImpulse + impulse, 0.0f);
-			impulse = vc->normalImpulse - oldImpulse;
-
-			b3Vec3 P = impulse * normal;
-
-			vA -= mA * P;
-			vB += mB * P;
-		}
-
-		// Solve tangent constraints.
-		{
-			b3Vec3 dv = vB - vA;
-
-			b3Vec2 Cdot;
-			Cdot.x = b3Dot(dv, vc->tangent1);
-			Cdot.y = b3Dot(dv, vc->tangent2);
-
-			b3Vec2 impulse = vc->tangentMass * -Cdot;
-			b3Vec2 oldImpulse = vc->tangentImpulse;
-			vc->tangentImpulse += impulse;
-
-			float32 maxImpulse = vc->friction * vc->normalImpulse;
-			if (b3Dot(vc->tangentImpulse, vc->tangentImpulse) > maxImpulse * maxImpulse)
-			{
-				vc->tangentImpulse.Normalize();
-				vc->tangentImpulse *= maxImpulse;
-			}
-
-			impulse = vc->tangentImpulse - oldImpulse;
-
-			b3Vec3 P1 = impulse.x * vc->tangent1;
-			b3Vec3 P2 = impulse.y * vc->tangent2;
-			b3Vec3 P = P1 + P2;
-
-			vA -= mA * P;
-			vB += mB * P;
-		}
-
-		v[indexA] = vA;
-		v[indexB] = vB;
-	}
-}
-
 void b3ClothContactSolver::StoreImpulses()
 {
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
@@ -506,15 +316,6 @@ void b3ClothContactSolver::StoreImpulses()
 		c->normalImpulse = vc->normalImpulse;
 		c->tangentImpulse = vc->tangentImpulse;
 	}
-
-	for (u32 i = 0; i < m_particleContactCount; ++i)
-	{
-		b3ParticleContact* c = m_particleContacts[i];
-		b3ClothSolverParticleContactVelocityConstraint* vc = m_particleVelocityConstraints + i;
-
-		c->normalImpulse = vc->normalImpulse;
-		c->tangentImpulse = vc->tangentImpulse;
-	}
 }
 
 struct b3ClothSolverBodyContactSolverPoint
@@ -526,22 +327,15 @@ struct b3ClothSolverBodyContactSolverPoint
 
 		float32 rA = pc->radiusA;
 		float32 rB = pc->radiusB;
-
-		b3Vec3 d = cB - cA;
-		float32 distance = b3Length(d);
-
-		b3Vec3 nA(0.0f, 1.0f, 0.0f);
-		if (distance > B3_EPSILON)
-		{
-			nA = d / distance;
-		}
+		
+		b3Vec3 nA = pc->normalA;
 
 		b3Vec3 pA = cA + rA * nA;
 		b3Vec3 pB = cB - rB * nA;
 
-		point = 0.5f * (pA + pB);
+		point = cB;
 		normal = nA;
-		separation = distance - rA - rB;
+		separation = b3Dot(cB - cA, nA) - rA - rB;
 	}
 
 	b3Vec3 normal;
@@ -623,82 +417,5 @@ bool b3ClothContactSolver::SolveBodyContactPositionConstraints()
 		bodyB->m_sweep.orientation = qB;
 	}
 
-	return minSeparation >= -3.0f * B3_LINEAR_SLOP;
-}
-
-struct b3ClothSolverParticleContactSolverPoint
-{
-	void Initialize(const b3Vec3& cA, float32 rA, const b3Vec3& cB, float32 rB)
-	{
-		b3Vec3 d = cB - cA;
-		float32 distance = b3Length(d);
-
-		b3Vec3 nA(0.0f, 1.0f, 0.0f);
-		if (distance > B3_EPSILON)
-		{
-			nA = d / distance;
-		}
-
-		b3Vec3 pA = cA + rA * nA;
-		b3Vec3 pB = cB - rB * nA;
-
-		point = 0.5f * (pA + pB);
-		normal = nA;
-		separation = distance - rA - rB;
-	}
-
-	b3Vec3 point;
-	b3Vec3 normal;
-	float32 separation;
-};
-
-bool b3ClothContactSolver::SolveParticleContactPositionConstraints()
-{
-	b3DenseVec3& x = *m_positions;
-
-	float32 minSeparation = 0.0f;
-
-	for (u32 i = 0; i < m_particleContactCount; ++i)
-	{
-		b3ClothSolverParticleContactPositionConstraint* pc = m_particlePositionConstraints + i;
-
-		u32 indexA = pc->indexA;
-		float32 mA = pc->invMassA;
-		float32 rA = pc->radiusA;
-
-		u32 indexB = pc->indexB;
-		float32 mB = pc->invMassB;
-		float32 rB = pc->radiusB;
-
-		b3Vec3 xA = x[indexA];
-		b3Vec3 xB = x[indexB];
-
-		b3ClothSolverParticleContactSolverPoint cpcp;
-		cpcp.Initialize(xA, rA, xB, rB);
-
-		b3Vec3 normal = cpcp.normal;
-		b3Vec3 point = cpcp.point;
-		float32 separation = cpcp.separation;
-
-		// Update max constraint error.
-		minSeparation = b3Min(minSeparation, separation);
-
-		// Allow some slop and prevent large corrections.
-		float32 C = b3Clamp(B3_BAUMGARTE * (separation + B3_LINEAR_SLOP), -B3_MAX_LINEAR_CORRECTION, 0.0f);
-
-		// Compute effective mass.
-		float32 K = mA + mB;
-
-		// Compute normal impulse.
-		float32 impulse = K > 0.0f ? -C / K : 0.0f;
-		b3Vec3 P = impulse * normal;
-
-		xA -= mA * P;
-		xB += mB * P;
-
-		x[indexA] = xA;
-		x[indexB] = xB;
-	}
-
 	return minSeparation >= -3.0f * B3_LINEAR_SLOP;
 }
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 46a7da7..1fc7718 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -57,15 +57,10 @@ b3ClothSolver::b3ClothSolver(const b3ClothSolverDef& def)
 	m_bodyContactCapacity = def.bodyContactCapacity;
 	m_bodyContactCount = 0;
 	m_bodyContacts = (b3BodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3BodyContact*));;
-
-	m_particleContactCapacity = def.particleContactCapacity;
-	m_particleContactCount = 0;
-	m_particleContacts = (b3ParticleContact**)m_allocator->Allocate(m_particleContactCapacity * sizeof(b3ParticleContact*));;
 }
 
 b3ClothSolver::~b3ClothSolver()
 {
-	m_allocator->Free(m_particleContacts);
 	m_allocator->Free(m_bodyContacts);
 
 	m_allocator->Free(m_constraints);
@@ -329,14 +324,11 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 	contactSolverDef.velocities = m_solverData.v;
 	contactSolverDef.bodyContactCount = m_bodyContactCount;
 	contactSolverDef.bodyContacts = m_bodyContacts;
-	contactSolverDef.particleContactCount = m_particleContactCount;
-	contactSolverDef.particleContacts = m_particleContacts;
 
 	b3ClothContactSolver contactSolver(contactSolverDef);
 
 	{
 		contactSolver.InitializeBodyContactConstraints();
-		contactSolver.InitializeParticleContactConstraints();
 	}
 
 	{
@@ -350,7 +342,6 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		for (u32 i = 0; i < kVelocityIterations; ++i)
 		{
 			contactSolver.SolveBodyContactVelocityConstraints();
-			contactSolver.SolveParticleContactVelocityConstraints();
 		}
 	}
 
@@ -371,9 +362,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		for (u32 i = 0; i < kPositionIterations; ++i)
 		{
 			bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
-			bool particleContactsSolved = contactSolver.SolveParticleContactPositionConstraints();
 
-			if (bodyContactsSolved && particleContactsSolved)
+			if (bodyContactsSolved)
 			{
 				positionSolved = true;
 				break;
diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index 7dde875..1b3fa6f 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -27,46 +27,14 @@ void b3BodyContactWorldPoint::Initialize(const b3BodyContact* c, float32 rA, con
 	b3Vec3 cA = b3Mul(xfA, c->localPoint1);
 	b3Vec3 cB = b3Mul(xfB, c->localPoint2);
 
-	b3Vec3 d = cB - cA;
-	float32 distance = b3Length(d);
-
-	b3Vec3 nA(0.0f, 1.0f, 0.0f);
-	if (distance > B3_EPSILON)
-	{
-		nA = d / distance;
-	}
-
-	b3Vec3 pA = cA + rA * nA;
-	b3Vec3 pB = cB - rB * nA;
-
-	point = 0.5f * (pA + pB);
-	normal = nA;
-	separation = distance - rA - rB;
-}
-
-void b3ParticleContactWorldPoint::Initialize(const b3ParticleContact* c)
-{
-	b3Vec3 cA = c->p1->GetPosition();
-	float32 rA = c->p1->GetRadius();
-
-	b3Vec3 cB = c->p2->GetPosition();
-	float32 rB = c->p2->GetRadius();
-
-	b3Vec3 d = cB - cA;
-	float32 distance = b3Length(d);
-	
-	b3Vec3 nA(0.0f, 1.0f, 0.0f);
-	if (distance > B3_EPSILON)
-	{
-		nA = d / distance;
-	}
+	b3Vec3 nA = c->n;
 	
 	b3Vec3 pA = cA + rA * nA;
 	b3Vec3 pB = cB - rB * nA;
 
 	point = 0.5f * (pA + pB);
 	normal = nA;
-	separation = distance - rA - rB;
+	separation = b3Dot(cB - cA, nA) - rA - rB;
 }
 
 b3Particle::b3Particle(const b3ParticleDef& def, b3Cloth* cloth)

From 695514989eab1578d9b21580b49370dd2ca236ec Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 18 Apr 2019 18:51:49 -0300
Subject: [PATCH 062/198] Removed a large cloth radius. The particle radius
 should be used to avoid visual artifacts and is a small value in typical
 situations.

---
 examples/testbed/tests/table_cloth.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index 71ee69d..32fd016 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -53,7 +53,7 @@ public:
 
 		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
 		{
-			p->SetRadius(0.2f);
+			p->SetRadius(0.05f);
 			p->SetFriction(0.2f);
 		}
 
@@ -67,7 +67,6 @@ public:
 
 			b3HullShape tableShape;
 			tableShape.m_hull = &m_tableHull;
-			tableShape.m_radius = 0.2f;
 
 			b3ShapeDef sd;
 			sd.shape = &tableShape;

From 399a6efc7200edb7933b09ed0c81fe9cd64dde70 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 18 Apr 2019 19:44:12 -0300
Subject: [PATCH 063/198] Use sphere mesh. Add soft body test.

---
 examples/testbed/framework/draw_gl2.h       | 145 ++--------
 examples/testbed/framework/draw_gl4.h       | 145 ++--------
 examples/testbed/framework/sphere_mesh.cpp  | 149 +++++++++++
 examples/testbed/framework/sphere_mesh.h    | 113 ++++++++
 examples/testbed/framework/test_entries.cpp |   8 +-
 examples/testbed/tests/mass_spring.h        | 158 -----------
 examples/testbed/tests/shirt.h              | 142 ----------
 examples/testbed/tests/single_pendulum.h    |  99 -------
 examples/testbed/tests/soft_body.h          | 278 ++++++++++++++++++++
 premake5.lua                                |   4 +
 10 files changed, 588 insertions(+), 653 deletions(-)
 create mode 100644 examples/testbed/framework/sphere_mesh.cpp
 create mode 100644 examples/testbed/framework/sphere_mesh.h
 delete mode 100644 examples/testbed/tests/mass_spring.h
 delete mode 100644 examples/testbed/tests/shirt.h
 delete mode 100644 examples/testbed/tests/single_pendulum.h
 create mode 100644 examples/testbed/tests/soft_body.h

diff --git a/examples/testbed/framework/draw_gl2.h b/examples/testbed/framework/draw_gl2.h
index 3cf7810..20ed762 100644
--- a/examples/testbed/framework/draw_gl2.h
+++ b/examples/testbed/framework/draw_gl2.h
@@ -28,6 +28,8 @@
 #include <bounce/common/math/mat44.h>
 #include <bounce/common/draw.h>
 
+#include <testbed/framework/sphere_mesh.h>
+
 #define BUFFER_OFFSET(i) ((char*)NULL + (i))
 
 extern bool g_glDrawPoints;
@@ -535,72 +537,22 @@ struct DrawTriangles
 
 struct DrawWireSphere
 {
-	enum
-	{
-		e_rings = 12,
-		e_sectors = 12,
-		e_vertexCount = e_rings * e_sectors,
-		e_indexCount = (e_rings - 1) * (e_sectors - 1) * 8
-	};
-
 	DrawWireSphere()
 	{
-		float32 R = 1.0f / float32(e_rings - 1);
-		float32 S = 1.0f / float32(e_sectors - 1);
+		smMesh mesh;
+		smCreateMesh(mesh, 1);
 
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
-		b3Color cs[e_vertexCount];
-
-		u32 vc = 0;
-		for (u32 r = 0; r < e_rings; r++)
-		{
-			for (u32 s = 0; s < e_sectors; s++)
-			{
-				float32 y = sin(-0.5f * B3_PI + B3_PI * r * R);
-				float32 x = cos(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-				float32 z = sin(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-
-				vs[vc].Set(x, y, z);
-				cs[vc] = b3Color(1.0f, 1.0f, 1.0f, 1.0f);
-				++vc;
-			}
-		}
-
-		u32 is[e_indexCount];
-
-		u32 ic = 0;
-		for (u32 r = 0; r < e_rings - 1; r++)
-		{
-			for (u32 s = 0; s < e_sectors - 1; s++)
-			{
-				u32 i1 = r * e_sectors + s;
-				u32 i2 = (r + 1) * e_sectors + s;
-				u32 i3 = (r + 1) * e_sectors + (s + 1);
-				u32 i4 = r * e_sectors + (s + 1);
-
-				is[ic++] = i1;
-				is[ic++] = i2;
-
-				is[ic++] = i2;
-				is[ic++] = i3;
-
-				is[ic++] = i3;
-				is[ic++] = i4;
-
-				is[ic++] = i4;
-				is[ic++] = i1;
-			}
-		}
+		m_vertexCount = mesh.vertices.Count();
+		m_indexCount = mesh.triangleIndices.Count();
 
 		glGenBuffers(1, &m_vboId);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboId);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, mesh.vertices.Count() * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, mesh.triangleIndices.Count() * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -616,6 +568,8 @@ struct DrawWireSphere
 
 	GLuint m_vboId;
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawWire
@@ -677,7 +631,7 @@ struct DrawWire
 		glEnableVertexAttribArray(m_vertexAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId);
-		glDrawElements(GL_LINES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_LINES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glDisableVertexAttribArray(m_vertexAttribute);
 
@@ -697,84 +651,25 @@ struct DrawWire
 
 struct DrawSolidSphere
 {
-	enum
-	{
-		e_rings = 18,
-		e_sectors = 18,
-		e_vertexCount = e_rings * e_sectors,
-		e_indexCount = (e_rings - 1) * (e_sectors - 1) * 6,
-		e_faceCount = e_indexCount / 3
-	};
-
 	DrawSolidSphere()
 	{
-		float32 R = 1.0f / float32(e_rings - 1);
-		float32 S = 1.0f / float32(e_sectors - 1);
+		smMesh mesh;
+		smCreateMesh(mesh, 1);
 
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
-
-		u32 vc = 0;
-		for (u32 r = 0; r < e_rings; r++)
-		{
-			for (u32 s = 0; s < e_sectors; s++)
-			{
-				float32 a1 = 2.0f * B3_PI * float32(s) * S;
-				float32 c1 = cos(a1);
-				float32 s1 = sin(a1);
-
-				float32 a2 = -0.5f * B3_PI + B3_PI * float32(r) * R;
-				float32 s2 = sin(a2);
-
-				float32 a3 = B3_PI * float32(r) * R;
-				float32 s3 = sin(a3);
-
-				float32 x = c1 * s3;
-				float32 y = s2;
-				float32 z = s1 * s3;
-				
-				b3Vec3 v(x, y, z);
-				v.Normalize();
-
-				vs[vc] = v;
-				ns[vc] = v;
-				++vc;
-			}
-		}
-
-		u32 is[e_indexCount];
-
-		u32 ic = 0;
-		for (u32 r = 0; r < e_rings - 1; r++)
-		{
-			for (u32 s = 0; s < e_sectors - 1; s++)
-			{
-				u32 i1 = r * e_sectors + s;
-				u32 i2 = (r + 1) * e_sectors + s;
-				u32 i3 = (r + 1) * e_sectors + (s + 1);
-				u32 i4 = r * e_sectors + (s + 1);
-
-				is[ic++] = i1;
-				is[ic++] = i2;
-				is[ic++] = i3;
-
-				is[ic++] = i1;
-				is[ic++] = i3;
-				is[ic++] = i4;
-			}
-		}
+		m_vertexCount = mesh.vertices.Count();
+		m_indexCount = mesh.triangleIndices.Count();
 
 		glGenBuffers(3, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, mesh.vertices.Count() * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, mesh.vertices.Count() * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, mesh.triangleIndices.Count() * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -790,6 +685,8 @@ struct DrawSolidSphere
 
 	GLuint m_vboIds[2];
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawSolidCylinder
@@ -1021,7 +918,7 @@ struct DrawSolid
 		glEnableVertexAttribArray(m_normalAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId);
-		glDrawElements(GL_TRIANGLES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_TRIANGLES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glDisableVertexAttribArray(m_normalAttribute);
 
diff --git a/examples/testbed/framework/draw_gl4.h b/examples/testbed/framework/draw_gl4.h
index 1cc6261..0838b3c 100644
--- a/examples/testbed/framework/draw_gl4.h
+++ b/examples/testbed/framework/draw_gl4.h
@@ -28,6 +28,8 @@
 #include <bounce/common/math/mat44.h>
 #include <bounce/common/draw.h>
 
+#include <testbed/framework/sphere_mesh.h>
+
 #define BUFFER_OFFSET(i) ((char*)NULL + (i))
 
 extern bool g_glDrawPoints;
@@ -551,72 +553,22 @@ struct DrawTriangles
 
 struct DrawWireSphere
 {
-	enum
-	{
-		e_rings = 12,
-		e_sectors = 12,
-		e_vertexCount = e_rings * e_sectors,
-		e_indexCount = (e_rings - 1) * (e_sectors - 1) * 8
-	};
-
 	DrawWireSphere()
 	{
-		float32 R = 1.0f / float32(e_rings - 1);
-		float32 S = 1.0f / float32(e_sectors - 1);
+		smMesh mesh;
+		smCreateMesh(mesh, 1);
 
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
-		b3Color cs[e_vertexCount];
-
-		u32 vc = 0;
-		for (u32 r = 0; r < e_rings; r++)
-		{
-			for (u32 s = 0; s < e_sectors; s++)
-			{
-				float32 y = sin(-0.5f * B3_PI + B3_PI * r * R);
-				float32 x = cos(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-				float32 z = sin(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-
-				vs[vc].Set(x, y, z);
-				cs[vc] = b3Color(1.0f, 1.0f, 1.0f, 1.0f);
-				++vc;
-			}
-		}
-
-		u32 is[e_indexCount];
-
-		u32 ic = 0;
-		for (u32 r = 0; r < e_rings - 1; r++)
-		{
-			for (u32 s = 0; s < e_sectors - 1; s++)
-			{
-				u32 i1 = r * e_sectors + s;
-				u32 i2 = (r + 1) * e_sectors + s;
-				u32 i3 = (r + 1) * e_sectors + (s + 1);
-				u32 i4 = r * e_sectors + (s + 1);
-
-				is[ic++] = i1;
-				is[ic++] = i2;
-
-				is[ic++] = i2;
-				is[ic++] = i3;
-
-				is[ic++] = i3;
-				is[ic++] = i4;
-
-				is[ic++] = i4;
-				is[ic++] = i1;
-			}
-		}
+		m_vertexCount = mesh.vertices.Count();
+		m_indexCount = mesh.triangleIndices.Count();
 
 		glGenBuffers(1, &m_vboId);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboId);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -632,6 +584,8 @@ struct DrawWireSphere
 
 	GLuint m_vboId;
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawWire
@@ -694,7 +648,7 @@ struct DrawWire
 		glEnableVertexAttribArray(m_vertexAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId);
-		glDrawElements(GL_LINES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_LINES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 		glBindBuffer(GL_ARRAY_BUFFER, 0);
@@ -712,84 +666,25 @@ struct DrawWire
 
 struct DrawSolidSphere
 {
-	enum
-	{
-		e_rings = 18,
-		e_sectors = 18,
-		e_vertexCount = e_rings * e_sectors,
-		e_indexCount = (e_rings - 1) * (e_sectors - 1) * 6,
-		e_faceCount = e_indexCount / 3
-	};
-
 	DrawSolidSphere()
 	{
-		float32 R = 1.0f / float32(e_rings - 1);
-		float32 S = 1.0f / float32(e_sectors - 1);
+		smMesh mesh;
+		smCreateMesh(mesh, 1);
 
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
-
-		u32 vc = 0;
-		for (u32 r = 0; r < e_rings; r++)
-		{
-			for (u32 s = 0; s < e_sectors; s++)
-			{
-				float32 a1 = 2.0f * B3_PI * float32(s) * S;
-				float32 c1 = cos(a1);
-				float32 s1 = sin(a1);
-
-				float32 a2 = -0.5f * B3_PI + B3_PI * float32(r) * R;
-				float32 s2 = sin(a2);
-
-				float32 a3 = B3_PI * float32(r) * R;
-				float32 s3 = sin(a3);
-
-				float32 x = c1 * s3;
-				float32 y = s2;
-				float32 z = s1 * s3;
-				
-				b3Vec3 v(x, y, z);
-				v.Normalize();
-
-				vs[vc] = v;
-				ns[vc] = v;
-				++vc;
-			}
-		}
-
-		u32 is[e_indexCount];
-
-		u32 ic = 0;
-		for (u32 r = 0; r < e_rings - 1; r++)
-		{
-			for (u32 s = 0; s < e_sectors - 1; s++)
-			{
-				u32 i1 = r * e_sectors + s;
-				u32 i2 = (r + 1) * e_sectors + s;
-				u32 i3 = (r + 1) * e_sectors + (s + 1);
-				u32 i4 = r * e_sectors + (s + 1);
-
-				is[ic++] = i1;
-				is[ic++] = i2;
-				is[ic++] = i3;
-
-				is[ic++] = i1;
-				is[ic++] = i3;
-				is[ic++] = i4;
-			}
-		}
+		m_vertexCount = mesh.vertices.Count();
+		m_indexCount = mesh.triangleIndices.Count();
 
 		glGenBuffers(3, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -805,6 +700,8 @@ struct DrawSolidSphere
 
 	GLuint m_vboIds[2];
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawSolidCylinder
@@ -1033,7 +930,7 @@ struct DrawSolid
 		glEnableVertexAttribArray(m_normalAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId);
-		glDrawElements(GL_TRIANGLES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_TRIANGLES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 		glBindBuffer(GL_ARRAY_BUFFER, 0);
diff --git a/examples/testbed/framework/sphere_mesh.cpp b/examples/testbed/framework/sphere_mesh.cpp
new file mode 100644
index 0000000..59118e3
--- /dev/null
+++ b/examples/testbed/framework/sphere_mesh.cpp
@@ -0,0 +1,149 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <testbed/framework/sphere_mesh.h>
+
+// References:
+// https://github.com/caosdoar/spheres
+// https://schneide.blog/2016/07/15/generating-an-icosphere-in-c/
+
+struct smEdge
+{
+	smEdge() { }
+
+	smEdge(u32 _v1, u32 _v2)
+	{
+		v1 = _v1;
+		v2 = _v2;
+	}
+
+	u32 v1, v2;
+};
+
+struct smEdgeVertexPair
+{
+	smEdgeVertexPair() { }
+
+	smEdgeVertexPair(const smEdge& _edge, u32 _vertex)
+	{
+		edge = _edge;
+		vertex = _vertex;
+	}
+
+	smEdge edge;
+	u32 vertex;
+};
+
+struct smEdgeVertexMap
+{
+	smEdgeVertexMap() { }
+
+	smEdgeVertexPair* Find(const smEdge& edge)
+	{
+		for (u32 i = 0; i < pairs.Count(); ++i)
+		{
+			smEdgeVertexPair* pair = pairs.Get(i);
+
+			if ((pair->edge.v1 == edge.v1 && pair->edge.v2 == edge.v2) || 
+				(pair->edge.v1 == edge.v2 && pair->edge.v2 == edge.v1) )
+			{
+				return pair;
+			}
+		}
+		return nullptr;
+	}
+
+	b3StackArray<smEdgeVertexPair, 32> pairs;
+};
+
+// 
+static inline u32 smSubdivideEdge(u32 i1, u32 i2,
+	const b3Vec3& v1, const b3Vec3& v2,
+	smEdgeVertexMap& edgeVertexMap,
+	smMesh& output)
+{
+	smEdge edge(i1, i2);
+
+	smEdgeVertexPair* pair = edgeVertexMap.Find(edge);
+
+	if (pair)
+	{
+		return pair->vertex;
+	}
+
+	smEdge newEdge(i1, i2);
+	u32 newVertex = output.vertices.Count();
+
+	b3Vec3 v = 0.5f * (v1 + v2);
+	float32 len = v.Normalize();
+
+	output.AddVertex(v.x, v.y, v.z);
+
+	smEdgeVertexPair newPair(newEdge, newVertex);
+
+	edgeVertexMap.pairs.PushBack(newPair);
+
+	return newVertex;
+}
+
+// 
+static inline void smSubdivideMesh(smMesh& output, const smMesh& input)
+{
+	output.vertices = input.vertices;
+
+	smEdgeVertexMap edgeVertexMap;
+
+	for (u32 i = 0; i < input.triangleIndices.Count() / 3; ++i)
+	{
+		u32 vi1 = input.triangleIndices[3 * i + 0];
+		u32 vi2 = input.triangleIndices[3 * i + 1];
+		u32 vi3 = input.triangleIndices[3 * i + 2];
+
+		b3Vec3 v1 = input.vertices[vi1];
+		b3Vec3 v2 = input.vertices[vi2];
+		b3Vec3 v3 = input.vertices[vi3];
+
+		u32 vi4 = smSubdivideEdge(vi1, vi2, v1, v2, edgeVertexMap, output);
+		u32 vi5 = smSubdivideEdge(vi2, vi3, v2, v3, edgeVertexMap, output);
+		u32 vi6 = smSubdivideEdge(vi3, vi1, v3, v1, edgeVertexMap, output);
+
+		output.AddTriangle(vi1, vi4, vi6);
+		output.AddTriangle(vi4, vi2, vi5);
+		output.AddTriangle(vi5, vi3, vi6);
+		output.AddTriangle(vi4, vi5, vi6);
+	}
+}
+
+//
+void smCreateMesh(smMesh& output, u32 subdivisions)
+{
+	B3_ASSERT(output.vertices.Count() == 0);
+	B3_ASSERT(output.triangleIndices.Count() == 0);
+
+	smMesh input;
+	input.SetAsIcosahedron();
+
+	for (u32 i = 0; i < subdivisions; ++i)
+	{
+		smMesh subOutput;
+		smSubdivideMesh(subOutput, input);
+		input = subOutput;
+	}
+
+	output = input;
+}
diff --git a/examples/testbed/framework/sphere_mesh.h b/examples/testbed/framework/sphere_mesh.h
new file mode 100644
index 0000000..0e0b2d9
--- /dev/null
+++ b/examples/testbed/framework/sphere_mesh.h
@@ -0,0 +1,113 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SPHERE_MESH_H
+#define SPHERE_MESH_H
+
+#include <bounce/bounce.h>
+
+//
+struct smMesh
+{
+	smMesh() { }
+
+	smMesh& operator=(const smMesh& other)
+	{
+		Copy(other);
+		return *this;
+	}
+
+	void Copy(const smMesh& other)
+	{
+		vertices = other.vertices;
+		triangleIndices = other.triangleIndices;
+	}
+
+	void AddVertex(float32 x, float32 y, float32 z)
+	{
+		vertices.PushBack(b3Vec3(x, y, z));
+	}
+
+	void AddTriangle(u32 v1, u32 v2, u32 v3)
+	{
+		triangleIndices.PushBack(v1);
+		triangleIndices.PushBack(v2);
+		triangleIndices.PushBack(v3);
+	}
+
+	void SetAsIcosahedron()
+	{
+		assert(vertices.Count() == 0);
+
+		float32 t = 0.5f * (1.0f + b3Sqrt(5.0f));
+
+		AddVertex(-1.0f, t, 0.0f);
+		AddVertex(1.0f, t, 0.0f);
+		AddVertex(-1.0f, -t, 0.0f);
+		AddVertex(1.0f, -t, 0.0f);
+
+		AddVertex(0.0f, -1.0f, t);
+		AddVertex(0.0f, 1.0f, t);
+		AddVertex(0.0f, -1.0f, -t);
+		AddVertex(0.0f, 1.0f, -t);
+
+		AddVertex(t, 0.0f, -1.0f);
+		AddVertex(t, 0.0f, 1.0f);
+		AddVertex(-t, 0.0f, -1.0f);
+		AddVertex(-t, 0.0f, 1.0f);
+
+		for (u32 i = 0; i < vertices.Count(); ++i)
+		{
+			vertices[i].Normalize();
+		}
+
+		assert(triangleIndices.Count() == 0);
+
+		AddTriangle(0, 11, 5);
+		AddTriangle(0, 5, 1);
+		AddTriangle(0, 1, 7);
+		AddTriangle(0, 7, 10);
+		AddTriangle(0, 10, 11);
+
+		AddTriangle(1, 5, 9);
+		AddTriangle(5, 11, 4);
+		AddTriangle(11, 10, 2);
+		AddTriangle(10, 7, 6);
+		AddTriangle(7, 1, 8);
+
+		AddTriangle(3, 9, 4);
+		AddTriangle(3, 4, 2);
+		AddTriangle(3, 2, 6);
+		AddTriangle(3, 6, 8);
+		AddTriangle(3, 8, 9);
+
+		AddTriangle(4, 9, 5);
+		AddTriangle(2, 4, 11);
+		AddTriangle(6, 2, 10);
+		AddTriangle(8, 6, 7);
+		AddTriangle(9, 8, 1);
+	}
+
+	b3StackArray<b3Vec3, 256> vertices;
+	b3StackArray<u32, 256> triangleIndices;
+};
+
+// Generate an icosphere given the number of subdivisions.
+void smCreateMesh(smMesh& output, u32 subdivisions);
+
+#endif SPHERE_MESH_H
\ No newline at end of file
diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index 8526371..d0aaca9 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -62,13 +62,11 @@
 #include <testbed/tests/multiple_pendulum.h>
 #include <testbed/tests/table_cloth.h>
 #include <testbed/tests/pinned_cloth.h>
-#include <testbed/tests/shirt.h>
 #include <testbed/tests/particle_types.h>
 #include <testbed/tests/tension_mapping.h>
 #include <testbed/tests/self_collision.h>
-#include <testbed/tests/single_pendulum.h>
+#include <testbed/tests/soft_body.h>
 #include <testbed/tests/rope_test.h>
-#include <testbed/tests/mass_spring.h>
 
 TestEntry g_tests[] =
 {
@@ -116,12 +114,10 @@ TestEntry g_tests[] =
 	{ "Multiple Pendulum", &MultiplePendulum::Create },
 	{ "Table Cloth", &TableCloth::Create },
 	{ "Pinned Cloth", &PinnedCloth::Create },
-	{ "Shirt", &Shirt::Create },
 	{ "Particle Types", &ParticleTypes::Create },
 	{ "Tension Mapping", &TensionMapping::Create },
 	{ "Self-Collision", &SelfCollision::Create },
-	{ "Mass-Spring System", &MassSpring::Create },
-	{ "Single Pendulum", &SinglePendulum::Create },
+	{ "Soft Body", &SoftBody::Create },
 	{ "Rope", &Rope::Create },
 	{ NULL, NULL }
 };
diff --git a/examples/testbed/tests/mass_spring.h b/examples/testbed/tests/mass_spring.h
deleted file mode 100644
index dac0e58..0000000
--- a/examples/testbed/tests/mass_spring.h
+++ /dev/null
@@ -1,158 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MASS_SPRING_H
-#define MASS_SPRING_H
-
-class MassSpring : public Test
-{
-public:
-	MassSpring()
-	{
-		m_x.Set(0.0f, 5.0f, 0.0f);
-
-		m_v.SetZero();
-
-		m_k = 100.0f;
-
-		m_iterations = 0;
-	}
-
-	void Solve(float32 h)
-	{
-		// ODE
-		// f(Y) = dY / dt = [v] 
-		//				    [-k * x]
-
-		// 1. Apply Implicit Euler
-		
-		// Y(t + h) = Y(t) + h * f( Y(t + h) )
-		// G( Y(t + h) ) = Y(t + h) - Y(t) - h * f( Y(t + h) ) = 0
-		
-		// 2. Solve G = 0
-		
-		// Newton-Raphson Iteration
-		//
-		// Y(t + h) = 
-		// Y(t + h)_0 - G( Y(t + h)_0 ) / G'( Y(t + h)_0 ) = 
-		// Y(t + h)_0 - G'( Y(t + h)_0 )^-1 * ( Y(t + h)_0 - Y(t) - h * f( Y(t + h)_0 )
-
-		// G'( Y ) = I - h * del_f / del_Y  
-
-		// del_f / del_Y = [del_f1 / del_x del_f1 / del_v] = [0        I]
-		//                 [del_f2 / del_x del_f2 / del_v]   [-k * I   0]
-
-		// G'( Y ) = [I 0] - [0           h * I] =  [I            -h * I]         
-		//	         [0 I]   [-h * k * I      0]    [h * k * I         I]  
-
-		// Compute Jacobian
-		b3Mat33 I = b3Mat33_identity;
-
-		b3Mat33 A, B, C, D;
-
-		A = I;
-		B = -h * I;
-		C = h * m_k * I;
-		D = I;
-
-		// Invert 
-		// Block matrix inversion
-		b3Mat33 invD = b3Inverse(D);
-		b3Mat33 B_invD = B * invD;
-
-		b3Mat33 invJ_A = b3Inverse(A - B_invD * C);
-		b3Mat33 invJ_B = -invJ_A * B_invD;
-		b3Mat33 invJ_C = -invD * C * invJ_A;
-		b3Mat33 invJ_D = invD + invD * C * invJ_A * B_invD;
-
-		// Initial guess 
-		b3Vec3 f1 = m_v;
-		b3Vec3 f2 = -m_k * m_x;
-
-		b3Vec3 Y1 = m_x + h * f1;
-		b3Vec3 Y2 = m_v + h * f2;
-		
-		const float32 kTol = 0.05f;
-
-		const u32 kMaxIterations = 20;
-		
-		float32 eps0 = 0.0f;
-
-		float32 eps1 = B3_MAX_FLOAT;
-
-		m_iterations = 0;
-
-		while (m_iterations < kMaxIterations && eps1 > kTol * kTol * eps0)
-		{	
-			// Evaluate f(Y_n-1)
-			f1 = Y2;
-			f2 = -m_k * Y1;
-			
-			// Residual vector 
-			b3Vec3 G1 = Y1 - m_x - h * f1;
-			b3Vec3 G2 = Y2 - m_v - h * f2;
-
-			eps1 = b3Dot(G1, G1) + b3Dot(G2, G2);
-
-			// Solve Ax = b 
-			b3Vec3 x1 = invJ_A * G1 + invJ_B * G2;
-			b3Vec3 x2 = invJ_C * G1 + invJ_D * G2;
-
-			Y1 -= x1;
-			Y2 -= x2;
-
-			++m_iterations;
-		}
-
-		// Update state
-		m_x = Y1;
-		m_v = Y2;
-	}
-
-	void Step()
-	{
-		float32 h = g_testSettings->inv_hertz;
-
-		Solve(h);
-
-		g_draw->DrawSolidSphere(m_x, 0.25f, b3Color_white);
-		
-		g_draw->DrawSegment(b3Vec3_zero, m_x, b3Color_white);
-
-		g_draw->DrawString(b3Color_white, "Iterations = %u", m_iterations);
-
-		float32 E = 0.5f * b3Dot(m_v, m_v);
-		g_draw->DrawString(b3Color_white, "E = %f", E);
-	}
-
-	static Test* Create()
-	{
-		return new MassSpring();
-	}
-
-	// State
-	b3Vec3 m_x, m_v;
-
-	// Stiffness
-	float32 m_k;
-
-	//
-	u32 m_iterations;
-};
-
-#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/shirt.h b/examples/testbed/tests/shirt.h
deleted file mode 100644
index f081326..0000000
--- a/examples/testbed/tests/shirt.h
+++ /dev/null
@@ -1,142 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SHIRT_H
-#define SHIRT_H
-
-class Shirt : public Test
-{
-public:
-	Shirt()
-	{
-		// Generate 2D mesh
-		m_shirtGarmentMesh.Set(&m_shirtGarment, 0.1f);
-
-		// Create 3D mesh
-		m_shirtClothMesh.Set(&m_shirtGarmentMesh);
-
-		// Create cloth
-		b3ClothDef def;
-		def.mesh = &m_shirtClothMesh;
-		def.density = 0.2f;
-		def.structural = 1000.0f;
-
-		m_cloth = new b3Cloth(def);
-
-		// Perform fitting
-		for (u32 i = 0; i < 3; ++i)
-		{
-			b3ClothMeshMesh* front = m_shirtClothMesh.meshes + i;
-			for (u32 j = 0; j < front->vertexCount; ++j)
-			{
-				u32 v = front->startVertex + j;
-				b3Particle* p = m_cloth->GetVertexParticle(v);
-
-				b3Vec3 x = p->GetPosition();
-				x.z = -1.0f;
-
-				p->SetPosition(x);
-			}
-		}
-
-		for (u32 i = 3; i < 6; ++i)
-		{
-			b3ClothMeshMesh* back = m_shirtClothMesh.meshes + i;
-			for (u32 j = 0; j < back->vertexCount; ++j)
-			{
-				u32 v = back->startVertex + j;
-				b3Particle* p = m_cloth->GetVertexParticle(v);
-
-				b3Vec3 x = p->GetPosition();
-				x.z = 1.0f;
-
-				p->SetPosition(x);
-			}
-		}
-
-		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
-		m_cloth->SetWorld(&m_world);
-
-		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
-	}
-	
-	~Shirt()
-	{
-		delete m_clothDragger;
-		delete m_cloth;
-	}
-
-	void Step()
-	{
-		Test::Step();
-
-		m_cloth->Step(g_testSettings->inv_hertz);
-
-		m_cloth->Draw();
-
-		extern u32 b3_clothSolverIterations;
-		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
-
-		float32 E = m_cloth->GetEnergy();
-		g_draw->DrawString(b3Color_white, "E = %f", E);
-	}
-
-	void MouseMove(const b3Ray3& pw)
-	{
-		Test::MouseMove(pw);
-
-		if (m_clothDragger->IsDragging() == true)
-		{
-			m_clothDragger->Drag();
-		}
-	}
-
-	void MouseLeftDown(const b3Ray3& pw)
-	{
-		Test::MouseLeftDown(pw);
-
-		if (m_clothDragger->IsDragging() == false)
-		{
-			m_clothDragger->StartDragging();
-		}
-	}
-
-	void MouseLeftUp(const b3Ray3& pw)
-	{
-		Test::MouseLeftUp(pw);
-
-		if (m_clothDragger->IsDragging() == true)
-		{
-			m_clothDragger->StopDragging();
-		}
-	}
-
-	static Test* Create()
-	{
-		return new Shirt();
-	}
-
-	b3ShirtGarment m_shirtGarment;
-	b3GarmentMesh m_shirtGarmentMesh;
-	b3GarmentClothMesh m_shirtClothMesh;
-
-	b3Cloth* m_cloth;
-	b3ClothDragger* m_clothDragger;
-};
-
-#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/single_pendulum.h b/examples/testbed/tests/single_pendulum.h
deleted file mode 100644
index 3808548..0000000
--- a/examples/testbed/tests/single_pendulum.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef PENDULUM_H
-#define PENDULUM_H
-
-class SinglePendulum : public Test
-{
-public:
-	SinglePendulum()
-	{
-		m_g = -10.0f;
-
-		m_r = 10.0f;
-		m_m = 1.0f;
-		m_I = m_m * m_r * m_r;
-		
-		// Initial state
-		m_theta = -0.5f * B3_PI;
-		m_omega = 0.0f;
-	}
-
-	void Step()
-	{
-		float32 h = g_testSettings->inv_hertz;
-
-		// Solution (acceleration)
-		float32 omega_dot = -m_g / m_r * sin(m_theta);
-
-		// Integrate acceleration
-		m_omega += h * omega_dot;
-
-		// Integrate velocity
-		m_theta += h * m_omega;
-
-		// Convert from polar coordinates (r, theta) to Cartesian coordinates (x, y)
-		b3Vec3 c;
-		c.x = m_r * sin(m_theta);
-		c.y = m_r * cos(m_theta);
-		c.z = 0.0f;
-		g_draw->DrawSolidSphere(c, 1.0f, b3Color_white);
-
-		b3Vec3 pole;
-		pole.SetZero();
-		g_draw->DrawSegment(pole, c, b3Color_white);
-
-		// Kinetic energy
-		float32 T = 0.5f * m_I * m_omega * m_omega;
-
-		// Potential energy
-		float32 V = -m_m * m_g * m_r * cos(m_theta);
-
-		// Lagrangian
-		float32 L = T - V;
-
-		//
-		g_draw->DrawString(b3Color_white, "T = %f \nV = %f \nL = %f", T, V, L);
-	}
-
-	static Test* Create()
-	{
-		return new SinglePendulum();
-	}
-
-	// Gravity
-	float32 m_g;
-	
-	// Mass, inertia
-	float32 m_m, m_I;
-
-	// Radial coordinate
-	float32 m_r;
-
-	// The allowable generalized coordinate in polar coordinate frame.
-	// Only motions satisfying the constraints can be described 
-	// in this frame. Therefore, all solutions satisfy the constraints.
-	// This is the so called reduced coordinates approach.
-	float32 m_theta;  
-	
-	// Velocity
-	float32 m_omega; 
-};
-
-#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/soft_body.h b/examples/testbed/tests/soft_body.h
new file mode 100644
index 0000000..d12fdc8
--- /dev/null
+++ b/examples/testbed/tests/soft_body.h
@@ -0,0 +1,278 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SOFT_BODY_H
+#define SOFT_BODY_H
+
+#include <testbed/framework/sphere_mesh.h>
+
+struct b3SphereClothMesh : public b3ClothMesh
+{
+	b3StackArray<b3Vec3, 256> sphereVertices;
+	b3StackArray<b3ClothMeshTriangle, 256> sphereTriangles;
+	b3ClothMeshMesh sphereMesh;
+
+	b3SphereClothMesh()
+	{
+		smMesh mesh;
+		smCreateMesh(mesh, 1);
+
+		sphereVertices.Resize(mesh.vertices.Count());
+		for (u32 i = 0; i < mesh.vertices.Count(); ++i)
+		{
+			sphereVertices[i] = mesh.vertices[i];
+		}
+		
+		sphereTriangles.Resize(mesh.triangleIndices.Count() / 3);
+		for (u32 i = 0; i < mesh.triangleIndices.Count() / 3; ++i)
+		{
+			sphereTriangles[i].v1 = mesh.triangleIndices[3 * i + 0];
+			sphereTriangles[i].v2 = mesh.triangleIndices[3 * i + 1];
+			sphereTriangles[i].v3 = mesh.triangleIndices[3 * i + 2];
+		}
+
+		sphereMesh.startTriangle = 0;
+		sphereMesh.triangleCount = sphereTriangles.Count();
+		sphereMesh.startVertex = 0;
+		sphereMesh.vertexCount = sphereVertices.Count();
+
+		vertexCount = sphereVertices.Count();
+		vertices = sphereVertices.Begin();
+		triangleCount = sphereTriangles.Count();
+		triangles = sphereTriangles.Begin();
+		meshCount = 1;
+		meshes = &sphereMesh;
+		sewingLineCount = 0;
+		sewingLines = nullptr;
+	}
+};
+
+class SoftBody : public Test
+{
+public:
+	SoftBody()
+	{
+		// Scale and translate the cloth mesh upwards
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			m_mesh.vertices[i] *= 2.0f;
+			m_mesh.vertices[i].y += 10.0f;
+		}
+
+		// Create cloth
+		b3ClothDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.structural = 10000.0f;
+		def.bending = 0.0f;
+		def.damping = 0.0f;
+
+		m_cloth = new b3Cloth(def);
+
+		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
+		{
+			p->SetRadius(0.05f);
+			p->SetFriction(0.5f);
+		}
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		
+		m_cloth->SetGravity(gravity);
+
+		// Attach a world to the cloth
+		m_cloth->SetWorld(&m_world);
+
+		// Create static shapes
+		{
+			b3BodyDef bd;
+			bd.type = e_staticBody;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			static b3BoxHull boxHull(10.0f, 1.0f, 10.0f);
+
+			b3HullShape boxShape;
+			boxShape.m_hull = &boxHull;
+
+			b3ShapeDef sd;
+			sd.shape = &boxShape;
+			sd.friction = 0.5f;
+
+			b->CreateShape(sd);
+		}
+
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
+
+	~SoftBody()
+	{
+		delete m_clothDragger;
+		delete m_cloth;
+	}
+
+	// Compute the volume of soft body
+	float32 ComputeVolume() const
+	{
+		const b3ClothMesh* mesh = m_cloth->GetMesh();
+		
+		b3StackArray<b3Vec3, 256> positions;
+		positions.Resize(mesh->vertexCount);
+		
+		for (u32 i = 0; i < mesh->vertexCount; ++i)
+		{
+			b3Particle* p = m_cloth->GetVertexParticle(i);
+			positions[i] = p->GetPosition();
+		}
+
+		b3AABB3 aabb;
+		aabb.Compute(positions.Begin(), positions.Count());
+
+		return aabb.Volume();
+	}
+
+	// Apply pressure forces
+	// Explanation available in the paper 
+	// "Pressure Model of Soft Body Simulation"
+	void ApplyPressureForces()
+	{
+		const b3ClothMesh* mesh = m_cloth->GetMesh();
+
+		// Volume in m^3
+		float32 V = ComputeVolume();
+		
+		// Inverse volume
+		float32 invV = V > 0.0f ? 1.0f / V : 0.0f;
+
+		// Apply pressure forces on particles
+		for (u32 i = 0; i < m_mesh.triangleCount; ++i)
+		{
+			u32 i1 = m_mesh.triangles[i].v1;
+			u32 i2 = m_mesh.triangles[i].v2;
+			u32 i3 = m_mesh.triangles[i].v3;
+
+			b3Particle* p1 = m_cloth->GetVertexParticle(i1);
+			b3Particle* p2 = m_cloth->GetVertexParticle(i2);
+			b3Particle* p3 = m_cloth->GetVertexParticle(i3);
+
+			b3Vec3 v1 = p1->GetPosition();
+			b3Vec3 v2 = p2->GetPosition();
+			b3Vec3 v3 = p3->GetPosition();
+
+			b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
+			
+			// Triangle area
+			float32 A = n.Normalize();
+			A *= 0.5f;
+
+			// Ideal Gas Approximation
+
+			// Number of gas moles
+			const float32 k_n = 1.0f;
+			
+			// Ideal Gas Constant [J / K mol]
+			const float32 k_R = 8.31f;
+			
+			// Gas temperature in Kelvin
+			const float32 k_T = 100.0f;
+
+			// Pressure in Pascals
+			float32 P = invV * k_n * k_R * k_T;
+
+			// Pressure vector
+			b3Vec3 Pn = P * n;
+
+			// Pressure force
+			b3Vec3 FP = Pn * A;
+
+			// Distribute
+			p1->ApplyForce(FP);
+			p2->ApplyForce(FP);
+			p3->ApplyForce(FP);
+		}
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		ApplyPressureForces();
+
+		m_cloth->Step(g_testSettings->inv_hertz);
+
+		m_cloth->Draw();
+
+		if (m_clothDragger->IsDragging())
+		{
+			b3Vec3 pA = m_clothDragger->GetPointA();
+			b3Vec3 pB = m_clothDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_clothSolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
+
+		float32 E = m_cloth->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new SoftBody();
+	}
+
+	b3SphereClothMesh m_mesh;
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger;
+};
+
+#endif
\ No newline at end of file
diff --git a/premake5.lua b/premake5.lua
index f0ef7e9..707cbcc 100644
--- a/premake5.lua
+++ b/premake5.lua
@@ -273,6 +273,10 @@ workspace(solution_name)
 			
 			examples_src_dir .. "/testbed/framework/test.h", 
 			
+			examples_src_dir .. "/testbed/framework/sphere_mesh.h", 
+			
+			examples_src_dir .. "/testbed/framework/sphere_mesh.cpp", 
+			
 			examples_src_dir .. "/testbed/framework/body_dragger.h", 
 			examples_src_dir .. "/testbed/framework/cloth_dragger.h", 
 			

From 077d1eead5ee74db340ed8c3910b850ec736eb99 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 19 Apr 2019 08:31:08 -0300
Subject: [PATCH 064/198] Use assert instead of B3_ASSERT.

---
 examples/testbed/framework/sphere_mesh.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/testbed/framework/sphere_mesh.cpp b/examples/testbed/framework/sphere_mesh.cpp
index 59118e3..c259666 100644
--- a/examples/testbed/framework/sphere_mesh.cpp
+++ b/examples/testbed/framework/sphere_mesh.cpp
@@ -132,8 +132,8 @@ static inline void smSubdivideMesh(smMesh& output, const smMesh& input)
 //
 void smCreateMesh(smMesh& output, u32 subdivisions)
 {
-	B3_ASSERT(output.vertices.Count() == 0);
-	B3_ASSERT(output.triangleIndices.Count() == 0);
+	assert(output.vertices.Count() == 0);
+	assert(output.triangleIndices.Count() == 0);
 
 	smMesh input;
 	input.SetAsIcosahedron();

From 14f6b279d283eac1b5e9b8115ae5f99fccecb640 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 19 Apr 2019 08:31:35 -0300
Subject: [PATCH 065/198] Remove SPHERE_MESH_H after #endif.

---
 examples/testbed/framework/sphere_mesh.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/testbed/framework/sphere_mesh.h b/examples/testbed/framework/sphere_mesh.h
index 0e0b2d9..a75d49e 100644
--- a/examples/testbed/framework/sphere_mesh.h
+++ b/examples/testbed/framework/sphere_mesh.h
@@ -110,4 +110,4 @@ struct smMesh
 // Generate an icosphere given the number of subdivisions.
 void smCreateMesh(smMesh& output, u32 subdivisions);
 
-#endif SPHERE_MESH_H
\ No newline at end of file
+#endif 
\ No newline at end of file

From 3adebe68c29bc62a23250a47a44fa2da455b060f Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 19 Apr 2019 09:58:02 -0300
Subject: [PATCH 066/198] Removed a condition which isn't reached during the
 sphere mesh generation.

---
 examples/testbed/framework/sphere_mesh.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/examples/testbed/framework/sphere_mesh.cpp b/examples/testbed/framework/sphere_mesh.cpp
index c259666..1d69720 100644
--- a/examples/testbed/framework/sphere_mesh.cpp
+++ b/examples/testbed/framework/sphere_mesh.cpp
@@ -59,8 +59,7 @@ struct smEdgeVertexMap
 		{
 			smEdgeVertexPair* pair = pairs.Get(i);
 
-			if ((pair->edge.v1 == edge.v1 && pair->edge.v2 == edge.v2) || 
-				(pair->edge.v1 == edge.v2 && pair->edge.v2 == edge.v1) )
+			if (pair->edge.v1 == edge.v2 && pair->edge.v2 == edge.v1)
 			{
 				return pair;
 			}

From 9c16391700349a9f357a29be1fed9dd687f04297 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 20 Apr 2019 11:52:17 -0300
Subject: [PATCH 067/198] Optimize sphere mesh

---
 examples/testbed/framework/draw_gl2.h      |  18 +-
 examples/testbed/framework/draw_gl4.h      |  18 +-
 examples/testbed/framework/sphere_mesh.cpp | 254 ++++++++++++++-------
 examples/testbed/framework/sphere_mesh.h   |  93 ++------
 examples/testbed/tests/soft_body.h         |  14 +-
 5 files changed, 216 insertions(+), 181 deletions(-)

diff --git a/examples/testbed/framework/draw_gl2.h b/examples/testbed/framework/draw_gl2.h
index 20ed762..91f4457 100644
--- a/examples/testbed/framework/draw_gl2.h
+++ b/examples/testbed/framework/draw_gl2.h
@@ -542,17 +542,17 @@ struct DrawWireSphere
 		smMesh mesh;
 		smCreateMesh(mesh, 1);
 
-		m_vertexCount = mesh.vertices.Count();
-		m_indexCount = mesh.triangleIndices.Count();
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(1, &m_vboId);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboId);
-		glBufferData(GL_ARRAY_BUFFER, mesh.vertices.Count() * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, mesh.triangleIndices.Count() * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -656,20 +656,20 @@ struct DrawSolidSphere
 		smMesh mesh;
 		smCreateMesh(mesh, 1);
 
-		m_vertexCount = mesh.vertices.Count();
-		m_indexCount = mesh.triangleIndices.Count();
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(3, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, mesh.vertices.Count() * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, mesh.vertices.Count() * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, mesh.triangleIndices.Count() * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
diff --git a/examples/testbed/framework/draw_gl4.h b/examples/testbed/framework/draw_gl4.h
index 0838b3c..4156a3d 100644
--- a/examples/testbed/framework/draw_gl4.h
+++ b/examples/testbed/framework/draw_gl4.h
@@ -558,17 +558,17 @@ struct DrawWireSphere
 		smMesh mesh;
 		smCreateMesh(mesh, 1);
 
-		m_vertexCount = mesh.vertices.Count();
-		m_indexCount = mesh.triangleIndices.Count();
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(1, &m_vboId);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboId);
-		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -671,20 +671,20 @@ struct DrawSolidSphere
 		smMesh mesh;
 		smCreateMesh(mesh, 1);
 
-		m_vertexCount = mesh.vertices.Count();
-		m_indexCount = mesh.triangleIndices.Count();
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(3, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
diff --git a/examples/testbed/framework/sphere_mesh.cpp b/examples/testbed/framework/sphere_mesh.cpp
index 1d69720..84c6c8d 100644
--- a/examples/testbed/framework/sphere_mesh.cpp
+++ b/examples/testbed/framework/sphere_mesh.cpp
@@ -18,131 +18,229 @@
 
 #include <testbed/framework/sphere_mesh.h>
 
-// References:
-// https://github.com/caosdoar/spheres
-// https://schneide.blog/2016/07/15/generating-an-icosphere-in-c/
+static inline void smAddVertex(smMesh& mesh, float32 x, float32 y, float32 z)
+{
+	mesh.vertices[mesh.vertexCount++].Set(x, y, z);
+}
+
+static inline void smAddTriangle(smMesh& mesh, u32 v1, u32 v2, u32 v3)
+{
+	mesh.indices[mesh.indexCount++] = v1;
+	mesh.indices[mesh.indexCount++] = v2;
+	mesh.indices[mesh.indexCount++] = v3;
+}
+
+static inline void smSetAsIcosahedron(smMesh& mesh)
+{
+	assert(mesh.vertexCount == 0);
+
+	float32 t = 0.5f * (1.0f + b3Sqrt(5.0f));
+
+	smAddVertex(mesh, -1.0f, t, 0.0f);
+	smAddVertex(mesh, 1.0f, t, 0.0f);
+	smAddVertex(mesh, -1.0f, -t, 0.0f);
+	smAddVertex(mesh, 1.0f, -t, 0.0f);
+
+	smAddVertex(mesh, 0.0f, -1.0f, t);
+	smAddVertex(mesh, 0.0f, 1.0f, t);
+	smAddVertex(mesh, 0.0f, -1.0f, -t);
+	smAddVertex(mesh, 0.0f, 1.0f, -t);
+
+	smAddVertex(mesh, t, 0.0f, -1.0f);
+	smAddVertex(mesh, t, 0.0f, 1.0f);
+	smAddVertex(mesh, -t, 0.0f, -1.0f);
+	smAddVertex(mesh, -t, 0.0f, 1.0f);
+
+	for (u32 i = 0; i < mesh.vertexCount; ++i)
+	{
+		mesh.vertices[i].Normalize();
+	}
+
+	assert(mesh.indexCount == 0);
+
+	smAddTriangle(mesh, 0, 11, 5);
+	smAddTriangle(mesh, 0, 5, 1);
+	smAddTriangle(mesh, 0, 1, 7);
+	smAddTriangle(mesh, 0, 7, 10);
+	smAddTriangle(mesh, 0, 10, 11);
+
+	smAddTriangle(mesh, 1, 5, 9);
+	smAddTriangle(mesh, 5, 11, 4);
+	smAddTriangle(mesh, 11, 10, 2);
+	smAddTriangle(mesh, 10, 7, 6);
+	smAddTriangle(mesh, 7, 1, 8);
+
+	smAddTriangle(mesh, 3, 9, 4);
+	smAddTriangle(mesh, 3, 4, 2);
+	smAddTriangle(mesh, 3, 2, 6);
+	smAddTriangle(mesh, 3, 6, 8);
+	smAddTriangle(mesh, 3, 8, 9);
+
+	smAddTriangle(mesh, 4, 9, 5);
+	smAddTriangle(mesh, 2, 4, 11);
+	smAddTriangle(mesh, 6, 2, 10);
+	smAddTriangle(mesh, 8, 6, 7);
+	smAddTriangle(mesh, 9, 8, 1);
+}
 
 struct smEdge
 {
-	smEdge() { }
-
-	smEdge(u32 _v1, u32 _v2)
-	{
-		v1 = _v1;
-		v2 = _v2;
-	}
-
 	u32 v1, v2;
 };
 
 struct smEdgeVertexPair
 {
-	smEdgeVertexPair() { }
-
-	smEdgeVertexPair(const smEdge& _edge, u32 _vertex)
-	{
-		edge = _edge;
-		vertex = _vertex;
-	}
-
 	smEdge edge;
 	u32 vertex;
 };
 
 struct smEdgeVertexMap
 {
-	smEdgeVertexMap() { }
-
-	smEdgeVertexPair* Find(const smEdge& edge)
-	{
-		for (u32 i = 0; i < pairs.Count(); ++i)
-		{
-			smEdgeVertexPair* pair = pairs.Get(i);
-
-			if (pair->edge.v1 == edge.v2 && pair->edge.v2 == edge.v1)
-			{
-				return pair;
-			}
-		}
-		return nullptr;
-	}
-
-	b3StackArray<smEdgeVertexPair, 32> pairs;
+	u32 pairCount;
+	smEdgeVertexPair* pairs;
 };
 
-// 
-static inline u32 smSubdivideEdge(u32 i1, u32 i2,
-	const b3Vec3& v1, const b3Vec3& v2,
-	smEdgeVertexMap& edgeVertexMap,
-	smMesh& output)
+static inline void smAddPair(smEdgeVertexMap& map, const smEdgeVertexPair& pair)
 {
-	smEdge edge(i1, i2);
+	map.pairs[map.pairCount++] = pair;
+}
 
-	smEdgeVertexPair* pair = edgeVertexMap.Find(edge);
+static inline smEdgeVertexPair* smFindOpposite(smEdgeVertexMap& map, const smEdge& edge)
+{
+	for (u32 i = 0; i < map.pairCount; ++i)
+	{
+		smEdgeVertexPair* pair = map.pairs + i;
+
+		if (pair->edge.v1 == edge.v2 && pair->edge.v2 == edge.v1)
+		{
+			return pair;
+		}
+	}
+	return nullptr;
+}
+
+static inline u32 smSubdivideEdge(smMesh& in_out, smEdgeVertexMap& map, 
+	u32 i1, u32 i2)
+{
+	smEdge edge;
+	edge.v1 = i1;
+	edge.v2 = i2;
+
+	smEdgeVertexPair* pair = smFindOpposite(map, edge);
 
 	if (pair)
 	{
 		return pair->vertex;
 	}
 
-	smEdge newEdge(i1, i2);
-	u32 newVertex = output.vertices.Count();
+	smEdge newEdge;
+	newEdge.v1 = i1;
+	newEdge.v2 = i2;
+	
+	u32 newVertex = in_out.vertexCount;
+
+	b3Vec3 v1 = in_out.vertices[i1];
+	b3Vec3 v2 = in_out.vertices[i1];
 
 	b3Vec3 v = 0.5f * (v1 + v2);
 	float32 len = v.Normalize();
 
-	output.AddVertex(v.x, v.y, v.z);
+	smAddVertex(in_out, v.x, v.y, v.z);
 
-	smEdgeVertexPair newPair(newEdge, newVertex);
+	smEdgeVertexPair newPair;
+	newPair.edge = newEdge;
+	newPair.vertex = newVertex;
 
-	edgeVertexMap.pairs.PushBack(newPair);
+	smAddPair(map, newPair);
 
 	return newVertex;
 }
 
-// 
-static inline void smSubdivideMesh(smMesh& output, const smMesh& input)
+static void smSubdivideMesh(smMesh& in_out, smEdgeVertexMap& map)
 {
-	output.vertices = input.vertices;
+	map.pairCount = 0;
 
-	smEdgeVertexMap edgeVertexMap;
+	u32 inputIndexCount = in_out.indexCount;
 
-	for (u32 i = 0; i < input.triangleIndices.Count() / 3; ++i)
+	for (u32 i = 0; i < inputIndexCount / 3; ++i)
 	{
-		u32 vi1 = input.triangleIndices[3 * i + 0];
-		u32 vi2 = input.triangleIndices[3 * i + 1];
-		u32 vi3 = input.triangleIndices[3 * i + 2];
+		u32 vi1 = in_out.indices[3 * i + 0];
+		u32 vi2 = in_out.indices[3 * i + 1];
+		u32 vi3 = in_out.indices[3 * i + 2];
+		
+		u32 vi4 = smSubdivideEdge(in_out, map, vi1, vi2);
+		u32 vi5 = smSubdivideEdge(in_out, map, vi2, vi3);
+		u32 vi6 = smSubdivideEdge(in_out, map, vi3, vi1);
 
-		b3Vec3 v1 = input.vertices[vi1];
-		b3Vec3 v2 = input.vertices[vi2];
-		b3Vec3 v3 = input.vertices[vi3];
-
-		u32 vi4 = smSubdivideEdge(vi1, vi2, v1, v2, edgeVertexMap, output);
-		u32 vi5 = smSubdivideEdge(vi2, vi3, v2, v3, edgeVertexMap, output);
-		u32 vi6 = smSubdivideEdge(vi3, vi1, v3, v1, edgeVertexMap, output);
-
-		output.AddTriangle(vi1, vi4, vi6);
-		output.AddTriangle(vi4, vi2, vi5);
-		output.AddTriangle(vi5, vi3, vi6);
-		output.AddTriangle(vi4, vi5, vi6);
+		smAddTriangle(in_out, vi1, vi4, vi6);
+		smAddTriangle(in_out, vi4, vi2, vi5);
+		smAddTriangle(in_out, vi5, vi3, vi6);
+		smAddTriangle(in_out, vi4, vi5, vi6);
 	}
 }
 
-//
+// Compute the maximum number of vertices and 
+// the number of triangle vertex indices in the intermediate mesh.
+// Also compute the maximum number of edge-vertex pairs per subdivision step 
+static inline void smCount(u32& vertexCount, u32& indexCount, u32& edgeVertexPairCount, u32 subdivisions)
+{
+	vertexCount = 12;
+	indexCount = 3 * 20;
+	for (u32 i = 0; i < subdivisions; ++i)
+	{
+		vertexCount += 3 * (indexCount / 3);
+		indexCount += 4 * 3 * (indexCount / 3);
+	}
+	edgeVertexPairCount = 3 * (indexCount / 3);
+}
+
 void smCreateMesh(smMesh& output, u32 subdivisions)
 {
-	assert(output.vertices.Count() == 0);
-	assert(output.triangleIndices.Count() == 0);
+	assert(output.vertexCount == 0);
+	assert(output.indexCount == 0);
 
-	smMesh input;
-	input.SetAsIcosahedron();
+	u32 vertexCount, indexCount, edgeVertexPairCount;
+	smCount(vertexCount, indexCount, edgeVertexPairCount, subdivisions);
+
+	u32 byteCount = 0;
+	byteCount += vertexCount * sizeof(b3Vec3);
+	byteCount += indexCount * sizeof(u32);
+	byteCount += edgeVertexPairCount * sizeof(smEdgeVertexPair);
+
+	u8* bytes = (u8*)malloc(byteCount);
+
+	smMesh out;
+	out.vertexCount = 0;
+	out.vertices = (b3Vec3*)bytes; 
+	out.indexCount = 0;
+	out.indices = (u32*) ((u8*)(out.vertices) + (vertexCount * sizeof(b3Vec3)));
+
+	smEdgeVertexMap map;
+	map.pairCount = 0;
+	map.pairs = (smEdgeVertexPair*) ((u8*)(out.indices) + (indexCount * sizeof(u32)));
+
+	smSetAsIcosahedron(out);
 
 	for (u32 i = 0; i < subdivisions; ++i)
 	{
-		smMesh subOutput;
-		smSubdivideMesh(subOutput, input);
-		input = subOutput;
+		smSubdivideMesh(out, map);
 	}
 
-	output = input;
-}
+	assert(map.pairCount < edgeVertexPairCount);
+	
+	assert(out.vertexCount < vertexCount);
+	assert(out.indexCount == indexCount);
+
+	output.vertexCount = out.vertexCount;
+	output.vertices = (b3Vec3*)malloc(out.vertexCount * sizeof(b3Vec3));
+	memcpy(output.vertices, out.vertices, out.vertexCount * sizeof(b3Vec3));
+
+	output.indexCount = out.indexCount;
+	output.indices = (u32*)malloc(out.indexCount * sizeof(u32));
+	memcpy(output.indices, out.indices, out.indexCount * sizeof(u32));
+
+	free(bytes);
+
+	out.vertices = nullptr;
+	out.indices = nullptr;
+}
\ No newline at end of file
diff --git a/examples/testbed/framework/sphere_mesh.h b/examples/testbed/framework/sphere_mesh.h
index a75d49e..f4c007b 100644
--- a/examples/testbed/framework/sphere_mesh.h
+++ b/examples/testbed/framework/sphere_mesh.h
@@ -19,95 +19,32 @@
 #ifndef SPHERE_MESH_H
 #define SPHERE_MESH_H
 
-#include <bounce/bounce.h>
+#include <bounce/common/math/vec3.h>
 
-//
+// This structure represents a triangle mesh.
 struct smMesh
 {
-	smMesh() { }
-
-	smMesh& operator=(const smMesh& other)
+	smMesh()
 	{
-		Copy(other);
-		return *this;
+		vertexCount = 0;
+		vertices = nullptr;
+		indexCount = 0;
+		indices = nullptr;
 	}
 
-	void Copy(const smMesh& other)
+	~smMesh()
 	{
-		vertices = other.vertices;
-		triangleIndices = other.triangleIndices;
+		free(vertices);
+		free(indices);
 	}
 
-	void AddVertex(float32 x, float32 y, float32 z)
-	{
-		vertices.PushBack(b3Vec3(x, y, z));
-	}
-
-	void AddTriangle(u32 v1, u32 v2, u32 v3)
-	{
-		triangleIndices.PushBack(v1);
-		triangleIndices.PushBack(v2);
-		triangleIndices.PushBack(v3);
-	}
-
-	void SetAsIcosahedron()
-	{
-		assert(vertices.Count() == 0);
-
-		float32 t = 0.5f * (1.0f + b3Sqrt(5.0f));
-
-		AddVertex(-1.0f, t, 0.0f);
-		AddVertex(1.0f, t, 0.0f);
-		AddVertex(-1.0f, -t, 0.0f);
-		AddVertex(1.0f, -t, 0.0f);
-
-		AddVertex(0.0f, -1.0f, t);
-		AddVertex(0.0f, 1.0f, t);
-		AddVertex(0.0f, -1.0f, -t);
-		AddVertex(0.0f, 1.0f, -t);
-
-		AddVertex(t, 0.0f, -1.0f);
-		AddVertex(t, 0.0f, 1.0f);
-		AddVertex(-t, 0.0f, -1.0f);
-		AddVertex(-t, 0.0f, 1.0f);
-
-		for (u32 i = 0; i < vertices.Count(); ++i)
-		{
-			vertices[i].Normalize();
-		}
-
-		assert(triangleIndices.Count() == 0);
-
-		AddTriangle(0, 11, 5);
-		AddTriangle(0, 5, 1);
-		AddTriangle(0, 1, 7);
-		AddTriangle(0, 7, 10);
-		AddTriangle(0, 10, 11);
-
-		AddTriangle(1, 5, 9);
-		AddTriangle(5, 11, 4);
-		AddTriangle(11, 10, 2);
-		AddTriangle(10, 7, 6);
-		AddTriangle(7, 1, 8);
-
-		AddTriangle(3, 9, 4);
-		AddTriangle(3, 4, 2);
-		AddTriangle(3, 2, 6);
-		AddTriangle(3, 6, 8);
-		AddTriangle(3, 8, 9);
-
-		AddTriangle(4, 9, 5);
-		AddTriangle(2, 4, 11);
-		AddTriangle(6, 2, 10);
-		AddTriangle(8, 6, 7);
-		AddTriangle(9, 8, 1);
-	}
-
-	b3StackArray<b3Vec3, 256> vertices;
-	b3StackArray<u32, 256> triangleIndices;
+	u32 vertexCount; // number of unique vertices
+	b3Vec3* vertices; // list of unique vertices
+	u32 indexCount; // number of triangle vertex indices
+	u32* indices; // list of triangle vertex index
 };
 
-// Generate an icosphere given the number of subdivisions.
+// Create a unit icosphere given the number of subdivisions.
 void smCreateMesh(smMesh& output, u32 subdivisions);
 
 #endif 
\ No newline at end of file
diff --git a/examples/testbed/tests/soft_body.h b/examples/testbed/tests/soft_body.h
index d12fdc8..198162d 100644
--- a/examples/testbed/tests/soft_body.h
+++ b/examples/testbed/tests/soft_body.h
@@ -32,18 +32,18 @@ struct b3SphereClothMesh : public b3ClothMesh
 		smMesh mesh;
 		smCreateMesh(mesh, 1);
 
-		sphereVertices.Resize(mesh.vertices.Count());
-		for (u32 i = 0; i < mesh.vertices.Count(); ++i)
+		sphereVertices.Resize(mesh.vertexCount);
+		for (u32 i = 0; i < mesh.vertexCount; ++i)
 		{
 			sphereVertices[i] = mesh.vertices[i];
 		}
 		
-		sphereTriangles.Resize(mesh.triangleIndices.Count() / 3);
-		for (u32 i = 0; i < mesh.triangleIndices.Count() / 3; ++i)
+		sphereTriangles.Resize(mesh.indexCount / 3);
+		for (u32 i = 0; i < mesh.indexCount / 3; ++i)
 		{
-			sphereTriangles[i].v1 = mesh.triangleIndices[3 * i + 0];
-			sphereTriangles[i].v2 = mesh.triangleIndices[3 * i + 1];
-			sphereTriangles[i].v3 = mesh.triangleIndices[3 * i + 2];
+			sphereTriangles[i].v1 = mesh.indices[3 * i + 0];
+			sphereTriangles[i].v2 = mesh.indices[3 * i + 1];
+			sphereTriangles[i].v3 = mesh.indices[3 * i + 2];
 		}
 
 		sphereMesh.startTriangle = 0;

From 23fa2bd162f111b6b00aaab3a8a37eb9e2395bf6 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 20 Apr 2019 11:54:33 -0300
Subject: [PATCH 068/198] Bugfix

---
 examples/testbed/framework/sphere_mesh.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/testbed/framework/sphere_mesh.cpp b/examples/testbed/framework/sphere_mesh.cpp
index 84c6c8d..c986a11 100644
--- a/examples/testbed/framework/sphere_mesh.cpp
+++ b/examples/testbed/framework/sphere_mesh.cpp
@@ -140,7 +140,7 @@ static inline u32 smSubdivideEdge(smMesh& in_out, smEdgeVertexMap& map,
 	u32 newVertex = in_out.vertexCount;
 
 	b3Vec3 v1 = in_out.vertices[i1];
-	b3Vec3 v2 = in_out.vertices[i1];
+	b3Vec3 v2 = in_out.vertices[i2];
 
 	b3Vec3 v = 0.5f * (v1 + v2);
 	float32 len = v.Normalize();

From 34c5d6f15793c1f43bd297c4c7a060ae46773f47 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 20 Apr 2019 13:27:28 -0300
Subject: [PATCH 069/198] Remove some duplicated code.

---
 examples/testbed/framework/sphere_mesh.cpp | 15 +++++----------
 1 file changed, 5 insertions(+), 10 deletions(-)

diff --git a/examples/testbed/framework/sphere_mesh.cpp b/examples/testbed/framework/sphere_mesh.cpp
index c986a11..ee44f98 100644
--- a/examples/testbed/framework/sphere_mesh.cpp
+++ b/examples/testbed/framework/sphere_mesh.cpp
@@ -105,13 +105,13 @@ static inline void smAddPair(smEdgeVertexMap& map, const smEdgeVertexPair& pair)
 	map.pairs[map.pairCount++] = pair;
 }
 
-static inline smEdgeVertexPair* smFindOpposite(smEdgeVertexMap& map, const smEdge& edge)
+static inline smEdgeVertexPair* smFind(smEdgeVertexMap& map, u32 v1, u32 v2)
 {
 	for (u32 i = 0; i < map.pairCount; ++i)
 	{
 		smEdgeVertexPair* pair = map.pairs + i;
 
-		if (pair->edge.v1 == edge.v2 && pair->edge.v2 == edge.v1)
+		if (pair->edge.v1 == v1 && pair->edge.v2 == v2)
 		{
 			return pair;
 		}
@@ -122,11 +122,7 @@ static inline smEdgeVertexPair* smFindOpposite(smEdgeVertexMap& map, const smEdg
 static inline u32 smSubdivideEdge(smMesh& in_out, smEdgeVertexMap& map, 
 	u32 i1, u32 i2)
 {
-	smEdge edge;
-	edge.v1 = i1;
-	edge.v2 = i2;
-
-	smEdgeVertexPair* pair = smFindOpposite(map, edge);
+	smEdgeVertexPair* pair = smFind(map, i2, i1);
 
 	if (pair)
 	{
@@ -136,14 +132,13 @@ static inline u32 smSubdivideEdge(smMesh& in_out, smEdgeVertexMap& map,
 	smEdge newEdge;
 	newEdge.v1 = i1;
 	newEdge.v2 = i2;
-	
+
 	u32 newVertex = in_out.vertexCount;
 
 	b3Vec3 v1 = in_out.vertices[i1];
 	b3Vec3 v2 = in_out.vertices[i2];
-
 	b3Vec3 v = 0.5f * (v1 + v2);
-	float32 len = v.Normalize();
+	v.Normalize();
 
 	smAddVertex(in_out, v.x, v.y, v.z);
 

From 323ba37b73431bde70e30b012021e400422a3d9c Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 20 Apr 2019 13:45:18 -0300
Subject: [PATCH 070/198] Use a octosphere instead of a icosahedron

---
 examples/testbed/framework/draw_gl2.h      |  4 +-
 examples/testbed/framework/draw_gl4.h      |  4 +-
 examples/testbed/framework/sphere_mesh.cpp | 67 ++++++----------------
 examples/testbed/tests/soft_body.h         |  2 +-
 4 files changed, 24 insertions(+), 53 deletions(-)

diff --git a/examples/testbed/framework/draw_gl2.h b/examples/testbed/framework/draw_gl2.h
index 91f4457..c3197f8 100644
--- a/examples/testbed/framework/draw_gl2.h
+++ b/examples/testbed/framework/draw_gl2.h
@@ -540,7 +540,7 @@ struct DrawWireSphere
 	DrawWireSphere()
 	{
 		smMesh mesh;
-		smCreateMesh(mesh, 1);
+		smCreateMesh(mesh, 2);
 
 		m_vertexCount = mesh.vertexCount;
 		m_indexCount = mesh.indexCount;
@@ -654,7 +654,7 @@ struct DrawSolidSphere
 	DrawSolidSphere()
 	{
 		smMesh mesh;
-		smCreateMesh(mesh, 1);
+		smCreateMesh(mesh, 2);
 
 		m_vertexCount = mesh.vertexCount;
 		m_indexCount = mesh.indexCount;
diff --git a/examples/testbed/framework/draw_gl4.h b/examples/testbed/framework/draw_gl4.h
index 4156a3d..ff1b46f 100644
--- a/examples/testbed/framework/draw_gl4.h
+++ b/examples/testbed/framework/draw_gl4.h
@@ -556,7 +556,7 @@ struct DrawWireSphere
 	DrawWireSphere()
 	{
 		smMesh mesh;
-		smCreateMesh(mesh, 1);
+		smCreateMesh(mesh, 2);
 
 		m_vertexCount = mesh.vertexCount;
 		m_indexCount = mesh.indexCount;
@@ -669,7 +669,7 @@ struct DrawSolidSphere
 	DrawSolidSphere()
 	{
 		smMesh mesh;
-		smCreateMesh(mesh, 1);
+		smCreateMesh(mesh, 2);
 
 		m_vertexCount = mesh.vertexCount;
 		m_indexCount = mesh.indexCount;
diff --git a/examples/testbed/framework/sphere_mesh.cpp b/examples/testbed/framework/sphere_mesh.cpp
index ee44f98..d1bd184 100644
--- a/examples/testbed/framework/sphere_mesh.cpp
+++ b/examples/testbed/framework/sphere_mesh.cpp
@@ -30,57 +30,28 @@ static inline void smAddTriangle(smMesh& mesh, u32 v1, u32 v2, u32 v3)
 	mesh.indices[mesh.indexCount++] = v3;
 }
 
-static inline void smSetAsIcosahedron(smMesh& mesh)
+static inline void smSetAsOctahedron(smMesh& mesh)
 {
 	assert(mesh.vertexCount == 0);
 
-	float32 t = 0.5f * (1.0f + b3Sqrt(5.0f));
-
-	smAddVertex(mesh, -1.0f, t, 0.0f);
-	smAddVertex(mesh, 1.0f, t, 0.0f);
-	smAddVertex(mesh, -1.0f, -t, 0.0f);
-	smAddVertex(mesh, 1.0f, -t, 0.0f);
-
-	smAddVertex(mesh, 0.0f, -1.0f, t);
-	smAddVertex(mesh, 0.0f, 1.0f, t);
-	smAddVertex(mesh, 0.0f, -1.0f, -t);
-	smAddVertex(mesh, 0.0f, 1.0f, -t);
-
-	smAddVertex(mesh, t, 0.0f, -1.0f);
-	smAddVertex(mesh, t, 0.0f, 1.0f);
-	smAddVertex(mesh, -t, 0.0f, -1.0f);
-	smAddVertex(mesh, -t, 0.0f, 1.0f);
-
-	for (u32 i = 0; i < mesh.vertexCount; ++i)
-	{
-		mesh.vertices[i].Normalize();
-	}
+	smAddVertex(mesh, 0.0f, -1.0f, 0.0f);
+	smAddVertex(mesh, 0.0f, 0.0f, 1.0f);
+	smAddVertex(mesh, -1.0f, 0.0f, 0.0f);
+	smAddVertex(mesh, 0.0f, 0.0f, -1.0f);
+	smAddVertex(mesh, 1.0f, 0.0f, 0.0f);
+	smAddVertex(mesh, 0.0f, 1.0f, 0.0f);
 
 	assert(mesh.indexCount == 0);
 
-	smAddTriangle(mesh, 0, 11, 5);
-	smAddTriangle(mesh, 0, 5, 1);
-	smAddTriangle(mesh, 0, 1, 7);
-	smAddTriangle(mesh, 0, 7, 10);
-	smAddTriangle(mesh, 0, 10, 11);
-
-	smAddTriangle(mesh, 1, 5, 9);
-	smAddTriangle(mesh, 5, 11, 4);
-	smAddTriangle(mesh, 11, 10, 2);
-	smAddTriangle(mesh, 10, 7, 6);
-	smAddTriangle(mesh, 7, 1, 8);
-
-	smAddTriangle(mesh, 3, 9, 4);
-	smAddTriangle(mesh, 3, 4, 2);
-	smAddTriangle(mesh, 3, 2, 6);
-	smAddTriangle(mesh, 3, 6, 8);
-	smAddTriangle(mesh, 3, 8, 9);
-
-	smAddTriangle(mesh, 4, 9, 5);
-	smAddTriangle(mesh, 2, 4, 11);
-	smAddTriangle(mesh, 6, 2, 10);
-	smAddTriangle(mesh, 8, 6, 7);
-	smAddTriangle(mesh, 9, 8, 1);
+	smAddTriangle(mesh, 0, 1, 2);
+	smAddTriangle(mesh, 0, 2, 3);
+	smAddTriangle(mesh, 0, 3, 4);
+	smAddTriangle(mesh, 0, 4, 1);
+	
+	smAddTriangle(mesh, 5, 2, 1);
+	smAddTriangle(mesh, 5, 3, 2);
+	smAddTriangle(mesh, 5, 4, 3);
+	smAddTriangle(mesh, 5, 1, 4);
 }
 
 struct smEdge
@@ -179,8 +150,8 @@ static void smSubdivideMesh(smMesh& in_out, smEdgeVertexMap& map)
 // Also compute the maximum number of edge-vertex pairs per subdivision step 
 static inline void smCount(u32& vertexCount, u32& indexCount, u32& edgeVertexPairCount, u32 subdivisions)
 {
-	vertexCount = 12;
-	indexCount = 3 * 20;
+	vertexCount = 6;
+	indexCount = 3 * 8;
 	for (u32 i = 0; i < subdivisions; ++i)
 	{
 		vertexCount += 3 * (indexCount / 3);
@@ -214,7 +185,7 @@ void smCreateMesh(smMesh& output, u32 subdivisions)
 	map.pairCount = 0;
 	map.pairs = (smEdgeVertexPair*) ((u8*)(out.indices) + (indexCount * sizeof(u32)));
 
-	smSetAsIcosahedron(out);
+	smSetAsOctahedron(out);
 
 	for (u32 i = 0; i < subdivisions; ++i)
 	{
diff --git a/examples/testbed/tests/soft_body.h b/examples/testbed/tests/soft_body.h
index 198162d..569e3fb 100644
--- a/examples/testbed/tests/soft_body.h
+++ b/examples/testbed/tests/soft_body.h
@@ -30,7 +30,7 @@ struct b3SphereClothMesh : public b3ClothMesh
 	b3SphereClothMesh()
 	{
 		smMesh mesh;
-		smCreateMesh(mesh, 1);
+		smCreateMesh(mesh, 2);
 
 		sphereVertices.Resize(mesh.vertexCount);
 		for (u32 i = 0; i < mesh.vertexCount; ++i)

From 1e85ea0a36fbe747bc5cddae1cc52b4fa7eef50d Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 20 Apr 2019 13:51:03 -0300
Subject: [PATCH 071/198] Handle case where subdivision in zero

---
 examples/testbed/framework/sphere_mesh.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/testbed/framework/sphere_mesh.cpp b/examples/testbed/framework/sphere_mesh.cpp
index d1bd184..647558d 100644
--- a/examples/testbed/framework/sphere_mesh.cpp
+++ b/examples/testbed/framework/sphere_mesh.cpp
@@ -194,7 +194,7 @@ void smCreateMesh(smMesh& output, u32 subdivisions)
 
 	assert(map.pairCount < edgeVertexPairCount);
 	
-	assert(out.vertexCount < vertexCount);
+	assert(out.vertexCount <= vertexCount);
 	assert(out.indexCount == indexCount);
 
 	output.vertexCount = out.vertexCount;

From 77ad799d942c8c54291d3eae433f1afcc18ddcd7 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 20 Apr 2019 13:57:12 -0300
Subject: [PATCH 072/198] Add comment

---
 examples/testbed/framework/sphere_mesh.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/examples/testbed/framework/sphere_mesh.h b/examples/testbed/framework/sphere_mesh.h
index f4c007b..7f26b56 100644
--- a/examples/testbed/framework/sphere_mesh.h
+++ b/examples/testbed/framework/sphere_mesh.h
@@ -45,6 +45,7 @@ struct smMesh
 };
 
 // Create a unit icosphere given the number of subdivisions.
+// If the number of subdivisions to perform is zero then the output mesh is an octahedron.
 void smCreateMesh(smMesh& output, u32 subdivisions);
 
 #endif 
\ No newline at end of file

From 490a2963dfaa6bfdd854e697ea0277f18eb51b2c Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 21 Apr 2019 16:06:51 -0300
Subject: [PATCH 073/198] Mesh generation to everybody

Add cylinder mesh generation
Mesh generation can be used by everyone
Mesh generation also gives vertex normals for convenience
---
 examples/testbed/framework/draw_gl2.h         |  94 ++-----------
 examples/testbed/framework/draw_gl4.h         |  92 ++-----------
 examples/testbed/tests/soft_body.h            |  48 +++----
 include/bounce/meshgen/cylinder_mesh.h        |  54 ++++++++
 .../bounce/meshgen}/sphere_mesh.h             |  11 +-
 premake5.lua                                  |   4 -
 src/bounce/collision/shapes/qhull.cpp         |  85 +++---------
 src/bounce/meshgen/cylinder_mesh.cpp          | 129 ++++++++++++++++++
 .../bounce/meshgen}/sphere_mesh.cpp           |  30 ++--
 9 files changed, 276 insertions(+), 271 deletions(-)
 create mode 100644 include/bounce/meshgen/cylinder_mesh.h
 rename {examples/testbed/framework => include/bounce/meshgen}/sphere_mesh.h (90%)
 create mode 100644 src/bounce/meshgen/cylinder_mesh.cpp
 rename {examples/testbed/framework => src/bounce/meshgen}/sphere_mesh.cpp (87%)

diff --git a/examples/testbed/framework/draw_gl2.h b/examples/testbed/framework/draw_gl2.h
index c3197f8..f2166c7 100644
--- a/examples/testbed/framework/draw_gl2.h
+++ b/examples/testbed/framework/draw_gl2.h
@@ -28,7 +28,8 @@
 #include <bounce/common/math/mat44.h>
 #include <bounce/common/draw.h>
 
-#include <testbed/framework/sphere_mesh.h>
+#include <bounce/meshgen/sphere_mesh.h>
+#include <bounce/meshgen/cylinder_mesh.h>
 
 #define BUFFER_OFFSET(i) ((char*)NULL + (i))
 
@@ -666,7 +667,7 @@ struct DrawSolidSphere
 		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.normals, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
 		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
@@ -691,96 +692,25 @@ struct DrawSolidSphere
 
 struct DrawSolidCylinder
 {
-	enum
-	{
-		e_segments = 64,
-		e_vertexCount = e_segments * 6,
-	};
-
 	DrawSolidCylinder()
 	{
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
+		cymMesh mesh;
+		cymCreateMesh(mesh, 20);
 
-		u32 vc = 0;
-		for (u32 i = 0; i < e_segments; ++i)
-		{
-			float32 t0 = 2.0f * B3_PI * float32(i) / float32(e_segments);
-			float32 t1 = 2.0f * B3_PI * float32(i + 1) / float32(e_segments);
-
-			float32 c0 = cos(t0);
-			float32 s0 = sin(t0);
-
-			float32 c1 = cos(t1);
-			float32 s1 = sin(t1);
-
-			b3Vec3 v1;
-			v1.x = s0;
-			v1.y = -0.5f;
-			v1.z = c0;
-			
-			b3Vec3 v2;
-			v2.x = s1;
-			v2.y = -0.5f;
-			v2.z = c1;
-			
-			b3Vec3 v3;
-			v3.x = s1;
-			v3.y = 0.5f;
-			v3.z = c1;
-			
-			b3Vec3 v4;
-			v4.x = s0;
-			v4.y = 0.5f;
-			v4.z = c0;
-			
-			b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
-			n.Normalize();
-
-			vs[vc] = v1;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v2;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v3;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v1;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v3;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v4;
-			ns[vc] = n;
-			++vc;
-		}
-
-		u32 is[e_vertexCount];
-
-		u32 ic = vc;
-		for (u32 i = 0; i < vc; ++i)
-		{
-			is[i] = i;
-		}
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(2, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.normals, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -796,6 +726,8 @@ struct DrawSolidCylinder
 
 	GLuint m_vboIds[2];
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawSolid
@@ -875,7 +807,7 @@ struct DrawSolid
 		glEnableVertexAttribArray(m_normalAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_cylinder.m_iboId);
-		glDrawElements(GL_TRIANGLES, m_cylinder.e_vertexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_TRIANGLES, m_cylinder.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glDisableVertexAttribArray(m_normalAttribute);
 
diff --git a/examples/testbed/framework/draw_gl4.h b/examples/testbed/framework/draw_gl4.h
index ff1b46f..d276500 100644
--- a/examples/testbed/framework/draw_gl4.h
+++ b/examples/testbed/framework/draw_gl4.h
@@ -28,7 +28,8 @@
 #include <bounce/common/math/mat44.h>
 #include <bounce/common/draw.h>
 
-#include <testbed/framework/sphere_mesh.h>
+#include <bounce/meshgen/sphere_mesh.h>
+#include <bounce/meshgen/cylinder_mesh.h>
 
 #define BUFFER_OFFSET(i) ((char*)NULL + (i))
 
@@ -706,96 +707,25 @@ struct DrawSolidSphere
 
 struct DrawSolidCylinder
 {
-	enum
-	{
-		e_segments = 64,
-		e_vertexCount = e_segments * 6,
-	};
-
 	DrawSolidCylinder()
 	{
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
+		cymMesh mesh;
+		cymCreateMesh(mesh, 20);
 
-		u32 vc = 0;
-		for (u32 i = 0; i < e_segments; ++i)
-		{
-			float32 t0 = 2.0f * B3_PI * float32(i) / float32(e_segments);
-			float32 t1 = 2.0f * B3_PI * float32(i + 1) / float32(e_segments);
-
-			float32 c0 = cos(t0);
-			float32 s0 = sin(t0);
-
-			float32 c1 = cos(t1);
-			float32 s1 = sin(t1);
-
-			b3Vec3 v1;
-			v1.x = s0;
-			v1.y = -0.5f;
-			v1.z = c0;
-			
-			b3Vec3 v2;
-			v2.x = s1;
-			v2.y = -0.5f;
-			v2.z = c1;
-			
-			b3Vec3 v3;
-			v3.x = s1;
-			v3.y = 0.5f;
-			v3.z = c1;
-			
-			b3Vec3 v4;
-			v4.x = s0;
-			v4.y = 0.5f;
-			v4.z = c0;
-			
-			b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
-			n.Normalize();
-
-			vs[vc] = v1;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v2;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v3;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v1;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v3;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v4;
-			ns[vc] = n;
-			++vc;
-		}
-
-		u32 is[e_vertexCount];
-
-		u32 ic = vc;
-		for (u32 i = 0; i < vc; ++i)
-		{
-			is[i] = i;
-		}
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(2, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.normals, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -811,6 +741,8 @@ struct DrawSolidCylinder
 
 	GLuint m_vboIds[2];
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawSolid
@@ -891,7 +823,7 @@ struct DrawSolid
 		glEnableVertexAttribArray(m_normalAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_cylinder.m_iboId);
-		glDrawElements(GL_TRIANGLES, m_cylinder.e_vertexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_TRIANGLES, m_cylinder.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 		glBindBuffer(GL_ARRAY_BUFFER, 0);
diff --git a/examples/testbed/tests/soft_body.h b/examples/testbed/tests/soft_body.h
index 569e3fb..bc750db 100644
--- a/examples/testbed/tests/soft_body.h
+++ b/examples/testbed/tests/soft_body.h
@@ -19,44 +19,46 @@
 #ifndef SOFT_BODY_H
 #define SOFT_BODY_H
 
-#include <testbed/framework/sphere_mesh.h>
+#include <bounce/meshgen/sphere_mesh.h>
 
-struct b3SphereClothMesh : public b3ClothMesh
+struct b3QClothMesh : public b3ClothMesh
 {
-	b3StackArray<b3Vec3, 256> sphereVertices;
-	b3StackArray<b3ClothMeshTriangle, 256> sphereTriangles;
-	b3ClothMeshMesh sphereMesh;
+	b3ClothMeshMesh qMesh;
 
-	b3SphereClothMesh()
+	~b3QClothMesh()
+	{
+		free(vertices);
+		free(triangles);
+	}
+
+	b3QClothMesh()
 	{
 		smMesh mesh;
 		smCreateMesh(mesh, 2);
 
-		sphereVertices.Resize(mesh.vertexCount);
+		vertexCount = mesh.vertexCount;
+		vertices = (b3Vec3*) malloc(vertexCount * sizeof(b3Vec3));
 		for (u32 i = 0; i < mesh.vertexCount; ++i)
 		{
-			sphereVertices[i] = mesh.vertices[i];
+			vertices[i] = mesh.vertices[i];
 		}
 		
-		sphereTriangles.Resize(mesh.indexCount / 3);
-		for (u32 i = 0; i < mesh.indexCount / 3; ++i)
+		triangleCount = mesh.indexCount / 3;
+		triangles = (b3ClothMeshTriangle*) malloc(triangleCount * sizeof(b3ClothMeshTriangle));
+		for (u32 i = 0; i < triangleCount; ++i)
 		{
-			sphereTriangles[i].v1 = mesh.indices[3 * i + 0];
-			sphereTriangles[i].v2 = mesh.indices[3 * i + 1];
-			sphereTriangles[i].v3 = mesh.indices[3 * i + 2];
+			triangles[i].v1 = mesh.indices[3 * i + 0];
+			triangles[i].v2 = mesh.indices[3 * i + 1];
+			triangles[i].v3 = mesh.indices[3 * i + 2];
 		}
 
-		sphereMesh.startTriangle = 0;
-		sphereMesh.triangleCount = sphereTriangles.Count();
-		sphereMesh.startVertex = 0;
-		sphereMesh.vertexCount = sphereVertices.Count();
+		qMesh.startTriangle = 0;
+		qMesh.triangleCount = triangleCount;
+		qMesh.startVertex = 0;
+		qMesh.vertexCount = vertexCount;
 
-		vertexCount = sphereVertices.Count();
-		vertices = sphereVertices.Begin();
-		triangleCount = sphereTriangles.Count();
-		triangles = sphereTriangles.Begin();
 		meshCount = 1;
-		meshes = &sphereMesh;
+		meshes = &qMesh;
 		sewingLineCount = 0;
 		sewingLines = nullptr;
 	}
@@ -270,7 +272,7 @@ public:
 		return new SoftBody();
 	}
 
-	b3SphereClothMesh m_mesh;
+	b3QClothMesh m_mesh;
 	b3Cloth* m_cloth;
 	b3ClothDragger* m_clothDragger;
 };
diff --git a/include/bounce/meshgen/cylinder_mesh.h b/include/bounce/meshgen/cylinder_mesh.h
new file mode 100644
index 0000000..f1d0653
--- /dev/null
+++ b/include/bounce/meshgen/cylinder_mesh.h
@@ -0,0 +1,54 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CYM_MESH_H
+#define CYM_MESH_H
+
+#include <bounce/common/math/vec3.h>
+
+// This structure represents a triangle mesh.
+struct cymMesh
+{
+	cymMesh()
+	{
+		vertexCount = 0;
+		vertices = nullptr;
+		normals = nullptr;
+		indexCount = 0;
+		indices = nullptr;
+	}
+
+	~cymMesh()
+	{
+		b3Free(vertices);
+		b3Free(normals);
+		b3Free(indices);
+	}
+
+	u32 vertexCount; // number of unique vertices
+	b3Vec3* vertices; // list of unique vertices
+	b3Vec3* normals; // list of vertex normals
+	u32 indexCount; // number of triangle vertex indices
+	u32* indices; // list of triangle vertex index
+};
+
+// Create a unit cylinder along the y-axis given the number of segments.
+// The number of segments must be greater than 2.
+void cymCreateMesh(cymMesh& output, u32 segments);
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/framework/sphere_mesh.h b/include/bounce/meshgen/sphere_mesh.h
similarity index 90%
rename from examples/testbed/framework/sphere_mesh.h
rename to include/bounce/meshgen/sphere_mesh.h
index 7f26b56..fbcbc9d 100644
--- a/examples/testbed/framework/sphere_mesh.h
+++ b/include/bounce/meshgen/sphere_mesh.h
@@ -16,8 +16,8 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SPHERE_MESH_H
-#define SPHERE_MESH_H
+#ifndef SM_MESH_H
+#define SM_MESH_H
 
 #include <bounce/common/math/vec3.h>
 
@@ -28,18 +28,21 @@ struct smMesh
 	{
 		vertexCount = 0;
 		vertices = nullptr;
+		normals = nullptr;
 		indexCount = 0;
 		indices = nullptr;
 	}
 
 	~smMesh()
 	{
-		free(vertices);
-		free(indices);
+		b3Free(vertices);
+		b3Free(normals);
+		b3Free(indices);
 	}
 
 	u32 vertexCount; // number of unique vertices
 	b3Vec3* vertices; // list of unique vertices
+	b3Vec3* normals; // list of vertex normals
 	u32 indexCount; // number of triangle vertex indices
 	u32* indices; // list of triangle vertex index
 };
diff --git a/premake5.lua b/premake5.lua
index 707cbcc..f0ef7e9 100644
--- a/premake5.lua
+++ b/premake5.lua
@@ -273,10 +273,6 @@ workspace(solution_name)
 			
 			examples_src_dir .. "/testbed/framework/test.h", 
 			
-			examples_src_dir .. "/testbed/framework/sphere_mesh.h", 
-			
-			examples_src_dir .. "/testbed/framework/sphere_mesh.cpp", 
-			
 			examples_src_dir .. "/testbed/framework/body_dragger.h", 
 			examples_src_dir .. "/testbed/framework/cloth_dragger.h", 
 			
diff --git a/src/bounce/collision/shapes/qhull.cpp b/src/bounce/collision/shapes/qhull.cpp
index 06ff300..b4e1541 100644
--- a/src/bounce/collision/shapes/qhull.cpp
+++ b/src/bounce/collision/shapes/qhull.cpp
@@ -19,6 +19,9 @@
 #include <bounce/collision/shapes/qhull.h>
 #include <bounce/quickhull/qh_hull.h>
 
+#include <bounce/meshgen/sphere_mesh.h>
+#include <bounce/meshgen/cylinder_mesh.h>
+
 template <class T>
 struct b3UniqueStackArray
 {
@@ -348,35 +351,17 @@ void b3QHull::Set(u32 vtxStride, const void* vtxBase, u32 vtxCount, bool simplif
 
 void b3QHull::SetAsSphere(float32 radius)
 {
-	enum
+	B3_ASSERT(radius > 0.0f);
+	
+	smMesh mesh;
+	smCreateMesh(mesh, 2);
+	
+	for (u32 i = 0; i < mesh.vertexCount; ++i)
 	{
-		e_rings = 8,
-		e_sectors = 8,
-		e_vertexCount = e_rings * e_sectors
-	};
-
-	float32 R = 1.0f / float32(e_rings - 1);
-	float32 S = 1.0f / float32(e_sectors - 1);
-
-	b3Vec3 vs[e_vertexCount];
-
-	u32 vc = 0;
-	for (u32 r = 0; r < e_rings; r++)
-	{
-		for (u32 s = 0; s < e_sectors; s++)
-		{
-			float32 y = sin(-0.5f * B3_PI + B3_PI * r * R);
-			float32 x = cos(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-			float32 z = sin(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-
-			vs[vc].Set(x, y, z);
-			vs[vc] *= radius;
-			++vc;
-		}
+		mesh.vertices[i] *= radius;
 	}
 
-	// Set
-	Set(sizeof(b3Vec3), vs, e_vertexCount, false);
+	Set(sizeof(b3Vec3), mesh.vertices, mesh.vertexCount, false);
 }
 
 void b3QHull::SetAsCylinder(float32 radius, float32 ey)
@@ -384,51 +369,19 @@ void b3QHull::SetAsCylinder(float32 radius, float32 ey)
 	B3_ASSERT(radius > 0.0f);
 	B3_ASSERT(ey > 0.0f);
 
-	const u32 kEdgeCount = 20;
-	const u32 kVertexCount = 4 * kEdgeCount;
-	b3Vec3 vs[kVertexCount];
+	float32 height = 2.0f * ey;
 
-	u32 count = 0;
-
-	float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
-	b3Quat q = b3QuatRotationY(kAngleInc);
+	cymMesh mesh;
+	cymCreateMesh(mesh, 20);
 
+	for (u32 i = 0; i < mesh.vertexCount; ++i)
 	{
-		b3Vec3 center(0.0f, -ey, 0.0f);
-		b3Vec3 n1(1.0f, 0.0f, 0.0f);
-		b3Vec3 v1 = center + radius * n1;
-		for (u32 i = 0; i < kEdgeCount; ++i)
-		{
-			b3Vec3 n2 = b3Mul(q, n1);
-			b3Vec3 v2 = center + radius * n2;
-
-			vs[count++] = v1;
-			vs[count++] = v2;
-
-			n1 = n2;
-			v1 = v2;
-		}
+		mesh.vertices[i].x *= radius;
+		mesh.vertices[i].y *= height;
+		mesh.vertices[i].z *= radius;
 	}
 
-	{
-		b3Vec3 center(0.0f, ey, 0.0f);
-		b3Vec3 n1(1.0f, 0.0f, 0.0f);
-		b3Vec3 v1 = center + radius * n1;
-		for (u32 i = 0; i < kEdgeCount; ++i)
-		{
-			b3Vec3 n2 = b3Mul(q, n1);
-			b3Vec3 v2 = center + radius * n2;
-
-			vs[count++] = v1;
-			vs[count++] = v2;
-
-			n1 = n2;
-			v1 = v2;
-		}
-	}
-
-	// Set
-	Set(sizeof(b3Vec3), vs, count, false);
+	Set(sizeof(b3Vec3), mesh.vertices, mesh.vertexCount, false);
 }
 
 void b3QHull::SetAsCone(float32 radius, float32 ey)
diff --git a/src/bounce/meshgen/cylinder_mesh.cpp b/src/bounce/meshgen/cylinder_mesh.cpp
new file mode 100644
index 0000000..9d8f99d
--- /dev/null
+++ b/src/bounce/meshgen/cylinder_mesh.cpp
@@ -0,0 +1,129 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/meshgen/cylinder_mesh.h>
+#include <bounce/common/math/quat.h>
+
+void cymCreateMesh(cymMesh& output, u32 segments)
+{
+	B3_ASSERT(segments > 2);
+
+	u32 vertexCount = 2 * segments;
+	b3Vec3* vertices = (b3Vec3*)b3Alloc(vertexCount * sizeof(b3Vec3));
+	b3Vec3* normals = (b3Vec3*)b3Alloc(vertexCount * sizeof(b3Vec3));
+	u32 indexCount = 3 * (2 * segments) + 2 * 3 * (segments - 2);
+	u32* indices = (u32*)b3Alloc(indexCount * sizeof(u32));
+
+	float32 angle = 2.0f * B3_PI / float32(segments);
+	b3Quat q(b3Vec3_y, angle);
+
+	// Lower 
+	b3Vec3 v(1.0f, -0.5f, 0.0f);
+	for (u32 i = 0; i < segments; ++i)
+	{
+		vertices[i] = v;
+		v = b3Mul(q, v);
+	}
+
+	// Upper 
+	v.Set(1.0f, 0.5f, 0.0f);
+	for (u32 i = 0; i < segments; ++i)
+	{
+		vertices[segments + i] = v;
+		v = b3Mul(q, v);
+	}
+
+	u32 idx = 0;
+
+	// Side triangles
+	for (u32 i = 0; i < segments; ++i)
+	{
+		u32 i1 = i;
+		u32 i2 = i1 + 1 < segments ? i1 + 1 : 0;
+
+		u32 i3 = segments + i;
+		u32 i4 = i3 + 1 < 2 * segments ? i3 + 1 : segments;
+
+		indices[idx++] = i1;
+		indices[idx++] = i2;
+		indices[idx++] = i4;
+
+		indices[idx++] = i4;
+		indices[idx++] = i3;
+		indices[idx++] = i1;
+	}
+
+	// Side normals
+	for (u32 i = 0; i < vertexCount; ++i)
+	{
+		normals[i].SetZero();
+	}
+
+	for (u32 i = 0; i < idx / 3; ++i)
+	{
+		u32 i1 = indices[3 * i + 0];
+		u32 i2 = indices[3 * i + 1];
+		u32 i3 = indices[3 * i + 2];
+
+		b3Vec3 v1 = vertices[i1];
+		b3Vec3 v2 = vertices[i2];
+		b3Vec3 v3 = vertices[i3];
+
+		b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
+		n.Normalize();
+
+		normals[i1] += n;
+		normals[i2] += n;
+		normals[i3] += n;
+	}
+	
+	for (u32 i = 0; i < vertexCount; ++i)
+	{
+		normals[i].Normalize();
+	}
+
+	// Lower. Reverse loop to ensure CCW 
+	u32 i1 = segments - 1;
+	for (u32 i2 = i1 - 1; i2 > 0; --i2)
+	{
+		u32 i3 = i2 - 1;
+
+		indices[idx++] = i1;
+		indices[idx++] = i2;
+		indices[idx++] = i3;
+	}
+
+	// Upper
+	i1 = segments;
+	for (u32 i2 = i1 + 1; i2 < 2 * segments - 1; ++i2)
+	{
+		u32 i3 = i2 + 1;
+
+		indices[idx++] = i1;
+		indices[idx++] = i2;
+		indices[idx++] = i3;
+	}
+
+	B3_ASSERT(idx == indexCount);
+
+	output.vertexCount = vertexCount;
+	output.vertices = vertices;
+	output.normals = normals;
+	output.indexCount = indexCount;
+	output.indices = indices;
+}
\ No newline at end of file
diff --git a/examples/testbed/framework/sphere_mesh.cpp b/src/bounce/meshgen/sphere_mesh.cpp
similarity index 87%
rename from examples/testbed/framework/sphere_mesh.cpp
rename to src/bounce/meshgen/sphere_mesh.cpp
index 647558d..5c24f02 100644
--- a/examples/testbed/framework/sphere_mesh.cpp
+++ b/src/bounce/meshgen/sphere_mesh.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <testbed/framework/sphere_mesh.h>
+#include <bounce/meshgen/sphere_mesh.h>
 
 static inline void smAddVertex(smMesh& mesh, float32 x, float32 y, float32 z)
 {
@@ -32,7 +32,7 @@ static inline void smAddTriangle(smMesh& mesh, u32 v1, u32 v2, u32 v3)
 
 static inline void smSetAsOctahedron(smMesh& mesh)
 {
-	assert(mesh.vertexCount == 0);
+	B3_ASSERT(mesh.vertexCount == 0);
 
 	smAddVertex(mesh, 0.0f, -1.0f, 0.0f);
 	smAddVertex(mesh, 0.0f, 0.0f, 1.0f);
@@ -41,7 +41,7 @@ static inline void smSetAsOctahedron(smMesh& mesh)
 	smAddVertex(mesh, 1.0f, 0.0f, 0.0f);
 	smAddVertex(mesh, 0.0f, 1.0f, 0.0f);
 
-	assert(mesh.indexCount == 0);
+	B3_ASSERT(mesh.indexCount == 0);
 
 	smAddTriangle(mesh, 0, 1, 2);
 	smAddTriangle(mesh, 0, 2, 3);
@@ -162,8 +162,8 @@ static inline void smCount(u32& vertexCount, u32& indexCount, u32& edgeVertexPai
 
 void smCreateMesh(smMesh& output, u32 subdivisions)
 {
-	assert(output.vertexCount == 0);
-	assert(output.indexCount == 0);
+	B3_ASSERT(output.vertexCount == 0);
+	B3_ASSERT(output.indexCount == 0);
 
 	u32 vertexCount, indexCount, edgeVertexPairCount;
 	smCount(vertexCount, indexCount, edgeVertexPairCount, subdivisions);
@@ -173,11 +173,12 @@ void smCreateMesh(smMesh& output, u32 subdivisions)
 	byteCount += indexCount * sizeof(u32);
 	byteCount += edgeVertexPairCount * sizeof(smEdgeVertexPair);
 
-	u8* bytes = (u8*)malloc(byteCount);
+	u8* bytes = (u8*)b3Alloc(byteCount);
 
 	smMesh out;
 	out.vertexCount = 0;
 	out.vertices = (b3Vec3*)bytes; 
+	out.normals = nullptr;
 	out.indexCount = 0;
 	out.indices = (u32*) ((u8*)(out.vertices) + (vertexCount * sizeof(b3Vec3)));
 
@@ -192,21 +193,24 @@ void smCreateMesh(smMesh& output, u32 subdivisions)
 		smSubdivideMesh(out, map);
 	}
 
-	assert(map.pairCount < edgeVertexPairCount);
-	
-	assert(out.vertexCount <= vertexCount);
-	assert(out.indexCount == indexCount);
+	B3_ASSERT(out.vertexCount <= vertexCount);
+	B3_ASSERT(out.indexCount == indexCount);
+	B3_ASSERT(map.pairCount < edgeVertexPairCount);
 
 	output.vertexCount = out.vertexCount;
-	output.vertices = (b3Vec3*)malloc(out.vertexCount * sizeof(b3Vec3));
+	output.vertices = (b3Vec3*)b3Alloc(out.vertexCount * sizeof(b3Vec3));
 	memcpy(output.vertices, out.vertices, out.vertexCount * sizeof(b3Vec3));
+	
+	output.normals = (b3Vec3*)b3Alloc(out.vertexCount * sizeof(b3Vec3));
+	memcpy(output.normals, output.vertices, output.vertexCount * sizeof(b3Vec3));
 
 	output.indexCount = out.indexCount;
-	output.indices = (u32*)malloc(out.indexCount * sizeof(u32));
+	output.indices = (u32*)b3Alloc(out.indexCount * sizeof(u32));
 	memcpy(output.indices, out.indices, out.indexCount * sizeof(u32));
 
-	free(bytes);
+	b3Free(bytes);
 
 	out.vertices = nullptr;
+	out.normals = nullptr;
 	out.indices = nullptr;
 }
\ No newline at end of file

From c6a3e4717674479c6b67eb08d0ef644da1fca2d9 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 21 Apr 2019 16:32:40 -0300
Subject: [PATCH 074/198] Consistency

---
 examples/testbed/tests/soft_body.h | 53 ++++++++++++++++--------------
 1 file changed, 29 insertions(+), 24 deletions(-)

diff --git a/examples/testbed/tests/soft_body.h b/examples/testbed/tests/soft_body.h
index bc750db..e6d7897 100644
--- a/examples/testbed/tests/soft_body.h
+++ b/examples/testbed/tests/soft_body.h
@@ -23,44 +23,48 @@
 
 struct b3QClothMesh : public b3ClothMesh
 {
-	b3ClothMeshMesh qMesh;
-
-	~b3QClothMesh()
-	{
-		free(vertices);
-		free(triangles);
-	}
+	b3StackArray<b3Vec3, 256> clothVertices;
+	b3StackArray<b3ClothMeshTriangle, 256> clothTriangles;
+	b3ClothMeshMesh clothMesh;
 
 	b3QClothMesh()
+	{
+		vertices = clothVertices.Begin();
+		vertexCount = 0;
+		triangles = clothTriangles.Begin();
+		triangleCount = 0;
+		meshCount = 1;
+		meshes = &clothMesh;
+		sewingLineCount = 0;
+		sewingLines = nullptr;
+	}
+
+	void SetAsSphere(float32 radius = 1.0f)
 	{
 		smMesh mesh;
 		smCreateMesh(mesh, 2);
 
-		vertexCount = mesh.vertexCount;
-		vertices = (b3Vec3*) malloc(vertexCount * sizeof(b3Vec3));
+		clothVertices.Resize(mesh.vertexCount);
 		for (u32 i = 0; i < mesh.vertexCount; ++i)
 		{
-			vertices[i] = mesh.vertices[i];
+			clothVertices[i] = radius * mesh.vertices[i];
 		}
-		
-		triangleCount = mesh.indexCount / 3;
-		triangles = (b3ClothMeshTriangle*) malloc(triangleCount * sizeof(b3ClothMeshTriangle));
-		for (u32 i = 0; i < triangleCount; ++i)
+
+		clothTriangles.Resize(mesh.indexCount / 3);
+		for (u32 i = 0; i < mesh.indexCount / 3; ++i)
 		{
 			triangles[i].v1 = mesh.indices[3 * i + 0];
 			triangles[i].v2 = mesh.indices[3 * i + 1];
 			triangles[i].v3 = mesh.indices[3 * i + 2];
 		}
 
-		qMesh.startTriangle = 0;
-		qMesh.triangleCount = triangleCount;
-		qMesh.startVertex = 0;
-		qMesh.vertexCount = vertexCount;
+		clothMesh.startTriangle = 0;
+		clothMesh.triangleCount = clothTriangles.Count();
+		clothMesh.startVertex = 0;
+		clothMesh.vertexCount = clothVertices.Count();
 
-		meshCount = 1;
-		meshes = &qMesh;
-		sewingLineCount = 0;
-		sewingLines = nullptr;
+		vertexCount = clothVertices.Count();
+		triangleCount = clothTriangles.Count();
 	}
 };
 
@@ -69,10 +73,11 @@ class SoftBody : public Test
 public:
 	SoftBody()
 	{
-		// Scale and translate the cloth mesh upwards
+		m_mesh.SetAsSphere(2.0f);
+
+		// Translate the cloth mesh upwards
 		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
 		{
-			m_mesh.vertices[i] *= 2.0f;
 			m_mesh.vertices[i].y += 10.0f;
 		}
 

From d2d8ade61106d75f6fb43982d94539431c23bd06 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 22 Apr 2019 13:07:00 -0300
Subject: [PATCH 075/198] Rollback

---
 src/bounce/meshgen/sphere_mesh.cpp | 153 +++++++++++++++--------------
 1 file changed, 81 insertions(+), 72 deletions(-)

diff --git a/src/bounce/meshgen/sphere_mesh.cpp b/src/bounce/meshgen/sphere_mesh.cpp
index 5c24f02..91fa3dc 100644
--- a/src/bounce/meshgen/sphere_mesh.cpp
+++ b/src/bounce/meshgen/sphere_mesh.cpp
@@ -90,7 +90,8 @@ static inline smEdgeVertexPair* smFind(smEdgeVertexMap& map, u32 v1, u32 v2)
 	return nullptr;
 }
 
-static inline u32 smSubdivideEdge(smMesh& in_out, smEdgeVertexMap& map, 
+static inline u32 smSubdivideEdge(smMesh& out, smEdgeVertexMap& map, 
+	const smMesh& in, 
 	u32 i1, u32 i2)
 {
 	smEdgeVertexPair* pair = smFind(map, i2, i1);
@@ -104,14 +105,14 @@ static inline u32 smSubdivideEdge(smMesh& in_out, smEdgeVertexMap& map,
 	newEdge.v1 = i1;
 	newEdge.v2 = i2;
 
-	u32 newVertex = in_out.vertexCount;
+	u32 newVertex = out.vertexCount;
 
-	b3Vec3 v1 = in_out.vertices[i1];
-	b3Vec3 v2 = in_out.vertices[i2];
+	b3Vec3 v1 = in.vertices[i1];
+	b3Vec3 v2 = in.vertices[i2];
 	b3Vec3 v = 0.5f * (v1 + v2);
 	v.Normalize();
 
-	smAddVertex(in_out, v.x, v.y, v.z);
+	smAddVertex(out, v.x, v.y, v.z);
 
 	smEdgeVertexPair newPair;
 	newPair.edge = newEdge;
@@ -122,95 +123,103 @@ static inline u32 smSubdivideEdge(smMesh& in_out, smEdgeVertexMap& map,
 	return newVertex;
 }
 
-static void smSubdivideMesh(smMesh& in_out, smEdgeVertexMap& map)
+static void smSubdivideMesh(smMesh& out, const smMesh& in, smEdgeVertexMap& map)
 {
-	map.pairCount = 0;
+	B3_ASSERT(out.vertexCount == 0);
+	B3_ASSERT(out.indexCount == 0);
+	B3_ASSERT(map.pairCount == 0);
 
-	u32 inputIndexCount = in_out.indexCount;
+	out.vertexCount = in.vertexCount;
+	memcpy(out.vertices, in.vertices, in.vertexCount * sizeof(b3Vec3));
 
-	for (u32 i = 0; i < inputIndexCount / 3; ++i)
+	for (u32 i = 0; i < in.indexCount / 3; ++i)
 	{
-		u32 vi1 = in_out.indices[3 * i + 0];
-		u32 vi2 = in_out.indices[3 * i + 1];
-		u32 vi3 = in_out.indices[3 * i + 2];
+		u32 vi1 = in.indices[3 * i + 0];
+		u32 vi2 = in.indices[3 * i + 1];
+		u32 vi3 = in.indices[3 * i + 2];
 		
-		u32 vi4 = smSubdivideEdge(in_out, map, vi1, vi2);
-		u32 vi5 = smSubdivideEdge(in_out, map, vi2, vi3);
-		u32 vi6 = smSubdivideEdge(in_out, map, vi3, vi1);
+		u32 vi4 = smSubdivideEdge(out, map, in, vi1, vi2);
+		u32 vi5 = smSubdivideEdge(out, map, in, vi2, vi3);
+		u32 vi6 = smSubdivideEdge(out, map, in, vi3, vi1);
 
-		smAddTriangle(in_out, vi1, vi4, vi6);
-		smAddTriangle(in_out, vi4, vi2, vi5);
-		smAddTriangle(in_out, vi5, vi3, vi6);
-		smAddTriangle(in_out, vi4, vi5, vi6);
+		smAddTriangle(out, vi1, vi4, vi6);
+		smAddTriangle(out, vi4, vi2, vi5);
+		smAddTriangle(out, vi5, vi3, vi6);
+		smAddTriangle(out, vi4, vi5, vi6);
 	}
 }
 
-// Compute the maximum number of vertices and 
-// the number of triangle vertex indices in the intermediate mesh.
-// Also compute the maximum number of edge-vertex pairs per subdivision step 
-static inline void smCount(u32& vertexCount, u32& indexCount, u32& edgeVertexPairCount, u32 subdivisions)
-{
-	vertexCount = 6;
-	indexCount = 3 * 8;
-	for (u32 i = 0; i < subdivisions; ++i)
-	{
-		vertexCount += 3 * (indexCount / 3);
-		indexCount += 4 * 3 * (indexCount / 3);
-	}
-	edgeVertexPairCount = 3 * (indexCount / 3);
-}
-
 void smCreateMesh(smMesh& output, u32 subdivisions)
 {
 	B3_ASSERT(output.vertexCount == 0);
 	B3_ASSERT(output.indexCount == 0);
 
-	u32 vertexCount, indexCount, edgeVertexPairCount;
-	smCount(vertexCount, indexCount, edgeVertexPairCount, subdivisions);
+	smMesh in;
+	in.vertexCount = 0;
+	in.vertices = (b3Vec3*)b3Alloc(6 * sizeof(b3Vec3));
+	in.normals = nullptr;
+	in.indexCount = 0;
+	in.indices = (u32*)b3Alloc(3 * 8 * sizeof(u32));
 
-	u32 byteCount = 0;
-	byteCount += vertexCount * sizeof(b3Vec3);
-	byteCount += indexCount * sizeof(u32);
-	byteCount += edgeVertexPairCount * sizeof(smEdgeVertexPair);
-
-	u8* bytes = (u8*)b3Alloc(byteCount);
-
-	smMesh out;
-	out.vertexCount = 0;
-	out.vertices = (b3Vec3*)bytes; 
-	out.normals = nullptr;
-	out.indexCount = 0;
-	out.indices = (u32*) ((u8*)(out.vertices) + (vertexCount * sizeof(b3Vec3)));
-
-	smEdgeVertexMap map;
-	map.pairCount = 0;
-	map.pairs = (smEdgeVertexPair*) ((u8*)(out.indices) + (indexCount * sizeof(u32)));
-
-	smSetAsOctahedron(out);
+	smSetAsOctahedron(in);
 
 	for (u32 i = 0; i < subdivisions; ++i)
 	{
-		smSubdivideMesh(out, map);
+		u32 inTriangleCount = in.indexCount / 3;
+		u32 outVertexCapacity = in.vertexCount + 3 * inTriangleCount;
+		
+		u32 outTriangleCapacity = 4 * inTriangleCount;
+		u32 outIndexCapacity = 3 * outTriangleCapacity;
+
+		u32 edgeVertexPairCapacity = 3 * inTriangleCount;
+
+		smMesh out;
+		out.vertexCount = 0;
+		out.vertices = (b3Vec3*)b3Alloc(outVertexCapacity * sizeof(b3Vec3));
+
+		out.indexCount = 0;
+		out.indices = (u32*)b3Alloc(outIndexCapacity * sizeof(u32));
+
+		smEdgeVertexMap map;
+		map.pairCount = 0;
+		map.pairs = (smEdgeVertexPair*)b3Alloc(edgeVertexPairCapacity * sizeof(smEdgeVertexPair));
+
+		smSubdivideMesh(out, in, map);
+
+		b3Free(map.pairs);
+		b3Free(in.vertices);
+		b3Free(in.indices);
+		
+		// in = out
+		in.vertexCount = out.vertexCount;
+		in.vertices = (b3Vec3*)b3Alloc(out.vertexCount * sizeof(b3Vec3));
+		memcpy(in.vertices, out.vertices, out.vertexCount * sizeof(b3Vec3));
+
+		in.indexCount = out.indexCount;
+		in.indices = (u32*)b3Alloc(out.indexCount * sizeof(u32));
+		memcpy(in.indices, out.indices, out.indexCount * sizeof(u32));
+
+		b3Free(out.vertices);
+		out.vertices = nullptr;
+		out.normals = nullptr;
+		b3Free(out.indices);
+		out.indices = nullptr;
 	}
 
-	B3_ASSERT(out.vertexCount <= vertexCount);
-	B3_ASSERT(out.indexCount == indexCount);
-	B3_ASSERT(map.pairCount < edgeVertexPairCount);
-
-	output.vertexCount = out.vertexCount;
-	output.vertices = (b3Vec3*)b3Alloc(out.vertexCount * sizeof(b3Vec3));
-	memcpy(output.vertices, out.vertices, out.vertexCount * sizeof(b3Vec3));
+	output.vertexCount = in.vertexCount;
+	output.vertices = (b3Vec3*)b3Alloc(in.vertexCount * sizeof(b3Vec3));
+	memcpy(output.vertices, in.vertices, in.vertexCount * sizeof(b3Vec3));
 	
-	output.normals = (b3Vec3*)b3Alloc(out.vertexCount * sizeof(b3Vec3));
+	output.normals = (b3Vec3*)b3Alloc(in.vertexCount * sizeof(b3Vec3));
 	memcpy(output.normals, output.vertices, output.vertexCount * sizeof(b3Vec3));
 
-	output.indexCount = out.indexCount;
-	output.indices = (u32*)b3Alloc(out.indexCount * sizeof(u32));
-	memcpy(output.indices, out.indices, out.indexCount * sizeof(u32));
+	output.indexCount = in.indexCount;
+	output.indices = (u32*)b3Alloc(in.indexCount * sizeof(u32));
+	memcpy(output.indices, in.indices, in.indexCount * sizeof(u32));
 
-	b3Free(bytes);
-
-	out.vertices = nullptr;
-	out.normals = nullptr;
-	out.indices = nullptr;
+	b3Free(in.vertices);
+	b3Free(in.indices);
+	in.vertices = nullptr;
+	in.normals = nullptr;
+	in.indices = nullptr;
 }
\ No newline at end of file

From ecb4df45f428506455775fc69e1e0c71f445b918 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 22 Apr 2019 14:33:59 -0300
Subject: [PATCH 076/198] Array pointers can change after reallocation

---
 examples/testbed/tests/soft_body.h | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/examples/testbed/tests/soft_body.h b/examples/testbed/tests/soft_body.h
index e6d7897..562c894 100644
--- a/examples/testbed/tests/soft_body.h
+++ b/examples/testbed/tests/soft_body.h
@@ -29,12 +29,12 @@ struct b3QClothMesh : public b3ClothMesh
 
 	b3QClothMesh()
 	{
-		vertices = clothVertices.Begin();
+		vertices = nullptr;
 		vertexCount = 0;
-		triangles = clothTriangles.Begin();
+		triangles = nullptr;
 		triangleCount = 0;
-		meshCount = 1;
-		meshes = &clothMesh;
+		meshCount = 0;
+		meshes = nullptr;
 		sewingLineCount = 0;
 		sewingLines = nullptr;
 	}
@@ -53,9 +53,9 @@ struct b3QClothMesh : public b3ClothMesh
 		clothTriangles.Resize(mesh.indexCount / 3);
 		for (u32 i = 0; i < mesh.indexCount / 3; ++i)
 		{
-			triangles[i].v1 = mesh.indices[3 * i + 0];
-			triangles[i].v2 = mesh.indices[3 * i + 1];
-			triangles[i].v3 = mesh.indices[3 * i + 2];
+			clothTriangles[i].v1 = mesh.indices[3 * i + 0];
+			clothTriangles[i].v2 = mesh.indices[3 * i + 1];
+			clothTriangles[i].v3 = mesh.indices[3 * i + 2];
 		}
 
 		clothMesh.startTriangle = 0;
@@ -63,8 +63,12 @@ struct b3QClothMesh : public b3ClothMesh
 		clothMesh.startVertex = 0;
 		clothMesh.vertexCount = clothVertices.Count();
 
+		vertices = clothVertices.Begin();
 		vertexCount = clothVertices.Count();
+		triangles = clothTriangles.Begin();
 		triangleCount = clothTriangles.Count();
+		meshCount = 1;
+		meshes = &clothMesh;
 	}
 };
 

From a5a49df8c1946b3c94bd68146c333ca44fabbee8 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 22 Apr 2019 14:38:51 -0300
Subject: [PATCH 077/198] Begin pointer can change after reallocation

---
 include/bounce/collision/shapes/qhull.h | 8 ++++----
 src/bounce/collision/shapes/qhull.cpp   | 4 ++++
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/include/bounce/collision/shapes/qhull.h b/include/bounce/collision/shapes/qhull.h
index 42f3c66..25836de 100644
--- a/include/bounce/collision/shapes/qhull.h
+++ b/include/bounce/collision/shapes/qhull.h
@@ -32,13 +32,13 @@ struct b3QHull : public b3Hull
 
 	b3QHull()
 	{
-		vertices = hullVertices.Begin();
+		vertices = nullptr;
 		vertexCount = 0;
-		edges = hullEdges.Begin();
+		edges = nullptr;
 		edgeCount = 0;
-		faces = hullFaces.Begin();
+		faces = nullptr;
 		faceCount = 0;
-		planes = hullPlanes.Begin();
+		planes = nullptr;
 		centroid.SetZero();
 	}
 
diff --git a/src/bounce/collision/shapes/qhull.cpp b/src/bounce/collision/shapes/qhull.cpp
index b4e1541..1c5b259 100644
--- a/src/bounce/collision/shapes/qhull.cpp
+++ b/src/bounce/collision/shapes/qhull.cpp
@@ -338,8 +338,12 @@ void b3QHull::Set(u32 vtxStride, const void* vtxBase, u32 vtxCount, bool simplif
 		++iface;
 	}
 
+	vertices = hullVertices.Begin();
 	vertexCount = hullVertices.Count();
+	edges = hullEdges.Begin();
 	edgeCount = hullEdges.Count();
+	faces = hullFaces.Begin();
+	planes = hullPlanes.Begin();
 	faceCount = hullFaces.Count();
 
 	// Validate

From 5c90059689799fe2df499779620e2928ecf7a6cd Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 22 Apr 2019 17:11:42 -0300
Subject: [PATCH 078/198] Optimization

---
 src/bounce/meshgen/sphere_mesh.cpp | 69 +++++++++++++++++++-----------
 1 file changed, 45 insertions(+), 24 deletions(-)

diff --git a/src/bounce/meshgen/sphere_mesh.cpp b/src/bounce/meshgen/sphere_mesh.cpp
index 91fa3dc..70f5bae 100644
--- a/src/bounce/meshgen/sphere_mesh.cpp
+++ b/src/bounce/meshgen/sphere_mesh.cpp
@@ -149,60 +149,81 @@ static void smSubdivideMesh(smMesh& out, const smMesh& in, smEdgeVertexMap& map)
 	}
 }
 
+static inline void smCount(u32& vertexCapacity, u32& indexCount, u32& edgeVertexPairCapacity, u32 subdivisions)
+{
+	u32 inVertexCapacity = 6;
+	u32 inTriangleCount = 8;
+	for (u32 i = 0; i < subdivisions; ++i)
+	{
+		u32 outVertexCapacity = inVertexCapacity + 3 * inTriangleCount;
+		u32 outTriangleCount = 4 * inTriangleCount;
+
+		inVertexCapacity = outVertexCapacity;
+		inTriangleCount = outTriangleCount;
+	}
+	vertexCapacity = inVertexCapacity;
+	indexCount = 3 * inTriangleCount;
+	edgeVertexPairCapacity = 3 * inTriangleCount;
+}
+
 void smCreateMesh(smMesh& output, u32 subdivisions)
 {
 	B3_ASSERT(output.vertexCount == 0);
 	B3_ASSERT(output.indexCount == 0);
 
+	u32 vertexCapacity, indexCount, edgeVertexPairCapacity;
+	smCount(vertexCapacity, indexCount, edgeVertexPairCapacity, subdivisions);
+
+	// We use two vertex and index buffers. 
+	// One is used for input mesh and the other for suboutput mesh.
+	// Each buffer has size equal the maximum vertex or index count.
+	u32 byteCount = 0;
+	byteCount += 2 * vertexCapacity * sizeof(b3Vec3);
+	byteCount += 2 * indexCount * sizeof(u32);
+	byteCount += edgeVertexPairCapacity * sizeof(smEdgeVertexPair);
+	
+	u8* bytes = (u8*)b3Alloc(byteCount);
+
+	b3Vec3* inVertex = (b3Vec3*)bytes;
+	b3Vec3* outVertex = (b3Vec3*) ((u8*)(inVertex) + vertexCapacity * sizeof(b3Vec3));
+	u32* inIndex = (u32*)((u8*)(outVertex) + vertexCapacity * sizeof(b3Vec3));
+	u32* outIndex = (u32*)((u8*)(inIndex) + indexCount * sizeof(u32));
+	smEdgeVertexPair* pairs = (smEdgeVertexPair*)((u8*)(outIndex) + indexCount * sizeof(u32));
+
 	smMesh in;
 	in.vertexCount = 0;
-	in.vertices = (b3Vec3*)b3Alloc(6 * sizeof(b3Vec3));
+	in.vertices = inVertex;
 	in.normals = nullptr;
 	in.indexCount = 0;
-	in.indices = (u32*)b3Alloc(3 * 8 * sizeof(u32));
+	in.indices = inIndex;
 
 	smSetAsOctahedron(in);
 
 	for (u32 i = 0; i < subdivisions; ++i)
 	{
-		u32 inTriangleCount = in.indexCount / 3;
-		u32 outVertexCapacity = in.vertexCount + 3 * inTriangleCount;
-		
-		u32 outTriangleCapacity = 4 * inTriangleCount;
-		u32 outIndexCapacity = 3 * outTriangleCapacity;
-
-		u32 edgeVertexPairCapacity = 3 * inTriangleCount;
-
 		smMesh out;
 		out.vertexCount = 0;
-		out.vertices = (b3Vec3*)b3Alloc(outVertexCapacity * sizeof(b3Vec3));
-
+		out.vertices = outVertex;
 		out.indexCount = 0;
-		out.indices = (u32*)b3Alloc(outIndexCapacity * sizeof(u32));
+		out.indices = outIndex;
 
 		smEdgeVertexMap map;
 		map.pairCount = 0;
-		map.pairs = (smEdgeVertexPair*)b3Alloc(edgeVertexPairCapacity * sizeof(smEdgeVertexPair));
+		map.pairs = pairs;
 
 		smSubdivideMesh(out, in, map);
 
-		b3Free(map.pairs);
-		b3Free(in.vertices);
-		b3Free(in.indices);
-		
 		// in = out
 		in.vertexCount = out.vertexCount;
-		in.vertices = (b3Vec3*)b3Alloc(out.vertexCount * sizeof(b3Vec3));
+		in.vertices = inVertex;
 		memcpy(in.vertices, out.vertices, out.vertexCount * sizeof(b3Vec3));
 
 		in.indexCount = out.indexCount;
-		in.indices = (u32*)b3Alloc(out.indexCount * sizeof(u32));
+		in.indices = inIndex;
 		memcpy(in.indices, out.indices, out.indexCount * sizeof(u32));
 
-		b3Free(out.vertices);
 		out.vertices = nullptr;
 		out.normals = nullptr;
-		b3Free(out.indices);
 		out.indices = nullptr;
 	}
 
@@ -217,8 +238,8 @@ void smCreateMesh(smMesh& output, u32 subdivisions)
 	output.indices = (u32*)b3Alloc(in.indexCount * sizeof(u32));
 	memcpy(output.indices, in.indices, in.indexCount * sizeof(u32));
 
-	b3Free(in.vertices);
-	b3Free(in.indices);
+	b3Free(bytes);
+
 	in.vertices = nullptr;
 	in.normals = nullptr;
 	in.indices = nullptr;

From d02a1f512e152cd5aa9f05b8477bb8388e78e3ce Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 23 Apr 2019 04:28:36 -0300
Subject: [PATCH 079/198] Removed maximum iteration count as the unilateral
 root solver might take a large number of iterations to converge.

---
 src/bounce/collision/gjk/gjk.cpp | 18 +++++-------------
 1 file changed, 5 insertions(+), 13 deletions(-)

diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index a6a9a85..4a397cc 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -862,8 +862,8 @@ bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
 	float32 r2 = proxy2.radius;
 	float32 radius = r1 + r2;
 
-	float32 d_max = b3Length(translation2);
-	B3_ASSERT(d_max > 0.0f);
+	float32 bound = b3Length(translation2);
+	B3_ASSERT(bound > 0.0f);
 
 	float32 t = 0.0f;
 	
@@ -894,14 +894,14 @@ bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
 		return true;
 	}
 
-	const u32 kMaxIters = 20;
-
 	u32 iter = 0;
 	for (;;)
 	{
+		++iter;
+
 		B3_ASSERT(d >= radius);
 		
-		float32 dt = (d - radius) / d_max;
+		float32 dt = (d - radius) / bound;
 		t += dt;
 
 		if (t >= 1.0f)
@@ -932,14 +932,6 @@ bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
 		{
 			break;
 		}
-
-		++iter;
-
-		if (iter == kMaxIters)
-		{
-			output->iterations = iter;
-			return false;
-		}
 	}
 	
 	if (d > 0.0f)

From 25b7ce3f40d2f40e3ef4a66085498f9d40073cc7 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 23 Apr 2019 05:45:47 -0300
Subject: [PATCH 080/198] Output iterations on initial overlap and decrease
 tolerance

---
 src/bounce/collision/gjk/gjk.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index 4a397cc..ed3a024 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -866,21 +866,20 @@ bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
 	B3_ASSERT(bound > 0.0f);
 
 	float32 t = 0.0f;
-	
-	const float32 tolerance = 0.5f * B3_LINEAR_SLOP;
-
 	b3SimplexCache cache;
 	cache.count = 0;
-
 	b3GJKOutput gjkOut = b3GJK(xf1, proxy1, xf2, proxy2, false, &cache);
 	float32 d = gjkOut.distance;
 
 	if (d == 0.0f)
 	{
 		// Overlap
+		output->iterations = 0;
 		return false;
 	}
 
+	const float32 tolerance = 0.25f * B3_LINEAR_SLOP;
+
 	b3Vec3 n = gjkOut.point2 - gjkOut.point1;
 	n /= d;
 
@@ -900,7 +899,6 @@ bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
 		++iter;
 
 		B3_ASSERT(d >= radius);
-		
 		float32 dt = (d - radius) / bound;
 		t += dt;
 

From 262cd505231c6e7ed020a1dba50d7f5e06ace67a Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 23 Apr 2019 10:32:27 -0300
Subject: [PATCH 081/198] Output all memory counters

---
 src/bounce/meshgen/sphere_mesh.cpp | 44 ++++++++++++++++++------------
 1 file changed, 27 insertions(+), 17 deletions(-)

diff --git a/src/bounce/meshgen/sphere_mesh.cpp b/src/bounce/meshgen/sphere_mesh.cpp
index 70f5bae..d145b1b 100644
--- a/src/bounce/meshgen/sphere_mesh.cpp
+++ b/src/bounce/meshgen/sphere_mesh.cpp
@@ -149,20 +149,29 @@ static void smSubdivideMesh(smMesh& out, const smMesh& in, smEdgeVertexMap& map)
 	}
 }
 
-static inline void smCount(u32& vertexCapacity, u32& indexCount, u32& edgeVertexPairCapacity, u32 subdivisions)
+static inline void smCount(u32& inVertexCapacity, u32& inIndexCount, 
+	u32& outVertexCapacity, u32& outIndexCount, 
+	u32& edgeVertexPairCapacity, 
+	u32 subdivisions)
 {
-	u32 inVertexCapacity = 6;
+	inVertexCapacity = 6;
 	u32 inTriangleCount = 8;
+	
+	outVertexCapacity = 0;
+	u32 outTriangleCount = 0;
+
 	for (u32 i = 0; i < subdivisions; ++i)
 	{
-		u32 outVertexCapacity = inVertexCapacity + 3 * inTriangleCount;
-		u32 outTriangleCount = 4 * inTriangleCount;
+		outVertexCapacity = inVertexCapacity + 3 * inTriangleCount;
+		outTriangleCount = 4 * inTriangleCount;
 
 		inVertexCapacity = outVertexCapacity;
 		inTriangleCount = outTriangleCount;
 	}
-	vertexCapacity = inVertexCapacity;
-	indexCount = 3 * inTriangleCount;
+	
+	inIndexCount = 3 * inTriangleCount;
+	outIndexCount = 3 * outTriangleCount;
+	
 	edgeVertexPairCapacity = 3 * inTriangleCount;
 }
 
@@ -171,24 +180,25 @@ void smCreateMesh(smMesh& output, u32 subdivisions)
 	B3_ASSERT(output.vertexCount == 0);
 	B3_ASSERT(output.indexCount == 0);
 
-	u32 vertexCapacity, indexCount, edgeVertexPairCapacity;
-	smCount(vertexCapacity, indexCount, edgeVertexPairCapacity, subdivisions);
+	u32 inVertexCapacity, inIndexCount;
+	u32 outVertexCapacity, outIndexCount;
+	u32 edgeVertexPairCapacity;
+	smCount(inVertexCapacity, inIndexCount, outVertexCapacity, outIndexCount, edgeVertexPairCapacity, subdivisions);
 
-	// We use two vertex and index buffers. 
-	// One is used for input mesh and the other for suboutput mesh.
-	// Each buffer has size equal the maximum vertex or index count.
 	u32 byteCount = 0;
-	byteCount += 2 * vertexCapacity * sizeof(b3Vec3);
-	byteCount += 2 * indexCount * sizeof(u32);
+	byteCount += inVertexCapacity * sizeof(b3Vec3);
+	byteCount += inIndexCount * sizeof(u32);
+	byteCount += outVertexCapacity * sizeof(b3Vec3);
+	byteCount += outIndexCount * sizeof(u32);
 	byteCount += edgeVertexPairCapacity * sizeof(smEdgeVertexPair);
 	
 	u8* bytes = (u8*)b3Alloc(byteCount);
 
 	b3Vec3* inVertex = (b3Vec3*)bytes;
-	b3Vec3* outVertex = (b3Vec3*) ((u8*)(inVertex) + vertexCapacity * sizeof(b3Vec3));
-	u32* inIndex = (u32*)((u8*)(outVertex) + vertexCapacity * sizeof(b3Vec3));
-	u32* outIndex = (u32*)((u8*)(inIndex) + indexCount * sizeof(u32));
-	smEdgeVertexPair* pairs = (smEdgeVertexPair*)((u8*)(outIndex) + indexCount * sizeof(u32));
+	u32* inIndex = (u32*)((u8*)(inVertex) + inVertexCapacity * sizeof(b3Vec3));
+	b3Vec3* outVertex = (b3Vec3*) ((u8*)(inIndex) + inIndexCount * sizeof(u32));
+	u32* outIndex = (u32*)((u8*)(outVertex) + outVertexCapacity * sizeof(b3Vec3));
+	smEdgeVertexPair* pairs = (smEdgeVertexPair*)((u8*)(outIndex) + outIndexCount * sizeof(u32));
 
 	smMesh in;
 	in.vertexCount = 0;

From 7d4bb261455b05122a009397a717cfa3eb2c7a63 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 23 Apr 2019 10:43:54 -0300
Subject: [PATCH 082/198] Don't allocate edge-vertex pairs if subdivision is
 zero

---
 src/bounce/meshgen/sphere_mesh.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/bounce/meshgen/sphere_mesh.cpp b/src/bounce/meshgen/sphere_mesh.cpp
index d145b1b..8b6f882 100644
--- a/src/bounce/meshgen/sphere_mesh.cpp
+++ b/src/bounce/meshgen/sphere_mesh.cpp
@@ -160,19 +160,21 @@ static inline void smCount(u32& inVertexCapacity, u32& inIndexCount,
 	outVertexCapacity = 0;
 	u32 outTriangleCount = 0;
 
+	edgeVertexPairCapacity = 0;
+
 	for (u32 i = 0; i < subdivisions; ++i)
 	{
 		outVertexCapacity = inVertexCapacity + 3 * inTriangleCount;
 		outTriangleCount = 4 * inTriangleCount;
 
+		edgeVertexPairCapacity = 3 * inTriangleCount;
+		
 		inVertexCapacity = outVertexCapacity;
 		inTriangleCount = outTriangleCount;
 	}
 	
 	inIndexCount = 3 * inTriangleCount;
 	outIndexCount = 3 * outTriangleCount;
-	
-	edgeVertexPairCapacity = 3 * inTriangleCount;
 }
 
 void smCreateMesh(smMesh& output, u32 subdivisions)

From c71b6edc72f210e273c94dc6ca92f0a6bf518a0f Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 30 Apr 2019 10:10:15 -0300
Subject: [PATCH 083/198] Put quaternion constraint stuff inside namespace

---
 src/bounce/dynamics/joints/weld_joint.cpp | 30 +++++++++++------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/src/bounce/dynamics/joints/weld_joint.cpp b/src/bounce/dynamics/joints/weld_joint.cpp
index ccd21ae..e9bd161 100644
--- a/src/bounce/dynamics/joints/weld_joint.cpp
+++ b/src/bounce/dynamics/joints/weld_joint.cpp
@@ -41,7 +41,7 @@ J1 = P * J1 * P^T
 J2 = P * J2 * P^T
 */
 
-static b3Mat44 iQ_mat(const b3Quat& q)
+static B3_FORCE_INLINE b3Mat44 b3Mat44_Quat(const b3Quat& q)
 {
 	b3Mat44 Q;
 	Q.x = b3Vec4(q.w, q.x, q.y, q.z);
@@ -51,7 +51,7 @@ static b3Mat44 iQ_mat(const b3Quat& q)
 	return Q;
 }
 
-static b3Mat44 iP_mat(const b3Quat& q)
+static B3_FORCE_INLINE b3Mat44 b3Mat44_Projection(const b3Quat& q)
 {
 	b3Mat44 P;
 	P.x = b3Vec4(q.w, q.x, q.y, q.z);
@@ -61,7 +61,7 @@ static b3Mat44 iP_mat(const b3Quat& q)
 	return P;
 }
 
-static b3Mat34 P_mat()
+static B3_FORCE_INLINE b3Mat34 b3Mat34_Projection()
 {
 	b3Mat34 P;
 	P.x = b3Vec3(0.0f, 0.0f, 0.0f);
@@ -71,7 +71,7 @@ static b3Mat34 P_mat()
 	return P;
 }
 
-static b3Mat34 P_lock_mat()
+static B3_FORCE_INLINE b3Mat34 b3Mat34_Weld_Projection()
 {
 	b3Mat34 P;
 	P.x = b3Vec3(0.0f, 0.0f, 0.0f);
@@ -81,14 +81,14 @@ static b3Mat34 P_lock_mat()
 	return P;
 }
 
-static b3Vec4 q_to_v(const b3Quat& q)
+static B3_FORCE_INLINE b3Vec4 b3Vec4_Quat(const b3Quat& q)
 {
 	return b3Vec4(q.w, q.x, q.y, q.z);
 }
 
-static const b3Mat34 P = P_mat();
-static const b3Mat43 PT = b3Transpose(P);
-static const b3Mat34 P_lock = P_lock_mat();
+static const b3Mat34 b3Mat34_P = b3Mat34_Projection();
+static const b3Mat43 b3Mat43_PT = b3Transpose(b3Mat34_P);
+static const b3Mat34 b3Mat34_Weld_P = b3Mat34_Weld_Projection();
 
 void b3WeldJointDef::Initialize(b3Body* bA, b3Body* bB, const b3Vec3& anchor)
 {
@@ -147,8 +147,8 @@ void b3WeldJoint::InitializeConstraints(const b3SolverData* data)
 	{
 		b3Quat dq = b3Conjugate(m_referenceRotation) * b3Conjugate(qA) * qB;
 
-		m_J1 = -0.5f * P_lock * iQ_mat(b3Conjugate(qA)) * iP_mat(qB) * PT;
-		m_J2 =  0.5f * P_lock * iQ_mat(b3Conjugate(qA)) * iP_mat(qB) * PT;
+		m_J1 = -0.5f * b3Mat34_Weld_P * b3Mat44_Quat(b3Conjugate(qA)) * b3Mat44_Projection(qB) * b3Mat43_PT;
+		m_J2 =  0.5f * b3Mat34_Weld_P * b3Mat44_Quat(b3Conjugate(qA)) * b3Mat44_Projection(qB) * b3Mat43_PT;
 
 		m_J1T = b3Transpose(m_J1);
 		m_J2T = b3Transpose(m_J2);
@@ -266,16 +266,16 @@ bool b3WeldJoint::SolvePositionConstraints(const b3SolverData* data)
 
 	float32 angularError = 0.0f;
 
-	{		
+	{	
 		b3Quat dq = b3Conjugate(m_referenceRotation) * b3Conjugate(qA) * qB;
-		b3Vec4 dq_v = q_to_v(dq);
+		b3Vec4 dq_v = b3Vec4_Quat(dq);
 
-		b3Vec3 C = P * dq_v;
+		b3Vec3 C = b3Mat34_P * dq_v;
 
 		angularError += b3Length(C);
 
-		b3Mat33 J1 = -0.5f * P_lock * iQ_mat(b3Conjugate(qA)) * iP_mat(qB) * PT;
-		b3Mat33 J2 = 0.5f * P_lock * iQ_mat(b3Conjugate(qA)) * iP_mat(qB) * PT;
+		b3Mat33 J1 = -0.5f * b3Mat34_Weld_P * b3Mat44_Quat(b3Conjugate(qA)) * b3Mat44_Projection(qB) * b3Mat43_PT;
+		b3Mat33 J2 =  0.5f * b3Mat34_Weld_P * b3Mat44_Quat(b3Conjugate(qA)) * b3Mat44_Projection(qB) * b3Mat43_PT;
 
 		b3Mat33 J1T = b3Transpose(J1);
 		b3Mat33 J2T = b3Transpose(J2);

From c28069680ef3e687c4f7d1bea4cb30dba0d48d3e Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 30 Apr 2019 10:40:49 -0300
Subject: [PATCH 084/198] Put quaternion constraint stuff inside namespace

---
 src/bounce/dynamics/joints/revolute_joint.cpp | 60 ++++++++++---------
 1 file changed, 33 insertions(+), 27 deletions(-)

diff --git a/src/bounce/dynamics/joints/revolute_joint.cpp b/src/bounce/dynamics/joints/revolute_joint.cpp
index 550c47e..f596dbe 100644
--- a/src/bounce/dynamics/joints/revolute_joint.cpp
+++ b/src/bounce/dynamics/joints/revolute_joint.cpp
@@ -112,7 +112,7 @@ C' = P_lim * (P_hinge * q') - target_speed
 
 */
 
-static B3_FORCE_INLINE b3Mat44 iQ_mat(const b3Quat& q)
+static B3_FORCE_INLINE b3Mat44 b3Mat44_Quat(const b3Quat& q)
 {
 	b3Mat44 Q;
 	Q.x = b3Vec4(q.w, q.x, q.y, q.z);
@@ -122,7 +122,7 @@ static B3_FORCE_INLINE b3Mat44 iQ_mat(const b3Quat& q)
 	return Q;
 }
 
-static B3_FORCE_INLINE b3Mat44 iP_mat(const b3Quat& q)
+static B3_FORCE_INLINE b3Mat44 b3Mat44_Projection(const b3Quat& q)
 {
 	b3Mat44 P;
 	P.x = b3Vec4(q.w, q.x, q.y, q.z);
@@ -132,7 +132,7 @@ static B3_FORCE_INLINE b3Mat44 iP_mat(const b3Quat& q)
 	return P;
 }
 
-static B3_FORCE_INLINE b3Mat34 P_mat()
+static B3_FORCE_INLINE b3Mat34 b3Mat34_Projection()
 {
 	b3Mat34 P;
 	P.x = b3Vec3(0.0f, 0.0f, 0.0f);
@@ -142,7 +142,7 @@ static B3_FORCE_INLINE b3Mat34 P_mat()
 	return P;
 }
 
-static B3_FORCE_INLINE b3Mat24 P_hinge_mat()
+static B3_FORCE_INLINE b3Mat24 b3Mat24_Hinge_Projection()
 {
 	b3Mat24 P;
 	P.x = b3Vec2(0.0f, 0.0f);
@@ -152,21 +152,19 @@ static B3_FORCE_INLINE b3Mat24 P_hinge_mat()
 	return P;
 }
 
-// 1x4 
-static B3_FORCE_INLINE b3Vec4 P_hinge_limit_mat(const b3Quat& q)
+static B3_FORCE_INLINE b3Vec4 b3Mat14_Hinge_Limit_Projection(const b3Quat& q)
 {
 	return b3Vec4(-q.z, 0.0f, 0.0f, q.w);
 }
 
-// 4x1 
-static B3_FORCE_INLINE b3Vec4 q_to_v(const b3Quat& q)
+static B3_FORCE_INLINE b3Vec4 b3Vec4_Quat(const b3Quat& q)
 {
 	return b3Vec4(q.w, q.x, q.y, q.z);
 }
 
-static const b3Mat34 P = P_mat();
-static const b3Mat43 PT = b3Transpose(P);
-static const b3Mat24 P_hinge = P_hinge_mat();
+static const b3Mat34 b3Mat34_P = b3Mat34_Projection();
+static const b3Mat43 b3Mat43_PT = b3Transpose(b3Mat34_P);
+static const b3Mat24 b3Mat24_P_Hinge = b3Mat24_Hinge_Projection();
 
 void b3RevoluteJointDef::Initialize(b3Body* bA, b3Body* bB,
 	const b3Vec3& axis, const b3Vec3& anchor,
@@ -263,13 +261,14 @@ void b3RevoluteJoint::InitializeConstraints(const b3SolverData* data)
 	// Add motor constraint.
 	if (m_enableMotor || m_enableLimit)
 	{
-		b3Vec4 P_hinge_limit = P_hinge_limit_mat(q);
+		b3Mat43 PT = b3Mat43_PT;
+		b3Vec4 P_limit = b3Mat14_Hinge_Limit_Projection(q);
 
-		b3Mat44 G1 = -0.5f * iQ_mat(b3Conjugate(fA)) * iP_mat(fB);
-		b3Mat44 G2 = 0.5f * iQ_mat(b3Conjugate(fA)) * iP_mat(fB);
+		b3Mat44 G1 = -0.5f * b3Mat44_Quat(b3Conjugate(fA)) * b3Mat44_Projection(fB);
+		b3Mat44 G2 =  0.5f * b3Mat44_Quat(b3Conjugate(fA)) * b3Mat44_Projection(fB);
 
-		b3Vec3 J1 = P_hinge_limit * G1 * PT;
-		b3Vec3 J2 = P_hinge_limit * G2 * PT;
+		b3Vec3 J1 = P_limit * G1 * PT;
+		b3Vec3 J2 = P_limit * G2 * PT;
 		
 		b3Vec3 J1T = J1;
 		b3Vec3 J2T = J2;
@@ -338,8 +337,11 @@ void b3RevoluteJoint::InitializeConstraints(const b3SolverData* data)
 
 	// Add hinge constraints.
 	{
-		b3Mat44 G1 = -0.5f * iQ_mat(b3Conjugate(fA)) * iP_mat(fB);
-		b3Mat44 G2 = 0.5f * iQ_mat(b3Conjugate(fA)) * iP_mat(fB);
+		b3Mat43 PT = b3Mat43_PT;
+		b3Mat24 P_hinge = b3Mat24_P_Hinge;
+
+		b3Mat44 G1 = -0.5f * b3Mat44_Quat(b3Conjugate(fA)) * b3Mat44_Projection(fB);
+		b3Mat44 G2 =  0.5f * b3Mat44_Quat(b3Conjugate(fA)) * b3Mat44_Projection(fB);
 
 		b3Mat23 J1 = P_hinge * G1 * PT;
 		b3Mat23 J2 = P_hinge * G2 * PT;
@@ -518,13 +520,14 @@ bool b3RevoluteJoint::SolvePositionConstraints(const b3SolverData* data)
 		b3Quat fB = qB * m_localRotationB;
 		b3Quat q = b3Conjugate(m_referenceRotation) * b3Conjugate(fA) * fB;
 
-		b3Vec4 P_hinge_limit = P_hinge_limit_mat(q);
+		b3Mat43 PT = b3Mat43_PT;
+		b3Vec4 P_limit = b3Mat14_Hinge_Limit_Projection(q);
+		
+		b3Mat44 G1 = -0.5f * b3Mat44_Quat(b3Conjugate(fA)) * b3Mat44_Projection(fB);
+		b3Mat44 G2 =  0.5f * b3Mat44_Quat(b3Conjugate(fA)) * b3Mat44_Projection(fB);
 
-		b3Mat44 G1 = -0.5f * iQ_mat(b3Conjugate(fA)) * iP_mat(fB);
-		b3Mat44 G2 =  0.5f * iQ_mat(b3Conjugate(fA)) * iP_mat(fB);
-
-		b3Vec3 J1 = P_hinge_limit * G1 * PT;
-		b3Vec3 J2 = P_hinge_limit * G2 * PT;
+		b3Vec3 J1 = P_limit * G1 * PT;
+		b3Vec3 J2 = P_limit * G2 * PT;
 
 		b3Vec3 J1T = J1;
 		b3Vec3 J2T = J2;
@@ -617,13 +620,16 @@ bool b3RevoluteJoint::SolvePositionConstraints(const b3SolverData* data)
 		b3Quat fB = qB * m_localRotationB;
 		b3Quat q = b3Conjugate(m_referenceRotation) * b3Conjugate(fA) * fB;
 
-		b3Vec2 C = P_hinge * q_to_v(q);
+		b3Mat43 PT = b3Mat43_PT;
+		b3Mat24 P_hinge = b3Mat24_P_Hinge;
+
+		b3Vec2 C = P_hinge * b3Vec4_Quat(q);
 		
 		angularError += b3Length(C);
 		
 		// Compute effective mass
-		b3Mat44 G1 = -0.5f * iQ_mat(b3Conjugate(fA)) * iP_mat(fB);
-		b3Mat44 G2 = 0.5f * iQ_mat(b3Conjugate(fA)) * iP_mat(fB);
+		b3Mat44 G1 = -0.5f * b3Mat44_Quat(b3Conjugate(fA)) * b3Mat44_Projection(fB);
+		b3Mat44 G2 =  0.5f * b3Mat44_Quat(b3Conjugate(fA)) * b3Mat44_Projection(fB);
 
 		b3Mat23 J1 = P_hinge * G1 * PT;
 		b3Mat23 J2 = P_hinge * G2 * PT;

From 26092d3755e5ed843fc2badc03d186c95cf70c34 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 30 Apr 2019 10:41:30 -0300
Subject: [PATCH 085/198] Remove unused

---
 include/bounce/cloth/cloth.h | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 3c1a5b4..d4ff2a8 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -133,20 +133,12 @@ public:
 	// Return the kinetic (or dynamic) energy in this system.
 	float32 GetEnergy() const;
 
-	// Get the next cloth in the world cloth list.
-	const b3Cloth* GetNext() const;
-
-	// Get the next cloth in the world cloth list.
-	b3Cloth* GetNext();
-
 	// Perform a time step. 
 	void Step(float32 dt);
 
 	// Debug draw the cloth using the associated cloth mesh.
 	void Draw() const;
 private:
-	friend class b3List2<b3Cloth>;
-
 	// Compute mass of each particle.
 	void ComputeMass();
 

From f567ac47386a9a1610b82e2ec3b9f4f3a48d383b Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 2 May 2019 19:35:39 -0300
Subject: [PATCH 086/198] Bugfix

---
 src/bounce/cloth/cloth_solver.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 1fc7718..ac8f1d7 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -293,8 +293,9 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		for (u32 i = 0; i < m_bodyContactCount; ++i)
 		{
 			b3BodyContact* c = m_bodyContacts[i];
+			b3Particle* p1 = c->p1;
 
-			b3Vec3 cf = f[i];
+			b3Vec3 cf = f[p1->m_solverId];
 
 			c->fn0 = c->fn;
 			c->fn = b3Dot(cf, c->n);

From b5edb9b1c7d4358c6550f8e0c61610e56be3e5a5 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 4 May 2019 15:56:47 -0300
Subject: [PATCH 087/198] Update soft_body.h

---
 examples/testbed/tests/soft_body.h | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/examples/testbed/tests/soft_body.h b/examples/testbed/tests/soft_body.h
index 562c894..aae10ce 100644
--- a/examples/testbed/tests/soft_body.h
+++ b/examples/testbed/tests/soft_body.h
@@ -210,10 +210,14 @@ public:
 			// Pressure force
 			b3Vec3 FP = Pn * A;
 
+			const float32 inv3 = 1.0f / 3.0f;
+
+			b3Vec3 f = inv3 * FP;
+
 			// Distribute
-			p1->ApplyForce(FP);
-			p2->ApplyForce(FP);
-			p3->ApplyForce(FP);
+			p1->ApplyForce(f);
+			p2->ApplyForce(f);
+			p3->ApplyForce(f);
 		}
 	}
 

From b448acfec6f9ccc2dcef696b7781313e9f54c158 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 4 May 2019 19:17:40 -0300
Subject: [PATCH 088/198] Add a view for sparse symmetric matrix to exploit
 cache coherency. This way we can increase maximum iteration count still with
 good performance.

---
 include/bounce/cloth/cloth_solver.h          |   3 +-
 include/bounce/cloth/sparse_sym_mat33.h      |  13 --
 include/bounce/cloth/sparse_sym_mat33_view.h | 157 +++++++++++++++++++
 src/bounce/cloth/cloth_solver.cpp            |  12 +-
 4 files changed, 167 insertions(+), 18 deletions(-)
 create mode 100644 include/bounce/cloth/sparse_sym_mat33_view.h

diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index 52b6e66..2df48a2 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -31,6 +31,7 @@ class b3Force;
 struct b3DenseVec3;
 struct b3DiagMat33;
 struct b3SparseSymMat33;
+struct b3SparseSymMat33View;
 
 class b3BodyContact;
 class b3ParticleContact;
@@ -86,7 +87,7 @@ private:
 	void ApplyConstraints();
 
 	// Solve Ax = b.
-	void Solve(b3DenseVec3& x, u32& iterations, const b3SparseSymMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const;
+	void Solve(b3DenseVec3& x, u32& iterations, const b3SparseSymMat33View& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const;
 
 	b3StackAllocator* m_allocator;
 
diff --git a/include/bounce/cloth/sparse_sym_mat33.h b/include/bounce/cloth/sparse_sym_mat33.h
index daf2664..a708f42 100644
--- a/include/bounce/cloth/sparse_sym_mat33.h
+++ b/include/bounce/cloth/sparse_sym_mat33.h
@@ -119,9 +119,6 @@ struct b3SparseSymMat33
 	// 
 	void operator-=(const b3SparseSymMat33& m);
 
-	// 
-	void Diagonal(b3DiagMat33& out) const;
-
 	u32 rowCount;
 	b3RowValueList* rows; 
 };
@@ -345,16 +342,6 @@ inline void b3SparseSymMat33::operator-=(const b3SparseSymMat33& m)
 	}
 }
 
-inline void b3SparseSymMat33::Diagonal(b3DiagMat33& out) const
-{
-	B3_ASSERT(rowCount == out.n);
-	
-	for (u32 i = 0; i < rowCount; ++i)
-	{
-		out[i] = (*this)(i, i);
-	}
-}
-
 inline void b3Add(b3SparseSymMat33& out, const b3SparseSymMat33& a, const b3SparseSymMat33& b)
 {
 	out = a;
diff --git a/include/bounce/cloth/sparse_sym_mat33_view.h b/include/bounce/cloth/sparse_sym_mat33_view.h
new file mode 100644
index 0000000..cc5fc20
--- /dev/null
+++ b/include/bounce/cloth/sparse_sym_mat33_view.h
@@ -0,0 +1,157 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SPARSE_SYM_MAT_33_VIEW_H
+#define B3_SPARSE_SYM_MAT_33_VIEW_H
+
+#include <bounce/cloth/sparse_sym_mat33.h>
+
+struct b3RowValueArray
+{
+	u32 count;
+	b3RowValue* values;
+};
+
+// A read-only sparse symmetric matrix.
+struct b3SparseSymMat33View
+{
+	//
+	b3SparseSymMat33View(const b3SparseSymMat33& _m);
+
+	//
+	~b3SparseSymMat33View();
+
+	//
+	const b3Mat33& operator()(u32 i, u32 j) const;
+	
+	//
+	void Diagonal(b3DiagMat33& out) const;
+		
+	u32 rowCount;
+	b3RowValueArray* rows;
+};
+
+inline b3SparseSymMat33View::b3SparseSymMat33View(const b3SparseSymMat33& _m)
+{
+	rowCount = _m.rowCount;
+	rows = (b3RowValueArray*)b3Alloc(rowCount * sizeof(b3RowValueArray));
+	for (u32 i = 0; i < _m.rowCount; ++i)
+	{
+		b3RowValueList* rowList = _m.rows + i;
+		b3RowValueArray* rowArray = rows + i;
+
+		rowArray->count = rowList->count;
+		rowArray->values = (b3RowValue*)b3Alloc(rowArray->count * sizeof(b3RowValue));
+
+		u32 valueIndex = 0;
+		for (b3RowValue* v = rowList->head; v; v = v->next)
+		{
+			rowArray->values[valueIndex].column = v->column;
+			rowArray->values[valueIndex].value = v->value;
+			++valueIndex;
+		}
+	}
+}
+
+inline b3SparseSymMat33View::~b3SparseSymMat33View()
+{
+	for (u32 i = 0; i < rowCount; ++i)
+	{
+		b3RowValueArray* rowArray = rows + i;
+		b3Free(rowArray->values);
+	}
+	b3Free(rows);
+}
+
+inline const b3Mat33& b3SparseSymMat33View::operator()(u32 i, u32 j) const
+{
+	B3_ASSERT(i < rowCount);
+	B3_ASSERT(j < rowCount);
+
+	if (i > j)
+	{
+		b3Swap(i, j);
+	}
+
+	b3RowValueArray* vs = rows + i;
+
+	for (u32 c = 0; c < vs->count; ++c)
+	{
+		b3RowValue* rv = vs->values + c;
+
+		u32 column = rv->column;
+
+		if (column < j)
+		{
+			break;
+		}
+
+		if (column == j)
+		{
+			return rv->value;
+		}
+	}
+
+	return b3Mat33_zero;
+}
+
+inline void b3SparseSymMat33View::Diagonal(b3DiagMat33& out) const
+{
+	B3_ASSERT(rowCount == out.n);
+
+	for (u32 i = 0; i < rowCount; ++i)
+	{
+		out[i] = (*this)(i, i);
+	}
+}
+
+inline void b3Mul(b3DenseVec3& out, const b3SparseSymMat33View& A, const b3DenseVec3& v)
+{
+	B3_ASSERT(A.rowCount == out.n);
+
+	out.SetZero();
+
+	for (u32 i = 0; i < A.rowCount; ++i)
+	{
+		b3RowValueArray* rowArray = A.rows + i;
+
+		for (u32 c = 0; c < rowArray->count; ++c)
+		{
+			b3RowValue* rv = rowArray->values + c;
+
+			u32 j = rv->column;
+			b3Mat33 a = rv->value;
+
+			out[i] += a * v[j];
+
+			if (i != j)
+			{
+				out[j] += a * v[i];
+			}
+		}
+	}
+}
+
+inline b3DenseVec3 operator*(const b3SparseSymMat33View& A, const b3DenseVec3& v)
+{
+	b3DenseVec3 result(v.n);
+	b3Mul(result, A, v);
+	return result;
+}
+
+#endif
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index ac8f1d7..29269f3 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -24,6 +24,7 @@
 #include <bounce/cloth/dense_vec3.h>
 #include <bounce/cloth/diag_mat33.h>
 #include <bounce/cloth/sparse_sym_mat33.h>
+#include <bounce/cloth/sparse_sym_mat33_view.h>
 #include <bounce/common/memory/stack_allocator.h>
 #include <bounce/common/math/mat.h>
 #include <bounce/dynamics/shapes/shape.h>
@@ -277,6 +278,9 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 
 		// A
 		b3SparseSymMat33 A = M - h * dfdv - h * h * dfdx;
+		
+		// View for A
+		b3SparseSymMat33View viewA(A);
 
 		// b
 		b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
@@ -284,7 +288,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		// x
 		b3DenseVec3 x(m_particleCount);
 		u32 iterations = 0;
-		Solve(x, iterations, A, b, S, z, sx0);
+		Solve(x, iterations, viewA, b, S, z, sx0);
 		b3_clothSolverIterations = iterations;
 #if 0
 		// Copy constraint forces to the contacts
@@ -395,7 +399,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 }
 
 void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
-	const b3SparseSymMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const
+	const b3SparseSymMat33View& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const
 {
 	B3_PROFILE("Cloth Solve Ax = b");
 
@@ -446,11 +450,11 @@ void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
 	float32 delta_new = b3Dot(r, p);
 
 	// Set the tolerance.
-	const float32 tolerance = 10.0f * B3_EPSILON;
+	const float32 tolerance = 2.0f * B3_EPSILON;
 
 	// Maximum number of iterations.
 	// Stop at this iteration if diverged.
-	const u32 max_iterations = 20;
+	const u32 max_iterations = 50;
 
 	u32 iteration = 0;
 

From bb2f11f9481b86cd1d735d334d12955fa74a4c2d Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 4 May 2019 19:25:49 -0300
Subject: [PATCH 089/198] Use clean separate row value structure that doesn't
 contain list pointers in the view

---
 include/bounce/cloth/sparse_sym_mat33_view.h | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/include/bounce/cloth/sparse_sym_mat33_view.h b/include/bounce/cloth/sparse_sym_mat33_view.h
index cc5fc20..848242b 100644
--- a/include/bounce/cloth/sparse_sym_mat33_view.h
+++ b/include/bounce/cloth/sparse_sym_mat33_view.h
@@ -21,10 +21,16 @@
 
 #include <bounce/cloth/sparse_sym_mat33.h>
 
+struct b3ArrayRowValue
+{
+	u32 column;
+	b3Mat33 value;
+};
+
 struct b3RowValueArray
 {
 	u32 count;
-	b3RowValue* values;
+	b3ArrayRowValue* values;
 };
 
 // A read-only sparse symmetric matrix.
@@ -56,7 +62,7 @@ inline b3SparseSymMat33View::b3SparseSymMat33View(const b3SparseSymMat33& _m)
 		b3RowValueArray* rowArray = rows + i;
 
 		rowArray->count = rowList->count;
-		rowArray->values = (b3RowValue*)b3Alloc(rowArray->count * sizeof(b3RowValue));
+		rowArray->values = (b3ArrayRowValue*)b3Alloc(rowArray->count * sizeof(b3ArrayRowValue));
 
 		u32 valueIndex = 0;
 		for (b3RowValue* v = rowList->head; v; v = v->next)
@@ -92,7 +98,7 @@ inline const b3Mat33& b3SparseSymMat33View::operator()(u32 i, u32 j) const
 
 	for (u32 c = 0; c < vs->count; ++c)
 	{
-		b3RowValue* rv = vs->values + c;
+		b3ArrayRowValue* rv = vs->values + c;
 
 		u32 column = rv->column;
 
@@ -132,7 +138,7 @@ inline void b3Mul(b3DenseVec3& out, const b3SparseSymMat33View& A, const b3Dense
 
 		for (u32 c = 0; c < rowArray->count; ++c)
 		{
-			b3RowValue* rv = rowArray->values + c;
+			b3ArrayRowValue* rv = rowArray->values + c;
 
 			u32 j = rv->column;
 			b3Mat33 a = rv->value;

From 389a45bf9e9dcf60e747178a728d12e62deef46e Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 10 May 2019 10:50:28 -0300
Subject: [PATCH 090/198] Add negate operator

---
 include/bounce/cloth/dense_vec3.h | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/include/bounce/cloth/dense_vec3.h b/include/bounce/cloth/dense_vec3.h
index 78a5b52..ffc4e42 100644
--- a/include/bounce/cloth/dense_vec3.h
+++ b/include/bounce/cloth/dense_vec3.h
@@ -171,4 +171,11 @@ inline b3DenseVec3 operator*(float32 a, const b3DenseVec3& b)
 	return result;
 }
 
+inline b3DenseVec3 operator-(const b3DenseVec3& v)
+{
+	b3DenseVec3 result(v.n);
+	b3Negate(result, v);
+	return result;
+}
+
 #endif
\ No newline at end of file

From 8d0295f5b78cfb458c5036f976be664ea5f8fc43 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 10 May 2019 10:51:05 -0300
Subject: [PATCH 091/198] Simplify sparsity structure

---
 include/bounce/cloth/sparse_sym_mat33.h      | 93 +++-----------------
 include/bounce/cloth/sparse_sym_mat33_view.h | 10 +--
 2 files changed, 14 insertions(+), 89 deletions(-)

diff --git a/include/bounce/cloth/sparse_sym_mat33.h b/include/bounce/cloth/sparse_sym_mat33.h
index a708f42..9d36f35 100644
--- a/include/bounce/cloth/sparse_sym_mat33.h
+++ b/include/bounce/cloth/sparse_sym_mat33.h
@@ -28,8 +28,6 @@ struct b3RowValue
 {
 	u32 column;
 	b3Mat33 value;
-
-	b3RowValue* prev;
 	b3RowValue* next;
 };
 
@@ -46,40 +44,15 @@ struct b3RowValueList
 
 	void PushFront(b3RowValue* link)
 	{
-		link->prev = NULL;
 		link->next = head;
-		if (head)
-		{
-			head->prev = link;
-		}
 		head = link;
 		++count;
 	}
 
-	void PushAfter(b3RowValue* prev, b3RowValue* link)
-	{
-		link->prev = prev;
-
-		if (prev->next == NULL)
-		{
-			link->next = NULL;
-		}
-		else
-		{
-			link->next = prev->next;
-			prev->next->prev = link;
-		}
-
-		prev->next = link;
-
-		++count;
-	}
-
 	b3RowValue* head;
 	u32 count;
 };
 
-
 // A sparse symmetric matrix.
 // Each row is a list of non-zero elements in the row.
 // The total matrix capacity is bounded by 
@@ -225,24 +198,15 @@ inline const b3Mat33& b3SparseSymMat33::operator()(u32 i, u32 j) const
 	B3_ASSERT(i < rowCount);
 	B3_ASSERT(j < rowCount);
 
-	// Ensure i, and j is on the upper triangle 
 	if (i > j)
 	{
 		b3Swap(i, j);
 	}
 
 	b3RowValueList* vs = rows + i;
-
 	for (b3RowValue* v = vs->head; v; v = v->next)
 	{
-		u32 column = v->column;
-		
-		if (column < j)
-		{
-			break;
-		}
-
-		if (column == j)
+		if (v->column == j)
 		{
 			return v->value;
 		}
@@ -256,56 +220,27 @@ inline b3Mat33& b3SparseSymMat33::operator()(u32 i, u32 j)
 	B3_ASSERT(i < rowCount);
 	B3_ASSERT(j < rowCount);
 
-	// Ensure i, and j is on the upper triangle 
 	if (i > j)
 	{
 		b3Swap(i, j);
 	}
 
 	b3RowValueList* vs = rows + i;
-
 	for (b3RowValue* v = vs->head; v; v = v->next)
 	{
-		u32 column = v->column;
-
-		if (column < j)
-		{
-			break;
-		}
-
-		if (column == j)
+		if (v->column == j)
 		{
 			return v->value;
 		}
 	}
 
-	b3RowValue* v1 = (b3RowValue*)b3Alloc(sizeof(b3RowValue));
-	v1->column = j;
-	v1->value.SetZero();
+	b3RowValue* v = (b3RowValue*)b3Alloc(sizeof(b3RowValue));
+	v->column = j;
+	v->value.SetZero();
 
-	b3RowValue* v0 = nullptr;
+	vs->PushFront(v);
 
-	for (b3RowValue* v = vs->head; v; v = v->next)
-	{
-		u32 column = v->column;
-
-		if (column > j)
-		{
-			v0 = v;
-			break;
-		}
-	}
-
-	if (v0 == nullptr)
-	{
-		vs->PushFront(v1);
-	}
-	else
-	{
-		vs->PushAfter(v0, v1);
-	}
-
-	return v1->value;
+	return v->value;
 }
 
 inline void b3SparseSymMat33::operator+=(const b3SparseSymMat33& m)
@@ -389,16 +324,14 @@ inline void b3Mul(b3SparseSymMat33& out, float32 s, const b3SparseSymMat33& B)
 		return;
 	}
 
-	for (u32 i = 0; i < B.rowCount; ++i)
+	out = B;
+
+	for (u32 i = 0; i < out.rowCount; ++i)
 	{
-		b3RowValueList* vs = B.rows + i;
-
-		for (b3RowValue* vB = vs->head; vB; vB = vB->next)
+		b3RowValueList* vs = out.rows + i;
+		for (b3RowValue* v = vs->head; v; v = v->next)
 		{
-			u32 j = vB->column;
-			b3Mat33 b = vB->value;
-
-			out(i, j) = s * b;
+			v->value = s * v->value;
 		}
 	}
 }
diff --git a/include/bounce/cloth/sparse_sym_mat33_view.h b/include/bounce/cloth/sparse_sym_mat33_view.h
index 848242b..48a3858 100644
--- a/include/bounce/cloth/sparse_sym_mat33_view.h
+++ b/include/bounce/cloth/sparse_sym_mat33_view.h
@@ -99,15 +99,7 @@ inline const b3Mat33& b3SparseSymMat33View::operator()(u32 i, u32 j) const
 	for (u32 c = 0; c < vs->count; ++c)
 	{
 		b3ArrayRowValue* rv = vs->values + c;
-
-		u32 column = rv->column;
-
-		if (column < j)
-		{
-			break;
-		}
-
-		if (column == j)
+		if (rv->column == j)
 		{
 			return rv->value;
 		}

From 3e5ff2257a9c36d20c162fadb11b7ffb58faf0c1 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 10 May 2019 10:51:50 -0300
Subject: [PATCH 092/198] Add element write operator

---
 include/bounce/common/math/mat33.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/include/bounce/common/math/mat33.h b/include/bounce/common/math/mat33.h
index 598210c..897fdce 100644
--- a/include/bounce/common/math/mat33.h
+++ b/include/bounce/common/math/mat33.h
@@ -48,6 +48,12 @@ struct b3Mat33
 		return (&x.x)[i + 3 * j];
 	}
 
+	// Write an indexed element from this matrix.
+	float32& operator()(u32 i, u32 j) 
+	{
+		return (&x.x)[i + 3 * j];
+	}
+	
 	// Add a matrix to this matrix.
 	void operator+=(const b3Mat33& B)
 	{

From 31cac5aacd4b46a49f2d0a404695b5fe0a1da620 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 13 May 2019 16:23:05 -0300
Subject: [PATCH 093/198] Write once ray cast on triangle function

---
 include/bounce/collision/collision.h      |  4 +
 src/bounce/cloth/cloth.cpp                | 84 +--------------------
 src/bounce/collision/collision.cpp        | 90 ++++++++++++++++++++++-
 src/bounce/dynamics/shapes/mesh_shape.cpp | 71 +++---------------
 4 files changed, 105 insertions(+), 144 deletions(-)

diff --git a/include/bounce/collision/collision.h b/include/bounce/collision/collision.h
index 9eda6de..4201dc3 100644
--- a/include/bounce/collision/collision.h
+++ b/include/bounce/collision/collision.h
@@ -37,4 +37,8 @@ struct b3RayCastOutput
 	b3Vec3 normal; // surface normal of intersection
 };
 
+// Perform a ray-cast on a triangle.
+bool b3RayCast(b3RayCastOutput* output, const b3RayCastInput* input,
+	const b3Vec3& v1, const b3Vec3& v2, const b3Vec3& v3);
+
 #endif
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 2866748..90cd13b 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -396,92 +396,19 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
 	b3Vec3 v2 = m_vertexParticles[triangle->v2]->m_position;
 	b3Vec3 v3 = m_vertexParticles[triangle->v3]->m_position;
 
-	b3Vec3 p1 = input->p1;
-	b3Vec3 p2 = input->p2;
-	float32 maxFraction = input->maxFraction;
-	b3Vec3 d = p2 - p1;
-	B3_ASSERT(b3LengthSquared(d) > B3_EPSILON * B3_EPSILON);
-
-	b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
-	float32 len = b3Length(n);
-	if (len <= B3_EPSILON)
-	{
-		return false;
-	}
-
-	n /= len;
-
-	float32 numerator = b3Dot(n, v1 - p1);
-	float32 denominator = b3Dot(n, d);
-
-	if (denominator == 0.0f)
-	{
-		return false;
-	}
-
-	float32 fraction = numerator / denominator;
-
-	// Is the intersection not on the segment?
-	if (fraction < 0.0f || maxFraction < fraction)
-	{
-		return false;
-	}
-
-	b3Vec3 Q = p1 + fraction * d;
-
-	b3Vec3 A = v1;
-	b3Vec3 B = v2;
-	b3Vec3 C = v3;
-
-	b3Vec3 AB = B - A;
-	b3Vec3 AC = C - A;
-
-	b3Vec3 QA = A - Q;
-	b3Vec3 QB = B - Q;
-	b3Vec3 QC = C - Q;
-
-	b3Vec3 QB_x_QC = b3Cross(QB, QC);
-	b3Vec3 QC_x_QA = b3Cross(QC, QA);
-	b3Vec3 QA_x_QB = b3Cross(QA, QB);
-
-	b3Vec3 AB_x_AC = b3Cross(AB, AC);
-
-	// Barycentric coordinates for Q
-	float32 u = b3Dot(QB_x_QC, AB_x_AC);
-	float32 v = b3Dot(QC_x_QA, AB_x_AC);
-	float32 w = b3Dot(QA_x_QB, AB_x_AC);
-
-	// Is the intersection on the triangle?
-	if (u >= 0.0f && v >= 0.0f && w >= 0.0f)
-	{
-		output->fraction = fraction;
-
-		// Does the ray start from below or above the triangle?
-		if (numerator > 0.0f)
-		{
-			output->normal = -n;
-		}
-		else
-		{
-			output->normal = n;
-		}
-
-		return true;
-	}
-
-	return false;
+	return b3RayCast(output, input, v1, v2, v3);
 }
 
 void b3Cloth::UpdateBodyContacts()
 {
+	B3_PROFILE("Cloth Update Body Contacts");
+
 	// Is there a world attached to this cloth?
 	if (m_world == nullptr)
 	{
 		return;
 	}
 
-	B3_PROFILE("Cloth Update Body Contacts");
-	
 	// Create contacts 
 	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
 	{
@@ -690,11 +617,6 @@ void b3Cloth::UpdateContacts()
 {
 	// Update body contacts
 	UpdateBodyContacts();
-
-#if 0
-	// Update particle contacts
-	UpdateParticleContacts();
-#endif
 }
 
 void b3Cloth::Step(float32 dt)
diff --git a/src/bounce/collision/collision.cpp b/src/bounce/collision/collision.cpp
index 30fbc81..9246b4f 100644
--- a/src/bounce/collision/collision.cpp
+++ b/src/bounce/collision/collision.cpp
@@ -16,6 +16,8 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
+#include <bounce/collision/collision.h>
+
 #include <bounce/collision/shapes/sphere.h>
 #include <bounce/collision/shapes/capsule.h>
 #include <bounce/collision/shapes/box_hull.h>
@@ -24,4 +26,90 @@ const b3Sphere b3Sphere_identity(b3Vec3_zero, 1.0f);
 
 const b3Capsule b3Capsule_identity(b3Vec3(0.0f, -0.5f, 0.0f), b3Vec3(0.0f, 0.5f, 0.0f), 1.0f);
 
-const b3BoxHull b3BoxHull_identity(1.0f, 1.0f, 1.0f);
\ No newline at end of file
+const b3BoxHull b3BoxHull_identity(1.0f, 1.0f, 1.0f);
+
+bool b3RayCast(b3RayCastOutput* output,
+	const b3RayCastInput* input,
+	const b3Vec3& v1, const b3Vec3& v2, const b3Vec3& v3)
+{
+	b3Vec3 p1 = input->p1;
+	b3Vec3 p2 = input->p2;
+	float32 maxFraction = input->maxFraction;
+	
+	b3Vec3 d = p2 - p1;
+	
+	if (b3LengthSquared(d) < B3_EPSILON * B3_EPSILON)
+	{
+		return false;
+	}
+
+	b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
+	float32 len = b3Length(n);
+	
+	if (len == 0.0f)
+	{
+		return false;
+	}
+
+	n /= len;
+
+	float32 num = b3Dot(n, v1 - p1);
+	float32 den = b3Dot(n, d);
+
+	if (den == 0.0f)
+	{
+		return false;
+	}
+
+	float32 fraction = num / den;
+
+	// Is the intersection not on the segment?
+	if (fraction < 0.0f || maxFraction < fraction)
+	{
+		return false;
+	}
+
+	b3Vec3 Q = p1 + fraction * d;
+
+	b3Vec3 A = v1;
+	b3Vec3 B = v2;
+	b3Vec3 C = v3;
+
+	b3Vec3 AB = B - A;
+	b3Vec3 AC = C - A;
+
+	b3Vec3 QA = A - Q;
+	b3Vec3 QB = B - Q;
+	b3Vec3 QC = C - Q;
+
+	b3Vec3 QB_x_QC = b3Cross(QB, QC);
+	b3Vec3 QC_x_QA = b3Cross(QC, QA);
+	b3Vec3 QA_x_QB = b3Cross(QA, QB);
+
+	b3Vec3 AB_x_AC = b3Cross(AB, AC);
+
+	// Barycentric coordinates for Q
+	float32 u = b3Dot(QB_x_QC, AB_x_AC);
+	float32 v = b3Dot(QC_x_QA, AB_x_AC);
+	float32 w = b3Dot(QA_x_QB, AB_x_AC);
+
+	// Is the intersection on the triangle?
+	if (u >= 0.0f && v >= 0.0f && w >= 0.0f)
+	{
+		output->fraction = fraction;
+
+		// Does the ray start from below or above the triangle?
+		if (num > 0.0f)
+		{
+			output->normal = -n;
+		}
+		else
+		{
+			output->normal = n;
+		}
+
+		return true;
+	}
+
+	return false;
+}
diff --git a/src/bounce/dynamics/shapes/mesh_shape.cpp b/src/bounce/dynamics/shapes/mesh_shape.cpp
index 4331b1d..99af62f 100644
--- a/src/bounce/dynamics/shapes/mesh_shape.cpp
+++ b/src/bounce/dynamics/shapes/mesh_shape.cpp
@@ -112,6 +112,7 @@ bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input,
 {
 	B3_ASSERT(index < m_mesh->triangleCount);
 	b3Triangle* triangle = m_mesh->triangles + index;
+	
 	b3Vec3 v1 = m_mesh->vertices[triangle->v1];
 	b3Vec3 v2 = m_mesh->vertices[triangle->v2];
 	b3Vec3 v3 = m_mesh->vertices[triangle->v3];
@@ -119,71 +120,17 @@ bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input,
 	// Put the ray into the mesh's frame of reference.
 	b3Vec3 p1 = b3MulT(xf, input.p1);
 	b3Vec3 p2 = b3MulT(xf, input.p2);
-	b3Vec3 d = p2 - p1;
-
-	b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
-	n.Normalize();
 	
-	float32 numerator = b3Dot(n, v1 - p1);
-	float32 denominator = b3Dot(n, d);
+	b3RayCastInput subInput;
+	subInput.p1 = p1;
+	subInput.p2 = p2;
+	subInput.maxFraction = input.maxFraction;
 
-	if (denominator == 0.0f)
+	b3RayCastOutput subOutput;
+	if (b3RayCast(&subOutput, &subInput, v1, v2, v3))
 	{
-		return false;
-	}
-
-	float32 t = numerator / denominator;
-		
-	// Is the intersection not on the segment?
-	if (t < 0.0f || input.maxFraction < t)
-	{
-		return false;
-	}
-
-	b3Vec3 q = p1 + t * d;
-
-	// Barycentric coordinates for q
-	b3Vec3 Q = q;
-	b3Vec3 A = v1;
-	b3Vec3 B = v2;
-	b3Vec3 C = v3;
-
-	b3Vec3 AB = B - A;
-	b3Vec3 AC = C - A;
-	
-	b3Vec3 QA = A - Q;
-	b3Vec3 QB = B - Q;
-	b3Vec3 QC = C - Q;
-
-	b3Vec3 QB_x_QC = b3Cross(QB, QC);
-	b3Vec3 QC_x_QA = b3Cross(QC, QA);
-	b3Vec3 QA_x_QB = b3Cross(QA, QB);
-
-	b3Vec3 AB_x_AC = b3Cross(AB, AC);
-
-	float32 u = b3Dot(QB_x_QC, AB_x_AC);
-	float32 v = b3Dot(QC_x_QA, AB_x_AC);
-	float32 w = b3Dot(QA_x_QB, AB_x_AC);
-
-	// This tolerance helps intersections lying on  
-	// shared edges to not be missed.
-	const float32 kTol = -0.005f;
-
-	// Is the intersection on the triangle?
-	if (u > kTol && v > kTol && w > kTol)
-	{
-		output->fraction = t;
-		
-		// Does the ray start from below or above the triangle?
-		if (numerator > 0.0f)
-		{
-			output->normal = -b3Mul(xf.rotation, n);
-		}
-		else
-		{
-			output->normal = b3Mul(xf.rotation, n);
-		}
-		
+		output->fraction = subOutput.fraction;
+		output->normal = xf.rotation * subOutput.normal;
 		return true;
 	}
 

From 6f50645601a82b6301feef34acd62014fc0d01fe Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 13 May 2019 16:23:46 -0300
Subject: [PATCH 094/198] Use a local grid mesh

---
 examples/testbed/tests/mesh_contact_test.h | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/examples/testbed/tests/mesh_contact_test.h b/examples/testbed/tests/mesh_contact_test.h
index 6589eb4..e68dd41 100644
--- a/examples/testbed/tests/mesh_contact_test.h
+++ b/examples/testbed/tests/mesh_contact_test.h
@@ -24,6 +24,8 @@ class MeshContactTest : public Test
 public:
 	MeshContactTest()
 	{
+		m_gridMesh.BuildTree();
+
 		// Transform grid into a terrain
 		for (u32 i = 0; i < m_terrainMesh.vertexCount; ++i)
 		{
@@ -37,7 +39,7 @@ public:
 			m_ground = m_world.CreateBody(bd);
 
 			b3MeshShape ms;
-			ms.m_mesh = &m_groundMesh;
+			ms.m_mesh = &m_gridMesh;
 
 			b3ShapeDef sd;
 			sd.shape = &ms;
@@ -138,7 +140,7 @@ public:
 			if (key == GLFW_KEY_G)
 			{
 				b3MeshShape ms;
-				ms.m_mesh = &m_groundMesh;
+				ms.m_mesh = &m_gridMesh;
 
 				b3ShapeDef sd;
 				sd.shape = &ms;
@@ -176,7 +178,8 @@ public:
 	}
 
 	b3GridMesh<25, 25> m_terrainMesh;
-	
+	b3GridMesh<25, 25> m_gridMesh;
+
 	b3Body* m_ground;
 	b3Body* m_body;
 };

From f1c4cf46797855d0d20d2f957dba274ccf48af0b Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 13 May 2019 16:24:09 -0300
Subject: [PATCH 095/198] Destroy contact if type changed

---
 src/bounce/cloth/particle.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index 1b3fa6f..aa0bc67 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -75,4 +75,6 @@ void b3Particle::SetType(b3ParticleType type)
 		m_velocity.SetZero();
 		m_translation.SetZero();
 	}
+
+	m_bodyContact.active = false;
 }
\ No newline at end of file

From 637199b5fdc48b2e6ee233bb72d7e087f1ff06e4 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 13 May 2019 19:03:23 -0300
Subject: [PATCH 096/198] New feature: soft bodies!

---
 .../testbed/framework/softbody_dragger.cpp    | 128 +++
 examples/testbed/framework/softbody_dragger.h |  61 ++
 examples/testbed/framework/test_entries.cpp   |   6 +-
 examples/testbed/tests/pinned_softbody.h      | 135 +++
 examples/testbed/tests/smash_softbody.h       | 172 +++
 examples/testbed/tests/soft_body.h            | 293 ------
 examples/testbed/tests/softbody.h             | 155 +++
 include/bounce/bounce.h                       |   4 +
 include/bounce/common/geometry.h              |  26 +
 include/bounce/dynamics/body.h                |  11 +-
 include/bounce/softbody/softbody.h            | 193 ++++
 .../bounce/softbody/softbody_contact_solver.h | 129 +++
 include/bounce/softbody/softbody_mesh.h       |  45 +
 include/bounce/softbody/softbody_node.h       | 259 +++++
 include/bounce/softbody/softbody_solver.h     |  56 +
 include/bounce/softbody/sparse_mat33.h        | 322 ++++++
 premake5.lua                                  |   4 +-
 src/bounce/softbody/softbody.cpp              | 992 ++++++++++++++++++
 .../softbody/softbody_contact_solver.cpp      | 429 ++++++++
 src/bounce/softbody/softbody_mesh.cpp         |  69 ++
 src/bounce/softbody/softbody_solver.cpp       | 397 +++++++
 21 files changed, 3588 insertions(+), 298 deletions(-)
 create mode 100644 examples/testbed/framework/softbody_dragger.cpp
 create mode 100644 examples/testbed/framework/softbody_dragger.h
 create mode 100644 examples/testbed/tests/pinned_softbody.h
 create mode 100644 examples/testbed/tests/smash_softbody.h
 delete mode 100644 examples/testbed/tests/soft_body.h
 create mode 100644 examples/testbed/tests/softbody.h
 create mode 100644 include/bounce/softbody/softbody.h
 create mode 100644 include/bounce/softbody/softbody_contact_solver.h
 create mode 100644 include/bounce/softbody/softbody_mesh.h
 create mode 100644 include/bounce/softbody/softbody_node.h
 create mode 100644 include/bounce/softbody/softbody_solver.h
 create mode 100644 include/bounce/softbody/sparse_mat33.h
 create mode 100644 src/bounce/softbody/softbody.cpp
 create mode 100644 src/bounce/softbody/softbody_contact_solver.cpp
 create mode 100644 src/bounce/softbody/softbody_mesh.cpp
 create mode 100644 src/bounce/softbody/softbody_solver.cpp

diff --git a/examples/testbed/framework/softbody_dragger.cpp b/examples/testbed/framework/softbody_dragger.cpp
new file mode 100644
index 0000000..1667c2e
--- /dev/null
+++ b/examples/testbed/framework/softbody_dragger.cpp
@@ -0,0 +1,128 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <testbed/framework/softbody_dragger.h>
+
+b3SoftBodyDragger::b3SoftBodyDragger(b3Ray3* ray, b3SoftBody* body)
+{
+	m_ray = ray;
+	m_body = body;
+	m_tetrahedron = nullptr;
+}
+
+b3SoftBodyDragger::~b3SoftBodyDragger()
+{
+
+}
+
+bool b3SoftBodyDragger::StartDragging()
+{
+	B3_ASSERT(IsDragging() == false);
+
+	b3SoftBodyRayCastSingleOutput rayOut;
+	if (m_body->RayCastSingle(&rayOut, m_ray->A(), m_ray->B()) == false)
+	{
+		return false;
+	}
+
+	m_mesh = m_body->GetMesh();
+	m_tetrahedron = m_mesh->tetrahedrons + rayOut.tetrahedron;
+	m_v1 = m_tetrahedron->v1;
+	m_v2 = m_tetrahedron->v2;
+	m_v3 = m_tetrahedron->v3;
+	m_v4 = m_tetrahedron->v4;
+	m_x = rayOut.fraction;
+
+	b3SoftBodyNode* n1 = m_body->GetVertexNode(m_v1);
+	b3SoftBodyNode* n2 = m_body->GetVertexNode(m_v2);
+	b3SoftBodyNode* n3 = m_body->GetVertexNode(m_v3);
+	b3SoftBodyNode* n4 = m_body->GetVertexNode(m_v4);
+
+	b3Vec3 v1 = n1->GetPosition();
+	b3Vec3 v2 = n2->GetPosition();
+	b3Vec3 v3 = n3->GetPosition();
+	b3Vec3 v4 = n4->GetPosition();
+
+	b3Vec3 B = GetPointB();
+
+	float32 wABCD[5];
+	b3BarycentricCoordinates(wABCD, v1, v2, v3, v4, B);
+
+	if (wABCD[4] > B3_EPSILON)
+	{
+		m_tu = wABCD[0] / wABCD[4];
+		m_tv = wABCD[1] / wABCD[4];
+		m_tw = wABCD[2] / wABCD[4];
+		m_tx = wABCD[3] / wABCD[4];
+	}
+	else
+	{
+		m_tu = m_tv = m_tw = m_tx = 0.0f;
+	}
+
+	return true;
+}
+
+void b3SoftBodyDragger::Drag()
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = GetPointA();
+	b3Vec3 B = GetPointB();
+
+	b3Vec3 dx = B - A;
+
+	const float32 k = 100.0f;
+
+	b3Vec3 f = k * dx;
+
+	b3Vec3 f1 = m_tu * f;
+	b3Vec3 f2 = m_tv * f;
+	b3Vec3 f3 = m_tw * f;
+	b3Vec3 f4 = m_tx * f;
+
+	m_body->GetVertexNode(m_v1)->ApplyForce(f1);
+	m_body->GetVertexNode(m_v2)->ApplyForce(f2);
+	m_body->GetVertexNode(m_v3)->ApplyForce(f3);
+	m_body->GetVertexNode(m_v4)->ApplyForce(f4);
+}
+
+void b3SoftBodyDragger::StopDragging()
+{
+	B3_ASSERT(IsDragging() == true);
+	
+	m_tetrahedron = nullptr;
+}
+
+b3Vec3 b3SoftBodyDragger::GetPointA() const
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = m_body->GetVertexNode(m_v1)->GetPosition();
+	b3Vec3 B = m_body->GetVertexNode(m_v2)->GetPosition();
+	b3Vec3 C = m_body->GetVertexNode(m_v3)->GetPosition();
+	b3Vec3 D = m_body->GetVertexNode(m_v4)->GetPosition();
+
+	return m_tu * A + m_tv * B + m_tw * C + m_tx * D;
+}
+
+b3Vec3 b3SoftBodyDragger::GetPointB() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
+}
\ No newline at end of file
diff --git a/examples/testbed/framework/softbody_dragger.h b/examples/testbed/framework/softbody_dragger.h
new file mode 100644
index 0000000..e8a6a92
--- /dev/null
+++ b/examples/testbed/framework/softbody_dragger.h
@@ -0,0 +1,61 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFTBODY_DRAGGER_H
+#define B3_SOFTBODY_DRAGGER_H
+
+#include <bounce/common/geometry.h>
+#include <bounce/softbody/softbody.h>
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/softbody_node.h>
+
+// A soft body triangle dragger.
+class b3SoftBodyDragger
+{
+public:
+	b3SoftBodyDragger(b3Ray3* ray, b3SoftBody* body);
+	~b3SoftBodyDragger();
+
+	bool IsDragging() const;
+
+	bool StartDragging();
+
+	void Drag();
+
+	void StopDragging();
+
+	b3Vec3 GetPointA() const;
+
+	b3Vec3 GetPointB() const;
+private:
+	b3Ray3* m_ray;
+	float32 m_x;
+
+	b3SoftBody* m_body;
+	const b3SoftBodyMesh* m_mesh;
+	const b3SoftBodyMeshTetrahedron* m_tetrahedron;
+	u32 m_v1, m_v2, m_v3, m_v4;
+	float32 m_tu, m_tv, m_tw, m_tx;
+};
+
+inline bool b3SoftBodyDragger::IsDragging() const
+{
+	return m_tetrahedron != nullptr;
+}
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index d0aaca9..5f4d116 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -65,8 +65,10 @@
 #include <testbed/tests/particle_types.h>
 #include <testbed/tests/tension_mapping.h>
 #include <testbed/tests/self_collision.h>
-#include <testbed/tests/soft_body.h>
 #include <testbed/tests/rope_test.h>
+#include <testbed/tests/softbody.h>
+#include <testbed/tests/pinned_softbody.h>
+#include <testbed/tests/smash_softbody.h>
 
 TestEntry g_tests[] =
 {
@@ -118,6 +120,8 @@ TestEntry g_tests[] =
 	{ "Tension Mapping", &TensionMapping::Create },
 	{ "Self-Collision", &SelfCollision::Create },
 	{ "Soft Body", &SoftBody::Create },
+	{ "Pinned Soft Body", &PinnedSoftBody::Create },
+	{ "Smash Soft Body", &SmashSoftBody::Create },
 	{ "Rope", &Rope::Create },
 	{ NULL, NULL }
 };
diff --git a/examples/testbed/tests/pinned_softbody.h b/examples/testbed/tests/pinned_softbody.h
new file mode 100644
index 0000000..023b490
--- /dev/null
+++ b/examples/testbed/tests/pinned_softbody.h
@@ -0,0 +1,135 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef PINNED_SOFTBODY_H
+#define PINNED_SOFTBODY_H
+
+#include <testbed/framework/softbody_dragger.h>
+
+class PinnedSoftBody : public Test
+{
+public:
+	PinnedSoftBody()
+	{
+		m_mesh.SetAsSphere(5.0f, 0);
+
+		// Create soft body
+		b3SoftBodyDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.E = 100.0f;
+		def.nu = 0.33f;
+
+		m_body = new b3SoftBody(def);
+
+		u32 pinIndex = ~0;
+		float32 pinDot = -B3_MAX_FLOAT;
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			float32 dot = b3Dot(m_mesh.vertices[i], b3Vec3_y);
+			if (dot > pinDot)
+			{
+				pinDot = dot;
+				pinIndex = i;
+			}
+		}
+
+		b3SoftBodyNode* pinNode = m_body->GetVertexNode(pinIndex);
+		pinNode->SetType(e_staticSoftBodyNode);
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		m_body->SetGravity(gravity);
+
+		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
+	}
+
+	~PinnedSoftBody()
+	{
+		delete m_bodyDragger;
+		delete m_body;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			m_bodyDragger->Drag();
+		}
+
+		m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_body->Draw();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			b3Vec3 pA = m_bodyDragger->GetPointA();
+			b3Vec3 pB = m_bodyDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_softBodySolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
+
+		float32 E = m_body->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_bodyDragger->IsDragging() == false)
+		{
+			m_bodyDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_bodyDragger->IsDragging() == true)
+		{
+			m_bodyDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new PinnedSoftBody();
+	}
+
+	b3QSoftBodyMesh m_mesh;
+
+	b3SoftBody* m_body;
+	b3SoftBodyDragger* m_bodyDragger;
+};
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/smash_softbody.h b/examples/testbed/tests/smash_softbody.h
new file mode 100644
index 0000000..1b54d7c
--- /dev/null
+++ b/examples/testbed/tests/smash_softbody.h
@@ -0,0 +1,172 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SMASH_SOFTBODY_H
+#define SMASH_SOFTBODY_H
+
+#include <testbed/framework/softbody_dragger.h>
+
+class SmashSoftBody : public Test
+{
+public:
+	SmashSoftBody()
+	{
+		m_mesh.SetAsSphere(2.0f, 1);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			m_mesh.vertices[i].y += 3.0f;
+		}
+
+		// Create soft body
+		b3SoftBodyDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.E = 100.0f;
+		def.nu = 0.33f;
+
+		m_body = new b3SoftBody(def);
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		m_body->SetGravity(gravity);
+		m_body->SetWorld(&m_world);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+
+			n->SetRadius(0.05f);
+			n->SetFriction(0.2f);
+		}
+
+		// Create ground
+		{
+			b3BodyDef bd;
+			bd.type = e_staticBody;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			b3HullShape groundShape;
+			groundShape.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &groundShape;
+			sd.friction = 0.3f;
+
+			b->CreateShape(sd);
+		}
+
+		// Create body
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.y = 10.0f;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			static b3BoxHull boxHull(5.0f, 1.0f, 5.0f);
+
+			b3HullShape boxShape;
+			boxShape.m_hull = &boxHull;
+
+			b3ShapeDef sd;
+			sd.shape = &boxShape;
+			sd.density = 0.1f;
+			sd.friction = 0.3f;
+
+			b->CreateShape(sd);
+		}
+		
+		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
+	}
+
+	~SmashSoftBody()
+	{
+		delete m_bodyDragger;
+		delete m_body;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			m_bodyDragger->Drag();
+		}
+
+		m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_body->Draw();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			b3Vec3 pA = m_bodyDragger->GetPointA();
+			b3Vec3 pB = m_bodyDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_softBodySolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
+
+		float32 E = m_body->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_bodyDragger->IsDragging() == false)
+		{
+			m_bodyDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_bodyDragger->IsDragging() == true)
+		{
+			m_bodyDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new SmashSoftBody();
+	}
+
+	b3QSoftBodyMesh m_mesh;
+
+	b3SoftBody* m_body;
+	b3SoftBodyDragger* m_bodyDragger;
+};
+
+#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/soft_body.h b/examples/testbed/tests/soft_body.h
deleted file mode 100644
index aae10ce..0000000
--- a/examples/testbed/tests/soft_body.h
+++ /dev/null
@@ -1,293 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SOFT_BODY_H
-#define SOFT_BODY_H
-
-#include <bounce/meshgen/sphere_mesh.h>
-
-struct b3QClothMesh : public b3ClothMesh
-{
-	b3StackArray<b3Vec3, 256> clothVertices;
-	b3StackArray<b3ClothMeshTriangle, 256> clothTriangles;
-	b3ClothMeshMesh clothMesh;
-
-	b3QClothMesh()
-	{
-		vertices = nullptr;
-		vertexCount = 0;
-		triangles = nullptr;
-		triangleCount = 0;
-		meshCount = 0;
-		meshes = nullptr;
-		sewingLineCount = 0;
-		sewingLines = nullptr;
-	}
-
-	void SetAsSphere(float32 radius = 1.0f)
-	{
-		smMesh mesh;
-		smCreateMesh(mesh, 2);
-
-		clothVertices.Resize(mesh.vertexCount);
-		for (u32 i = 0; i < mesh.vertexCount; ++i)
-		{
-			clothVertices[i] = radius * mesh.vertices[i];
-		}
-
-		clothTriangles.Resize(mesh.indexCount / 3);
-		for (u32 i = 0; i < mesh.indexCount / 3; ++i)
-		{
-			clothTriangles[i].v1 = mesh.indices[3 * i + 0];
-			clothTriangles[i].v2 = mesh.indices[3 * i + 1];
-			clothTriangles[i].v3 = mesh.indices[3 * i + 2];
-		}
-
-		clothMesh.startTriangle = 0;
-		clothMesh.triangleCount = clothTriangles.Count();
-		clothMesh.startVertex = 0;
-		clothMesh.vertexCount = clothVertices.Count();
-
-		vertices = clothVertices.Begin();
-		vertexCount = clothVertices.Count();
-		triangles = clothTriangles.Begin();
-		triangleCount = clothTriangles.Count();
-		meshCount = 1;
-		meshes = &clothMesh;
-	}
-};
-
-class SoftBody : public Test
-{
-public:
-	SoftBody()
-	{
-		m_mesh.SetAsSphere(2.0f);
-
-		// Translate the cloth mesh upwards
-		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
-		{
-			m_mesh.vertices[i].y += 10.0f;
-		}
-
-		// Create cloth
-		b3ClothDef def;
-		def.mesh = &m_mesh;
-		def.density = 0.2f;
-		def.structural = 10000.0f;
-		def.bending = 0.0f;
-		def.damping = 0.0f;
-
-		m_cloth = new b3Cloth(def);
-
-		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
-		{
-			p->SetRadius(0.05f);
-			p->SetFriction(0.5f);
-		}
-
-		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
-		
-		m_cloth->SetGravity(gravity);
-
-		// Attach a world to the cloth
-		m_cloth->SetWorld(&m_world);
-
-		// Create static shapes
-		{
-			b3BodyDef bd;
-			bd.type = e_staticBody;
-
-			b3Body* b = m_world.CreateBody(bd);
-
-			static b3BoxHull boxHull(10.0f, 1.0f, 10.0f);
-
-			b3HullShape boxShape;
-			boxShape.m_hull = &boxHull;
-
-			b3ShapeDef sd;
-			sd.shape = &boxShape;
-			sd.friction = 0.5f;
-
-			b->CreateShape(sd);
-		}
-
-		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
-	}
-
-	~SoftBody()
-	{
-		delete m_clothDragger;
-		delete m_cloth;
-	}
-
-	// Compute the volume of soft body
-	float32 ComputeVolume() const
-	{
-		const b3ClothMesh* mesh = m_cloth->GetMesh();
-		
-		b3StackArray<b3Vec3, 256> positions;
-		positions.Resize(mesh->vertexCount);
-		
-		for (u32 i = 0; i < mesh->vertexCount; ++i)
-		{
-			b3Particle* p = m_cloth->GetVertexParticle(i);
-			positions[i] = p->GetPosition();
-		}
-
-		b3AABB3 aabb;
-		aabb.Compute(positions.Begin(), positions.Count());
-
-		return aabb.Volume();
-	}
-
-	// Apply pressure forces
-	// Explanation available in the paper 
-	// "Pressure Model of Soft Body Simulation"
-	void ApplyPressureForces()
-	{
-		const b3ClothMesh* mesh = m_cloth->GetMesh();
-
-		// Volume in m^3
-		float32 V = ComputeVolume();
-		
-		// Inverse volume
-		float32 invV = V > 0.0f ? 1.0f / V : 0.0f;
-
-		// Apply pressure forces on particles
-		for (u32 i = 0; i < m_mesh.triangleCount; ++i)
-		{
-			u32 i1 = m_mesh.triangles[i].v1;
-			u32 i2 = m_mesh.triangles[i].v2;
-			u32 i3 = m_mesh.triangles[i].v3;
-
-			b3Particle* p1 = m_cloth->GetVertexParticle(i1);
-			b3Particle* p2 = m_cloth->GetVertexParticle(i2);
-			b3Particle* p3 = m_cloth->GetVertexParticle(i3);
-
-			b3Vec3 v1 = p1->GetPosition();
-			b3Vec3 v2 = p2->GetPosition();
-			b3Vec3 v3 = p3->GetPosition();
-
-			b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
-			
-			// Triangle area
-			float32 A = n.Normalize();
-			A *= 0.5f;
-
-			// Ideal Gas Approximation
-
-			// Number of gas moles
-			const float32 k_n = 1.0f;
-			
-			// Ideal Gas Constant [J / K mol]
-			const float32 k_R = 8.31f;
-			
-			// Gas temperature in Kelvin
-			const float32 k_T = 100.0f;
-
-			// Pressure in Pascals
-			float32 P = invV * k_n * k_R * k_T;
-
-			// Pressure vector
-			b3Vec3 Pn = P * n;
-
-			// Pressure force
-			b3Vec3 FP = Pn * A;
-
-			const float32 inv3 = 1.0f / 3.0f;
-
-			b3Vec3 f = inv3 * FP;
-
-			// Distribute
-			p1->ApplyForce(f);
-			p2->ApplyForce(f);
-			p3->ApplyForce(f);
-		}
-	}
-
-	void Step()
-	{
-		Test::Step();
-
-		ApplyPressureForces();
-
-		m_cloth->Step(g_testSettings->inv_hertz);
-
-		m_cloth->Draw();
-
-		if (m_clothDragger->IsDragging())
-		{
-			b3Vec3 pA = m_clothDragger->GetPointA();
-			b3Vec3 pB = m_clothDragger->GetPointB();
-
-			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
-
-			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
-
-			g_draw->DrawSegment(pA, pB, b3Color_white);
-		}
-
-		extern u32 b3_clothSolverIterations;
-		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
-
-		float32 E = m_cloth->GetEnergy();
-		g_draw->DrawString(b3Color_white, "E = %f", E);
-	}
-
-	void MouseMove(const b3Ray3& pw)
-	{
-		Test::MouseMove(pw);
-
-		if (m_clothDragger->IsDragging() == true)
-		{
-			m_clothDragger->Drag();
-		}
-	}
-
-	void MouseLeftDown(const b3Ray3& pw)
-	{
-		Test::MouseLeftDown(pw);
-
-		if (m_clothDragger->IsDragging() == false)
-		{
-			m_clothDragger->StartDragging();
-		}
-	}
-
-	void MouseLeftUp(const b3Ray3& pw)
-	{
-		Test::MouseLeftUp(pw);
-
-		if (m_clothDragger->IsDragging() == true)
-		{
-			m_clothDragger->StopDragging();
-		}
-	}
-
-	static Test* Create()
-	{
-		return new SoftBody();
-	}
-
-	b3QClothMesh m_mesh;
-	b3Cloth* m_cloth;
-	b3ClothDragger* m_clothDragger;
-};
-
-#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/softbody.h b/examples/testbed/tests/softbody.h
new file mode 100644
index 0000000..a7af14a
--- /dev/null
+++ b/examples/testbed/tests/softbody.h
@@ -0,0 +1,155 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SOFTBODY_H
+#define SOFTBODY_H
+
+#include <testbed/framework/softbody_dragger.h>
+
+class SoftBody : public Test
+{
+public:
+	SoftBody()
+	{
+		m_mesh.SetAsSphere(5.0f, 1);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			m_mesh.vertices[i].y += 10.0f;
+		}
+
+		// Create soft body
+		b3SoftBodyDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.E = 100.0f;
+		def.nu = 0.33f;
+
+		m_body = new b3SoftBody(def);
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		m_body->SetGravity(gravity);
+		m_body->SetWorld(&m_world);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+
+			n->SetRadius(0.05f);
+			n->SetFriction(0.2f);
+		}
+
+		// Create ground
+		{
+			b3BodyDef bd;
+			bd.type = e_staticBody;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			m_groundHull.SetAsCylinder(20.0f, 2.0f);
+
+			b3HullShape groundShape;
+			groundShape.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &groundShape;
+			sd.friction = 0.3f;
+
+			b->CreateShape(sd);
+		}
+
+		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
+	}
+
+	~SoftBody()
+	{
+		delete m_bodyDragger;
+		delete m_body;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			m_bodyDragger->Drag();
+		}
+
+		m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_body->Draw();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			b3Vec3 pA = m_bodyDragger->GetPointA();
+			b3Vec3 pB = m_bodyDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_softBodySolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
+
+		float32 E = m_body->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_bodyDragger->IsDragging() == false)
+		{
+			m_bodyDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_bodyDragger->IsDragging() == true)
+		{
+			m_bodyDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new SoftBody();
+	}
+
+	b3QSoftBodyMesh m_mesh;
+	
+	b3SoftBody* m_body;
+	b3SoftBodyDragger* m_bodyDragger;
+	
+	b3QHull m_groundHull;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index b44bacc..393e011 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -72,4 +72,8 @@
 #include <bounce/cloth/garment/garment.h>
 #include <bounce/cloth/garment/garment_mesh.h>
 
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/softbody.h>
+#include <bounce/softbody/softbody_node.h>
+
 #endif
\ No newline at end of file
diff --git a/include/bounce/common/geometry.h b/include/bounce/common/geometry.h
index 212a17f..50adc14 100644
--- a/include/bounce/common/geometry.h
+++ b/include/bounce/common/geometry.h
@@ -144,6 +144,32 @@ inline void b3BarycentricCoordinates(float32 out[4],
 	out[3] = out[0] + out[1] + out[2];
 }
 
+// Convert a point Q from Cartesian coordinates to Barycentric coordinates (u, v, w, x) 
+// with respect to a tetrahedron ABCD.
+// The last output value is the (positive) divisor.
+inline void b3BarycentricCoordinates(float32 out[5],
+	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C, const b3Vec3& D,
+	const b3Vec3& Q)
+{
+	b3Vec3 AB = B - A;
+	b3Vec3 AC = C - A;
+	b3Vec3 AD = D - A;
+
+	b3Vec3 QA = A - Q;
+	b3Vec3 QB = B - Q;
+	b3Vec3 QC = C - Q;
+	b3Vec3 QD = D - Q;
+
+	float32 divisor = b3Det(AB, AC, AD);
+	float32 sign = b3Sign(divisor);
+
+	out[0] = sign * b3Det(QB, QC, QD);
+	out[1] = sign * b3Det(QA, QD, QC);
+	out[2] = sign * b3Det(QA, QB, QD);
+	out[3] = sign * b3Det(QA, QC, QB);
+	out[4] = sign * divisor;
+}
+
 // Project a point onto a segment AB.
 inline b3Vec3 b3ClosestPointOnSegment(const b3Vec3& P, const b3Vec3& A, const b3Vec3& B)
 {
diff --git a/include/bounce/dynamics/body.h b/include/bounce/dynamics/body.h
index 24ba1c8..b945ee8 100644
--- a/include/bounce/dynamics/body.h
+++ b/include/bounce/dynamics/body.h
@@ -293,9 +293,7 @@ private:
 	friend class b3MeshContact;
 	friend class b3ContactManager;
 	friend class b3ContactSolver;
-	friend class b3ClothSolver;
-	friend class b3ClothContactSolver;
-
+	
 	friend class b3Joint;
 	friend class b3JointManager;
 	friend class b3JointSolver;
@@ -308,6 +306,13 @@ private:
 
 	friend class b3List2<b3Body>;
 
+	friend class b3ClothSolver;
+	friend class b3ClothContactSolver;
+
+	friend class b3SoftBody;
+	friend class b3SoftBodySolver;
+	friend class b3SoftBodyContactSolver;
+
 	enum b3BodyFlags 
 	{
 		e_awakeFlag = 0x0001,
diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
new file mode 100644
index 0000000..9ea65e9
--- /dev/null
+++ b/include/bounce/softbody/softbody.h
@@ -0,0 +1,193 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFT_BODY_H
+#define B3_SOFT_BODY_H
+
+#include <bounce/common/math/transform.h>
+#include <bounce/common/memory/stack_allocator.h>
+
+class b3World;
+
+struct b3SoftBodyMesh;
+
+class b3SoftBodyNode;
+
+struct b3RayCastInput;
+struct b3RayCastOutput;
+
+struct b3SoftBodyRayCastSingleOutput
+{
+	u32 tetrahedron;
+	u32 v1, v2, v3;
+	float32 fraction;
+	b3Vec3 normal;
+};
+
+// Soft body tetrahedron element
+struct b3SoftBodyElement
+{
+	float32 invP[16];
+	b3Mat33 K[16];
+	b3Quat q;
+};
+
+// Soft body tetrahedron triangle
+struct b3SoftBodyTriangle
+{
+	u32 v1, v2, v3;
+	u32 tetrahedron;
+};
+
+// Soft body definition
+// This requires defining a soft body mesh which is typically bound to a render mesh
+struct b3SoftBodyDef
+{
+	b3SoftBodyDef()
+	{
+		mesh = nullptr;
+		density = 0.1f;
+		E = 100.0f;
+		nu = 0.3f;
+	}
+
+	// Soft body mesh
+	const b3SoftBodyMesh* mesh;
+
+	// Density in kg/m^3
+	float32 density;
+
+	// Material Young's modulus in [0, inf]
+	// Units are 1e3N/m^2
+	float32 E;
+
+	// Material Poisson ratio in [0, 0.5]
+	// This is a dimensionless value
+	float32 nu;
+};
+
+// A soft body represents a deformable volume as a collection of nodes.
+class b3SoftBody
+{
+public:
+	b3SoftBody(const b3SoftBodyDef& def);
+	~b3SoftBody();
+
+	// Perform a ray cast with the soft body.
+	bool RayCastSingle(b3SoftBodyRayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
+
+	// Set the acceleration of gravity.
+	void SetGravity(const b3Vec3& gravity);
+
+	// Get the acceleration of gravity.
+	b3Vec3 GetGravity() const;
+
+	// Attach a world to this cloth. 
+	// The cloth will be able to respond to collisions with the bodies in the attached world.
+	void SetWorld(b3World* world);
+
+	// Get the world attached to this cloth.
+	const b3World* GetWorld() const;
+	b3World* GetWorld();
+
+	// Return the soft body mesh proxy.
+	const b3SoftBodyMesh* GetMesh() const;
+
+	// Return the node associated with the given vertex.
+	b3SoftBodyNode* GetVertexNode(u32 i);
+
+	// Return the kinetic (or dynamic) energy in this system.
+	float32 GetEnergy() const;
+
+	// Perform a time step. 
+	void Step(float32 dt, u32 velocityIterations, u32 positionIterations);
+
+	// Debug draw the body using the associated mesh.
+	void Draw() const;
+private:
+	// Compute mass of each node.
+	void ComputeMass();
+
+	// Update contacts.
+	void UpdateContacts();
+
+	// Solve
+	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
+
+	// Stack allocator
+	b3StackAllocator m_stackAllocator;
+
+	// Gravity acceleration
+	b3Vec3 m_gravity;
+
+	// Proxy mesh
+	const b3SoftBodyMesh* m_mesh;
+
+	// Soft body density
+	float32 m_density;
+
+	// Material Young's modulus
+	float32 m_E;
+
+	// Material poisson ratio
+	float32 m_nu;
+
+	// Soft body nodes
+	b3SoftBodyNode* m_nodes;
+
+	// Soft body elements
+	b3SoftBodyElement* m_elements;
+
+	// Soft body triangles
+	b3SoftBodyTriangle* m_triangles;
+
+	// Attached world
+	b3World* m_world;
+};
+
+inline void b3SoftBody::SetGravity(const b3Vec3& gravity)
+{
+	m_gravity = gravity;
+}
+
+inline b3Vec3 b3SoftBody::GetGravity() const
+{
+	return m_gravity;
+}
+
+inline void b3SoftBody::SetWorld(b3World* world)
+{
+	m_world = world;
+}
+
+inline const b3World* b3SoftBody::GetWorld() const
+{
+	return m_world;
+}
+
+inline b3World* b3SoftBody::GetWorld()
+{
+	return m_world;
+}
+
+inline const b3SoftBodyMesh* b3SoftBody::GetMesh() const
+{
+	return m_mesh;
+}
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/softbody/softbody_contact_solver.h b/include/bounce/softbody/softbody_contact_solver.h
new file mode 100644
index 0000000..ff8350b
--- /dev/null
+++ b/include/bounce/softbody/softbody_contact_solver.h
@@ -0,0 +1,129 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFT_BODY_CONTACT_SOLVER_H
+#define B3_SOFT_BODY_CONTACT_SOLVER_H
+
+#include <bounce/common/math/mat22.h>
+#include <bounce/common/math/mat33.h>
+
+class b3StackAllocator;
+
+class b3SoftBodyNode;
+class b3Body;
+
+class b3NodeBodyContact;
+
+struct b3DenseVec3;
+
+struct b3SoftBodySolverBodyContactVelocityConstraint
+{
+	u32 indexA;
+	float32 invMassA;
+	b3Mat33 invIA;
+
+	b3Body* bodyB;
+	float32 invMassB;
+	b3Mat33 invIB;
+
+	float32 friction;
+
+	b3Vec3 point;
+	b3Vec3 rA;
+	b3Vec3 rB;
+
+	b3Vec3 normal;
+	float32 normalMass;
+	float32 normalImpulse;
+	float32 velocityBias;
+
+	b3Vec3 tangent1;
+	b3Vec3 tangent2;
+	b3Mat22 tangentMass;
+	b3Vec2 tangentImpulse;
+};
+
+struct b3SoftBodySolverBodyContactPositionConstraint
+{
+	u32 indexA;
+	float32 invMassA;
+	b3Mat33 invIA;
+	float32 radiusA;
+	b3Vec3 localCenterA;
+
+	b3Body* bodyB;
+	float32 invMassB;
+	b3Mat33 invIB;
+	float32 radiusB;
+	b3Vec3 localCenterB;
+
+	b3Vec3 rA;
+	b3Vec3 rB;
+
+	b3Vec3 normalA;
+	b3Vec3 localPointA;
+	b3Vec3 localPointB;
+};
+
+struct b3SoftBodyContactSolverDef
+{
+	b3StackAllocator* allocator;
+
+	b3DenseVec3* positions;
+	b3DenseVec3* velocities;
+
+	u32 bodyContactCapacity;
+};
+
+inline float32 b3MixFriction(float32 u1, float32 u2)
+{
+	return b3Sqrt(u1 * u2);
+}
+
+class b3SoftBodyContactSolver
+{
+public:
+	b3SoftBodyContactSolver(const b3SoftBodyContactSolverDef& def);
+	~b3SoftBodyContactSolver();
+
+	void Add(b3NodeBodyContact* c);
+
+	void InitializeBodyContactConstraints();
+
+	void WarmStart();
+
+	void SolveBodyContactVelocityConstraints();
+
+	void StoreImpulses();
+
+	bool SolveBodyContactPositionConstraints();
+protected:
+	b3StackAllocator* m_allocator;
+
+	b3DenseVec3* m_positions;
+	b3DenseVec3* m_velocities;
+
+	u32 m_bodyContactCapacity;
+	u32 m_bodyContactCount;
+	b3NodeBodyContact** m_bodyContacts;
+	
+	b3SoftBodySolverBodyContactVelocityConstraint* m_bodyVelocityConstraints;
+	b3SoftBodySolverBodyContactPositionConstraint* m_bodyPositionConstraints;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/softbody/softbody_mesh.h b/include/bounce/softbody/softbody_mesh.h
new file mode 100644
index 0000000..e7f392a
--- /dev/null
+++ b/include/bounce/softbody/softbody_mesh.h
@@ -0,0 +1,45 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFT_BODY_MESH_H
+#define B3_SOFT_BODY_MESH_H
+
+#include <bounce/common/math/vec3.h>
+
+struct b3SoftBodyMeshTetrahedron
+{
+	u32 v1, v2, v3, v4;
+};
+
+struct b3SoftBodyMesh
+{
+	u32 vertexCount;
+	b3Vec3* vertices;
+	u32 tetrahedronCount;
+	b3SoftBodyMeshTetrahedron* tetrahedrons;
+};
+
+struct b3QSoftBodyMesh : public b3SoftBodyMesh
+{
+	b3QSoftBodyMesh();
+	~b3QSoftBodyMesh();
+
+	void SetAsSphere(float32 radius, u32 subdivisions);
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/softbody/softbody_node.h b/include/bounce/softbody/softbody_node.h
new file mode 100644
index 0000000..5ddfba1
--- /dev/null
+++ b/include/bounce/softbody/softbody_node.h
@@ -0,0 +1,259 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFT_BODY_NODE_H
+#define B3_SOFT_BODY_NODE_H
+
+#include <bounce/common/math/vec2.h>
+#include <bounce/common/math/vec3.h>
+#include <bounce/common/math/transform.h>
+
+class b3Shape;
+class b3SoftBody;
+class b3SoftBodyNode;
+
+// A contact between a node and a body
+class b3NodeBodyContact
+{
+public:
+	b3NodeBodyContact() { }
+	~b3NodeBodyContact() { }
+
+	b3SoftBodyNode* n1;
+	b3Shape* s2;
+
+	// Contact constraint
+	b3Vec3 normal1;
+	b3Vec3 localPoint1;
+	b3Vec3 localPoint2;
+	float32 normalImpulse;
+
+	// Friction constraint
+	b3Vec3 t1, t2;
+	b3Vec2 tangentImpulse;
+
+	bool active;
+};
+
+struct b3NodeBodyContactWorldPoint
+{
+	void Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
+	{
+		b3Vec3 nA = c->normal1;
+		
+		b3Vec3 cA = xfA * c->localPoint1;
+		b3Vec3 cB = xfB * c->localPoint2;
+
+		b3Vec3 pA = cA + rA * nA;
+		b3Vec3 pB = cB - rB * nA;
+
+		point = 0.5f * (pA + pB);
+		normal = nA;
+		separation = b3Dot(cB - cA, nA) - rA - rB;
+	}
+
+	b3Vec3 point;
+	b3Vec3 normal;
+	float32 separation;
+};
+
+// Static node: Can be moved manually.
+// Dynamic node: Non-zero velocity determined by force, can be moved by the solver.
+enum b3SoftBodyNodeType
+{
+	e_staticSoftBodyNode,
+	e_dynamicSoftBodyNode
+};
+
+// A soft body node.
+class b3SoftBodyNode 
+{
+public:
+	// Set the node type.
+	void SetType(b3SoftBodyNodeType type);
+
+	// Get the node type.
+	b3SoftBodyNodeType GetType() const;
+
+	// Get the vertex index.
+	u32 GetVertex() const;
+
+	// Set the particle position. 
+	// If the particle is dynamic changing the position directly might lead 
+	// to physically incorrect simulation behaviour.
+	void SetPosition(const b3Vec3& position);
+
+	// Get the particle position.
+	const b3Vec3& GetPosition() const;
+
+	// Set the particle velocity.
+	void SetVelocity(const b3Vec3& velocity);
+
+	// Get the particle velocity.
+	const b3Vec3& GetVelocity() const;
+
+	// Get the particle mass.
+	float32 GetMass() const;
+
+	// Set the particle radius.
+	void SetRadius(float32 radius);
+	
+	// Get the particle radius.
+	float32 GetRadius() const;
+
+	// Set the particle coefficient of friction.
+	void SetFriction(float32 friction);
+	
+	// Get the particle coefficient of friction.
+	float32 GetFriction() const;
+	
+	// Apply a force.
+	void ApplyForce(const b3Vec3& force);
+private:
+	friend class b3SoftBody;
+	friend class b3SoftBodySolver;
+	friend class b3SoftBodyContactSolver;
+
+	b3SoftBodyNode() { }
+
+	~b3SoftBodyNode() { }
+
+	// Type
+	b3SoftBodyNodeType m_type;
+
+	// Position
+	b3Vec3 m_position;
+	
+	// Velocity
+	b3Vec3 m_velocity;
+
+	// Applied external force
+	b3Vec3 m_force;
+
+	// Mass
+	float32 m_mass;
+
+	// Inverse mass
+	float32 m_invMass;
+
+	// Radius
+	float32 m_radius;
+
+	// Coefficient of friction
+	float32 m_friction;
+	
+	// User data. 
+	void* m_userData;
+
+	// Soft body mesh vertex index.
+	u32 m_vertex;
+
+	// Node and body contact
+	b3NodeBodyContact m_bodyContact;
+
+	// Soft body
+	b3SoftBody* m_body;
+};
+
+inline void b3SoftBodyNode::SetType(b3SoftBodyNodeType type)
+{
+	if (m_type == type)
+	{
+		return;
+	}
+
+	m_type = type;
+	m_force.SetZero();
+
+	if (type == e_staticSoftBodyNode)
+	{
+		m_velocity.SetZero();
+	}
+
+	m_bodyContact.active = false;
+}
+
+inline b3SoftBodyNodeType b3SoftBodyNode::GetType() const
+{
+	return m_type;
+}
+
+inline u32 b3SoftBodyNode::GetVertex() const
+{
+	return m_vertex;
+}
+
+inline void b3SoftBodyNode::SetPosition(const b3Vec3& position)
+{
+	m_position = position;
+}
+
+inline const b3Vec3& b3SoftBodyNode::GetPosition() const
+{
+	return m_position;
+}
+
+inline void b3SoftBodyNode::SetVelocity(const b3Vec3& velocity)
+{
+	if (m_type == e_staticSoftBodyNode)
+	{
+		return;
+	}
+	m_velocity = velocity;
+}
+
+inline const b3Vec3& b3SoftBodyNode::GetVelocity() const
+{
+	return m_velocity;
+}
+
+inline float32 b3SoftBodyNode::GetMass() const
+{
+	return m_mass;
+}
+
+inline void b3SoftBodyNode::SetRadius(float32 radius)
+{
+	m_radius = radius;
+}
+
+inline float32 b3SoftBodyNode::GetRadius() const
+{
+	return m_radius;
+}
+
+inline void b3SoftBodyNode::SetFriction(float32 friction)
+{
+	m_friction = friction;
+}
+
+inline float32 b3SoftBodyNode::GetFriction() const
+{
+	return m_friction;
+}
+
+inline void b3SoftBodyNode::ApplyForce(const b3Vec3& force)
+{
+	if (m_type != e_dynamicSoftBodyNode)
+	{
+		return;
+	}
+	m_force += force;
+}
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/softbody/softbody_solver.h b/include/bounce/softbody/softbody_solver.h
new file mode 100644
index 0000000..30661da
--- /dev/null
+++ b/include/bounce/softbody/softbody_solver.h
@@ -0,0 +1,56 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFT_BODY_SOLVER_H
+#define B3_SOFT_BODY_SOLVER_H
+
+#include <bounce/common/math/mat22.h>
+#include <bounce/common/math/mat33.h>
+
+class b3StackAllocator;
+
+class b3SoftBodyMesh;
+
+class b3SoftBodyNode;
+struct b3SoftBodyElement;
+
+class b3NodeBodyContact;
+
+struct b3SoftBodySolverDef
+{
+	b3StackAllocator* stack;
+	const b3SoftBodyMesh* mesh;
+	b3SoftBodyNode* nodes;
+	b3SoftBodyElement* elements;
+};
+
+class b3SoftBodySolver
+{
+public:
+	b3SoftBodySolver(const b3SoftBodySolverDef& def);
+	~b3SoftBodySolver();
+
+	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
+private:
+	b3StackAllocator* m_allocator;
+	const b3SoftBodyMesh* m_mesh;
+	b3SoftBodyNode* m_nodes;
+	b3SoftBodyElement* m_elements;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/softbody/sparse_mat33.h b/include/bounce/softbody/sparse_mat33.h
new file mode 100644
index 0000000..a746849
--- /dev/null
+++ b/include/bounce/softbody/sparse_mat33.h
@@ -0,0 +1,322 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SPARSE_MAT_33_H
+#define B3_SPARSE_MAT_33_H
+
+#include <bounce/common/math/mat33.h>
+#include <bounce/cloth/diag_mat33.h>
+#include <bounce/cloth/dense_vec3.h>
+#include <bounce/cloth/sparse_sym_mat33.h>
+
+// A sparse matrix.
+// Each row is a list of non-zero elements in the row.
+struct b3SparseMat33
+{
+	//
+	b3SparseMat33();
+
+	// 
+	b3SparseMat33(u32 m);
+
+	//
+	b3SparseMat33(const b3SparseMat33& _m);
+
+	//
+	~b3SparseMat33();
+
+	//
+	b3SparseMat33& operator=(const b3SparseMat33& _m);
+
+	// 
+	void Copy(const b3SparseMat33& _m);
+
+	//
+	void Destroy();
+
+	// 
+	b3Mat33& operator()(u32 i, u32 j);
+
+	// 
+	const b3Mat33& operator()(u32 i, u32 j) const;
+
+	// 
+	void operator+=(const b3SparseMat33& m);
+
+	// 
+	void operator-=(const b3SparseMat33& m);
+
+	u32 rowCount;
+	b3RowValueList* rows;
+};
+
+inline b3SparseMat33::b3SparseMat33()
+{
+	rowCount = 0;
+	rows = nullptr;
+}
+
+inline b3SparseMat33::b3SparseMat33(u32 m)
+{
+	rowCount = m;
+	rows = (b3RowValueList*)b3Alloc(rowCount * sizeof(b3RowValueList));
+	for (u32 i = 0; i < rowCount; ++i)
+	{
+		new (rows + i)b3RowValueList();
+	}
+}
+
+inline b3SparseMat33::b3SparseMat33(const b3SparseMat33& m)
+{
+	rowCount = m.rowCount;
+	rows = (b3RowValueList*)b3Alloc(rowCount * sizeof(b3RowValueList));
+	for (u32 i = 0; i < rowCount; ++i)
+	{
+		new (rows + i)b3RowValueList();
+	}
+
+	Copy(m);
+}
+
+inline b3SparseMat33::~b3SparseMat33()
+{
+	Destroy();
+}
+
+inline void b3SparseMat33::Destroy()
+{
+	for (u32 i = 0; i < rowCount; ++i)
+	{
+		b3RowValueList* vs = rows + i;
+
+		b3RowValue* v = vs->head;
+		while (v)
+		{
+			b3RowValue* v0 = v->next;
+			b3Free(v);
+			v = v0;
+		}
+
+		vs->~b3RowValueList();
+	}
+
+	b3Free(rows);
+}
+
+inline b3SparseMat33& b3SparseMat33::operator=(const b3SparseMat33& _m)
+{
+	if (_m.rows == rows)
+	{
+		return *this;
+	}
+
+	Destroy();
+
+	rowCount = _m.rowCount;
+	rows = (b3RowValueList*)b3Alloc(rowCount * sizeof(b3RowValueList));
+	for (u32 i = 0; i < rowCount; ++i)
+	{
+		new (rows + i)b3RowValueList();
+	}
+
+	Copy(_m);
+
+	return *this;
+}
+
+inline void b3SparseMat33::Copy(const b3SparseMat33& _m)
+{
+	B3_ASSERT(rowCount == _m.rowCount);
+
+	for (u32 i = 0; i < rowCount; ++i)
+	{
+		b3RowValueList* vs1 = _m.rows + i;
+		b3RowValueList* vs2 = rows + i;
+
+		B3_ASSERT(vs2->count == 0);
+
+		for (b3RowValue* v1 = vs1->head; v1; v1 = v1->next)
+		{
+			b3RowValue* v2 = (b3RowValue*)b3Alloc(sizeof(b3RowValue));
+
+			v2->column = v1->column;
+			v2->value = v1->value;
+
+			vs2->PushFront(v2);
+		}
+	}
+}
+
+inline const b3Mat33& b3SparseMat33::operator()(u32 i, u32 j) const
+{
+	B3_ASSERT(i < rowCount);
+	B3_ASSERT(j < rowCount);
+
+	b3RowValueList* vs = rows + i;
+
+	for (b3RowValue* v = vs->head; v; v = v->next)
+	{
+		if (v->column == j)
+		{
+			return v->value;
+		}
+	}
+
+	return b3Mat33_zero;
+}
+
+inline b3Mat33& b3SparseMat33::operator()(u32 i, u32 j)
+{
+	B3_ASSERT(i < rowCount);
+	B3_ASSERT(j < rowCount);
+
+	b3RowValueList* vs = rows + i;
+
+	for (b3RowValue* v = vs->head; v; v = v->next)
+	{
+		if (v->column == j)
+		{
+			return v->value;
+		}
+	}
+
+	b3RowValue* v = (b3RowValue*)b3Alloc(sizeof(b3RowValue));
+	v->column = j;
+	v->value.SetZero();
+
+	vs->PushFront(v);
+
+	return v->value;
+}
+
+inline void b3SparseMat33::operator+=(const b3SparseMat33& m)
+{
+	B3_ASSERT(rowCount == m.rowCount);
+
+	for (u32 i = 0; i < m.rowCount; ++i)
+	{
+		b3RowValueList* mvs = m.rows + i;
+
+		for (b3RowValue* v = mvs->head; v; v = v->next)
+		{
+			u32 j = v->column;
+
+			(*this)(i, j) += v->value;
+		}
+	}
+}
+
+inline void b3SparseMat33::operator-=(const b3SparseMat33& m)
+{
+	B3_ASSERT(rowCount == m.rowCount);
+
+	for (u32 i = 0; i < m.rowCount; ++i)
+	{
+		b3RowValueList* mvs = m.rows + i;
+
+		for (b3RowValue* v = mvs->head; v; v = v->next)
+		{
+			u32 j = v->column;
+
+			(*this)(i, j) -= v->value;
+		}
+	}
+}
+
+inline void b3Add(b3SparseMat33& out, const b3SparseMat33& a, const b3SparseMat33& b)
+{
+	out = a;
+	out += b;
+}
+
+inline void b3Sub(b3SparseMat33& out, const b3SparseMat33& a, const b3SparseMat33& b)
+{
+	out = a;
+	out -= b;
+}
+
+inline void b3Mul(b3DenseVec3& out, const b3SparseMat33& A, const b3DenseVec3& v)
+{
+	B3_ASSERT(A.rowCount == out.n);
+
+	out.SetZero();
+
+	for (u32 i = 0; i < A.rowCount; ++i)
+	{
+		b3RowValueList* vs = A.rows + i;
+
+		for (b3RowValue* vA = vs->head; vA; vA = vA->next)
+		{
+			u32 j = vA->column;
+			b3Mat33 a = vA->value;
+
+			out[i] += a * v[j];
+		}
+	}
+}
+
+inline void b3Mul(b3SparseMat33& out, float32 s, const b3SparseMat33& B)
+{
+	B3_ASSERT(out.rowCount == B.rowCount);
+
+	if (s == 0.0f)
+	{
+		return;
+	}
+
+	out = B;
+
+	for (u32 i = 0; i < out.rowCount; ++i)
+	{
+		b3RowValueList* vs = out.rows + i;
+		for (b3RowValue* v = vs->head; v; v = v->next)
+		{
+			v->value = s * v->value;
+		}
+	}
+}
+
+inline b3SparseMat33 operator+(const b3SparseMat33& A, const b3SparseMat33& B)
+{
+	b3SparseMat33 result(A.rowCount);
+	b3Add(result, A, B);
+	return result;
+}
+
+inline b3SparseMat33 operator-(const b3SparseMat33& A, const b3SparseMat33& B)
+{
+	b3SparseMat33 result(A.rowCount);
+	b3Sub(result, A, B);
+	return result;
+}
+
+inline b3SparseMat33 operator*(float32 A, const b3SparseMat33& B)
+{
+	b3SparseMat33 result(B.rowCount);
+	b3Mul(result, A, B);
+	return result;
+}
+
+inline b3DenseVec3 operator*(const b3SparseMat33& A, const b3DenseVec3& v)
+{
+	b3DenseVec3 result(v.n);
+	b3Mul(result, A, v);
+	return result;
+}
+
+#endif
diff --git a/premake5.lua b/premake5.lua
index f0ef7e9..cc2c029 100644
--- a/premake5.lua
+++ b/premake5.lua
@@ -275,9 +275,11 @@ workspace(solution_name)
 			
 			examples_src_dir .. "/testbed/framework/body_dragger.h", 
 			examples_src_dir .. "/testbed/framework/cloth_dragger.h", 
+			examples_src_dir .. "/testbed/framework/softbody_dragger.h", 
 			
 			examples_src_dir .. "/testbed/framework/body_dragger.cpp", 
 			examples_src_dir .. "/testbed/framework/cloth_dragger.cpp", 
+			examples_src_dir .. "/testbed/framework/softbody_dragger.cpp", 
 			
 			examples_inc_dir .. "/testbed/tests/**.h", 
 			
@@ -370,7 +372,7 @@ end
 -- clean
 newaction
 {
-    trigger = "clean",
+	trigger = "clean",
     description = "Clean solution",
     execute = function ()
           os.rmdir( "doc" )
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
new file mode 100644
index 0000000..17b02d2
--- /dev/null
+++ b/src/bounce/softbody/softbody.cpp
@@ -0,0 +1,992 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/softbody/softbody.h>
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/softbody_node.h>
+
+#include <bounce/softbody/softbody_solver.h>
+
+#include <bounce/collision/collision.h>
+
+#include <bounce/dynamics/world.h>
+#include <bounce/dynamics/body.h>
+#include <bounce/dynamics/shapes/shape.h>
+
+#include <bounce/common/draw.h>
+
+static B3_FORCE_INLINE void b3Mul(float32* C, float32* A, u32 AM, u32 AN, float32* B, u32 BM, u32 BN)
+{
+	B3_ASSERT(AN == BM);
+
+	for (u32 i = 0; i < AM; ++i)
+	{
+		for (u32 j = 0; j < BN; ++j)
+		{
+			C[i + AM * j] = 0.0f;
+
+			for (u32 k = 0; k < AN; ++k)
+			{
+				C[i + AM * j] += A[i + AM * k] * B[k + BM * j];
+			}
+		}
+	}
+}
+
+static B3_FORCE_INLINE void b3Transpose(float32* B, float32* A, u32 AM, u32 AN)
+{
+	for (u32 i = 0; i < AM; ++i)
+	{
+		for (u32 j = 0; j < AN; ++j)
+		{
+			B[j + AN * i] = A[i + AM * j];
+		}
+	}
+}
+
+static B3_FORCE_INLINE void b3Inverse4(float32 out[16], float32 m[16])
+{
+	float32 inv[16];
+
+	inv[0] = m[5] * m[10] * m[15] -
+		m[5] * m[11] * m[14] -
+		m[9] * m[6] * m[15] +
+		m[9] * m[7] * m[14] +
+		m[13] * m[6] * m[11] -
+		m[13] * m[7] * m[10];
+
+	inv[4] = -m[4] * m[10] * m[15] +
+		m[4] * m[11] * m[14] +
+		m[8] * m[6] * m[15] -
+		m[8] * m[7] * m[14] -
+		m[12] * m[6] * m[11] +
+		m[12] * m[7] * m[10];
+
+	inv[8] = m[4] * m[9] * m[15] -
+		m[4] * m[11] * m[13] -
+		m[8] * m[5] * m[15] +
+		m[8] * m[7] * m[13] +
+		m[12] * m[5] * m[11] -
+		m[12] * m[7] * m[9];
+
+	inv[12] = -m[4] * m[9] * m[14] +
+		m[4] * m[10] * m[13] +
+		m[8] * m[5] * m[14] -
+		m[8] * m[6] * m[13] -
+		m[12] * m[5] * m[10] +
+		m[12] * m[6] * m[9];
+
+	inv[1] = -m[1] * m[10] * m[15] +
+		m[1] * m[11] * m[14] +
+		m[9] * m[2] * m[15] -
+		m[9] * m[3] * m[14] -
+		m[13] * m[2] * m[11] +
+		m[13] * m[3] * m[10];
+
+	inv[5] = m[0] * m[10] * m[15] -
+		m[0] * m[11] * m[14] -
+		m[8] * m[2] * m[15] +
+		m[8] * m[3] * m[14] +
+		m[12] * m[2] * m[11] -
+		m[12] * m[3] * m[10];
+
+	inv[9] = -m[0] * m[9] * m[15] +
+		m[0] * m[11] * m[13] +
+		m[8] * m[1] * m[15] -
+		m[8] * m[3] * m[13] -
+		m[12] * m[1] * m[11] +
+		m[12] * m[3] * m[9];
+
+	inv[13] = m[0] * m[9] * m[14] -
+		m[0] * m[10] * m[13] -
+		m[8] * m[1] * m[14] +
+		m[8] * m[2] * m[13] +
+		m[12] * m[1] * m[10] -
+		m[12] * m[2] * m[9];
+
+	inv[2] = m[1] * m[6] * m[15] -
+		m[1] * m[7] * m[14] -
+		m[5] * m[2] * m[15] +
+		m[5] * m[3] * m[14] +
+		m[13] * m[2] * m[7] -
+		m[13] * m[3] * m[6];
+
+	inv[6] = -m[0] * m[6] * m[15] +
+		m[0] * m[7] * m[14] +
+		m[4] * m[2] * m[15] -
+		m[4] * m[3] * m[14] -
+		m[12] * m[2] * m[7] +
+		m[12] * m[3] * m[6];
+
+	inv[10] = m[0] * m[5] * m[15] -
+		m[0] * m[7] * m[13] -
+		m[4] * m[1] * m[15] +
+		m[4] * m[3] * m[13] +
+		m[12] * m[1] * m[7] -
+		m[12] * m[3] * m[5];
+
+	inv[14] = -m[0] * m[5] * m[14] +
+		m[0] * m[6] * m[13] +
+		m[4] * m[1] * m[14] -
+		m[4] * m[2] * m[13] -
+		m[12] * m[1] * m[6] +
+		m[12] * m[2] * m[5];
+
+	inv[3] = -m[1] * m[6] * m[11] +
+		m[1] * m[7] * m[10] +
+		m[5] * m[2] * m[11] -
+		m[5] * m[3] * m[10] -
+		m[9] * m[2] * m[7] +
+		m[9] * m[3] * m[6];
+
+	inv[7] = m[0] * m[6] * m[11] -
+		m[0] * m[7] * m[10] -
+		m[4] * m[2] * m[11] +
+		m[4] * m[3] * m[10] +
+		m[8] * m[2] * m[7] -
+		m[8] * m[3] * m[6];
+
+	inv[11] = -m[0] * m[5] * m[11] +
+		m[0] * m[7] * m[9] +
+		m[4] * m[1] * m[11] -
+		m[4] * m[3] * m[9] -
+		m[8] * m[1] * m[7] +
+		m[8] * m[3] * m[5];
+
+	inv[15] = m[0] * m[5] * m[10] -
+		m[0] * m[6] * m[9] -
+		m[4] * m[1] * m[10] +
+		m[4] * m[2] * m[9] +
+		m[8] * m[1] * m[6] -
+		m[8] * m[2] * m[5];
+
+	float32 det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
+
+	if (det != 0.0f)
+	{
+		det = 1.0f / det;
+	}
+
+	for (u32 i = 0; i < 16; ++i)
+	{
+		out[i] = det * inv[i];
+	}
+}
+
+static B3_FORCE_INLINE void b3Lame(float32& lambda, float32& mu, float32 E, float32 nu)
+{
+	lambda = (nu * E) / ((1 + nu) * (1 - 2 * nu));
+	mu = E / (2 * (1 + nu));
+}
+
+static B3_FORCE_INLINE void b3CreateE(float32 out[36], float32 lambda, float32 mu)
+{
+	float32 E[36] =
+	{
+		lambda + 2 * mu, lambda,          lambda,          0,  0,  0,
+		lambda,          lambda + 2 * mu, lambda,          0,  0,  0,
+		lambda,          lambda,          lambda + 2 * mu, 0,  0,  0,
+		0, 				 0, 			  0, 			   mu, 0,  0,
+		0, 				 0, 			  0, 			   0,  mu, 0,
+		0, 			 	 0, 			  0, 			   0,  0,  mu
+	};
+
+	for (u32 i = 0; i < 36; ++i)
+	{
+		out[i] = E[i];
+	}
+}
+
+static B3_FORCE_INLINE void b3CreateB(float32 out[72], float32 invP[16])
+{
+	float32 a11 = invP[0];
+	float32 a21 = invP[1];
+	float32 a31 = invP[2];
+	float32 a41 = invP[3];
+
+	float32 a12 = invP[4];
+	float32 a22 = invP[5];
+	float32 a32 = invP[6];
+	float32 a42 = invP[7];
+
+	float32 a13 = invP[8];
+	float32 a23 = invP[9];
+	float32 a33 = invP[10];
+	float32 a43 = invP[11];
+
+	//float32 a14 = invP[12];
+	//float32 a24 = invP[13];
+	//float32 a34 = invP[14];
+	//float32 a44 = invP[15];
+
+	// 6 x 12
+	// a11 0   0   a21 0   0   a31 0   0   a41 0   0
+	// 0   a12 0   0   a22 0   0   a32 0   0   a42 0
+	// 0   0   a13 0   0   a23 0   0   a33 0   0   a43
+	// a12 a11 0   a22 a21 0   a32 a31 0   a42 a41 0
+	// 0   a13 a12 0   a23 a22 0   a33 a32 0   a43 a42
+	// a13 0   a11 a23 0   a21 a33 0   a31 a43 0   a41
+	float32 B[72] =
+	{
+		a11, 0, 0, a12, 0, a13,
+		0, a12, 0, a11, a13, 0,
+		0, 0, a13, 0, a12, a11,
+		a21, 0, 0, a22, 0, a23,
+		0, a22, 0, a21, a23, 0,
+		0, 0, a23, 0, a22, a21,
+		a31, 0, 0, a32, 0, a33,
+		0, a32, 0, a31, a33, 0,
+		0, 0, a33, 0, a32, a31,
+		a41, 0, 0, a42, 0, a43,
+		0, a42, 0, a41, a43, 0,
+		0, 0, a43, 0, a42, a41
+	};
+
+	for (u32 i = 0; i < 72; ++i)
+	{
+		out[i] = B[i];
+	}
+}
+
+static B3_FORCE_INLINE void b3SetK(b3Mat33 K[16], float32 Ke[144])
+{
+	b3Mat33& k11 = K[0 + 4 * 0];
+	b3Mat33& k12 = K[0 + 4 * 1];
+	b3Mat33& k13 = K[0 + 4 * 2];
+	b3Mat33& k14 = K[0 + 4 * 3];
+
+	b3Mat33& k21 = K[1 + 4 * 0];
+	b3Mat33& k22 = K[1 + 4 * 1];
+	b3Mat33& k23 = K[1 + 4 * 2];
+	b3Mat33& k24 = K[1 + 4 * 3];
+
+	b3Mat33& k31 = K[2 + 4 * 0];
+	b3Mat33& k32 = K[2 + 4 * 1];
+	b3Mat33& k33 = K[2 + 4 * 2];
+	b3Mat33& k34 = K[2 + 4 * 3];
+
+	b3Mat33& k41 = K[3 + 4 * 0];
+	b3Mat33& k42 = K[3 + 4 * 1];
+	b3Mat33& k43 = K[3 + 4 * 2];
+	b3Mat33& k44 = K[3 + 4 * 3];
+
+	// k11                  
+	// a11 a12 a13 
+	// a21 a22 a23 
+	// a31 a32 a33
+	k11.x.x = Ke[0 + 12 * 0];
+	k11.x.y = Ke[1 + 12 * 0];
+	k11.x.z = Ke[2 + 12 * 0];
+
+	k11.y.x = Ke[0 + 12 * 1];
+	k11.y.y = Ke[1 + 12 * 1];
+	k11.y.z = Ke[2 + 12 * 1];
+
+	k11.z.x = Ke[0 + 12 * 2];
+	k11.z.y = Ke[1 + 12 * 2];
+	k11.z.z = Ke[2 + 12 * 2];
+
+	// k12
+	// a14 a15 a16
+	// a24 a25 a26
+	// a34 a35 a36
+	k12.x.x = Ke[0 + 12 * 3];
+	k12.x.y = Ke[1 + 12 * 3];
+	k12.x.z = Ke[2 + 12 * 3];
+
+	k12.y.x = Ke[0 + 12 * 4];
+	k12.y.y = Ke[1 + 12 * 4];
+	k12.y.z = Ke[2 + 12 * 4];
+
+	k12.z.x = Ke[0 + 12 * 5];
+	k12.z.y = Ke[1 + 12 * 5];
+	k12.z.z = Ke[2 + 12 * 5];
+
+	// k13
+	// a17 a18 a19
+	// a27 a28 a29
+	// a37 a38 a39
+	k13.x.x = Ke[0 + 12 * 6];
+	k13.x.y = Ke[1 + 12 * 6];
+	k13.x.z = Ke[2 + 12 * 6];
+
+	k13.y.x = Ke[0 + 12 * 7];
+	k13.y.y = Ke[1 + 12 * 7];
+	k13.y.z = Ke[2 + 12 * 7];
+
+	k13.z.x = Ke[0 + 12 * 8];
+	k13.z.y = Ke[1 + 12 * 8];
+	k13.z.z = Ke[2 + 12 * 8];
+
+	// k14
+	// a1_10 a1_11 a1_12
+	// a2_10 a2_11 a2_12
+	// a3_10 a3_11 a3_12
+	k14.x.x = Ke[0 + 12 * 9];
+	k14.x.y = Ke[1 + 12 * 9];
+	k14.x.z = Ke[2 + 12 * 9];
+
+	k14.y.x = Ke[0 + 12 * 10];
+	k14.y.y = Ke[1 + 12 * 10];
+	k14.y.z = Ke[2 + 12 * 10];
+
+	k14.z.x = Ke[0 + 12 * 11];
+	k14.z.y = Ke[1 + 12 * 11];
+	k14.z.z = Ke[2 + 12 * 11];
+
+	// k21	           
+	// a41 a42 a43	
+	// a51 a52 a53		
+	// a61 a62 a63	
+	k21.x.x = Ke[3 + 12 * 0];
+	k21.x.y = Ke[4 + 12 * 0];
+	k21.x.z = Ke[5 + 12 * 0];
+
+	k21.y.x = Ke[3 + 12 * 1];
+	k21.y.y = Ke[4 + 12 * 1];
+	k21.y.z = Ke[5 + 12 * 1];
+
+	k21.z.x = Ke[3 + 12 * 2];
+	k21.z.y = Ke[4 + 12 * 2];
+	k21.z.z = Ke[5 + 12 * 2];
+
+	// k22	            
+	// a44 a45 a46	
+	// a54 a55 a56	
+	// a64 a65 a66	
+	k22.x.x = Ke[3 + 12 * 3];
+	k22.x.y = Ke[4 + 12 * 3];
+	k22.x.z = Ke[5 + 12 * 3];
+
+	k22.y.x = Ke[3 + 12 * 4];
+	k22.y.y = Ke[4 + 12 * 4];
+	k22.y.z = Ke[5 + 12 * 4];
+
+	k22.z.x = Ke[3 + 12 * 5];
+	k22.z.y = Ke[4 + 12 * 5];
+	k22.z.z = Ke[5 + 12 * 5];
+
+	// k23			            
+	// a47 a48 a49	
+	// a57 a58 a59	
+	// a67 a68 a69	
+	k23.x.x = Ke[3 + 12 * 6];
+	k23.x.y = Ke[4 + 12 * 6];
+	k23.x.z = Ke[5 + 12 * 6];
+
+	k23.y.x = Ke[3 + 12 * 7];
+	k23.y.y = Ke[4 + 12 * 7];
+	k23.y.z = Ke[5 + 12 * 7];
+
+	k23.z.x = Ke[3 + 12 * 8];
+	k23.z.y = Ke[4 + 12 * 8];
+	k23.z.z = Ke[5 + 12 * 8];
+
+	// k24            
+	// a4_10 a4_11 a4_12
+	// a5_10 a5_11 a5_12
+	// a6_10 a6_11 a6_12
+	k24.x.x = Ke[3 + 12 * 9];
+	k24.x.y = Ke[4 + 12 * 9];
+	k24.x.z = Ke[5 + 12 * 9];
+
+	k24.y.x = Ke[3 + 12 * 10];
+	k24.y.y = Ke[4 + 12 * 10];
+	k24.y.z = Ke[5 + 12 * 10];
+
+	k24.z.x = Ke[3 + 12 * 11];
+	k24.z.y = Ke[4 + 12 * 11];
+	k24.z.z = Ke[5 + 12 * 11];
+
+	// k31	
+	// a71 a72 a73	
+	// a81 a82 a83	
+	// a91 a92 a93	
+	k31.x.x = Ke[6 + 12 * 0];
+	k31.x.y = Ke[7 + 12 * 0];
+	k31.x.z = Ke[8 + 12 * 0];
+
+	k31.y.x = Ke[6 + 12 * 1];
+	k31.y.y = Ke[7 + 12 * 1];
+	k31.y.z = Ke[8 + 12 * 1];
+
+	k31.z.x = Ke[6 + 12 * 2];
+	k31.z.y = Ke[7 + 12 * 2];
+	k31.z.z = Ke[8 + 12 * 2];
+
+	// k32	
+	// a74 a75 a76	
+	// a84 a85 a86	
+	// a94 a95 a96	
+	k32.x.x = Ke[6 + 12 * 3];
+	k32.x.y = Ke[7 + 12 * 3];
+	k32.x.z = Ke[8 + 12 * 3];
+
+	k32.y.x = Ke[6 + 12 * 4];
+	k32.y.y = Ke[7 + 12 * 4];
+	k32.y.z = Ke[8 + 12 * 4];
+
+	k32.z.x = Ke[6 + 12 * 5];
+	k32.z.y = Ke[7 + 12 * 5];
+	k32.z.z = Ke[8 + 12 * 5];
+
+	// k33 
+	// a77 a78 a79 
+	// a87 a88 a89 
+	// a97 a98 a99 
+	k33.x.x = Ke[6 + 12 * 6];
+	k33.x.y = Ke[7 + 12 * 6];
+	k33.x.z = Ke[8 + 12 * 6];
+
+	k33.y.x = Ke[6 + 12 * 7];
+	k33.y.y = Ke[7 + 12 * 7];
+	k33.y.z = Ke[8 + 12 * 7];
+
+	k33.z.x = Ke[6 + 12 * 8];
+	k33.z.y = Ke[7 + 12 * 8];
+	k33.z.z = Ke[8 + 12 * 8];
+
+	// k34
+	// a7_10 a7_11 a7_12
+	// a8_10 a8_11 a8_12
+	// a9_10 a9_11 a9_12
+	k34.x.x = Ke[6 + 12 * 9];
+	k34.x.y = Ke[7 + 12 * 9];
+	k34.x.z = Ke[8 + 12 * 9];
+
+	k34.y.x = Ke[6 + 12 * 10];
+	k34.y.y = Ke[7 + 12 * 10];
+	k34.y.z = Ke[8 + 12 * 10];
+
+	k34.z.x = Ke[6 + 12 * 11];
+	k34.z.y = Ke[7 + 12 * 11];
+	k34.z.z = Ke[8 + 12 * 11];
+
+	// k41	
+	// a10_1 a10_2 a10_3	
+	// a11_1 a11_2 a11_3	
+	// a12_1 a12_2 a12_3	
+	k41.x.x = Ke[9 + 12 * 0];
+	k41.x.y = Ke[10 + 12 * 0];
+	k41.x.z = Ke[11 + 12 * 0];
+
+	k41.y.x = Ke[9 + 12 * 1];
+	k41.y.y = Ke[10 + 12 * 1];
+	k41.y.z = Ke[11 + 12 * 1];
+
+	k41.z.x = Ke[9 + 12 * 2];
+	k41.z.y = Ke[10 + 12 * 2];
+	k41.z.z = Ke[11 + 12 * 2];
+
+	// k42 
+	// a10_4 a10_5 a10_6 
+	// a11_4 a11_5 a11_6 
+	// a12_4 a12_5 a12_6 
+	k42.x.x = Ke[9 + 12 * 3];
+	k42.x.y = Ke[10 + 12 * 3];
+	k42.x.z = Ke[11 + 12 * 3];
+
+	k42.y.x = Ke[9 + 12 * 4];
+	k42.y.y = Ke[10 + 12 * 4];
+	k42.y.z = Ke[11 + 12 * 4];
+
+	k42.z.x = Ke[9 + 12 * 5];
+	k42.z.y = Ke[10 + 12 * 5];
+	k42.z.z = Ke[11 + 12 * 5];
+
+	// k43 
+	// a10_7 a10_8 a10_9 
+	// a11_7 a11_8 a11_9 
+	// a12_7 a12_8 a12_9 
+	k43.x.x = Ke[9 + 12 * 6];
+	k43.x.y = Ke[10 + 12 * 6];
+	k43.x.z = Ke[11 + 12 * 6];
+
+	k43.y.x = Ke[9 + 12 * 7];
+	k43.y.y = Ke[10 + 12 * 7];
+	k43.y.z = Ke[11 + 12 * 7];
+
+	k43.z.x = Ke[9 + 12 * 8];
+	k43.z.y = Ke[10 + 12 * 8];
+	k43.z.z = Ke[11 + 12 * 8];
+
+	// k44
+	// a10_10 a10_11 a10_12
+	// a11_10 a11_11 a11_12
+	// a12_10 a12_11 a12_12
+	k44.x.x = Ke[9 + 12 * 9];
+	k44.x.y = Ke[10 + 12 * 9];
+	k44.x.z = Ke[11 + 12 * 9];
+
+	k44.y.x = Ke[9 + 12 * 10];
+	k44.y.y = Ke[10 + 12 * 10];
+	k44.y.z = Ke[11 + 12 * 10];
+
+	k44.z.x = Ke[9 + 12 * 11];
+	k44.z.y = Ke[10 + 12 * 11];
+	k44.z.z = Ke[11 + 12 * 11];
+}
+
+b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
+{
+	B3_ASSERT(def.mesh);
+	B3_ASSERT(def.density > 0.0f);
+
+	m_mesh = def.mesh;
+	m_density = def.density;
+	m_E = def.E;
+	m_nu = def.nu;
+	m_gravity.SetZero();
+	m_world = nullptr;
+
+	const b3SoftBodyMesh* m = m_mesh;
+
+	m_nodes = (b3SoftBodyNode*)b3Alloc(m->vertexCount * sizeof(b3SoftBodyNode));
+
+	// Initialize nodes
+	for (u32 i = 0; i < m->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+
+		n->m_body = this;
+		n->m_type = e_dynamicSoftBodyNode;
+		n->m_position = m->vertices[i];
+		n->m_velocity.SetZero();
+		n->m_force.SetZero();
+		n->m_mass = 0.0f;
+		n->m_invMass = 0.0f;
+		n->m_radius = 0.0f;
+		n->m_friction = 0.0f;
+		n->m_userData = nullptr;
+		n->m_vertex = i;
+		n->m_bodyContact.active = false;
+	}
+
+	// Compute mass
+	ComputeMass();
+
+	// Initialize elements
+	m_elements = (b3SoftBodyElement*)b3Alloc(m->tetrahedronCount * sizeof(b3SoftBodyElement));
+	for (u32 ei = 0; ei < m->tetrahedronCount; ++ei)
+	{
+		b3SoftBodyMeshTetrahedron* mt = m->tetrahedrons + ei;
+		b3SoftBodyElement* e = m_elements + ei;
+
+		u32 v1 = mt->v1;
+		u32 v2 = mt->v2;
+		u32 v3 = mt->v3;
+		u32 v4 = mt->v4;
+
+		b3Vec3 p1 = m->vertices[v1];
+		b3Vec3 p2 = m->vertices[v2];
+		b3Vec3 p3 = m->vertices[v3];
+		b3Vec3 p4 = m->vertices[v4];
+
+		float32 lambda, mu;
+		b3Lame(lambda, mu, m_E, m_nu);
+
+		// 6 x 6
+		float32 E[36];
+		b3CreateE(E, lambda, mu);
+
+		// 4 x 4
+		float32 P[16] =
+		{
+			p1.x, p1.y, p1.z, 1.0f,
+			p2.x, p2.y, p2.z, 1.0f,
+			p3.x, p3.y, p3.z, 1.0f,
+			p4.x, p4.y, p4.z, 1.0f
+		};
+
+		b3Inverse4(e->invP, P);
+
+		// 6 x 12
+		float32 B[72];
+		b3CreateB(B, e->invP);
+
+		// 6 x 12
+		float32 EB[72];
+		b3Mul(EB, E, 6, 6, B, 6, 12);
+
+		// 12 x 6
+		float32 BT[72];
+		b3Transpose(BT, B, 6, 12);
+
+		float32 V = b3Volume(p1, p2, p3, p4);
+
+		// 12 x 12
+		float32 Ke[144];
+		b3Mul(Ke, BT, 12, 6, EB, 6, 12);
+		for (u32 i = 0; i < 144; ++i)
+		{
+			Ke[i] *= V;
+		}
+
+		b3SetK(e->K, Ke);
+	}
+
+	// Initialize triangles
+	m_triangles = (b3SoftBodyTriangle*)b3Alloc(4 * m_mesh->tetrahedronCount * sizeof(b3SoftBodyTriangle));
+	for (u32 i = 0; i < m_mesh->tetrahedronCount; ++i)
+	{
+		b3SoftBodyMeshTetrahedron* mt = m_mesh->tetrahedrons + i;
+
+		u32 v1 = mt->v1;
+		u32 v2 = mt->v2;
+		u32 v3 = mt->v3;
+		u32 v4 = mt->v4;
+
+		b3SoftBodyTriangle* t1 = m_triangles + 4 * i + 0;
+		b3SoftBodyTriangle* t2 = m_triangles + 4 * i + 1;
+		b3SoftBodyTriangle* t3 = m_triangles + 4 * i + 2;
+		b3SoftBodyTriangle* t4 = m_triangles + 4 * i + 3;
+
+		t1->v1 = v1;
+		t1->v2 = v2;
+		t1->v3 = v3;
+		t1->tetrahedron = i;
+
+		t2->v1 = v1;
+		t2->v2 = v3;
+		t2->v3 = v4;
+		t2->tetrahedron = i;
+
+		t3->v1 = v1;
+		t3->v2 = v4;
+		t3->v3 = v2;
+		t3->tetrahedron = i;
+
+		t4->v1 = v2;
+		t4->v2 = v4;
+		t4->v3 = v3;
+		t4->tetrahedron = i;
+	}
+}
+
+b3SoftBody::~b3SoftBody()
+{
+	b3Free(m_nodes);
+	b3Free(m_elements);
+	b3Free(m_triangles);
+}
+
+bool b3SoftBody::RayCastSingle(b3SoftBodyRayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
+{
+	b3RayCastInput input;
+	input.p1 = p1;
+	input.p2 = p2;
+	input.maxFraction = 1.0f;
+
+	u32 triangle = ~0;
+	u32 tetrahedron = ~0;
+
+	b3RayCastOutput output0;
+	output0.fraction = B3_MAX_FLOAT;
+
+	for (u32 i = 0; i < 4 * m_mesh->tetrahedronCount; ++i)
+	{
+		b3SoftBodyTriangle* t = m_triangles + i;
+
+		b3Vec3 v1 = m_nodes[t->v1].m_position;
+		b3Vec3 v2 = m_nodes[t->v2].m_position;
+		b3Vec3 v3 = m_nodes[t->v3].m_position;
+
+		b3RayCastOutput subOutput;
+		if (b3RayCast(&subOutput, &input, v1, v2, v3))
+		{
+			if (subOutput.fraction < output0.fraction)
+			{
+				triangle = i;
+				tetrahedron = t->tetrahedron;
+				output0.fraction = subOutput.fraction;
+				output0.normal = subOutput.normal;
+			}
+		}
+	}
+
+	if (tetrahedron != ~0)
+	{
+		output->tetrahedron = tetrahedron;
+		output->v1 = m_triangles[triangle].v1;
+		output->v2 = m_triangles[triangle].v2;
+		output->v3 = m_triangles[triangle].v3;
+		output->fraction = output0.fraction;
+		output->normal = output0.normal;
+
+		return true;
+	}
+
+	return false;
+}
+
+b3SoftBodyNode* b3SoftBody::GetVertexNode(u32 i)
+{
+	B3_ASSERT(i < m_mesh->vertexCount);
+	return m_nodes + i;
+}
+
+float32 b3SoftBody::GetEnergy() const
+{
+	float32 E = 0.0f;
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+
+		E += n->m_mass * b3Dot(n->m_velocity, n->m_velocity);
+	}
+	return 0.5f * E;
+}
+
+void b3SoftBody::ComputeMass()
+{
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+		n->m_mass = 0.0f;
+		n->m_invMass = 0.0f;
+	}
+
+	const float32 inv4 = 1.0f / 4.0f;
+	const float32 rho = m_density;
+
+	for (u32 i = 0; i < m_mesh->tetrahedronCount; ++i)
+	{
+		b3SoftBodyMeshTetrahedron* tetrahedron = m_mesh->tetrahedrons + i;
+
+		b3Vec3 v1 = m_mesh->vertices[tetrahedron->v1];
+		b3Vec3 v2 = m_mesh->vertices[tetrahedron->v2];
+		b3Vec3 v3 = m_mesh->vertices[tetrahedron->v3];
+		b3Vec3 v4 = m_mesh->vertices[tetrahedron->v4];
+
+		float32 volume = b3Volume(v1, v2, v3, v4);
+		B3_ASSERT(volume > 0.0f);
+
+		float32 mass = rho * volume;
+
+		b3SoftBodyNode* n1 = m_nodes + tetrahedron->v1;
+		b3SoftBodyNode* n2 = m_nodes + tetrahedron->v2;
+		b3SoftBodyNode* n3 = m_nodes + tetrahedron->v3;
+		b3SoftBodyNode* n4 = m_nodes + tetrahedron->v4;
+
+		n1->m_mass += inv4 * mass;
+		n2->m_mass += inv4 * mass;
+		n3->m_mass += inv4 * mass;
+		n4->m_mass += inv4 * mass;
+	}
+
+	// Invert
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+		B3_ASSERT(n->m_mass > 0.0f);
+		n->m_invMass = 1.0f / n->m_mass;
+	}
+}
+
+void b3SoftBody::UpdateContacts()
+{
+	B3_PROFILE("Soft Body Update Contacts");
+
+	// Is there a world attached to this cloth?
+	if (m_world == nullptr)
+	{
+		return;
+	}
+
+	// Create contacts 
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+
+		b3Sphere s1;
+		s1.vertex = n->m_position;
+		s1.radius = n->m_radius;
+
+		// Find the deepest penetration
+		b3Shape* bestShape = nullptr;
+		float32 bestSeparation = 0.0f;
+		b3Vec3 bestPoint(0.0f, 0.0f, 0.0f);
+		b3Vec3 bestNormal(0.0f, 0.0f, 0.0f);
+
+		for (b3Body* body = m_world->GetBodyList().m_head; body; body = body->GetNext())
+		{
+			if (n->m_type != e_dynamicSoftBodyNode)
+			{
+				continue;
+			}
+
+			if (body->GetType() != e_staticBody)
+			{
+				//continue;
+			}
+
+			b3Transform xf = body->GetTransform();
+			for (b3Shape* shape = body->GetShapeList().m_head; shape; shape = shape->GetNext())
+			{
+				b3TestSphereOutput output;
+				if (shape->TestSphere(&output, s1, xf))
+				{
+					if (output.separation < bestSeparation)
+					{
+						bestShape = shape;
+						bestSeparation = output.separation;
+						bestPoint = output.point;
+						bestNormal = output.normal;
+					}
+				}
+			}
+		}
+
+		if (bestShape == nullptr)
+		{
+			n->m_bodyContact.active = false;
+			continue;
+		}
+
+		b3Shape* shape = bestShape;
+		b3Body* body = shape->GetBody();
+		float32 separation = bestSeparation;
+		b3Vec3 point = bestPoint;
+		b3Vec3 normal = -bestNormal;
+
+		b3NodeBodyContact* c = &n->m_bodyContact;
+
+		b3NodeBodyContact c0 = *c;
+
+		c->active = true;
+		c->n1 = n;
+		c->s2 = shape;
+		c->normal1 = normal;
+		c->localPoint1.SetZero();
+		c->localPoint2 = body->GetLocalPoint(point);
+		c->t1 = b3Perp(normal);
+		c->t2 = b3Cross(c->t1, normal);
+		c->normalImpulse = 0.0f;
+		c->tangentImpulse.SetZero();
+
+		if (c0.active == true)
+		{
+			c->normalImpulse = c0.normalImpulse;
+			c->tangentImpulse = c0.tangentImpulse;
+		}
+	}
+}
+
+void b3SoftBody::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
+{
+	B3_PROFILE("Soft Body Solve");
+
+	b3SoftBodySolverDef def;
+	def.stack = &m_stackAllocator;
+	def.mesh = m_mesh;
+	def.nodes = m_nodes;
+	def.elements = m_elements;
+
+	b3SoftBodySolver solver(def);
+
+	solver.Solve(dt, gravity, velocityIterations, positionIterations);
+}
+
+void b3SoftBody::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
+{
+	B3_PROFILE("Soft Body Step");
+
+	// Update contacts
+	UpdateContacts();
+
+	// Integrate state, solve constraints. 
+	if (dt > 0.0f)
+	{
+		Solve(dt, m_gravity, velocityIterations, positionIterations);
+	}
+
+	// Clear forces
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		m_nodes[i].m_force.SetZero();
+	}
+}
+
+void b3SoftBody::Draw() const
+{
+	const b3SoftBodyMesh* m = m_mesh;
+
+	for (u32 i = 0; i < m->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+
+		b3Vec3 v = n->m_position;
+
+		if (n->m_type == e_staticSoftBodyNode)
+		{
+			b3Draw_draw->DrawPoint(v, 4.0f, b3Color_white);
+		}
+
+		if (n->m_type == e_dynamicSoftBodyNode)
+		{
+			b3Draw_draw->DrawPoint(v, 4.0f, b3Color_green);
+		}
+	}
+
+	for (u32 i = 0; i < m->tetrahedronCount; ++i)
+	{
+		b3SoftBodyMeshTetrahedron* t = m->tetrahedrons + i;
+
+		b3Vec3 v1 = m_nodes[t->v1].m_position;
+		b3Vec3 v2 = m_nodes[t->v2].m_position;
+		b3Vec3 v3 = m_nodes[t->v3].m_position;
+		b3Vec3 v4 = m_nodes[t->v4].m_position;
+
+		b3Vec3 c = (v1 + v2 + v3 + v4) / 4.0f;
+
+		float32 s = 0.9f;
+
+		v1 = s * (v1 - c) + c;
+		v2 = s * (v2 - c) + c;
+		v3 = s * (v3 - c) + c;
+		v4 = s * (v4 - c) + c;
+
+		// v1, v2, v3
+		b3Draw_draw->DrawTriangle(v1, v2, v3, b3Color_black);
+		
+		b3Vec3 n1 = b3Cross(v2 - v1, v3 - v1);
+		n1.Normalize();
+		b3Draw_draw->DrawSolidTriangle(-n1, v1, v2, v3, b3Color_blue);
+
+		// v1, v3, v4
+		b3Draw_draw->DrawTriangle(v1, v3, v4, b3Color_black);
+		
+		b3Vec3 n2 = b3Cross(v3 - v1, v4 - v1);
+		n2.Normalize();
+		b3Draw_draw->DrawSolidTriangle(-n2, v1, v3, v4, b3Color_blue);
+
+		// v1, v4, v2
+		b3Draw_draw->DrawTriangle(v1, v4, v2, b3Color_black);
+		
+		b3Vec3 n3 = b3Cross(v4 - v1, v2 - v1);
+		n3.Normalize();
+		b3Draw_draw->DrawSolidTriangle(-n3, v1, v4, v2, b3Color_blue);
+
+		// v2, v4, v3
+		b3Draw_draw->DrawTriangle(v2, v4, v3, b3Color_black);
+		
+		b3Vec3 n4 = b3Cross(v4 - v2, v3 - v2);
+		n4.Normalize();
+		b3Draw_draw->DrawSolidTriangle(-n4, v2, v4, v3, b3Color_blue);
+	}
+}
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody_contact_solver.cpp b/src/bounce/softbody/softbody_contact_solver.cpp
new file mode 100644
index 0000000..f7ac4c4
--- /dev/null
+++ b/src/bounce/softbody/softbody_contact_solver.cpp
@@ -0,0 +1,429 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/softbody/softbody_contact_solver.h>
+#include <bounce/softbody/softbody_node.h>
+#include <bounce/cloth/dense_vec3.h>
+#include <bounce/common/memory/stack_allocator.h>
+#include <bounce/dynamics/shapes/shape.h>
+#include <bounce/dynamics/body.h>
+
+b3SoftBodyContactSolver::b3SoftBodyContactSolver(const b3SoftBodyContactSolverDef& def)
+{
+	m_allocator = def.allocator;
+
+	m_positions = def.positions;
+	m_velocities = def.velocities;
+
+	m_bodyContactCapacity = def.bodyContactCapacity;
+	m_bodyContactCount = 0;
+	m_bodyContacts = (b3NodeBodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3NodeBodyContact*));
+}
+
+b3SoftBodyContactSolver::~b3SoftBodyContactSolver()
+{
+	m_allocator->Free(m_bodyPositionConstraints);
+	m_allocator->Free(m_bodyVelocityConstraints);
+	m_allocator->Free(m_bodyContacts);
+}
+
+void b3SoftBodyContactSolver::Add(b3NodeBodyContact* c)
+{
+	m_bodyContacts[m_bodyContactCount++] = c;
+}
+
+void b3SoftBodyContactSolver::InitializeBodyContactConstraints()
+{
+	m_bodyVelocityConstraints = (b3SoftBodySolverBodyContactVelocityConstraint*)m_allocator->Allocate(m_bodyContactCount * sizeof(b3SoftBodySolverBodyContactVelocityConstraint));
+	m_bodyPositionConstraints = (b3SoftBodySolverBodyContactPositionConstraint*)m_allocator->Allocate(m_bodyContactCount * sizeof(b3SoftBodySolverBodyContactPositionConstraint));
+	
+	b3DenseVec3& x = *m_positions;
+	b3DenseVec3& v = *m_velocities;
+
+	for (u32 i = 0; i < m_bodyContactCount; ++i)
+	{
+		b3NodeBodyContact* c = m_bodyContacts[i];
+		b3SoftBodySolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
+		b3SoftBodySolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
+
+		vc->indexA = c->n1->m_vertex;
+		vc->bodyB = c->s2->GetBody();
+
+		vc->invMassA = c->n1->m_type == e_staticSoftBodyNode ? 0.0f : c->n1->m_invMass;
+		vc->invMassB = vc->bodyB->GetInverseMass();
+
+		vc->invIA.SetZero();
+		vc->invIB = vc->bodyB->GetWorldInverseInertia();
+
+		vc->friction = b3MixFriction(c->n1->m_friction, c->s2->GetFriction());
+
+		pc->indexA = c->n1->m_vertex;
+		pc->bodyB = vc->bodyB;
+
+		pc->invMassA = c->n1->m_type == e_staticSoftBodyNode ? 0.0f : c->n1->m_invMass;
+		pc->invMassB = vc->bodyB->m_invMass;
+
+		pc->invIA.SetZero();
+		pc->invIB = vc->bodyB->m_worldInvI;
+
+		pc->radiusA = c->n1->m_radius;
+		pc->radiusB = c->s2->m_radius;
+
+		pc->localCenterA.SetZero();
+		pc->localCenterB = pc->bodyB->m_sweep.localCenter;
+
+		pc->normalA = c->normal1;
+		pc->localPointA = c->localPoint1;
+		pc->localPointB = c->localPoint2;
+	}
+
+	for (u32 i = 0; i < m_bodyContactCount; ++i)
+	{
+		b3NodeBodyContact* c = m_bodyContacts[i];
+		b3SoftBodySolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
+		b3SoftBodySolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
+
+		u32 indexA = vc->indexA;
+		b3Body* bodyB = vc->bodyB;
+
+		float32 mA = vc->invMassA;
+		float32 mB = vc->invMassB;
+
+		b3Mat33 iA = vc->invIA;
+		b3Mat33 iB = vc->invIB;
+
+		b3Vec3 xA = x[indexA];
+		b3Vec3 xB = bodyB->m_sweep.worldCenter;
+
+		b3Quat qA; qA.SetIdentity();
+		b3Quat qB = bodyB->m_sweep.orientation;
+
+		b3Vec3 localCenterA = pc->localCenterA;
+		b3Vec3 localCenterB = pc->localCenterB;
+
+		b3Transform xfA;
+		xfA.rotation = b3QuatMat33(qA);
+		xfA.position = xA - b3Mul(xfA.rotation, localCenterA);
+
+		b3Transform xfB;
+		xfB.rotation = b3QuatMat33(qB);
+		xfB.position = xB - b3Mul(xfB.rotation, localCenterB);
+
+		b3NodeBodyContactWorldPoint wp;
+		wp.Initialize(c, pc->radiusA, xfA, pc->radiusB, xfB);
+
+		vc->normal = wp.normal;
+		vc->tangent1 = c->t1;
+		vc->tangent2 = c->t2;
+		vc->point = wp.point;
+
+		b3Vec3 point = vc->point;
+
+		b3Vec3 rA = point - xA;
+		b3Vec3 rB = point - xB;
+
+		vc->rA = rA;
+		vc->rB = rB;
+
+		vc->normalImpulse = c->normalImpulse;
+		vc->tangentImpulse = c->tangentImpulse;
+
+		{
+			b3Vec3 n = vc->normal;
+
+			b3Vec3 rnA = b3Cross(rA, n);
+			b3Vec3 rnB = b3Cross(rB, n);
+
+			float32 K = mA + mB + b3Dot(iA * rnA, rnA) + b3Dot(iB * rnB, rnB);
+
+			vc->normalMass = K > 0.0f ? 1.0f / K : 0.0f;
+			vc->velocityBias = 0.0f;
+		}
+
+		{
+			b3Vec3 t1 = vc->tangent1;
+			b3Vec3 t2 = vc->tangent2;
+
+			b3Vec3 rn1A = b3Cross(rA, t1);
+			b3Vec3 rn1B = b3Cross(rB, t1);
+			b3Vec3 rn2A = b3Cross(rA, t2);
+			b3Vec3 rn2B = b3Cross(rB, t2);
+
+			// dot(t1, t2) = 0
+			// J1_l1 * M1 * J2_l1 = J1_l2 * M2 * J2_l2 = 0
+			float32 k11 = mA + mB + b3Dot(iA * rn1A, rn1A) + b3Dot(iB * rn1B, rn1B);
+			float32 k12 = b3Dot(iA * rn1A, rn2A) + b3Dot(iB * rn1B, rn2B);
+			float32 k22 = mA + mB + b3Dot(iA * rn2A, rn2A) + b3Dot(iB * rn2B, rn2B);
+
+			b3Mat22 K;
+			K.x.Set(k11, k12);
+			K.y.Set(k12, k22);
+
+			vc->tangentMass = b3Inverse(K);
+		}
+	}
+}
+
+void b3SoftBodyContactSolver::WarmStart()
+{
+	b3DenseVec3& v = *m_velocities;
+
+	for (u32 i = 0; i < m_bodyContactCount; ++i)
+	{
+		b3SoftBodySolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
+
+		u32 indexA = vc->indexA;
+		b3Body* bodyB = vc->bodyB;
+
+		b3Vec3 vA = v[indexA];
+		b3Vec3 vB = bodyB->GetLinearVelocity();
+
+		b3Vec3 wA; wA.SetZero();
+		b3Vec3 wB = bodyB->GetAngularVelocity();
+
+		float32 mA = vc->invMassA;
+		float32 mB = vc->invMassB;
+
+		b3Mat33 iA = vc->invIA;
+		b3Mat33 iB = vc->invIB;
+
+		b3Vec3 P = vc->normalImpulse * vc->normal;
+
+		vA -= mA * P;
+		wA -= iA * b3Cross(vc->rA, P);
+
+		vB += mB * P;
+		wB += iB * b3Cross(vc->rB, P);
+
+		b3Vec3 P1 = vc->tangentImpulse.x * vc->tangent1;
+		b3Vec3 P2 = vc->tangentImpulse.y * vc->tangent2;
+
+		vA -= mA * (P1 + P2);
+		wA -= iA * b3Cross(vc->rA, P1 + P2);
+
+		vB += mB * (P1 + P2);
+		wB += iB * b3Cross(vc->rB, P1 + P2);
+
+		v[indexA] = vA;
+
+		bodyB->SetLinearVelocity(vB);
+		bodyB->SetAngularVelocity(wB);
+	}
+}
+
+void b3SoftBodyContactSolver::SolveBodyContactVelocityConstraints()
+{
+	b3DenseVec3& v = *m_velocities;
+
+	for (u32 i = 0; i < m_bodyContactCount; ++i)
+	{
+		b3SoftBodySolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
+
+		u32 indexA = vc->indexA;
+		b3Body* bodyB = vc->bodyB;
+
+		b3Vec3 vA = v[indexA];
+		b3Vec3 vB = bodyB->GetLinearVelocity();
+
+		b3Vec3 wA; wA.SetZero();
+		b3Vec3 wB = bodyB->GetAngularVelocity();
+
+		float32 mA = vc->invMassA;
+		float32 mB = vc->invMassB;
+
+		b3Mat33 iA = vc->invIA;
+		b3Mat33 iB = vc->invIB;
+
+		b3Vec3 normal = vc->normal;
+		b3Vec3 point = vc->point;
+
+		b3Vec3 rA = vc->rA;
+		b3Vec3 rB = vc->rB;
+
+		// Solve normal constraint.
+		{
+			b3Vec3 dv = vB + b3Cross(wB, rB) - vA - b3Cross(wA, rA);
+			float32 Cdot = b3Dot(normal, dv);
+
+			float32 impulse = vc->normalMass * (-Cdot + vc->velocityBias);
+
+			float32 oldImpulse = vc->normalImpulse;
+			vc->normalImpulse = b3Max(vc->normalImpulse + impulse, 0.0f);
+			impulse = vc->normalImpulse - oldImpulse;
+
+			b3Vec3 P = impulse * normal;
+
+			vA -= mA * P;
+			wA -= iA * b3Cross(rA, P);
+
+			vB += mB * P;
+			wB += iB * b3Cross(rB, P);
+		}
+
+		// Solve tangent constraints.
+		{
+			b3Vec3 dv = vB + b3Cross(wB, rB) - vA - b3Cross(wA, rA);
+
+			b3Vec2 Cdot;
+			Cdot.x = b3Dot(dv, vc->tangent1);
+			Cdot.y = b3Dot(dv, vc->tangent2);
+
+			b3Vec2 impulse = vc->tangentMass * -Cdot;
+			b3Vec2 oldImpulse = vc->tangentImpulse;
+			vc->tangentImpulse += impulse;
+
+			float32 maxImpulse = vc->friction * vc->normalImpulse;
+			if (b3Dot(vc->tangentImpulse, vc->tangentImpulse) > maxImpulse * maxImpulse)
+			{
+				vc->tangentImpulse.Normalize();
+				vc->tangentImpulse *= maxImpulse;
+			}
+
+			impulse = vc->tangentImpulse - oldImpulse;
+
+			b3Vec3 P1 = impulse.x * vc->tangent1;
+			b3Vec3 P2 = impulse.y * vc->tangent2;
+			b3Vec3 P = P1 + P2;
+
+			vA -= mA * P;
+			wA -= iA * b3Cross(rA, P);
+
+			vB += mB * P;
+			wB += iB * b3Cross(rB, P);
+		}
+
+		v[indexA] = vA;
+
+		bodyB->SetLinearVelocity(vB);
+		bodyB->SetAngularVelocity(wB);
+	}
+}
+
+void b3SoftBodyContactSolver::StoreImpulses()
+{
+	for (u32 i = 0; i < m_bodyContactCount; ++i)
+	{
+		b3NodeBodyContact* c = m_bodyContacts[i];
+		b3SoftBodySolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
+
+		c->normalImpulse = vc->normalImpulse;
+		c->tangentImpulse = vc->tangentImpulse;
+	}
+}
+
+struct b3ClothSolverBodyContactSolverPoint
+{
+	void Initialize(const b3SoftBodySolverBodyContactPositionConstraint* pc, const b3Transform& xfA, const b3Transform& xfB)
+	{
+		b3Vec3 cA = xfA * pc->localPointA;
+		b3Vec3 cB = xfB * pc->localPointB;
+
+		float32 rA = pc->radiusA;
+		float32 rB = pc->radiusB;
+
+		b3Vec3 nA = pc->normalA;
+
+		b3Vec3 pA = cA + rA * nA;
+		b3Vec3 pB = cB - rB * nA;
+
+		point = cB;
+		normal = nA;
+		separation = b3Dot(cB - cA, nA) - rA - rB;
+	}
+
+	b3Vec3 normal;
+	b3Vec3 point;
+	float32 separation;
+};
+
+bool b3SoftBodyContactSolver::SolveBodyContactPositionConstraints()
+{
+	b3DenseVec3& x = *m_positions;
+
+	float32 minSeparation = 0.0f;
+
+	for (u32 i = 0; i < m_bodyContactCount; ++i)
+	{
+		b3SoftBodySolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
+
+		u32 indexA = pc->indexA;
+		float32 mA = pc->invMassA;
+		b3Mat33 iA = pc->invIA;
+		b3Vec3 localCenterA = pc->localCenterA;
+
+		b3Body* bodyB = pc->bodyB;
+		float32 mB = pc->invMassB;
+		b3Mat33 iB = pc->invIB;
+		b3Vec3 localCenterB = pc->localCenterB;
+
+		b3Vec3 cA = x[indexA];
+		b3Quat qA; qA.SetIdentity();
+
+		b3Vec3 cB = bodyB->m_sweep.worldCenter;
+		b3Quat qB = bodyB->m_sweep.orientation;
+
+		// Solve normal constraint
+		b3Transform xfA;
+		xfA.rotation = b3QuatMat33(qA);
+		xfA.position = cA - b3Mul(xfA.rotation, localCenterA);
+
+		b3Transform xfB;
+		xfB.rotation = b3QuatMat33(qB);
+		xfB.position = cB - b3Mul(xfB.rotation, localCenterB);
+
+		b3ClothSolverBodyContactSolverPoint cpcp;
+		cpcp.Initialize(pc, xfA, xfB);
+
+		b3Vec3 normal = cpcp.normal;
+		b3Vec3 point = cpcp.point;
+		float32 separation = cpcp.separation;
+
+		// Update max constraint error.
+		minSeparation = b3Min(minSeparation, separation);
+
+		// Allow some slop and prevent large corrections.
+		float32 C = b3Clamp(B3_BAUMGARTE * (separation + B3_LINEAR_SLOP), -B3_MAX_LINEAR_CORRECTION, 0.0f);
+
+		// Compute effective mass.
+		b3Vec3 rA = point - cA;
+		b3Vec3 rB = point - cB;
+
+		b3Vec3 rnA = b3Cross(rA, normal);
+		b3Vec3 rnB = b3Cross(rB, normal);
+		float32 K = mA + mB + b3Dot(rnA, iA * rnA) + b3Dot(rnB, iB * rnB);
+
+		// Compute normal impulse.
+		float32 impulse = K > 0.0f ? -C / K : 0.0f;
+		b3Vec3 P = impulse * normal;
+
+		cA -= mA * P;
+		qA -= b3Derivative(qA, iA * b3Cross(rA, P));
+		qA.Normalize();
+
+		cB += mB * P;
+		qB += b3Derivative(qB, iB * b3Cross(rB, P));
+		qB.Normalize();
+
+		x[indexA] = cA;
+
+		bodyB->m_sweep.worldCenter = cB;
+		bodyB->m_sweep.orientation = qB;
+	}
+
+	return minSeparation >= -3.0f * B3_LINEAR_SLOP;
+}
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody_mesh.cpp b/src/bounce/softbody/softbody_mesh.cpp
new file mode 100644
index 0000000..2dd3135
--- /dev/null
+++ b/src/bounce/softbody/softbody_mesh.cpp
@@ -0,0 +1,69 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/meshgen/sphere_mesh.h>
+
+b3QSoftBodyMesh::b3QSoftBodyMesh()
+{
+	vertexCount = 0;
+	vertices = nullptr;
+	tetrahedronCount = 0;
+	tetrahedrons = nullptr;
+}
+
+b3QSoftBodyMesh::~b3QSoftBodyMesh()
+{
+	b3Free(vertices);
+	b3Free(tetrahedrons);
+}
+
+void b3QSoftBodyMesh::SetAsSphere(float32 radius, u32 subdivisions)
+{
+	smMesh mesh;
+	smCreateMesh(mesh, subdivisions);
+
+	vertexCount = 1 + mesh.vertexCount;
+	vertices = (b3Vec3*)b3Alloc(vertexCount * sizeof(b3Vec3));
+	vertices[0].SetZero();
+	for (u32 i = 0; i < mesh.vertexCount; ++i)
+	{
+		vertices[1 + i] = mesh.vertices[i];
+	}
+
+	tetrahedronCount = mesh.indexCount / 3;
+	tetrahedrons = (b3SoftBodyMeshTetrahedron*)b3Alloc(tetrahedronCount * sizeof(b3SoftBodyMeshTetrahedron));
+	for (u32 i = 0; i < mesh.indexCount / 3; ++i)
+	{
+		u32 v1 = mesh.indices[3 * i + 0];
+		u32 v2 = mesh.indices[3 * i + 1];
+		u32 v3 = mesh.indices[3 * i + 2];
+
+		b3SoftBodyMeshTetrahedron* t = tetrahedrons + i;
+
+		t->v1 = 1 + v3;
+		t->v2 = 1 + v2;
+		t->v3 = 1 + v1;
+		t->v4 = 0;
+	}
+
+	for (u32 i = 0; i < vertexCount; ++i)
+	{
+		vertices[i] *= radius;
+	}
+}
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
new file mode 100644
index 0000000..cb6ca56
--- /dev/null
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -0,0 +1,397 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/softbody/softbody_solver.h>
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/softbody_node.h>
+#include <bounce/softbody/softbody.h>
+#include <bounce/softbody/sparse_mat33.h>
+#include <bounce/softbody/softbody_contact_solver.h>
+
+#include <bounce/dynamics/body.h>
+#include <bounce/dynamics/shapes/shape.h>
+
+// This work is based on the paper "Interactive Virtual Materials" written by 
+// Matthias Mueller Fischer
+// The paper is available here:
+// http://matthias-mueller-fischer.ch/publications/GI2004.pdf
+
+// In order to support velocity constraints on node velocities 
+// we solve Ax = b using a Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
+
+// Number of MPCG iterations, a value that is normally small when small time steps are taken.
+u32 b3_softBodySolverIterations = 0;
+
+// Enables the stiffness warping solver.
+// bool b3_enableStiffnessWarping = true;
+
+b3SoftBodySolver::b3SoftBodySolver(const b3SoftBodySolverDef& def)
+{
+	m_allocator = def.stack;
+	m_mesh = def.mesh;
+	m_nodes = def.nodes;
+	m_elements = def.elements;
+}
+
+b3SoftBodySolver::~b3SoftBodySolver()
+{
+
+}
+
+// https://animation.rwth-aachen.de/media/papers/2016-MIG-StableRotation.pdf
+static B3_FORCE_INLINE void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3Mat33& A, u32 maxIterations = 20)
+{
+	for (u32 iteration = 0; iteration < maxIterations; ++iteration)
+	{
+		b3Mat33 R = b3QuatMat33(q);
+
+		float32 s = b3Abs(b3Dot(R.x, A.x) + b3Dot(R.y, A.y) + b3Dot(R.z, A.z));
+
+		if (s == 0.0f)
+		{
+			break;
+		}
+
+		float32 inv_s = 1.0f / s + 1.0e-9f;
+
+		b3Vec3 v = b3Cross(R.x, A.x) + b3Cross(R.y, A.y) + b3Cross(R.z, A.z);
+
+		b3Vec3 omega = inv_s * v;
+
+		float32 w = b3Length(omega);
+
+		if (w < 1.0e-9f)
+		{
+			break;
+		}
+
+		b3Quat omega_q(omega / w, w);
+
+		q = omega_q * q;
+		q.Normalize();
+	}
+
+	out = b3QuatMat33(q);
+}
+
+static B3_FORCE_INLINE void b3SolveMPCG(b3DenseVec3& x,
+	const b3SparseMat33& A, const b3DenseVec3& b,
+	const b3DenseVec3& x0, const b3DiagMat33& S, u32 maxIterations = 20)
+{
+	b3DiagMat33 P(A.rowCount);
+	b3DiagMat33 invP(A.rowCount);
+	for (u32 i = 0; i < A.rowCount; ++i)
+	{
+		b3Mat33 D = A(i, i);
+
+		// Sylvester Criterion to ensure PD-ness
+		B3_ASSERT(b3Det(D.x, D.y, D.z) > 0.0f);
+
+		B3_ASSERT(D.x.x != 0.0f);
+		float32 xx = 1.0f / D.x.x;
+
+		B3_ASSERT(D.y.y != 0.0f);
+		float32 yy = 1.0f / D.y.y;
+
+		B3_ASSERT(D.z.z != 0.0f);
+		float32 zz = 1.0f / D.z.z;
+
+		P[i] = b3Diagonal(xx, yy, zz);
+		invP[i] = b3Diagonal(D.x.x, D.y.y, D.z.z);
+	}
+
+	x = x0;
+
+	float32 delta_0 = b3Dot(S * b, P * (S * b));
+
+	b3DenseVec3 r = S * (b - A * x);
+	b3DenseVec3 c = S * (invP * r);
+
+	float32 delta_new = b3Dot(r, c);
+
+	u32 iteration = 0;
+	for (;;)
+	{
+		if (iteration == maxIterations)
+		{
+			break;
+		}
+
+		if (delta_new <= B3_EPSILON * B3_EPSILON * delta_0)
+		{
+			break;
+		}
+
+		b3DenseVec3 q = S * (A * c);
+
+		float32 alpha = delta_new / b3Dot(c, q);
+
+		x = x + alpha * c;
+		r = r - alpha * q;
+
+		b3DenseVec3 s = invP * r;
+
+		float32 delta_old = delta_new;
+
+		delta_new = b3Dot(r, s);
+
+		float32 beta = delta_new / delta_old;
+
+		c = S * (s + beta * c);
+
+		++iteration;
+	}
+
+	b3_softBodySolverIterations = iteration;
+}
+
+static B3_FORCE_INLINE void b3Mul(float32* C, float32* A, u32 AM, u32 AN, float32* B, u32 BM, u32 BN)
+{
+	B3_ASSERT(AN == BM);
+
+	for (u32 i = 0; i < AM; ++i)
+	{
+		for (u32 j = 0; j < BN; ++j)
+		{
+			C[i + AM * j] = 0.0f;
+
+			for (u32 k = 0; k < AN; ++k)
+			{
+				C[i + AM * j] += A[i + AM * k] * B[k + BM * j];
+			}
+		}
+	}
+}
+
+void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
+{
+	float32 h = dt;
+
+	b3SparseMat33 M(m_mesh->vertexCount);
+	b3DenseVec3 x(m_mesh->vertexCount);
+	b3DenseVec3 p(m_mesh->vertexCount);
+	b3DenseVec3 v(m_mesh->vertexCount);
+	b3DenseVec3 fe(m_mesh->vertexCount);
+	b3DenseVec3 x0(m_mesh->vertexCount);
+	b3DiagMat33 S(m_mesh->vertexCount);
+
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+
+		M(i, i) = b3Diagonal(n->m_mass);
+		x[i] = m_mesh->vertices[i];
+		p[i] = n->m_position;
+		v[i] = n->m_velocity;
+		fe[i] = n->m_force;
+		x0[i] = n->m_velocity;
+
+		// Apply gravity
+		if (n->m_type == e_dynamicSoftBodyNode)
+		{
+			fe[i] += n->m_mass * gravity;
+			S[i].SetIdentity();
+		}
+		else
+		{
+			S[i].SetZero();
+		}
+	}
+
+	// Element assembly
+	b3SparseMat33 K(m_mesh->vertexCount);
+
+	b3DenseVec3 f0(m_mesh->vertexCount);
+	f0.SetZero();
+
+	for (u32 ei = 0; ei < m_mesh->tetrahedronCount; ++ei)
+	{
+		b3SoftBodyMeshTetrahedron* mt = m_mesh->tetrahedrons + ei;
+		b3SoftBodyElement* e = m_elements + ei;
+
+		b3Mat33* Ke = e->K;
+
+		u32 v1 = mt->v1;
+		u32 v2 = mt->v2;
+		u32 v3 = mt->v3;
+		u32 v4 = mt->v4;
+
+		b3Vec3 p1 = p[v1];
+		b3Vec3 p2 = p[v2];
+		b3Vec3 p3 = p[v3];
+		b3Vec3 p4 = p[v4];
+
+		float32 P[16] =
+		{
+			p1.x, p1.y, p1.z, 1.0f,
+			p2.x, p2.y, p2.z, 1.0f,
+			p3.x, p3.y, p3.z, 1.0f,
+			p4.x, p4.y, p4.z, 1.0f
+		};
+
+		float32 P_invP[16];
+		b3Mul(P_invP, P, 4, 4, e->invP, 4, 4);
+
+		b3Mat33 A;
+		for (u32 i = 0; i < 3; ++i)
+		{
+			for (u32 j = 0; j < 3; ++j)
+			{
+				A(i, j) = P_invP[i + 4 * j];
+			}
+		}
+
+		b3Mat33 R;
+		b3ExtractRotation(R, e->q, A);
+
+		b3Mat33 RT = b3Transpose(R);
+
+		u32 vs[4] = { v1, v2, v3, v4 };
+
+		for (u32 i = 0; i < 4; ++i)
+		{
+			u32 vi = vs[i];
+
+			for (u32 j = 0; j < 4; ++j)
+			{
+				u32 vj = vs[j];
+
+				K(vi, vj) += R * Ke[i + 4 * j] * RT;
+			}
+		}
+
+		b3Vec3 x1 = x[v1];
+		b3Vec3 x2 = x[v2];
+		b3Vec3 x3 = x[v3];
+		b3Vec3 x4 = x[v4];
+
+		b3Vec3 xs[4] = { x1, x2, x3, x4 };
+
+		b3Vec3 f0s[4];
+
+		for (u32 i = 0; i < 4; ++i)
+		{
+			f0s[i].SetZero();
+
+			for (u32 j = 0; j < 4; ++j)
+			{
+				f0s[i] += R * Ke[i + 4 * j] * xs[j];
+			}
+		}
+
+		f0[v1] += f0s[0];
+		f0[v2] += f0s[1];
+		f0[v3] += f0s[2];
+		f0[v4] += f0s[3];
+	}
+
+	f0 = -f0;
+
+	b3SparseMat33 A = M + h * h * K;
+
+	b3DenseVec3 b = M * v - h * (K * p + f0 - fe);
+
+	// Solve Ax = b
+	b3DenseVec3 sx(m_mesh->vertexCount);
+	b3SolveMPCG(sx, A, b, x0, S);
+
+	// Solve constraints
+	b3SoftBodyContactSolverDef contactSolverDef;
+	contactSolverDef.allocator = m_allocator;
+	contactSolverDef.positions = &p;
+	contactSolverDef.velocities = &sx;
+	contactSolverDef.bodyContactCapacity = m_mesh->vertexCount;
+
+	b3SoftBodyContactSolver contactSolver(contactSolverDef);
+
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		if (m_nodes[i].m_bodyContact.active)
+		{
+			contactSolver.Add(&m_nodes[i].m_bodyContact);
+		}
+	}
+
+	{
+		contactSolver.InitializeBodyContactConstraints();
+	}
+
+	{
+		contactSolver.WarmStart();
+	}
+
+	// Solve velocity constraints
+	{
+		for (u32 i = 0; i < velocityIterations; ++i)
+		{
+			contactSolver.SolveBodyContactVelocityConstraints();
+		}
+	}
+
+	{
+		contactSolver.StoreImpulses();
+	}
+
+	// Integrate velocities
+	p = p + h * sx;
+
+	// Solve position constraints
+	{
+		bool positionSolved = false;
+		for (u32 i = 0; i < positionIterations; ++i)
+		{
+			bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
+
+			if (bodyContactsSolved)
+			{
+				positionSolved = true;
+				break;
+			}
+		}
+	}
+
+	// Synchronize bodies
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+
+		b3NodeBodyContact* c = &n->m_bodyContact;
+
+		if (c->active == false)
+		{
+			continue;
+		}
+
+		b3Body* body = c->s2->GetBody();
+
+		body->SynchronizeTransform();
+
+		body->m_worldInvI = b3RotateToFrame(body->m_invI, body->m_xf.rotation);
+
+		body->SynchronizeShapes();
+	}
+
+	// Copy state buffers back to the nodes
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+
+		n->m_position = p[i];
+		n->m_velocity = sx[i];
+	}
+}
\ No newline at end of file

From a40a872efaea13deab990d89ba98c315ddcb03cc Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 13 May 2019 19:08:40 -0300
Subject: [PATCH 097/198] Update readme.md

---
 readme.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/readme.md b/readme.md
index cd2eedb..44d8d4d 100644
--- a/readme.md
+++ b/readme.md
@@ -105,6 +105,7 @@ Below are the external dependencies for testbed. If you don't care about testbed
 
 * Rigid bodies
 * Cloth
+* Soft body
 * Contact, friction, restitution
 * Mouse, spring, sphere, cone, revolute joint types
 * Quaternion constraints

From 33a661cb32b16a533be3763ebc777ef6285f3beb Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 13 May 2019 19:12:46 -0300
Subject: [PATCH 098/198] Update comments

---
 include/bounce/softbody/softbody_node.h | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/include/bounce/softbody/softbody_node.h b/include/bounce/softbody/softbody_node.h
index 5ddfba1..81f7e28 100644
--- a/include/bounce/softbody/softbody_node.h
+++ b/include/bounce/softbody/softbody_node.h
@@ -93,33 +93,33 @@ public:
 	// Get the vertex index.
 	u32 GetVertex() const;
 
-	// Set the particle position. 
-	// If the particle is dynamic changing the position directly might lead 
+	// Set the node position. 
+	// If the node is dynamic changing the position directly might lead 
 	// to physically incorrect simulation behaviour.
 	void SetPosition(const b3Vec3& position);
 
-	// Get the particle position.
+	// Get the node position.
 	const b3Vec3& GetPosition() const;
 
-	// Set the particle velocity.
+	// Set the node velocity.
 	void SetVelocity(const b3Vec3& velocity);
 
-	// Get the particle velocity.
+	// Get the node velocity.
 	const b3Vec3& GetVelocity() const;
 
-	// Get the particle mass.
+	// Get the node mass.
 	float32 GetMass() const;
 
-	// Set the particle radius.
+	// Set the node radius.
 	void SetRadius(float32 radius);
 	
-	// Get the particle radius.
+	// Get the node radius.
 	float32 GetRadius() const;
 
-	// Set the particle coefficient of friction.
+	// Set the node coefficient of friction.
 	void SetFriction(float32 friction);
 	
-	// Get the particle coefficient of friction.
+	// Get the node coefficient of friction.
 	float32 GetFriction() const;
 	
 	// Apply a force.

From 4980e3c7f0d47f7a1eb742b549179633fcf3e9c8 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 14 May 2019 09:37:17 -0300
Subject: [PATCH 099/198] Update comments

---
 include/bounce/softbody/softbody.h | 8 ++++----
 src/bounce/softbody/softbody.cpp   | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index 9ea65e9..e837ed9 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -81,7 +81,7 @@ struct b3SoftBodyDef
 	float32 nu;
 };
 
-// A soft body represents a deformable volume as a collection of nodes.
+// A soft body represents a deformable volume as a collection of nodes and elements.
 class b3SoftBody
 {
 public:
@@ -97,11 +97,11 @@ public:
 	// Get the acceleration of gravity.
 	b3Vec3 GetGravity() const;
 
-	// Attach a world to this cloth. 
-	// The cloth will be able to respond to collisions with the bodies in the attached world.
+	// Attach a world to this soft body. 
+	// The soft body will be able to respond to collisions with the bodies in the attached world.
 	void SetWorld(b3World* world);
 
-	// Get the world attached to this cloth.
+	// Get the world attached to this soft body.
 	const b3World* GetWorld() const;
 	b3World* GetWorld();
 
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 17b02d2..e98bff7 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -802,7 +802,7 @@ void b3SoftBody::UpdateContacts()
 {
 	B3_PROFILE("Soft Body Update Contacts");
 
-	// Is there a world attached to this cloth?
+	// Is there a world attached to this soft body?
 	if (m_world == nullptr)
 	{
 		return;

From c972052f3bfb9deb22e65736a8d9d434c758946e Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 14 May 2019 09:37:25 -0300
Subject: [PATCH 100/198] Update softbody_contact_solver.cpp

---
 src/bounce/softbody/softbody_contact_solver.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/bounce/softbody/softbody_contact_solver.cpp b/src/bounce/softbody/softbody_contact_solver.cpp
index f7ac4c4..c079a66 100644
--- a/src/bounce/softbody/softbody_contact_solver.cpp
+++ b/src/bounce/softbody/softbody_contact_solver.cpp
@@ -326,7 +326,7 @@ void b3SoftBodyContactSolver::StoreImpulses()
 	}
 }
 
-struct b3ClothSolverBodyContactSolverPoint
+struct b3SoftBodySolverBodyContactSolverPoint
 {
 	void Initialize(const b3SoftBodySolverBodyContactPositionConstraint* pc, const b3Transform& xfA, const b3Transform& xfB)
 	{
@@ -386,7 +386,7 @@ bool b3SoftBodyContactSolver::SolveBodyContactPositionConstraints()
 		xfB.rotation = b3QuatMat33(qB);
 		xfB.position = cB - b3Mul(xfB.rotation, localCenterB);
 
-		b3ClothSolverBodyContactSolverPoint cpcp;
+		b3SoftBodySolverBodyContactSolverPoint cpcp;
 		cpcp.Initialize(pc, xfA, xfB);
 
 		b3Vec3 normal = cpcp.normal;

From e1b5e615e3db5cdb7a5bdcd76bd12357f70a8423 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 14 May 2019 13:47:04 -0300
Subject: [PATCH 101/198] Generate tetrahedral cylinder. Also added some
 assertion code.

---
 include/bounce/softbody/softbody_mesh.h |  2 ++
 src/bounce/softbody/softbody_mesh.cpp   | 44 +++++++++++++++++++++++++
 2 files changed, 46 insertions(+)

diff --git a/include/bounce/softbody/softbody_mesh.h b/include/bounce/softbody/softbody_mesh.h
index e7f392a..4ffc686 100644
--- a/include/bounce/softbody/softbody_mesh.h
+++ b/include/bounce/softbody/softbody_mesh.h
@@ -40,6 +40,8 @@ struct b3QSoftBodyMesh : public b3SoftBodyMesh
 	~b3QSoftBodyMesh();
 
 	void SetAsSphere(float32 radius, u32 subdivisions);
+	
+	void SetAsCylinder(float32 radius, float32 ey, u32 segments);
 };
 
 #endif
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody_mesh.cpp b/src/bounce/softbody/softbody_mesh.cpp
index 2dd3135..995e12a 100644
--- a/src/bounce/softbody/softbody_mesh.cpp
+++ b/src/bounce/softbody/softbody_mesh.cpp
@@ -18,6 +18,7 @@
 
 #include <bounce/softbody/softbody_mesh.h>
 #include <bounce/meshgen/sphere_mesh.h>
+#include <bounce/meshgen/cylinder_mesh.h>
 
 b3QSoftBodyMesh::b3QSoftBodyMesh()
 {
@@ -38,6 +39,7 @@ void b3QSoftBodyMesh::SetAsSphere(float32 radius, u32 subdivisions)
 	smMesh mesh;
 	smCreateMesh(mesh, subdivisions);
 
+	B3_ASSERT(vertexCount == 0);
 	vertexCount = 1 + mesh.vertexCount;
 	vertices = (b3Vec3*)b3Alloc(vertexCount * sizeof(b3Vec3));
 	vertices[0].SetZero();
@@ -46,6 +48,7 @@ void b3QSoftBodyMesh::SetAsSphere(float32 radius, u32 subdivisions)
 		vertices[1 + i] = mesh.vertices[i];
 	}
 
+	B3_ASSERT(tetrahedronCount == 0);
 	tetrahedronCount = mesh.indexCount / 3;
 	tetrahedrons = (b3SoftBodyMeshTetrahedron*)b3Alloc(tetrahedronCount * sizeof(b3SoftBodyMeshTetrahedron));
 	for (u32 i = 0; i < mesh.indexCount / 3; ++i)
@@ -66,4 +69,45 @@ void b3QSoftBodyMesh::SetAsSphere(float32 radius, u32 subdivisions)
 	{
 		vertices[i] *= radius;
 	}
+}
+
+void b3QSoftBodyMesh::SetAsCylinder(float32 radius, float32 ey, u32 segments)
+{
+	cymMesh mesh;
+	cymCreateMesh(mesh, segments);
+
+	B3_ASSERT(vertexCount == 0);
+	vertexCount = 1 + mesh.vertexCount;
+	vertices = (b3Vec3*)b3Alloc(vertexCount * sizeof(b3Vec3));
+	vertices[0].SetZero();
+	for (u32 i = 0; i < mesh.vertexCount; ++i)
+	{
+		vertices[1 + i] = mesh.vertices[i];
+	}
+
+	B3_ASSERT(tetrahedronCount == 0);
+	tetrahedronCount = mesh.indexCount / 3;
+	tetrahedrons = (b3SoftBodyMeshTetrahedron*)b3Alloc(tetrahedronCount * sizeof(b3SoftBodyMeshTetrahedron));
+	for (u32 i = 0; i < mesh.indexCount / 3; ++i)
+	{
+		u32 v1 = mesh.indices[3 * i + 0];
+		u32 v2 = mesh.indices[3 * i + 1];
+		u32 v3 = mesh.indices[3 * i + 2];
+
+		b3SoftBodyMeshTetrahedron* t = tetrahedrons + i;
+
+		t->v1 = 1 + v3;
+		t->v2 = 1 + v2;
+		t->v3 = 1 + v1;
+		t->v4 = 0;
+	}
+
+	float32 height = 2.0f * ey;
+
+	for (u32 i = 0; i < vertexCount; ++i)
+	{
+		vertices[i].x *= radius;
+		vertices[i].y *= height;
+		vertices[i].z *= radius;
+	}
 }
\ No newline at end of file

From e28fd2e07f10bddebf4ba31fc2b75c6bbe7d5d5c Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 21 May 2019 20:36:46 -0300
Subject: [PATCH 102/198] Simplify soft body initialization and solver

Thanks Open Tissue!!
---
 include/bounce/softbody/softbody.h      |   2 +-
 src/bounce/softbody/softbody.cpp        | 577 ++++--------------------
 src/bounce/softbody/softbody_solver.cpp |  22 +-
 3 files changed, 91 insertions(+), 510 deletions(-)

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index e837ed9..a9b6d0d 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -42,8 +42,8 @@ struct b3SoftBodyRayCastSingleOutput
 // Soft body tetrahedron element
 struct b3SoftBodyElement
 {
-	float32 invP[16];
 	b3Mat33 K[16];
+	b3Mat33 invE;
 	b3Quat q;
 };
 
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index e98bff7..d3395d1 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -59,144 +59,14 @@ static B3_FORCE_INLINE void b3Transpose(float32* B, float32* A, u32 AM, u32 AN)
 	}
 }
 
-static B3_FORCE_INLINE void b3Inverse4(float32 out[16], float32 m[16])
+// Compute the elasticity matrix given Young modulus and Poisson's ratio
+// This is a 6 x 6 matrix 
+static B3_FORCE_INLINE void b3ComputeD(float32 out[36], float32 E, float32 nu)
 {
-	float32 inv[16];
+	float32 lambda = (nu * E) / ((1 + nu) * (1 - 2 * nu));
+	float32 mu = E / (2 * (1 + nu));
 
-	inv[0] = m[5] * m[10] * m[15] -
-		m[5] * m[11] * m[14] -
-		m[9] * m[6] * m[15] +
-		m[9] * m[7] * m[14] +
-		m[13] * m[6] * m[11] -
-		m[13] * m[7] * m[10];
-
-	inv[4] = -m[4] * m[10] * m[15] +
-		m[4] * m[11] * m[14] +
-		m[8] * m[6] * m[15] -
-		m[8] * m[7] * m[14] -
-		m[12] * m[6] * m[11] +
-		m[12] * m[7] * m[10];
-
-	inv[8] = m[4] * m[9] * m[15] -
-		m[4] * m[11] * m[13] -
-		m[8] * m[5] * m[15] +
-		m[8] * m[7] * m[13] +
-		m[12] * m[5] * m[11] -
-		m[12] * m[7] * m[9];
-
-	inv[12] = -m[4] * m[9] * m[14] +
-		m[4] * m[10] * m[13] +
-		m[8] * m[5] * m[14] -
-		m[8] * m[6] * m[13] -
-		m[12] * m[5] * m[10] +
-		m[12] * m[6] * m[9];
-
-	inv[1] = -m[1] * m[10] * m[15] +
-		m[1] * m[11] * m[14] +
-		m[9] * m[2] * m[15] -
-		m[9] * m[3] * m[14] -
-		m[13] * m[2] * m[11] +
-		m[13] * m[3] * m[10];
-
-	inv[5] = m[0] * m[10] * m[15] -
-		m[0] * m[11] * m[14] -
-		m[8] * m[2] * m[15] +
-		m[8] * m[3] * m[14] +
-		m[12] * m[2] * m[11] -
-		m[12] * m[3] * m[10];
-
-	inv[9] = -m[0] * m[9] * m[15] +
-		m[0] * m[11] * m[13] +
-		m[8] * m[1] * m[15] -
-		m[8] * m[3] * m[13] -
-		m[12] * m[1] * m[11] +
-		m[12] * m[3] * m[9];
-
-	inv[13] = m[0] * m[9] * m[14] -
-		m[0] * m[10] * m[13] -
-		m[8] * m[1] * m[14] +
-		m[8] * m[2] * m[13] +
-		m[12] * m[1] * m[10] -
-		m[12] * m[2] * m[9];
-
-	inv[2] = m[1] * m[6] * m[15] -
-		m[1] * m[7] * m[14] -
-		m[5] * m[2] * m[15] +
-		m[5] * m[3] * m[14] +
-		m[13] * m[2] * m[7] -
-		m[13] * m[3] * m[6];
-
-	inv[6] = -m[0] * m[6] * m[15] +
-		m[0] * m[7] * m[14] +
-		m[4] * m[2] * m[15] -
-		m[4] * m[3] * m[14] -
-		m[12] * m[2] * m[7] +
-		m[12] * m[3] * m[6];
-
-	inv[10] = m[0] * m[5] * m[15] -
-		m[0] * m[7] * m[13] -
-		m[4] * m[1] * m[15] +
-		m[4] * m[3] * m[13] +
-		m[12] * m[1] * m[7] -
-		m[12] * m[3] * m[5];
-
-	inv[14] = -m[0] * m[5] * m[14] +
-		m[0] * m[6] * m[13] +
-		m[4] * m[1] * m[14] -
-		m[4] * m[2] * m[13] -
-		m[12] * m[1] * m[6] +
-		m[12] * m[2] * m[5];
-
-	inv[3] = -m[1] * m[6] * m[11] +
-		m[1] * m[7] * m[10] +
-		m[5] * m[2] * m[11] -
-		m[5] * m[3] * m[10] -
-		m[9] * m[2] * m[7] +
-		m[9] * m[3] * m[6];
-
-	inv[7] = m[0] * m[6] * m[11] -
-		m[0] * m[7] * m[10] -
-		m[4] * m[2] * m[11] +
-		m[4] * m[3] * m[10] +
-		m[8] * m[2] * m[7] -
-		m[8] * m[3] * m[6];
-
-	inv[11] = -m[0] * m[5] * m[11] +
-		m[0] * m[7] * m[9] +
-		m[4] * m[1] * m[11] -
-		m[4] * m[3] * m[9] -
-		m[8] * m[1] * m[7] +
-		m[8] * m[3] * m[5];
-
-	inv[15] = m[0] * m[5] * m[10] -
-		m[0] * m[6] * m[9] -
-		m[4] * m[1] * m[10] +
-		m[4] * m[2] * m[9] +
-		m[8] * m[1] * m[6] -
-		m[8] * m[2] * m[5];
-
-	float32 det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
-
-	if (det != 0.0f)
-	{
-		det = 1.0f / det;
-	}
-
-	for (u32 i = 0; i < 16; ++i)
-	{
-		out[i] = det * inv[i];
-	}
-}
-
-static B3_FORCE_INLINE void b3Lame(float32& lambda, float32& mu, float32 E, float32 nu)
-{
-	lambda = (nu * E) / ((1 + nu) * (1 - 2 * nu));
-	mu = E / (2 * (1 + nu));
-}
-
-static B3_FORCE_INLINE void b3CreateE(float32 out[36], float32 lambda, float32 mu)
-{
-	float32 E[36] =
+	float32 D[36] =
 	{
 		lambda + 2 * mu, lambda,          lambda,          0,  0,  0,
 		lambda,          lambda + 2 * mu, lambda,          0,  0,  0,
@@ -208,340 +78,58 @@ static B3_FORCE_INLINE void b3CreateE(float32 out[36], float32 lambda, float32 m
 
 	for (u32 i = 0; i < 36; ++i)
 	{
-		out[i] = E[i];
+		out[i] = D[i];
 	}
 }
 
-static B3_FORCE_INLINE void b3CreateB(float32 out[72], float32 invP[16])
+// Compute derivatives of shape functions N
+static B3_FORCE_INLINE void b3ComputeBVec(b3Vec3 out[4], 
+	const b3Vec3& e10, 
+	const b3Vec3& e20, 
+	const b3Vec3& e30,
+	float32 V)
 {
-	float32 a11 = invP[0];
-	float32 a21 = invP[1];
-	float32 a31 = invP[2];
-	float32 a41 = invP[3];
+	float32 inv6V = 1.0f / (6.0f * V);
 
-	float32 a12 = invP[4];
-	float32 a22 = invP[5];
-	float32 a32 = invP[6];
-	float32 a42 = invP[7];
+	b3Vec3* B = out;
 
-	float32 a13 = invP[8];
-	float32 a23 = invP[9];
-	float32 a33 = invP[10];
-	float32 a43 = invP[11];
+	B[1][0] = (e20[2] * e30[1] - e20[1] * e30[2]) * inv6V;
+	B[2][0] = (e10[1] * e30[2] - e10[2] * e30[1]) * inv6V;
+	B[3][0] = (e10[2] * e20[1] - e10[1] * e20[2]) * inv6V;
+	B[0][0] = -B[1][0] - B[2][0] - B[3][0];
 
-	//float32 a14 = invP[12];
-	//float32 a24 = invP[13];
-	//float32 a34 = invP[14];
-	//float32 a44 = invP[15];
+	B[1][1] = (e20[0] * e30[2] - e20[2] * e30[0]) * inv6V;
+	B[2][1] = (e10[2] * e30[0] - e10[0] * e30[2]) * inv6V;
+	B[3][1] = (e10[0] * e20[2] - e10[2] * e20[0]) * inv6V;
+	B[0][1] = -B[1][1] - B[2][1] - B[3][1]; 
 
-	// 6 x 12
-	// a11 0   0   a21 0   0   a31 0   0   a41 0   0
-	// 0   a12 0   0   a22 0   0   a32 0   0   a42 0
-	// 0   0   a13 0   0   a23 0   0   a33 0   0   a43
-	// a12 a11 0   a22 a21 0   a32 a31 0   a42 a41 0
-	// 0   a13 a12 0   a23 a22 0   a33 a32 0   a43 a42
-	// a13 0   a11 a23 0   a21 a33 0   a31 a43 0   a41
-	float32 B[72] =
+	B[1][2] = (e20[1] * e30[0] - e20[0] * e30[1]) * inv6V;
+	B[2][2] = (e10[0] * e30[1] - e10[1] * e30[0]) * inv6V;
+	B[3][2] = (e10[1] * e20[0] - e10[0] * e20[1]) * inv6V;
+	B[0][2] = -B[1][2] - B[2][2] - B[3][2]; 
+}
+
+// Convert a B vector to its corresponding matrix form.
+// This is a 6 x 3 matrix.
+static B3_FORCE_INLINE void b3ComputeBMat(float32 out[18], const b3Vec3& v)
+{
+	float32 bi = v.x;
+	float32 ci = v.y;
+	float32 di = v.z;
+
+	float32 B[18] =
 	{
-		a11, 0, 0, a12, 0, a13,
-		0, a12, 0, a11, a13, 0,
-		0, 0, a13, 0, a12, a11,
-		a21, 0, 0, a22, 0, a23,
-		0, a22, 0, a21, a23, 0,
-		0, 0, a23, 0, a22, a21,
-		a31, 0, 0, a32, 0, a33,
-		0, a32, 0, a31, a33, 0,
-		0, 0, a33, 0, a32, a31,
-		a41, 0, 0, a42, 0, a43,
-		0, a42, 0, a41, a43, 0,
-		0, 0, a43, 0, a42, a41
+		bi, 0, 0, ci, di, 0,
+		0, ci, 0, bi, 0, di,
+		0, 0, di, 0, bi, ci
 	};
 
-	for (u32 i = 0; i < 72; ++i)
+	for (u32 i = 0; i < 18; ++i)
 	{
 		out[i] = B[i];
 	}
 }
 
-static B3_FORCE_INLINE void b3SetK(b3Mat33 K[16], float32 Ke[144])
-{
-	b3Mat33& k11 = K[0 + 4 * 0];
-	b3Mat33& k12 = K[0 + 4 * 1];
-	b3Mat33& k13 = K[0 + 4 * 2];
-	b3Mat33& k14 = K[0 + 4 * 3];
-
-	b3Mat33& k21 = K[1 + 4 * 0];
-	b3Mat33& k22 = K[1 + 4 * 1];
-	b3Mat33& k23 = K[1 + 4 * 2];
-	b3Mat33& k24 = K[1 + 4 * 3];
-
-	b3Mat33& k31 = K[2 + 4 * 0];
-	b3Mat33& k32 = K[2 + 4 * 1];
-	b3Mat33& k33 = K[2 + 4 * 2];
-	b3Mat33& k34 = K[2 + 4 * 3];
-
-	b3Mat33& k41 = K[3 + 4 * 0];
-	b3Mat33& k42 = K[3 + 4 * 1];
-	b3Mat33& k43 = K[3 + 4 * 2];
-	b3Mat33& k44 = K[3 + 4 * 3];
-
-	// k11                  
-	// a11 a12 a13 
-	// a21 a22 a23 
-	// a31 a32 a33
-	k11.x.x = Ke[0 + 12 * 0];
-	k11.x.y = Ke[1 + 12 * 0];
-	k11.x.z = Ke[2 + 12 * 0];
-
-	k11.y.x = Ke[0 + 12 * 1];
-	k11.y.y = Ke[1 + 12 * 1];
-	k11.y.z = Ke[2 + 12 * 1];
-
-	k11.z.x = Ke[0 + 12 * 2];
-	k11.z.y = Ke[1 + 12 * 2];
-	k11.z.z = Ke[2 + 12 * 2];
-
-	// k12
-	// a14 a15 a16
-	// a24 a25 a26
-	// a34 a35 a36
-	k12.x.x = Ke[0 + 12 * 3];
-	k12.x.y = Ke[1 + 12 * 3];
-	k12.x.z = Ke[2 + 12 * 3];
-
-	k12.y.x = Ke[0 + 12 * 4];
-	k12.y.y = Ke[1 + 12 * 4];
-	k12.y.z = Ke[2 + 12 * 4];
-
-	k12.z.x = Ke[0 + 12 * 5];
-	k12.z.y = Ke[1 + 12 * 5];
-	k12.z.z = Ke[2 + 12 * 5];
-
-	// k13
-	// a17 a18 a19
-	// a27 a28 a29
-	// a37 a38 a39
-	k13.x.x = Ke[0 + 12 * 6];
-	k13.x.y = Ke[1 + 12 * 6];
-	k13.x.z = Ke[2 + 12 * 6];
-
-	k13.y.x = Ke[0 + 12 * 7];
-	k13.y.y = Ke[1 + 12 * 7];
-	k13.y.z = Ke[2 + 12 * 7];
-
-	k13.z.x = Ke[0 + 12 * 8];
-	k13.z.y = Ke[1 + 12 * 8];
-	k13.z.z = Ke[2 + 12 * 8];
-
-	// k14
-	// a1_10 a1_11 a1_12
-	// a2_10 a2_11 a2_12
-	// a3_10 a3_11 a3_12
-	k14.x.x = Ke[0 + 12 * 9];
-	k14.x.y = Ke[1 + 12 * 9];
-	k14.x.z = Ke[2 + 12 * 9];
-
-	k14.y.x = Ke[0 + 12 * 10];
-	k14.y.y = Ke[1 + 12 * 10];
-	k14.y.z = Ke[2 + 12 * 10];
-
-	k14.z.x = Ke[0 + 12 * 11];
-	k14.z.y = Ke[1 + 12 * 11];
-	k14.z.z = Ke[2 + 12 * 11];
-
-	// k21	           
-	// a41 a42 a43	
-	// a51 a52 a53		
-	// a61 a62 a63	
-	k21.x.x = Ke[3 + 12 * 0];
-	k21.x.y = Ke[4 + 12 * 0];
-	k21.x.z = Ke[5 + 12 * 0];
-
-	k21.y.x = Ke[3 + 12 * 1];
-	k21.y.y = Ke[4 + 12 * 1];
-	k21.y.z = Ke[5 + 12 * 1];
-
-	k21.z.x = Ke[3 + 12 * 2];
-	k21.z.y = Ke[4 + 12 * 2];
-	k21.z.z = Ke[5 + 12 * 2];
-
-	// k22	            
-	// a44 a45 a46	
-	// a54 a55 a56	
-	// a64 a65 a66	
-	k22.x.x = Ke[3 + 12 * 3];
-	k22.x.y = Ke[4 + 12 * 3];
-	k22.x.z = Ke[5 + 12 * 3];
-
-	k22.y.x = Ke[3 + 12 * 4];
-	k22.y.y = Ke[4 + 12 * 4];
-	k22.y.z = Ke[5 + 12 * 4];
-
-	k22.z.x = Ke[3 + 12 * 5];
-	k22.z.y = Ke[4 + 12 * 5];
-	k22.z.z = Ke[5 + 12 * 5];
-
-	// k23			            
-	// a47 a48 a49	
-	// a57 a58 a59	
-	// a67 a68 a69	
-	k23.x.x = Ke[3 + 12 * 6];
-	k23.x.y = Ke[4 + 12 * 6];
-	k23.x.z = Ke[5 + 12 * 6];
-
-	k23.y.x = Ke[3 + 12 * 7];
-	k23.y.y = Ke[4 + 12 * 7];
-	k23.y.z = Ke[5 + 12 * 7];
-
-	k23.z.x = Ke[3 + 12 * 8];
-	k23.z.y = Ke[4 + 12 * 8];
-	k23.z.z = Ke[5 + 12 * 8];
-
-	// k24            
-	// a4_10 a4_11 a4_12
-	// a5_10 a5_11 a5_12
-	// a6_10 a6_11 a6_12
-	k24.x.x = Ke[3 + 12 * 9];
-	k24.x.y = Ke[4 + 12 * 9];
-	k24.x.z = Ke[5 + 12 * 9];
-
-	k24.y.x = Ke[3 + 12 * 10];
-	k24.y.y = Ke[4 + 12 * 10];
-	k24.y.z = Ke[5 + 12 * 10];
-
-	k24.z.x = Ke[3 + 12 * 11];
-	k24.z.y = Ke[4 + 12 * 11];
-	k24.z.z = Ke[5 + 12 * 11];
-
-	// k31	
-	// a71 a72 a73	
-	// a81 a82 a83	
-	// a91 a92 a93	
-	k31.x.x = Ke[6 + 12 * 0];
-	k31.x.y = Ke[7 + 12 * 0];
-	k31.x.z = Ke[8 + 12 * 0];
-
-	k31.y.x = Ke[6 + 12 * 1];
-	k31.y.y = Ke[7 + 12 * 1];
-	k31.y.z = Ke[8 + 12 * 1];
-
-	k31.z.x = Ke[6 + 12 * 2];
-	k31.z.y = Ke[7 + 12 * 2];
-	k31.z.z = Ke[8 + 12 * 2];
-
-	// k32	
-	// a74 a75 a76	
-	// a84 a85 a86	
-	// a94 a95 a96	
-	k32.x.x = Ke[6 + 12 * 3];
-	k32.x.y = Ke[7 + 12 * 3];
-	k32.x.z = Ke[8 + 12 * 3];
-
-	k32.y.x = Ke[6 + 12 * 4];
-	k32.y.y = Ke[7 + 12 * 4];
-	k32.y.z = Ke[8 + 12 * 4];
-
-	k32.z.x = Ke[6 + 12 * 5];
-	k32.z.y = Ke[7 + 12 * 5];
-	k32.z.z = Ke[8 + 12 * 5];
-
-	// k33 
-	// a77 a78 a79 
-	// a87 a88 a89 
-	// a97 a98 a99 
-	k33.x.x = Ke[6 + 12 * 6];
-	k33.x.y = Ke[7 + 12 * 6];
-	k33.x.z = Ke[8 + 12 * 6];
-
-	k33.y.x = Ke[6 + 12 * 7];
-	k33.y.y = Ke[7 + 12 * 7];
-	k33.y.z = Ke[8 + 12 * 7];
-
-	k33.z.x = Ke[6 + 12 * 8];
-	k33.z.y = Ke[7 + 12 * 8];
-	k33.z.z = Ke[8 + 12 * 8];
-
-	// k34
-	// a7_10 a7_11 a7_12
-	// a8_10 a8_11 a8_12
-	// a9_10 a9_11 a9_12
-	k34.x.x = Ke[6 + 12 * 9];
-	k34.x.y = Ke[7 + 12 * 9];
-	k34.x.z = Ke[8 + 12 * 9];
-
-	k34.y.x = Ke[6 + 12 * 10];
-	k34.y.y = Ke[7 + 12 * 10];
-	k34.y.z = Ke[8 + 12 * 10];
-
-	k34.z.x = Ke[6 + 12 * 11];
-	k34.z.y = Ke[7 + 12 * 11];
-	k34.z.z = Ke[8 + 12 * 11];
-
-	// k41	
-	// a10_1 a10_2 a10_3	
-	// a11_1 a11_2 a11_3	
-	// a12_1 a12_2 a12_3	
-	k41.x.x = Ke[9 + 12 * 0];
-	k41.x.y = Ke[10 + 12 * 0];
-	k41.x.z = Ke[11 + 12 * 0];
-
-	k41.y.x = Ke[9 + 12 * 1];
-	k41.y.y = Ke[10 + 12 * 1];
-	k41.y.z = Ke[11 + 12 * 1];
-
-	k41.z.x = Ke[9 + 12 * 2];
-	k41.z.y = Ke[10 + 12 * 2];
-	k41.z.z = Ke[11 + 12 * 2];
-
-	// k42 
-	// a10_4 a10_5 a10_6 
-	// a11_4 a11_5 a11_6 
-	// a12_4 a12_5 a12_6 
-	k42.x.x = Ke[9 + 12 * 3];
-	k42.x.y = Ke[10 + 12 * 3];
-	k42.x.z = Ke[11 + 12 * 3];
-
-	k42.y.x = Ke[9 + 12 * 4];
-	k42.y.y = Ke[10 + 12 * 4];
-	k42.y.z = Ke[11 + 12 * 4];
-
-	k42.z.x = Ke[9 + 12 * 5];
-	k42.z.y = Ke[10 + 12 * 5];
-	k42.z.z = Ke[11 + 12 * 5];
-
-	// k43 
-	// a10_7 a10_8 a10_9 
-	// a11_7 a11_8 a11_9 
-	// a12_7 a12_8 a12_9 
-	k43.x.x = Ke[9 + 12 * 6];
-	k43.x.y = Ke[10 + 12 * 6];
-	k43.x.z = Ke[11 + 12 * 6];
-
-	k43.y.x = Ke[9 + 12 * 7];
-	k43.y.y = Ke[10 + 12 * 7];
-	k43.y.z = Ke[11 + 12 * 7];
-
-	k43.z.x = Ke[9 + 12 * 8];
-	k43.z.y = Ke[10 + 12 * 8];
-	k43.z.z = Ke[11 + 12 * 8];
-
-	// k44
-	// a10_10 a10_11 a10_12
-	// a11_10 a11_11 a11_12
-	// a12_10 a12_11 a12_12
-	k44.x.x = Ke[9 + 12 * 9];
-	k44.x.y = Ke[10 + 12 * 9];
-	k44.x.z = Ke[11 + 12 * 9];
-
-	k44.y.x = Ke[9 + 12 * 10];
-	k44.y.y = Ke[10 + 12 * 10];
-	k44.y.z = Ke[11 + 12 * 10];
-
-	k44.z.x = Ke[9 + 12 * 11];
-	k44.z.y = Ke[10 + 12 * 11];
-	k44.z.z = Ke[11 + 12 * 11];
-}
-
 b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 {
 	B3_ASSERT(def.mesh);
@@ -597,47 +185,52 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		b3Vec3 p3 = m->vertices[v3];
 		b3Vec3 p4 = m->vertices[v4];
 
-		float32 lambda, mu;
-		b3Lame(lambda, mu, m_E, m_nu);
-
-		// 6 x 6
-		float32 E[36];
-		b3CreateE(E, lambda, mu);
-
-		// 4 x 4
-		float32 P[16] =
-		{
-			p1.x, p1.y, p1.z, 1.0f,
-			p2.x, p2.y, p2.z, 1.0f,
-			p3.x, p3.y, p3.z, 1.0f,
-			p4.x, p4.y, p4.z, 1.0f
-		};
-
-		b3Inverse4(e->invP, P);
-
-		// 6 x 12
-		float32 B[72];
-		b3CreateB(B, e->invP);
-
-		// 6 x 12
-		float32 EB[72];
-		b3Mul(EB, E, 6, 6, B, 6, 12);
-
-		// 12 x 6
-		float32 BT[72];
-		b3Transpose(BT, B, 6, 12);
-
 		float32 V = b3Volume(p1, p2, p3, p4);
 
-		// 12 x 12
-		float32 Ke[144];
-		b3Mul(Ke, BT, 12, 6, EB, 6, 12);
-		for (u32 i = 0; i < 144; ++i)
-		{
-			Ke[i] *= V;
-		}
+		B3_ASSERT(V > 0.0f);
 
-		b3SetK(e->K, Ke);
+		b3Vec3 e10 = p2 - p1;
+		b3Vec3 e20 = p3 - p1;
+		b3Vec3 e30 = p4 - p1;
+
+		b3Mat33 E(e10, e20, e30);
+
+		e->invE = b3Inverse(E);
+
+		// 6 x 6
+		float32 D[36];
+		b3ComputeD(D, m_E, m_nu);
+
+		b3Vec3 B[4];
+		b3ComputeBVec(B, e10, e20, e30, V);
+
+		for (u32 i = 0; i < 4; ++i)
+		{
+			// 6 x 3
+			float32 B_i[18];
+			b3ComputeBMat(B_i, B[i]);
+
+			// 3 x 6
+			float32 B_i_T[18];
+			b3Transpose(B_i_T, B_i, 6, 3);
+
+			for (u32 j = 0; j < 4; ++j)
+			{
+				// 6 x 3
+				float32 B_j[18];
+				b3ComputeBMat(B_j, B[j]);
+
+				// 6 x 3
+				float32 D_B_j[18];
+				b3Mul(D_B_j, D, 6, 6, B_j, 6, 3);
+
+				// 3 x 3
+				b3Mat33& Ke = e->K[i + 4 * j];
+				b3Mul(&Ke.x.x, B_i_T, 3, 6, D_B_j, 6, 3);
+
+				Ke = V * Ke;
+			}
+		}
 	}
 
 	// Initialize triangles
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index cb6ca56..188844f 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -236,25 +236,13 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 		b3Vec3 p3 = p[v3];
 		b3Vec3 p4 = p[v4];
 
-		float32 P[16] =
-		{
-			p1.x, p1.y, p1.z, 1.0f,
-			p2.x, p2.y, p2.z, 1.0f,
-			p3.x, p3.y, p3.z, 1.0f,
-			p4.x, p4.y, p4.z, 1.0f
-		};
+		b3Vec3 e1 = p2 - p1;
+		b3Vec3 e2 = p3 - p1;
+		b3Vec3 e3 = p4 - p1;
 
-		float32 P_invP[16];
-		b3Mul(P_invP, P, 4, 4, e->invP, 4, 4);
+		b3Mat33 E(e1, e2, e3);
 
-		b3Mat33 A;
-		for (u32 i = 0; i < 3; ++i)
-		{
-			for (u32 j = 0; j < 3; ++j)
-			{
-				A(i, j) = P_invP[i + 4 * j];
-			}
-		}
+		b3Mat33 A = E * e->invE;
 
 		b3Mat33 R;
 		b3ExtractRotation(R, e->q, A);

From 56b5675dcdd48ea15e36b6561d52484166ba6982 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 21 May 2019 20:46:00 -0300
Subject: [PATCH 103/198] Revert "Simplify soft body initialization and solver"

This reverts commit e28fd2e07f10bddebf4ba31fc2b75c6bbe7d5d5c.
---
 include/bounce/softbody/softbody.h      |   2 +-
 src/bounce/softbody/softbody.cpp        | 563 ++++++++++++++++++++----
 src/bounce/softbody/softbody_solver.cpp |  22 +-
 3 files changed, 503 insertions(+), 84 deletions(-)

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index a9b6d0d..e837ed9 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -42,8 +42,8 @@ struct b3SoftBodyRayCastSingleOutput
 // Soft body tetrahedron element
 struct b3SoftBodyElement
 {
+	float32 invP[16];
 	b3Mat33 K[16];
-	b3Mat33 invE;
 	b3Quat q;
 };
 
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index d3395d1..e98bff7 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -59,14 +59,144 @@ static B3_FORCE_INLINE void b3Transpose(float32* B, float32* A, u32 AM, u32 AN)
 	}
 }
 
-// Compute the elasticity matrix given Young modulus and Poisson's ratio
-// This is a 6 x 6 matrix 
-static B3_FORCE_INLINE void b3ComputeD(float32 out[36], float32 E, float32 nu)
+static B3_FORCE_INLINE void b3Inverse4(float32 out[16], float32 m[16])
 {
-	float32 lambda = (nu * E) / ((1 + nu) * (1 - 2 * nu));
-	float32 mu = E / (2 * (1 + nu));
+	float32 inv[16];
 
-	float32 D[36] =
+	inv[0] = m[5] * m[10] * m[15] -
+		m[5] * m[11] * m[14] -
+		m[9] * m[6] * m[15] +
+		m[9] * m[7] * m[14] +
+		m[13] * m[6] * m[11] -
+		m[13] * m[7] * m[10];
+
+	inv[4] = -m[4] * m[10] * m[15] +
+		m[4] * m[11] * m[14] +
+		m[8] * m[6] * m[15] -
+		m[8] * m[7] * m[14] -
+		m[12] * m[6] * m[11] +
+		m[12] * m[7] * m[10];
+
+	inv[8] = m[4] * m[9] * m[15] -
+		m[4] * m[11] * m[13] -
+		m[8] * m[5] * m[15] +
+		m[8] * m[7] * m[13] +
+		m[12] * m[5] * m[11] -
+		m[12] * m[7] * m[9];
+
+	inv[12] = -m[4] * m[9] * m[14] +
+		m[4] * m[10] * m[13] +
+		m[8] * m[5] * m[14] -
+		m[8] * m[6] * m[13] -
+		m[12] * m[5] * m[10] +
+		m[12] * m[6] * m[9];
+
+	inv[1] = -m[1] * m[10] * m[15] +
+		m[1] * m[11] * m[14] +
+		m[9] * m[2] * m[15] -
+		m[9] * m[3] * m[14] -
+		m[13] * m[2] * m[11] +
+		m[13] * m[3] * m[10];
+
+	inv[5] = m[0] * m[10] * m[15] -
+		m[0] * m[11] * m[14] -
+		m[8] * m[2] * m[15] +
+		m[8] * m[3] * m[14] +
+		m[12] * m[2] * m[11] -
+		m[12] * m[3] * m[10];
+
+	inv[9] = -m[0] * m[9] * m[15] +
+		m[0] * m[11] * m[13] +
+		m[8] * m[1] * m[15] -
+		m[8] * m[3] * m[13] -
+		m[12] * m[1] * m[11] +
+		m[12] * m[3] * m[9];
+
+	inv[13] = m[0] * m[9] * m[14] -
+		m[0] * m[10] * m[13] -
+		m[8] * m[1] * m[14] +
+		m[8] * m[2] * m[13] +
+		m[12] * m[1] * m[10] -
+		m[12] * m[2] * m[9];
+
+	inv[2] = m[1] * m[6] * m[15] -
+		m[1] * m[7] * m[14] -
+		m[5] * m[2] * m[15] +
+		m[5] * m[3] * m[14] +
+		m[13] * m[2] * m[7] -
+		m[13] * m[3] * m[6];
+
+	inv[6] = -m[0] * m[6] * m[15] +
+		m[0] * m[7] * m[14] +
+		m[4] * m[2] * m[15] -
+		m[4] * m[3] * m[14] -
+		m[12] * m[2] * m[7] +
+		m[12] * m[3] * m[6];
+
+	inv[10] = m[0] * m[5] * m[15] -
+		m[0] * m[7] * m[13] -
+		m[4] * m[1] * m[15] +
+		m[4] * m[3] * m[13] +
+		m[12] * m[1] * m[7] -
+		m[12] * m[3] * m[5];
+
+	inv[14] = -m[0] * m[5] * m[14] +
+		m[0] * m[6] * m[13] +
+		m[4] * m[1] * m[14] -
+		m[4] * m[2] * m[13] -
+		m[12] * m[1] * m[6] +
+		m[12] * m[2] * m[5];
+
+	inv[3] = -m[1] * m[6] * m[11] +
+		m[1] * m[7] * m[10] +
+		m[5] * m[2] * m[11] -
+		m[5] * m[3] * m[10] -
+		m[9] * m[2] * m[7] +
+		m[9] * m[3] * m[6];
+
+	inv[7] = m[0] * m[6] * m[11] -
+		m[0] * m[7] * m[10] -
+		m[4] * m[2] * m[11] +
+		m[4] * m[3] * m[10] +
+		m[8] * m[2] * m[7] -
+		m[8] * m[3] * m[6];
+
+	inv[11] = -m[0] * m[5] * m[11] +
+		m[0] * m[7] * m[9] +
+		m[4] * m[1] * m[11] -
+		m[4] * m[3] * m[9] -
+		m[8] * m[1] * m[7] +
+		m[8] * m[3] * m[5];
+
+	inv[15] = m[0] * m[5] * m[10] -
+		m[0] * m[6] * m[9] -
+		m[4] * m[1] * m[10] +
+		m[4] * m[2] * m[9] +
+		m[8] * m[1] * m[6] -
+		m[8] * m[2] * m[5];
+
+	float32 det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
+
+	if (det != 0.0f)
+	{
+		det = 1.0f / det;
+	}
+
+	for (u32 i = 0; i < 16; ++i)
+	{
+		out[i] = det * inv[i];
+	}
+}
+
+static B3_FORCE_INLINE void b3Lame(float32& lambda, float32& mu, float32 E, float32 nu)
+{
+	lambda = (nu * E) / ((1 + nu) * (1 - 2 * nu));
+	mu = E / (2 * (1 + nu));
+}
+
+static B3_FORCE_INLINE void b3CreateE(float32 out[36], float32 lambda, float32 mu)
+{
+	float32 E[36] =
 	{
 		lambda + 2 * mu, lambda,          lambda,          0,  0,  0,
 		lambda,          lambda + 2 * mu, lambda,          0,  0,  0,
@@ -78,58 +208,340 @@ static B3_FORCE_INLINE void b3ComputeD(float32 out[36], float32 E, float32 nu)
 
 	for (u32 i = 0; i < 36; ++i)
 	{
-		out[i] = D[i];
+		out[i] = E[i];
 	}
 }
 
-// Compute derivatives of shape functions N
-static B3_FORCE_INLINE void b3ComputeBVec(b3Vec3 out[4], 
-	const b3Vec3& e10, 
-	const b3Vec3& e20, 
-	const b3Vec3& e30,
-	float32 V)
+static B3_FORCE_INLINE void b3CreateB(float32 out[72], float32 invP[16])
 {
-	float32 inv6V = 1.0f / (6.0f * V);
+	float32 a11 = invP[0];
+	float32 a21 = invP[1];
+	float32 a31 = invP[2];
+	float32 a41 = invP[3];
 
-	b3Vec3* B = out;
+	float32 a12 = invP[4];
+	float32 a22 = invP[5];
+	float32 a32 = invP[6];
+	float32 a42 = invP[7];
 
-	B[1][0] = (e20[2] * e30[1] - e20[1] * e30[2]) * inv6V;
-	B[2][0] = (e10[1] * e30[2] - e10[2] * e30[1]) * inv6V;
-	B[3][0] = (e10[2] * e20[1] - e10[1] * e20[2]) * inv6V;
-	B[0][0] = -B[1][0] - B[2][0] - B[3][0];
+	float32 a13 = invP[8];
+	float32 a23 = invP[9];
+	float32 a33 = invP[10];
+	float32 a43 = invP[11];
 
-	B[1][1] = (e20[0] * e30[2] - e20[2] * e30[0]) * inv6V;
-	B[2][1] = (e10[2] * e30[0] - e10[0] * e30[2]) * inv6V;
-	B[3][1] = (e10[0] * e20[2] - e10[2] * e20[0]) * inv6V;
-	B[0][1] = -B[1][1] - B[2][1] - B[3][1]; 
+	//float32 a14 = invP[12];
+	//float32 a24 = invP[13];
+	//float32 a34 = invP[14];
+	//float32 a44 = invP[15];
 
-	B[1][2] = (e20[1] * e30[0] - e20[0] * e30[1]) * inv6V;
-	B[2][2] = (e10[0] * e30[1] - e10[1] * e30[0]) * inv6V;
-	B[3][2] = (e10[1] * e20[0] - e10[0] * e20[1]) * inv6V;
-	B[0][2] = -B[1][2] - B[2][2] - B[3][2]; 
-}
-
-// Convert a B vector to its corresponding matrix form.
-// This is a 6 x 3 matrix.
-static B3_FORCE_INLINE void b3ComputeBMat(float32 out[18], const b3Vec3& v)
-{
-	float32 bi = v.x;
-	float32 ci = v.y;
-	float32 di = v.z;
-
-	float32 B[18] =
+	// 6 x 12
+	// a11 0   0   a21 0   0   a31 0   0   a41 0   0
+	// 0   a12 0   0   a22 0   0   a32 0   0   a42 0
+	// 0   0   a13 0   0   a23 0   0   a33 0   0   a43
+	// a12 a11 0   a22 a21 0   a32 a31 0   a42 a41 0
+	// 0   a13 a12 0   a23 a22 0   a33 a32 0   a43 a42
+	// a13 0   a11 a23 0   a21 a33 0   a31 a43 0   a41
+	float32 B[72] =
 	{
-		bi, 0, 0, ci, di, 0,
-		0, ci, 0, bi, 0, di,
-		0, 0, di, 0, bi, ci
+		a11, 0, 0, a12, 0, a13,
+		0, a12, 0, a11, a13, 0,
+		0, 0, a13, 0, a12, a11,
+		a21, 0, 0, a22, 0, a23,
+		0, a22, 0, a21, a23, 0,
+		0, 0, a23, 0, a22, a21,
+		a31, 0, 0, a32, 0, a33,
+		0, a32, 0, a31, a33, 0,
+		0, 0, a33, 0, a32, a31,
+		a41, 0, 0, a42, 0, a43,
+		0, a42, 0, a41, a43, 0,
+		0, 0, a43, 0, a42, a41
 	};
 
-	for (u32 i = 0; i < 18; ++i)
+	for (u32 i = 0; i < 72; ++i)
 	{
 		out[i] = B[i];
 	}
 }
 
+static B3_FORCE_INLINE void b3SetK(b3Mat33 K[16], float32 Ke[144])
+{
+	b3Mat33& k11 = K[0 + 4 * 0];
+	b3Mat33& k12 = K[0 + 4 * 1];
+	b3Mat33& k13 = K[0 + 4 * 2];
+	b3Mat33& k14 = K[0 + 4 * 3];
+
+	b3Mat33& k21 = K[1 + 4 * 0];
+	b3Mat33& k22 = K[1 + 4 * 1];
+	b3Mat33& k23 = K[1 + 4 * 2];
+	b3Mat33& k24 = K[1 + 4 * 3];
+
+	b3Mat33& k31 = K[2 + 4 * 0];
+	b3Mat33& k32 = K[2 + 4 * 1];
+	b3Mat33& k33 = K[2 + 4 * 2];
+	b3Mat33& k34 = K[2 + 4 * 3];
+
+	b3Mat33& k41 = K[3 + 4 * 0];
+	b3Mat33& k42 = K[3 + 4 * 1];
+	b3Mat33& k43 = K[3 + 4 * 2];
+	b3Mat33& k44 = K[3 + 4 * 3];
+
+	// k11                  
+	// a11 a12 a13 
+	// a21 a22 a23 
+	// a31 a32 a33
+	k11.x.x = Ke[0 + 12 * 0];
+	k11.x.y = Ke[1 + 12 * 0];
+	k11.x.z = Ke[2 + 12 * 0];
+
+	k11.y.x = Ke[0 + 12 * 1];
+	k11.y.y = Ke[1 + 12 * 1];
+	k11.y.z = Ke[2 + 12 * 1];
+
+	k11.z.x = Ke[0 + 12 * 2];
+	k11.z.y = Ke[1 + 12 * 2];
+	k11.z.z = Ke[2 + 12 * 2];
+
+	// k12
+	// a14 a15 a16
+	// a24 a25 a26
+	// a34 a35 a36
+	k12.x.x = Ke[0 + 12 * 3];
+	k12.x.y = Ke[1 + 12 * 3];
+	k12.x.z = Ke[2 + 12 * 3];
+
+	k12.y.x = Ke[0 + 12 * 4];
+	k12.y.y = Ke[1 + 12 * 4];
+	k12.y.z = Ke[2 + 12 * 4];
+
+	k12.z.x = Ke[0 + 12 * 5];
+	k12.z.y = Ke[1 + 12 * 5];
+	k12.z.z = Ke[2 + 12 * 5];
+
+	// k13
+	// a17 a18 a19
+	// a27 a28 a29
+	// a37 a38 a39
+	k13.x.x = Ke[0 + 12 * 6];
+	k13.x.y = Ke[1 + 12 * 6];
+	k13.x.z = Ke[2 + 12 * 6];
+
+	k13.y.x = Ke[0 + 12 * 7];
+	k13.y.y = Ke[1 + 12 * 7];
+	k13.y.z = Ke[2 + 12 * 7];
+
+	k13.z.x = Ke[0 + 12 * 8];
+	k13.z.y = Ke[1 + 12 * 8];
+	k13.z.z = Ke[2 + 12 * 8];
+
+	// k14
+	// a1_10 a1_11 a1_12
+	// a2_10 a2_11 a2_12
+	// a3_10 a3_11 a3_12
+	k14.x.x = Ke[0 + 12 * 9];
+	k14.x.y = Ke[1 + 12 * 9];
+	k14.x.z = Ke[2 + 12 * 9];
+
+	k14.y.x = Ke[0 + 12 * 10];
+	k14.y.y = Ke[1 + 12 * 10];
+	k14.y.z = Ke[2 + 12 * 10];
+
+	k14.z.x = Ke[0 + 12 * 11];
+	k14.z.y = Ke[1 + 12 * 11];
+	k14.z.z = Ke[2 + 12 * 11];
+
+	// k21	           
+	// a41 a42 a43	
+	// a51 a52 a53		
+	// a61 a62 a63	
+	k21.x.x = Ke[3 + 12 * 0];
+	k21.x.y = Ke[4 + 12 * 0];
+	k21.x.z = Ke[5 + 12 * 0];
+
+	k21.y.x = Ke[3 + 12 * 1];
+	k21.y.y = Ke[4 + 12 * 1];
+	k21.y.z = Ke[5 + 12 * 1];
+
+	k21.z.x = Ke[3 + 12 * 2];
+	k21.z.y = Ke[4 + 12 * 2];
+	k21.z.z = Ke[5 + 12 * 2];
+
+	// k22	            
+	// a44 a45 a46	
+	// a54 a55 a56	
+	// a64 a65 a66	
+	k22.x.x = Ke[3 + 12 * 3];
+	k22.x.y = Ke[4 + 12 * 3];
+	k22.x.z = Ke[5 + 12 * 3];
+
+	k22.y.x = Ke[3 + 12 * 4];
+	k22.y.y = Ke[4 + 12 * 4];
+	k22.y.z = Ke[5 + 12 * 4];
+
+	k22.z.x = Ke[3 + 12 * 5];
+	k22.z.y = Ke[4 + 12 * 5];
+	k22.z.z = Ke[5 + 12 * 5];
+
+	// k23			            
+	// a47 a48 a49	
+	// a57 a58 a59	
+	// a67 a68 a69	
+	k23.x.x = Ke[3 + 12 * 6];
+	k23.x.y = Ke[4 + 12 * 6];
+	k23.x.z = Ke[5 + 12 * 6];
+
+	k23.y.x = Ke[3 + 12 * 7];
+	k23.y.y = Ke[4 + 12 * 7];
+	k23.y.z = Ke[5 + 12 * 7];
+
+	k23.z.x = Ke[3 + 12 * 8];
+	k23.z.y = Ke[4 + 12 * 8];
+	k23.z.z = Ke[5 + 12 * 8];
+
+	// k24            
+	// a4_10 a4_11 a4_12
+	// a5_10 a5_11 a5_12
+	// a6_10 a6_11 a6_12
+	k24.x.x = Ke[3 + 12 * 9];
+	k24.x.y = Ke[4 + 12 * 9];
+	k24.x.z = Ke[5 + 12 * 9];
+
+	k24.y.x = Ke[3 + 12 * 10];
+	k24.y.y = Ke[4 + 12 * 10];
+	k24.y.z = Ke[5 + 12 * 10];
+
+	k24.z.x = Ke[3 + 12 * 11];
+	k24.z.y = Ke[4 + 12 * 11];
+	k24.z.z = Ke[5 + 12 * 11];
+
+	// k31	
+	// a71 a72 a73	
+	// a81 a82 a83	
+	// a91 a92 a93	
+	k31.x.x = Ke[6 + 12 * 0];
+	k31.x.y = Ke[7 + 12 * 0];
+	k31.x.z = Ke[8 + 12 * 0];
+
+	k31.y.x = Ke[6 + 12 * 1];
+	k31.y.y = Ke[7 + 12 * 1];
+	k31.y.z = Ke[8 + 12 * 1];
+
+	k31.z.x = Ke[6 + 12 * 2];
+	k31.z.y = Ke[7 + 12 * 2];
+	k31.z.z = Ke[8 + 12 * 2];
+
+	// k32	
+	// a74 a75 a76	
+	// a84 a85 a86	
+	// a94 a95 a96	
+	k32.x.x = Ke[6 + 12 * 3];
+	k32.x.y = Ke[7 + 12 * 3];
+	k32.x.z = Ke[8 + 12 * 3];
+
+	k32.y.x = Ke[6 + 12 * 4];
+	k32.y.y = Ke[7 + 12 * 4];
+	k32.y.z = Ke[8 + 12 * 4];
+
+	k32.z.x = Ke[6 + 12 * 5];
+	k32.z.y = Ke[7 + 12 * 5];
+	k32.z.z = Ke[8 + 12 * 5];
+
+	// k33 
+	// a77 a78 a79 
+	// a87 a88 a89 
+	// a97 a98 a99 
+	k33.x.x = Ke[6 + 12 * 6];
+	k33.x.y = Ke[7 + 12 * 6];
+	k33.x.z = Ke[8 + 12 * 6];
+
+	k33.y.x = Ke[6 + 12 * 7];
+	k33.y.y = Ke[7 + 12 * 7];
+	k33.y.z = Ke[8 + 12 * 7];
+
+	k33.z.x = Ke[6 + 12 * 8];
+	k33.z.y = Ke[7 + 12 * 8];
+	k33.z.z = Ke[8 + 12 * 8];
+
+	// k34
+	// a7_10 a7_11 a7_12
+	// a8_10 a8_11 a8_12
+	// a9_10 a9_11 a9_12
+	k34.x.x = Ke[6 + 12 * 9];
+	k34.x.y = Ke[7 + 12 * 9];
+	k34.x.z = Ke[8 + 12 * 9];
+
+	k34.y.x = Ke[6 + 12 * 10];
+	k34.y.y = Ke[7 + 12 * 10];
+	k34.y.z = Ke[8 + 12 * 10];
+
+	k34.z.x = Ke[6 + 12 * 11];
+	k34.z.y = Ke[7 + 12 * 11];
+	k34.z.z = Ke[8 + 12 * 11];
+
+	// k41	
+	// a10_1 a10_2 a10_3	
+	// a11_1 a11_2 a11_3	
+	// a12_1 a12_2 a12_3	
+	k41.x.x = Ke[9 + 12 * 0];
+	k41.x.y = Ke[10 + 12 * 0];
+	k41.x.z = Ke[11 + 12 * 0];
+
+	k41.y.x = Ke[9 + 12 * 1];
+	k41.y.y = Ke[10 + 12 * 1];
+	k41.y.z = Ke[11 + 12 * 1];
+
+	k41.z.x = Ke[9 + 12 * 2];
+	k41.z.y = Ke[10 + 12 * 2];
+	k41.z.z = Ke[11 + 12 * 2];
+
+	// k42 
+	// a10_4 a10_5 a10_6 
+	// a11_4 a11_5 a11_6 
+	// a12_4 a12_5 a12_6 
+	k42.x.x = Ke[9 + 12 * 3];
+	k42.x.y = Ke[10 + 12 * 3];
+	k42.x.z = Ke[11 + 12 * 3];
+
+	k42.y.x = Ke[9 + 12 * 4];
+	k42.y.y = Ke[10 + 12 * 4];
+	k42.y.z = Ke[11 + 12 * 4];
+
+	k42.z.x = Ke[9 + 12 * 5];
+	k42.z.y = Ke[10 + 12 * 5];
+	k42.z.z = Ke[11 + 12 * 5];
+
+	// k43 
+	// a10_7 a10_8 a10_9 
+	// a11_7 a11_8 a11_9 
+	// a12_7 a12_8 a12_9 
+	k43.x.x = Ke[9 + 12 * 6];
+	k43.x.y = Ke[10 + 12 * 6];
+	k43.x.z = Ke[11 + 12 * 6];
+
+	k43.y.x = Ke[9 + 12 * 7];
+	k43.y.y = Ke[10 + 12 * 7];
+	k43.y.z = Ke[11 + 12 * 7];
+
+	k43.z.x = Ke[9 + 12 * 8];
+	k43.z.y = Ke[10 + 12 * 8];
+	k43.z.z = Ke[11 + 12 * 8];
+
+	// k44
+	// a10_10 a10_11 a10_12
+	// a11_10 a11_11 a11_12
+	// a12_10 a12_11 a12_12
+	k44.x.x = Ke[9 + 12 * 9];
+	k44.x.y = Ke[10 + 12 * 9];
+	k44.x.z = Ke[11 + 12 * 9];
+
+	k44.y.x = Ke[9 + 12 * 10];
+	k44.y.y = Ke[10 + 12 * 10];
+	k44.y.z = Ke[11 + 12 * 10];
+
+	k44.z.x = Ke[9 + 12 * 11];
+	k44.z.y = Ke[10 + 12 * 11];
+	k44.z.z = Ke[11 + 12 * 11];
+}
+
 b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 {
 	B3_ASSERT(def.mesh);
@@ -185,52 +597,47 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		b3Vec3 p3 = m->vertices[v3];
 		b3Vec3 p4 = m->vertices[v4];
 
-		float32 V = b3Volume(p1, p2, p3, p4);
-
-		B3_ASSERT(V > 0.0f);
-
-		b3Vec3 e10 = p2 - p1;
-		b3Vec3 e20 = p3 - p1;
-		b3Vec3 e30 = p4 - p1;
-
-		b3Mat33 E(e10, e20, e30);
-
-		e->invE = b3Inverse(E);
+		float32 lambda, mu;
+		b3Lame(lambda, mu, m_E, m_nu);
 
 		// 6 x 6
-		float32 D[36];
-		b3ComputeD(D, m_E, m_nu);
+		float32 E[36];
+		b3CreateE(E, lambda, mu);
 
-		b3Vec3 B[4];
-		b3ComputeBVec(B, e10, e20, e30, V);
-
-		for (u32 i = 0; i < 4; ++i)
+		// 4 x 4
+		float32 P[16] =
 		{
-			// 6 x 3
-			float32 B_i[18];
-			b3ComputeBMat(B_i, B[i]);
+			p1.x, p1.y, p1.z, 1.0f,
+			p2.x, p2.y, p2.z, 1.0f,
+			p3.x, p3.y, p3.z, 1.0f,
+			p4.x, p4.y, p4.z, 1.0f
+		};
 
-			// 3 x 6
-			float32 B_i_T[18];
-			b3Transpose(B_i_T, B_i, 6, 3);
+		b3Inverse4(e->invP, P);
 
-			for (u32 j = 0; j < 4; ++j)
-			{
-				// 6 x 3
-				float32 B_j[18];
-				b3ComputeBMat(B_j, B[j]);
+		// 6 x 12
+		float32 B[72];
+		b3CreateB(B, e->invP);
 
-				// 6 x 3
-				float32 D_B_j[18];
-				b3Mul(D_B_j, D, 6, 6, B_j, 6, 3);
+		// 6 x 12
+		float32 EB[72];
+		b3Mul(EB, E, 6, 6, B, 6, 12);
 
-				// 3 x 3
-				b3Mat33& Ke = e->K[i + 4 * j];
-				b3Mul(&Ke.x.x, B_i_T, 3, 6, D_B_j, 6, 3);
+		// 12 x 6
+		float32 BT[72];
+		b3Transpose(BT, B, 6, 12);
 
-				Ke = V * Ke;
-			}
+		float32 V = b3Volume(p1, p2, p3, p4);
+
+		// 12 x 12
+		float32 Ke[144];
+		b3Mul(Ke, BT, 12, 6, EB, 6, 12);
+		for (u32 i = 0; i < 144; ++i)
+		{
+			Ke[i] *= V;
 		}
+
+		b3SetK(e->K, Ke);
 	}
 
 	// Initialize triangles
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index 188844f..cb6ca56 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -236,13 +236,25 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 		b3Vec3 p3 = p[v3];
 		b3Vec3 p4 = p[v4];
 
-		b3Vec3 e1 = p2 - p1;
-		b3Vec3 e2 = p3 - p1;
-		b3Vec3 e3 = p4 - p1;
+		float32 P[16] =
+		{
+			p1.x, p1.y, p1.z, 1.0f,
+			p2.x, p2.y, p2.z, 1.0f,
+			p3.x, p3.y, p3.z, 1.0f,
+			p4.x, p4.y, p4.z, 1.0f
+		};
 
-		b3Mat33 E(e1, e2, e3);
+		float32 P_invP[16];
+		b3Mul(P_invP, P, 4, 4, e->invP, 4, 4);
 
-		b3Mat33 A = E * e->invE;
+		b3Mat33 A;
+		for (u32 i = 0; i < 3; ++i)
+		{
+			for (u32 j = 0; j < 3; ++j)
+			{
+				A(i, j) = P_invP[i + 4 * j];
+			}
+		}
 
 		b3Mat33 R;
 		b3ExtractRotation(R, e->q, A);

From 9a14c1903c95d22835e48dac1f90125034e946f4 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 21 May 2019 20:48:41 -0300
Subject: [PATCH 104/198] Revert "Revert "Simplify soft body initialization and
 solver""

This reverts commit 56b5675dcdd48ea15e36b6561d52484166ba6982.
---
 include/bounce/softbody/softbody.h      |   2 +-
 src/bounce/softbody/softbody.cpp        | 577 ++++--------------------
 src/bounce/softbody/softbody_solver.cpp |  22 +-
 3 files changed, 91 insertions(+), 510 deletions(-)

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index e837ed9..a9b6d0d 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -42,8 +42,8 @@ struct b3SoftBodyRayCastSingleOutput
 // Soft body tetrahedron element
 struct b3SoftBodyElement
 {
-	float32 invP[16];
 	b3Mat33 K[16];
+	b3Mat33 invE;
 	b3Quat q;
 };
 
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index e98bff7..d3395d1 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -59,144 +59,14 @@ static B3_FORCE_INLINE void b3Transpose(float32* B, float32* A, u32 AM, u32 AN)
 	}
 }
 
-static B3_FORCE_INLINE void b3Inverse4(float32 out[16], float32 m[16])
+// Compute the elasticity matrix given Young modulus and Poisson's ratio
+// This is a 6 x 6 matrix 
+static B3_FORCE_INLINE void b3ComputeD(float32 out[36], float32 E, float32 nu)
 {
-	float32 inv[16];
+	float32 lambda = (nu * E) / ((1 + nu) * (1 - 2 * nu));
+	float32 mu = E / (2 * (1 + nu));
 
-	inv[0] = m[5] * m[10] * m[15] -
-		m[5] * m[11] * m[14] -
-		m[9] * m[6] * m[15] +
-		m[9] * m[7] * m[14] +
-		m[13] * m[6] * m[11] -
-		m[13] * m[7] * m[10];
-
-	inv[4] = -m[4] * m[10] * m[15] +
-		m[4] * m[11] * m[14] +
-		m[8] * m[6] * m[15] -
-		m[8] * m[7] * m[14] -
-		m[12] * m[6] * m[11] +
-		m[12] * m[7] * m[10];
-
-	inv[8] = m[4] * m[9] * m[15] -
-		m[4] * m[11] * m[13] -
-		m[8] * m[5] * m[15] +
-		m[8] * m[7] * m[13] +
-		m[12] * m[5] * m[11] -
-		m[12] * m[7] * m[9];
-
-	inv[12] = -m[4] * m[9] * m[14] +
-		m[4] * m[10] * m[13] +
-		m[8] * m[5] * m[14] -
-		m[8] * m[6] * m[13] -
-		m[12] * m[5] * m[10] +
-		m[12] * m[6] * m[9];
-
-	inv[1] = -m[1] * m[10] * m[15] +
-		m[1] * m[11] * m[14] +
-		m[9] * m[2] * m[15] -
-		m[9] * m[3] * m[14] -
-		m[13] * m[2] * m[11] +
-		m[13] * m[3] * m[10];
-
-	inv[5] = m[0] * m[10] * m[15] -
-		m[0] * m[11] * m[14] -
-		m[8] * m[2] * m[15] +
-		m[8] * m[3] * m[14] +
-		m[12] * m[2] * m[11] -
-		m[12] * m[3] * m[10];
-
-	inv[9] = -m[0] * m[9] * m[15] +
-		m[0] * m[11] * m[13] +
-		m[8] * m[1] * m[15] -
-		m[8] * m[3] * m[13] -
-		m[12] * m[1] * m[11] +
-		m[12] * m[3] * m[9];
-
-	inv[13] = m[0] * m[9] * m[14] -
-		m[0] * m[10] * m[13] -
-		m[8] * m[1] * m[14] +
-		m[8] * m[2] * m[13] +
-		m[12] * m[1] * m[10] -
-		m[12] * m[2] * m[9];
-
-	inv[2] = m[1] * m[6] * m[15] -
-		m[1] * m[7] * m[14] -
-		m[5] * m[2] * m[15] +
-		m[5] * m[3] * m[14] +
-		m[13] * m[2] * m[7] -
-		m[13] * m[3] * m[6];
-
-	inv[6] = -m[0] * m[6] * m[15] +
-		m[0] * m[7] * m[14] +
-		m[4] * m[2] * m[15] -
-		m[4] * m[3] * m[14] -
-		m[12] * m[2] * m[7] +
-		m[12] * m[3] * m[6];
-
-	inv[10] = m[0] * m[5] * m[15] -
-		m[0] * m[7] * m[13] -
-		m[4] * m[1] * m[15] +
-		m[4] * m[3] * m[13] +
-		m[12] * m[1] * m[7] -
-		m[12] * m[3] * m[5];
-
-	inv[14] = -m[0] * m[5] * m[14] +
-		m[0] * m[6] * m[13] +
-		m[4] * m[1] * m[14] -
-		m[4] * m[2] * m[13] -
-		m[12] * m[1] * m[6] +
-		m[12] * m[2] * m[5];
-
-	inv[3] = -m[1] * m[6] * m[11] +
-		m[1] * m[7] * m[10] +
-		m[5] * m[2] * m[11] -
-		m[5] * m[3] * m[10] -
-		m[9] * m[2] * m[7] +
-		m[9] * m[3] * m[6];
-
-	inv[7] = m[0] * m[6] * m[11] -
-		m[0] * m[7] * m[10] -
-		m[4] * m[2] * m[11] +
-		m[4] * m[3] * m[10] +
-		m[8] * m[2] * m[7] -
-		m[8] * m[3] * m[6];
-
-	inv[11] = -m[0] * m[5] * m[11] +
-		m[0] * m[7] * m[9] +
-		m[4] * m[1] * m[11] -
-		m[4] * m[3] * m[9] -
-		m[8] * m[1] * m[7] +
-		m[8] * m[3] * m[5];
-
-	inv[15] = m[0] * m[5] * m[10] -
-		m[0] * m[6] * m[9] -
-		m[4] * m[1] * m[10] +
-		m[4] * m[2] * m[9] +
-		m[8] * m[1] * m[6] -
-		m[8] * m[2] * m[5];
-
-	float32 det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
-
-	if (det != 0.0f)
-	{
-		det = 1.0f / det;
-	}
-
-	for (u32 i = 0; i < 16; ++i)
-	{
-		out[i] = det * inv[i];
-	}
-}
-
-static B3_FORCE_INLINE void b3Lame(float32& lambda, float32& mu, float32 E, float32 nu)
-{
-	lambda = (nu * E) / ((1 + nu) * (1 - 2 * nu));
-	mu = E / (2 * (1 + nu));
-}
-
-static B3_FORCE_INLINE void b3CreateE(float32 out[36], float32 lambda, float32 mu)
-{
-	float32 E[36] =
+	float32 D[36] =
 	{
 		lambda + 2 * mu, lambda,          lambda,          0,  0,  0,
 		lambda,          lambda + 2 * mu, lambda,          0,  0,  0,
@@ -208,340 +78,58 @@ static B3_FORCE_INLINE void b3CreateE(float32 out[36], float32 lambda, float32 m
 
 	for (u32 i = 0; i < 36; ++i)
 	{
-		out[i] = E[i];
+		out[i] = D[i];
 	}
 }
 
-static B3_FORCE_INLINE void b3CreateB(float32 out[72], float32 invP[16])
+// Compute derivatives of shape functions N
+static B3_FORCE_INLINE void b3ComputeBVec(b3Vec3 out[4], 
+	const b3Vec3& e10, 
+	const b3Vec3& e20, 
+	const b3Vec3& e30,
+	float32 V)
 {
-	float32 a11 = invP[0];
-	float32 a21 = invP[1];
-	float32 a31 = invP[2];
-	float32 a41 = invP[3];
+	float32 inv6V = 1.0f / (6.0f * V);
 
-	float32 a12 = invP[4];
-	float32 a22 = invP[5];
-	float32 a32 = invP[6];
-	float32 a42 = invP[7];
+	b3Vec3* B = out;
 
-	float32 a13 = invP[8];
-	float32 a23 = invP[9];
-	float32 a33 = invP[10];
-	float32 a43 = invP[11];
+	B[1][0] = (e20[2] * e30[1] - e20[1] * e30[2]) * inv6V;
+	B[2][0] = (e10[1] * e30[2] - e10[2] * e30[1]) * inv6V;
+	B[3][0] = (e10[2] * e20[1] - e10[1] * e20[2]) * inv6V;
+	B[0][0] = -B[1][0] - B[2][0] - B[3][0];
 
-	//float32 a14 = invP[12];
-	//float32 a24 = invP[13];
-	//float32 a34 = invP[14];
-	//float32 a44 = invP[15];
+	B[1][1] = (e20[0] * e30[2] - e20[2] * e30[0]) * inv6V;
+	B[2][1] = (e10[2] * e30[0] - e10[0] * e30[2]) * inv6V;
+	B[3][1] = (e10[0] * e20[2] - e10[2] * e20[0]) * inv6V;
+	B[0][1] = -B[1][1] - B[2][1] - B[3][1]; 
 
-	// 6 x 12
-	// a11 0   0   a21 0   0   a31 0   0   a41 0   0
-	// 0   a12 0   0   a22 0   0   a32 0   0   a42 0
-	// 0   0   a13 0   0   a23 0   0   a33 0   0   a43
-	// a12 a11 0   a22 a21 0   a32 a31 0   a42 a41 0
-	// 0   a13 a12 0   a23 a22 0   a33 a32 0   a43 a42
-	// a13 0   a11 a23 0   a21 a33 0   a31 a43 0   a41
-	float32 B[72] =
+	B[1][2] = (e20[1] * e30[0] - e20[0] * e30[1]) * inv6V;
+	B[2][2] = (e10[0] * e30[1] - e10[1] * e30[0]) * inv6V;
+	B[3][2] = (e10[1] * e20[0] - e10[0] * e20[1]) * inv6V;
+	B[0][2] = -B[1][2] - B[2][2] - B[3][2]; 
+}
+
+// Convert a B vector to its corresponding matrix form.
+// This is a 6 x 3 matrix.
+static B3_FORCE_INLINE void b3ComputeBMat(float32 out[18], const b3Vec3& v)
+{
+	float32 bi = v.x;
+	float32 ci = v.y;
+	float32 di = v.z;
+
+	float32 B[18] =
 	{
-		a11, 0, 0, a12, 0, a13,
-		0, a12, 0, a11, a13, 0,
-		0, 0, a13, 0, a12, a11,
-		a21, 0, 0, a22, 0, a23,
-		0, a22, 0, a21, a23, 0,
-		0, 0, a23, 0, a22, a21,
-		a31, 0, 0, a32, 0, a33,
-		0, a32, 0, a31, a33, 0,
-		0, 0, a33, 0, a32, a31,
-		a41, 0, 0, a42, 0, a43,
-		0, a42, 0, a41, a43, 0,
-		0, 0, a43, 0, a42, a41
+		bi, 0, 0, ci, di, 0,
+		0, ci, 0, bi, 0, di,
+		0, 0, di, 0, bi, ci
 	};
 
-	for (u32 i = 0; i < 72; ++i)
+	for (u32 i = 0; i < 18; ++i)
 	{
 		out[i] = B[i];
 	}
 }
 
-static B3_FORCE_INLINE void b3SetK(b3Mat33 K[16], float32 Ke[144])
-{
-	b3Mat33& k11 = K[0 + 4 * 0];
-	b3Mat33& k12 = K[0 + 4 * 1];
-	b3Mat33& k13 = K[0 + 4 * 2];
-	b3Mat33& k14 = K[0 + 4 * 3];
-
-	b3Mat33& k21 = K[1 + 4 * 0];
-	b3Mat33& k22 = K[1 + 4 * 1];
-	b3Mat33& k23 = K[1 + 4 * 2];
-	b3Mat33& k24 = K[1 + 4 * 3];
-
-	b3Mat33& k31 = K[2 + 4 * 0];
-	b3Mat33& k32 = K[2 + 4 * 1];
-	b3Mat33& k33 = K[2 + 4 * 2];
-	b3Mat33& k34 = K[2 + 4 * 3];
-
-	b3Mat33& k41 = K[3 + 4 * 0];
-	b3Mat33& k42 = K[3 + 4 * 1];
-	b3Mat33& k43 = K[3 + 4 * 2];
-	b3Mat33& k44 = K[3 + 4 * 3];
-
-	// k11                  
-	// a11 a12 a13 
-	// a21 a22 a23 
-	// a31 a32 a33
-	k11.x.x = Ke[0 + 12 * 0];
-	k11.x.y = Ke[1 + 12 * 0];
-	k11.x.z = Ke[2 + 12 * 0];
-
-	k11.y.x = Ke[0 + 12 * 1];
-	k11.y.y = Ke[1 + 12 * 1];
-	k11.y.z = Ke[2 + 12 * 1];
-
-	k11.z.x = Ke[0 + 12 * 2];
-	k11.z.y = Ke[1 + 12 * 2];
-	k11.z.z = Ke[2 + 12 * 2];
-
-	// k12
-	// a14 a15 a16
-	// a24 a25 a26
-	// a34 a35 a36
-	k12.x.x = Ke[0 + 12 * 3];
-	k12.x.y = Ke[1 + 12 * 3];
-	k12.x.z = Ke[2 + 12 * 3];
-
-	k12.y.x = Ke[0 + 12 * 4];
-	k12.y.y = Ke[1 + 12 * 4];
-	k12.y.z = Ke[2 + 12 * 4];
-
-	k12.z.x = Ke[0 + 12 * 5];
-	k12.z.y = Ke[1 + 12 * 5];
-	k12.z.z = Ke[2 + 12 * 5];
-
-	// k13
-	// a17 a18 a19
-	// a27 a28 a29
-	// a37 a38 a39
-	k13.x.x = Ke[0 + 12 * 6];
-	k13.x.y = Ke[1 + 12 * 6];
-	k13.x.z = Ke[2 + 12 * 6];
-
-	k13.y.x = Ke[0 + 12 * 7];
-	k13.y.y = Ke[1 + 12 * 7];
-	k13.y.z = Ke[2 + 12 * 7];
-
-	k13.z.x = Ke[0 + 12 * 8];
-	k13.z.y = Ke[1 + 12 * 8];
-	k13.z.z = Ke[2 + 12 * 8];
-
-	// k14
-	// a1_10 a1_11 a1_12
-	// a2_10 a2_11 a2_12
-	// a3_10 a3_11 a3_12
-	k14.x.x = Ke[0 + 12 * 9];
-	k14.x.y = Ke[1 + 12 * 9];
-	k14.x.z = Ke[2 + 12 * 9];
-
-	k14.y.x = Ke[0 + 12 * 10];
-	k14.y.y = Ke[1 + 12 * 10];
-	k14.y.z = Ke[2 + 12 * 10];
-
-	k14.z.x = Ke[0 + 12 * 11];
-	k14.z.y = Ke[1 + 12 * 11];
-	k14.z.z = Ke[2 + 12 * 11];
-
-	// k21	           
-	// a41 a42 a43	
-	// a51 a52 a53		
-	// a61 a62 a63	
-	k21.x.x = Ke[3 + 12 * 0];
-	k21.x.y = Ke[4 + 12 * 0];
-	k21.x.z = Ke[5 + 12 * 0];
-
-	k21.y.x = Ke[3 + 12 * 1];
-	k21.y.y = Ke[4 + 12 * 1];
-	k21.y.z = Ke[5 + 12 * 1];
-
-	k21.z.x = Ke[3 + 12 * 2];
-	k21.z.y = Ke[4 + 12 * 2];
-	k21.z.z = Ke[5 + 12 * 2];
-
-	// k22	            
-	// a44 a45 a46	
-	// a54 a55 a56	
-	// a64 a65 a66	
-	k22.x.x = Ke[3 + 12 * 3];
-	k22.x.y = Ke[4 + 12 * 3];
-	k22.x.z = Ke[5 + 12 * 3];
-
-	k22.y.x = Ke[3 + 12 * 4];
-	k22.y.y = Ke[4 + 12 * 4];
-	k22.y.z = Ke[5 + 12 * 4];
-
-	k22.z.x = Ke[3 + 12 * 5];
-	k22.z.y = Ke[4 + 12 * 5];
-	k22.z.z = Ke[5 + 12 * 5];
-
-	// k23			            
-	// a47 a48 a49	
-	// a57 a58 a59	
-	// a67 a68 a69	
-	k23.x.x = Ke[3 + 12 * 6];
-	k23.x.y = Ke[4 + 12 * 6];
-	k23.x.z = Ke[5 + 12 * 6];
-
-	k23.y.x = Ke[3 + 12 * 7];
-	k23.y.y = Ke[4 + 12 * 7];
-	k23.y.z = Ke[5 + 12 * 7];
-
-	k23.z.x = Ke[3 + 12 * 8];
-	k23.z.y = Ke[4 + 12 * 8];
-	k23.z.z = Ke[5 + 12 * 8];
-
-	// k24            
-	// a4_10 a4_11 a4_12
-	// a5_10 a5_11 a5_12
-	// a6_10 a6_11 a6_12
-	k24.x.x = Ke[3 + 12 * 9];
-	k24.x.y = Ke[4 + 12 * 9];
-	k24.x.z = Ke[5 + 12 * 9];
-
-	k24.y.x = Ke[3 + 12 * 10];
-	k24.y.y = Ke[4 + 12 * 10];
-	k24.y.z = Ke[5 + 12 * 10];
-
-	k24.z.x = Ke[3 + 12 * 11];
-	k24.z.y = Ke[4 + 12 * 11];
-	k24.z.z = Ke[5 + 12 * 11];
-
-	// k31	
-	// a71 a72 a73	
-	// a81 a82 a83	
-	// a91 a92 a93	
-	k31.x.x = Ke[6 + 12 * 0];
-	k31.x.y = Ke[7 + 12 * 0];
-	k31.x.z = Ke[8 + 12 * 0];
-
-	k31.y.x = Ke[6 + 12 * 1];
-	k31.y.y = Ke[7 + 12 * 1];
-	k31.y.z = Ke[8 + 12 * 1];
-
-	k31.z.x = Ke[6 + 12 * 2];
-	k31.z.y = Ke[7 + 12 * 2];
-	k31.z.z = Ke[8 + 12 * 2];
-
-	// k32	
-	// a74 a75 a76	
-	// a84 a85 a86	
-	// a94 a95 a96	
-	k32.x.x = Ke[6 + 12 * 3];
-	k32.x.y = Ke[7 + 12 * 3];
-	k32.x.z = Ke[8 + 12 * 3];
-
-	k32.y.x = Ke[6 + 12 * 4];
-	k32.y.y = Ke[7 + 12 * 4];
-	k32.y.z = Ke[8 + 12 * 4];
-
-	k32.z.x = Ke[6 + 12 * 5];
-	k32.z.y = Ke[7 + 12 * 5];
-	k32.z.z = Ke[8 + 12 * 5];
-
-	// k33 
-	// a77 a78 a79 
-	// a87 a88 a89 
-	// a97 a98 a99 
-	k33.x.x = Ke[6 + 12 * 6];
-	k33.x.y = Ke[7 + 12 * 6];
-	k33.x.z = Ke[8 + 12 * 6];
-
-	k33.y.x = Ke[6 + 12 * 7];
-	k33.y.y = Ke[7 + 12 * 7];
-	k33.y.z = Ke[8 + 12 * 7];
-
-	k33.z.x = Ke[6 + 12 * 8];
-	k33.z.y = Ke[7 + 12 * 8];
-	k33.z.z = Ke[8 + 12 * 8];
-
-	// k34
-	// a7_10 a7_11 a7_12
-	// a8_10 a8_11 a8_12
-	// a9_10 a9_11 a9_12
-	k34.x.x = Ke[6 + 12 * 9];
-	k34.x.y = Ke[7 + 12 * 9];
-	k34.x.z = Ke[8 + 12 * 9];
-
-	k34.y.x = Ke[6 + 12 * 10];
-	k34.y.y = Ke[7 + 12 * 10];
-	k34.y.z = Ke[8 + 12 * 10];
-
-	k34.z.x = Ke[6 + 12 * 11];
-	k34.z.y = Ke[7 + 12 * 11];
-	k34.z.z = Ke[8 + 12 * 11];
-
-	// k41	
-	// a10_1 a10_2 a10_3	
-	// a11_1 a11_2 a11_3	
-	// a12_1 a12_2 a12_3	
-	k41.x.x = Ke[9 + 12 * 0];
-	k41.x.y = Ke[10 + 12 * 0];
-	k41.x.z = Ke[11 + 12 * 0];
-
-	k41.y.x = Ke[9 + 12 * 1];
-	k41.y.y = Ke[10 + 12 * 1];
-	k41.y.z = Ke[11 + 12 * 1];
-
-	k41.z.x = Ke[9 + 12 * 2];
-	k41.z.y = Ke[10 + 12 * 2];
-	k41.z.z = Ke[11 + 12 * 2];
-
-	// k42 
-	// a10_4 a10_5 a10_6 
-	// a11_4 a11_5 a11_6 
-	// a12_4 a12_5 a12_6 
-	k42.x.x = Ke[9 + 12 * 3];
-	k42.x.y = Ke[10 + 12 * 3];
-	k42.x.z = Ke[11 + 12 * 3];
-
-	k42.y.x = Ke[9 + 12 * 4];
-	k42.y.y = Ke[10 + 12 * 4];
-	k42.y.z = Ke[11 + 12 * 4];
-
-	k42.z.x = Ke[9 + 12 * 5];
-	k42.z.y = Ke[10 + 12 * 5];
-	k42.z.z = Ke[11 + 12 * 5];
-
-	// k43 
-	// a10_7 a10_8 a10_9 
-	// a11_7 a11_8 a11_9 
-	// a12_7 a12_8 a12_9 
-	k43.x.x = Ke[9 + 12 * 6];
-	k43.x.y = Ke[10 + 12 * 6];
-	k43.x.z = Ke[11 + 12 * 6];
-
-	k43.y.x = Ke[9 + 12 * 7];
-	k43.y.y = Ke[10 + 12 * 7];
-	k43.y.z = Ke[11 + 12 * 7];
-
-	k43.z.x = Ke[9 + 12 * 8];
-	k43.z.y = Ke[10 + 12 * 8];
-	k43.z.z = Ke[11 + 12 * 8];
-
-	// k44
-	// a10_10 a10_11 a10_12
-	// a11_10 a11_11 a11_12
-	// a12_10 a12_11 a12_12
-	k44.x.x = Ke[9 + 12 * 9];
-	k44.x.y = Ke[10 + 12 * 9];
-	k44.x.z = Ke[11 + 12 * 9];
-
-	k44.y.x = Ke[9 + 12 * 10];
-	k44.y.y = Ke[10 + 12 * 10];
-	k44.y.z = Ke[11 + 12 * 10];
-
-	k44.z.x = Ke[9 + 12 * 11];
-	k44.z.y = Ke[10 + 12 * 11];
-	k44.z.z = Ke[11 + 12 * 11];
-}
-
 b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 {
 	B3_ASSERT(def.mesh);
@@ -597,47 +185,52 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		b3Vec3 p3 = m->vertices[v3];
 		b3Vec3 p4 = m->vertices[v4];
 
-		float32 lambda, mu;
-		b3Lame(lambda, mu, m_E, m_nu);
-
-		// 6 x 6
-		float32 E[36];
-		b3CreateE(E, lambda, mu);
-
-		// 4 x 4
-		float32 P[16] =
-		{
-			p1.x, p1.y, p1.z, 1.0f,
-			p2.x, p2.y, p2.z, 1.0f,
-			p3.x, p3.y, p3.z, 1.0f,
-			p4.x, p4.y, p4.z, 1.0f
-		};
-
-		b3Inverse4(e->invP, P);
-
-		// 6 x 12
-		float32 B[72];
-		b3CreateB(B, e->invP);
-
-		// 6 x 12
-		float32 EB[72];
-		b3Mul(EB, E, 6, 6, B, 6, 12);
-
-		// 12 x 6
-		float32 BT[72];
-		b3Transpose(BT, B, 6, 12);
-
 		float32 V = b3Volume(p1, p2, p3, p4);
 
-		// 12 x 12
-		float32 Ke[144];
-		b3Mul(Ke, BT, 12, 6, EB, 6, 12);
-		for (u32 i = 0; i < 144; ++i)
-		{
-			Ke[i] *= V;
-		}
+		B3_ASSERT(V > 0.0f);
 
-		b3SetK(e->K, Ke);
+		b3Vec3 e10 = p2 - p1;
+		b3Vec3 e20 = p3 - p1;
+		b3Vec3 e30 = p4 - p1;
+
+		b3Mat33 E(e10, e20, e30);
+
+		e->invE = b3Inverse(E);
+
+		// 6 x 6
+		float32 D[36];
+		b3ComputeD(D, m_E, m_nu);
+
+		b3Vec3 B[4];
+		b3ComputeBVec(B, e10, e20, e30, V);
+
+		for (u32 i = 0; i < 4; ++i)
+		{
+			// 6 x 3
+			float32 B_i[18];
+			b3ComputeBMat(B_i, B[i]);
+
+			// 3 x 6
+			float32 B_i_T[18];
+			b3Transpose(B_i_T, B_i, 6, 3);
+
+			for (u32 j = 0; j < 4; ++j)
+			{
+				// 6 x 3
+				float32 B_j[18];
+				b3ComputeBMat(B_j, B[j]);
+
+				// 6 x 3
+				float32 D_B_j[18];
+				b3Mul(D_B_j, D, 6, 6, B_j, 6, 3);
+
+				// 3 x 3
+				b3Mat33& Ke = e->K[i + 4 * j];
+				b3Mul(&Ke.x.x, B_i_T, 3, 6, D_B_j, 6, 3);
+
+				Ke = V * Ke;
+			}
+		}
 	}
 
 	// Initialize triangles
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index cb6ca56..188844f 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -236,25 +236,13 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 		b3Vec3 p3 = p[v3];
 		b3Vec3 p4 = p[v4];
 
-		float32 P[16] =
-		{
-			p1.x, p1.y, p1.z, 1.0f,
-			p2.x, p2.y, p2.z, 1.0f,
-			p3.x, p3.y, p3.z, 1.0f,
-			p4.x, p4.y, p4.z, 1.0f
-		};
+		b3Vec3 e1 = p2 - p1;
+		b3Vec3 e2 = p3 - p1;
+		b3Vec3 e3 = p4 - p1;
 
-		float32 P_invP[16];
-		b3Mul(P_invP, P, 4, 4, e->invP, 4, 4);
+		b3Mat33 E(e1, e2, e3);
 
-		b3Mat33 A;
-		for (u32 i = 0; i < 3; ++i)
-		{
-			for (u32 j = 0; j < 3; ++j)
-			{
-				A(i, j) = P_invP[i + 4 * j];
-			}
-		}
+		b3Mat33 A = E * e->invE;
 
 		b3Mat33 R;
 		b3ExtractRotation(R, e->q, A);

From e0d2f9f51277df0248f120780d60fec7cf238359 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 22 May 2019 12:04:04 -0300
Subject: [PATCH 105/198] Use full matrices for computing the stiffness
 matrices. Enable/disable stiffness warping.

---
 include/bounce/softbody/softbody.h        |   4 +-
 include/bounce/softbody/softbody_solver.h |   7 +-
 src/bounce/softbody/softbody.cpp          | 389 +++++++++++++++++++---
 src/bounce/softbody/softbody_solver.cpp   |  52 ++-
 4 files changed, 380 insertions(+), 72 deletions(-)

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index a9b6d0d..b9f7c2c 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -42,7 +42,7 @@ struct b3SoftBodyRayCastSingleOutput
 // Soft body tetrahedron element
 struct b3SoftBodyElement
 {
-	b3Mat33 K[16];
+	b3Mat33 K[16]; 
 	b3Mat33 invE;
 	b3Quat q;
 };
@@ -120,6 +120,8 @@ public:
 	// Debug draw the body using the associated mesh.
 	void Draw() const;
 private:
+	friend class b3SoftBodySolver;
+
 	// Compute mass of each node.
 	void ComputeMass();
 
diff --git a/include/bounce/softbody/softbody_solver.h b/include/bounce/softbody/softbody_solver.h
index 30661da..3018b38 100644
--- a/include/bounce/softbody/softbody_solver.h
+++ b/include/bounce/softbody/softbody_solver.h
@@ -24,6 +24,7 @@
 
 class b3StackAllocator;
 
+class b3SoftBody;
 class b3SoftBodyMesh;
 
 class b3SoftBodyNode;
@@ -33,10 +34,7 @@ class b3NodeBodyContact;
 
 struct b3SoftBodySolverDef
 {
-	b3StackAllocator* stack;
-	const b3SoftBodyMesh* mesh;
-	b3SoftBodyNode* nodes;
-	b3SoftBodyElement* elements;
+	b3SoftBody* body;
 };
 
 class b3SoftBodySolver
@@ -47,6 +45,7 @@ public:
 
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 private:
+	b3SoftBody* m_body;
 	b3StackAllocator* m_allocator;
 	const b3SoftBodyMesh* m_mesh;
 	b3SoftBodyNode* m_nodes;
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index d3395d1..186fbe3 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -82,16 +82,16 @@ static B3_FORCE_INLINE void b3ComputeD(float32 out[36], float32 E, float32 nu)
 	}
 }
 
-// Compute derivatives of shape functions N
-static B3_FORCE_INLINE void b3ComputeBVec(b3Vec3 out[4], 
-	const b3Vec3& e10, 
-	const b3Vec3& e20, 
+static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
+	const b3Vec3& e10,
+	const b3Vec3& e20,
 	const b3Vec3& e30,
 	float32 V)
 {
+	// Compute derivatives of shape functions N
 	float32 inv6V = 1.0f / (6.0f * V);
 
-	b3Vec3* B = out;
+	b3Vec3 B[4];
 
 	B[1][0] = (e20[2] * e30[1] - e20[1] * e30[2]) * inv6V;
 	B[2][0] = (e10[1] * e30[2] - e10[2] * e30[1]) * inv6V;
@@ -101,35 +101,332 @@ static B3_FORCE_INLINE void b3ComputeBVec(b3Vec3 out[4],
 	B[1][1] = (e20[0] * e30[2] - e20[2] * e30[0]) * inv6V;
 	B[2][1] = (e10[2] * e30[0] - e10[0] * e30[2]) * inv6V;
 	B[3][1] = (e10[0] * e20[2] - e10[2] * e20[0]) * inv6V;
-	B[0][1] = -B[1][1] - B[2][1] - B[3][1]; 
+	B[0][1] = -B[1][1] - B[2][1] - B[3][1];
 
 	B[1][2] = (e20[1] * e30[0] - e20[0] * e30[1]) * inv6V;
 	B[2][2] = (e10[0] * e30[1] - e10[1] * e30[0]) * inv6V;
 	B[3][2] = (e10[1] * e20[0] - e10[0] * e20[1]) * inv6V;
-	B[0][2] = -B[1][2] - B[2][2] - B[3][2]; 
-}
+	B[0][2] = -B[1][2] - B[2][2] - B[3][2];
 
-// Convert a B vector to its corresponding matrix form.
-// This is a 6 x 3 matrix.
-static B3_FORCE_INLINE void b3ComputeBMat(float32 out[18], const b3Vec3& v)
-{
-	float32 bi = v.x;
-	float32 ci = v.y;
-	float32 di = v.z;
+	float32 b1 = B[0].x;
+	float32 c1 = B[0].y;
+	float32 d1 = B[0].z;
 
-	float32 B[18] =
+	float32 b2 = B[1].x;
+	float32 c2 = B[1].y;
+	float32 d2 = B[1].z;
+	
+	float32 b3 = B[2].x;
+	float32 c3 = B[2].y;
+	float32 d3 = B[2].z;
+
+	float32 b4 = B[3].x;
+	float32 c4 = B[3].y;
+	float32 d4 = B[3].z;
+
+	float32 MB[72] =
 	{
-		bi, 0, 0, ci, di, 0,
-		0, ci, 0, bi, 0, di,
-		0, 0, di, 0, bi, ci
+		b1, 0, 0, c1, d1, 0,
+		0, c1, 0, b1, 0, d1,
+		0, 0, d1, 0, b1, c1,
+
+		b2, 0, 0, c2, d2, 0,
+		0, c2, 0, b2, 0, d2,
+		0, 0, d2, 0, b2, c2,
+
+		b3, 0, 0, c3, d3, 0,
+		0, c3, 0, b3, 0, d3,
+		0, 0, d3, 0, b3, c3,
+
+		b4, 0, 0, c4, d4, 0,
+		0, c4, 0, b4, 0, d4,
+		0, 0, d4, 0, b4, c4,
 	};
 
-	for (u32 i = 0; i < 18; ++i)
+	for (u32 i = 0; i < 72; ++i)
 	{
-		out[i] = B[i];
+		out[i] = MB[i];
 	}
 }
 
+static B3_FORCE_INLINE void b3SetK(b3Mat33 K[16], float32 Ke[144])
+{
+	b3Mat33& k11 = K[0 + 4 * 0];
+	b3Mat33& k12 = K[0 + 4 * 1];
+	b3Mat33& k13 = K[0 + 4 * 2];
+	b3Mat33& k14 = K[0 + 4 * 3];
+
+	b3Mat33& k21 = K[1 + 4 * 0];
+	b3Mat33& k22 = K[1 + 4 * 1];
+	b3Mat33& k23 = K[1 + 4 * 2];
+	b3Mat33& k24 = K[1 + 4 * 3];
+
+	b3Mat33& k31 = K[2 + 4 * 0];
+	b3Mat33& k32 = K[2 + 4 * 1];
+	b3Mat33& k33 = K[2 + 4 * 2];
+	b3Mat33& k34 = K[2 + 4 * 3];
+
+	b3Mat33& k41 = K[3 + 4 * 0];
+	b3Mat33& k42 = K[3 + 4 * 1];
+	b3Mat33& k43 = K[3 + 4 * 2];
+	b3Mat33& k44 = K[3 + 4 * 3];
+
+	// k11                  
+	// a11 a12 a13 
+	// a21 a22 a23 
+	// a31 a32 a33
+	k11.x.x = Ke[0 + 12 * 0];
+	k11.x.y = Ke[1 + 12 * 0];
+	k11.x.z = Ke[2 + 12 * 0];
+
+	k11.y.x = Ke[0 + 12 * 1];
+	k11.y.y = Ke[1 + 12 * 1];
+	k11.y.z = Ke[2 + 12 * 1];
+
+	k11.z.x = Ke[0 + 12 * 2];
+	k11.z.y = Ke[1 + 12 * 2];
+	k11.z.z = Ke[2 + 12 * 2];
+
+	// k12
+	// a14 a15 a16
+	// a24 a25 a26
+	// a34 a35 a36
+	k12.x.x = Ke[0 + 12 * 3];
+	k12.x.y = Ke[1 + 12 * 3];
+	k12.x.z = Ke[2 + 12 * 3];
+
+	k12.y.x = Ke[0 + 12 * 4];
+	k12.y.y = Ke[1 + 12 * 4];
+	k12.y.z = Ke[2 + 12 * 4];
+
+	k12.z.x = Ke[0 + 12 * 5];
+	k12.z.y = Ke[1 + 12 * 5];
+	k12.z.z = Ke[2 + 12 * 5];
+
+	// k13
+	// a17 a18 a19
+	// a27 a28 a29
+	// a37 a38 a39
+	k13.x.x = Ke[0 + 12 * 6];
+	k13.x.y = Ke[1 + 12 * 6];
+	k13.x.z = Ke[2 + 12 * 6];
+
+	k13.y.x = Ke[0 + 12 * 7];
+	k13.y.y = Ke[1 + 12 * 7];
+	k13.y.z = Ke[2 + 12 * 7];
+
+	k13.z.x = Ke[0 + 12 * 8];
+	k13.z.y = Ke[1 + 12 * 8];
+	k13.z.z = Ke[2 + 12 * 8];
+
+	// k14
+	// a1_10 a1_11 a1_12
+	// a2_10 a2_11 a2_12
+	// a3_10 a3_11 a3_12
+	k14.x.x = Ke[0 + 12 * 9];
+	k14.x.y = Ke[1 + 12 * 9];
+	k14.x.z = Ke[2 + 12 * 9];
+
+	k14.y.x = Ke[0 + 12 * 10];
+	k14.y.y = Ke[1 + 12 * 10];
+	k14.y.z = Ke[2 + 12 * 10];
+
+	k14.z.x = Ke[0 + 12 * 11];
+	k14.z.y = Ke[1 + 12 * 11];
+	k14.z.z = Ke[2 + 12 * 11];
+
+	// k21	           
+	// a41 a42 a43	
+	// a51 a52 a53		
+	// a61 a62 a63	
+	k21.x.x = Ke[3 + 12 * 0];
+	k21.x.y = Ke[4 + 12 * 0];
+	k21.x.z = Ke[5 + 12 * 0];
+
+	k21.y.x = Ke[3 + 12 * 1];
+	k21.y.y = Ke[4 + 12 * 1];
+	k21.y.z = Ke[5 + 12 * 1];
+
+	k21.z.x = Ke[3 + 12 * 2];
+	k21.z.y = Ke[4 + 12 * 2];
+	k21.z.z = Ke[5 + 12 * 2];
+
+	// k22	            
+	// a44 a45 a46	
+	// a54 a55 a56	
+	// a64 a65 a66	
+	k22.x.x = Ke[3 + 12 * 3];
+	k22.x.y = Ke[4 + 12 * 3];
+	k22.x.z = Ke[5 + 12 * 3];
+
+	k22.y.x = Ke[3 + 12 * 4];
+	k22.y.y = Ke[4 + 12 * 4];
+	k22.y.z = Ke[5 + 12 * 4];
+
+	k22.z.x = Ke[3 + 12 * 5];
+	k22.z.y = Ke[4 + 12 * 5];
+	k22.z.z = Ke[5 + 12 * 5];
+
+	// k23			            
+	// a47 a48 a49	
+	// a57 a58 a59	
+	// a67 a68 a69	
+	k23.x.x = Ke[3 + 12 * 6];
+	k23.x.y = Ke[4 + 12 * 6];
+	k23.x.z = Ke[5 + 12 * 6];
+
+	k23.y.x = Ke[3 + 12 * 7];
+	k23.y.y = Ke[4 + 12 * 7];
+	k23.y.z = Ke[5 + 12 * 7];
+
+	k23.z.x = Ke[3 + 12 * 8];
+	k23.z.y = Ke[4 + 12 * 8];
+	k23.z.z = Ke[5 + 12 * 8];
+
+	// k24            
+	// a4_10 a4_11 a4_12
+	// a5_10 a5_11 a5_12
+	// a6_10 a6_11 a6_12
+	k24.x.x = Ke[3 + 12 * 9];
+	k24.x.y = Ke[4 + 12 * 9];
+	k24.x.z = Ke[5 + 12 * 9];
+
+	k24.y.x = Ke[3 + 12 * 10];
+	k24.y.y = Ke[4 + 12 * 10];
+	k24.y.z = Ke[5 + 12 * 10];
+
+	k24.z.x = Ke[3 + 12 * 11];
+	k24.z.y = Ke[4 + 12 * 11];
+	k24.z.z = Ke[5 + 12 * 11];
+
+	// k31	
+	// a71 a72 a73	
+	// a81 a82 a83	
+	// a91 a92 a93	
+	k31.x.x = Ke[6 + 12 * 0];
+	k31.x.y = Ke[7 + 12 * 0];
+	k31.x.z = Ke[8 + 12 * 0];
+
+	k31.y.x = Ke[6 + 12 * 1];
+	k31.y.y = Ke[7 + 12 * 1];
+	k31.y.z = Ke[8 + 12 * 1];
+
+	k31.z.x = Ke[6 + 12 * 2];
+	k31.z.y = Ke[7 + 12 * 2];
+	k31.z.z = Ke[8 + 12 * 2];
+
+	// k32	
+	// a74 a75 a76	
+	// a84 a85 a86	
+	// a94 a95 a96	
+	k32.x.x = Ke[6 + 12 * 3];
+	k32.x.y = Ke[7 + 12 * 3];
+	k32.x.z = Ke[8 + 12 * 3];
+
+	k32.y.x = Ke[6 + 12 * 4];
+	k32.y.y = Ke[7 + 12 * 4];
+	k32.y.z = Ke[8 + 12 * 4];
+
+	k32.z.x = Ke[6 + 12 * 5];
+	k32.z.y = Ke[7 + 12 * 5];
+	k32.z.z = Ke[8 + 12 * 5];
+
+	// k33 
+	// a77 a78 a79 
+	// a87 a88 a89 
+	// a97 a98 a99 
+	k33.x.x = Ke[6 + 12 * 6];
+	k33.x.y = Ke[7 + 12 * 6];
+	k33.x.z = Ke[8 + 12 * 6];
+
+	k33.y.x = Ke[6 + 12 * 7];
+	k33.y.y = Ke[7 + 12 * 7];
+	k33.y.z = Ke[8 + 12 * 7];
+
+	k33.z.x = Ke[6 + 12 * 8];
+	k33.z.y = Ke[7 + 12 * 8];
+	k33.z.z = Ke[8 + 12 * 8];
+
+	// k34
+	// a7_10 a7_11 a7_12
+	// a8_10 a8_11 a8_12
+	// a9_10 a9_11 a9_12
+	k34.x.x = Ke[6 + 12 * 9];
+	k34.x.y = Ke[7 + 12 * 9];
+	k34.x.z = Ke[8 + 12 * 9];
+
+	k34.y.x = Ke[6 + 12 * 10];
+	k34.y.y = Ke[7 + 12 * 10];
+	k34.y.z = Ke[8 + 12 * 10];
+
+	k34.z.x = Ke[6 + 12 * 11];
+	k34.z.y = Ke[7 + 12 * 11];
+	k34.z.z = Ke[8 + 12 * 11];
+
+	// k41	
+	// a10_1 a10_2 a10_3	
+	// a11_1 a11_2 a11_3	
+	// a12_1 a12_2 a12_3	
+	k41.x.x = Ke[9 + 12 * 0];
+	k41.x.y = Ke[10 + 12 * 0];
+	k41.x.z = Ke[11 + 12 * 0];
+
+	k41.y.x = Ke[9 + 12 * 1];
+	k41.y.y = Ke[10 + 12 * 1];
+	k41.y.z = Ke[11 + 12 * 1];
+
+	k41.z.x = Ke[9 + 12 * 2];
+	k41.z.y = Ke[10 + 12 * 2];
+	k41.z.z = Ke[11 + 12 * 2];
+
+	// k42 
+	// a10_4 a10_5 a10_6 
+	// a11_4 a11_5 a11_6 
+	// a12_4 a12_5 a12_6 
+	k42.x.x = Ke[9 + 12 * 3];
+	k42.x.y = Ke[10 + 12 * 3];
+	k42.x.z = Ke[11 + 12 * 3];
+
+	k42.y.x = Ke[9 + 12 * 4];
+	k42.y.y = Ke[10 + 12 * 4];
+	k42.y.z = Ke[11 + 12 * 4];
+
+	k42.z.x = Ke[9 + 12 * 5];
+	k42.z.y = Ke[10 + 12 * 5];
+	k42.z.z = Ke[11 + 12 * 5];
+
+	// k43 
+	// a10_7 a10_8 a10_9 
+	// a11_7 a11_8 a11_9 
+	// a12_7 a12_8 a12_9 
+	k43.x.x = Ke[9 + 12 * 6];
+	k43.x.y = Ke[10 + 12 * 6];
+	k43.x.z = Ke[11 + 12 * 6];
+
+	k43.y.x = Ke[9 + 12 * 7];
+	k43.y.y = Ke[10 + 12 * 7];
+	k43.y.z = Ke[11 + 12 * 7];
+
+	k43.z.x = Ke[9 + 12 * 8];
+	k43.z.y = Ke[10 + 12 * 8];
+	k43.z.z = Ke[11 + 12 * 8];
+
+	// k44
+	// a10_10 a10_11 a10_12
+	// a11_10 a11_11 a11_12
+	// a12_10 a12_11 a12_12
+	k44.x.x = Ke[9 + 12 * 9];
+	k44.x.y = Ke[10 + 12 * 9];
+	k44.x.z = Ke[11 + 12 * 9];
+
+	k44.y.x = Ke[9 + 12 * 10];
+	k44.y.y = Ke[10 + 12 * 10];
+	k44.y.z = Ke[11 + 12 * 10];
+
+	k44.z.x = Ke[9 + 12 * 11];
+	k44.z.y = Ke[10 + 12 * 11];
+	k44.z.z = Ke[11 + 12 * 11];
+}
 b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 {
 	B3_ASSERT(def.mesh);
@@ -201,36 +498,27 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		float32 D[36];
 		b3ComputeD(D, m_E, m_nu);
 
-		b3Vec3 B[4];
-		b3ComputeBVec(B, e10, e20, e30, V);
+		// 6 x 12
+		float32 B[72];
+		b3ComputeB(B, e10, e20, e30, V);
 
-		for (u32 i = 0; i < 4; ++i)
+		// 12 x 6
+		float32 BT[72];
+		b3Transpose(BT, B, 6, 12);
+
+		// 12 x 6
+		float32 BT_D[72];
+		b3Mul(BT_D, BT, 12, 6, D, 6, 6);
+
+		// 12 x 12
+		float32 BT_D_B[144];
+		b3Mul(BT_D_B, BT_D, 12, 6, B, 6, 12);
+		for (u32 i = 0; i < 144; ++i)
 		{
-			// 6 x 3
-			float32 B_i[18];
-			b3ComputeBMat(B_i, B[i]);
-
-			// 3 x 6
-			float32 B_i_T[18];
-			b3Transpose(B_i_T, B_i, 6, 3);
-
-			for (u32 j = 0; j < 4; ++j)
-			{
-				// 6 x 3
-				float32 B_j[18];
-				b3ComputeBMat(B_j, B[j]);
-
-				// 6 x 3
-				float32 D_B_j[18];
-				b3Mul(D_B_j, D, 6, 6, B_j, 6, 3);
-
-				// 3 x 3
-				b3Mat33& Ke = e->K[i + 4 * j];
-				b3Mul(&Ke.x.x, B_i_T, 3, 6, D_B_j, 6, 3);
-
-				Ke = V * Ke;
-			}
+			BT_D_B[i] *= V;
 		}
+
+		b3SetK(e->K, BT_D_B);
 	}
 
 	// Initialize triangles
@@ -485,10 +773,7 @@ void b3SoftBody::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations
 	B3_PROFILE("Soft Body Solve");
 
 	b3SoftBodySolverDef def;
-	def.stack = &m_stackAllocator;
-	def.mesh = m_mesh;
-	def.nodes = m_nodes;
-	def.elements = m_elements;
+	def.body = this;
 
 	b3SoftBodySolver solver(def);
 
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index 188844f..f46653c 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -38,14 +38,15 @@
 u32 b3_softBodySolverIterations = 0;
 
 // Enables the stiffness warping solver.
-// bool b3_enableStiffnessWarping = true;
+bool b3_enableStiffnessWarping = true;
 
 b3SoftBodySolver::b3SoftBodySolver(const b3SoftBodySolverDef& def)
 {
-	m_allocator = def.stack;
-	m_mesh = def.mesh;
-	m_nodes = def.nodes;
-	m_elements = def.elements;
+	m_body = def.body;
+	m_allocator = &m_body->m_stackAllocator;
+	m_mesh = m_body->m_mesh;
+	m_nodes = m_body->m_nodes;
+	m_elements = m_body->m_elements;
 }
 
 b3SoftBodySolver::~b3SoftBodySolver()
@@ -178,9 +179,20 @@ static B3_FORCE_INLINE void b3Mul(float32* C, float32* A, u32 AM, u32 AN, float3
 	}
 }
 
+static B3_FORCE_INLINE float32 b3Length(float32* a, u32 an)
+{
+	float32 result = 0.0f;
+	for (u32 i = 0; i < an; ++i)
+	{
+		result += a[i] * a[i];
+	}
+	return b3Sqrt(result);
+}
+
 void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
 {
 	float32 h = dt;
+	float32 inv_h = 1.0f / h;
 
 	b3SparseMat33 M(m_mesh->vertexCount);
 	b3DenseVec3 x(m_mesh->vertexCount);
@@ -219,6 +231,9 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 	b3DenseVec3 f0(m_mesh->vertexCount);
 	f0.SetZero();
 
+	b3DenseVec3 f_plastic(m_mesh->vertexCount);
+	f_plastic.SetZero();
+
 	for (u32 ei = 0; ei < m_mesh->tetrahedronCount; ++ei)
 	{
 		b3SoftBodyMeshTetrahedron* mt = m_mesh->tetrahedrons + ei;
@@ -236,16 +251,23 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 		b3Vec3 p3 = p[v3];
 		b3Vec3 p4 = p[v4];
 
-		b3Vec3 e1 = p2 - p1;
-		b3Vec3 e2 = p3 - p1;
-		b3Vec3 e3 = p4 - p1;
-
-		b3Mat33 E(e1, e2, e3);
-
-		b3Mat33 A = E * e->invE;
-
 		b3Mat33 R;
-		b3ExtractRotation(R, e->q, A);
+		if (b3_enableStiffnessWarping)
+		{
+			b3Vec3 e1 = p2 - p1;
+			b3Vec3 e2 = p3 - p1;
+			b3Vec3 e3 = p4 - p1;
+
+			b3Mat33 E(e1, e2, e3);
+
+			b3Mat33 A = E * e->invE;
+
+			b3ExtractRotation(R, e->q, A);
+		}
+		else
+		{
+			R.SetIdentity();
+		}
 
 		b3Mat33 RT = b3Transpose(R);
 
@@ -292,7 +314,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 
 	b3SparseMat33 A = M + h * h * K;
 
-	b3DenseVec3 b = M * v - h * (K * p + f0 - fe);
+	b3DenseVec3 b = M * v - h * (K * p + f0 + f_plastic - fe);
 
 	// Solve Ax = b
 	b3DenseVec3 sx(m_mesh->vertexCount);

From 494fa0baa9259f58ecc12aac4d349e0524f5e2cd Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 22 May 2019 18:16:47 -0300
Subject: [PATCH 106/198] Incorporate plasticity model. Update the tests

---
 examples/testbed/tests/pinned_softbody.h |  5 +-
 examples/testbed/tests/smash_softbody.h  |  3 ++
 include/bounce/softbody/softbody.h       | 28 ++++++++++-
 src/bounce/softbody/softbody.cpp         | 18 ++++++-
 src/bounce/softbody/softbody_solver.cpp  | 60 +++++++++++++++++++++++-
 5 files changed, 110 insertions(+), 4 deletions(-)

diff --git a/examples/testbed/tests/pinned_softbody.h b/examples/testbed/tests/pinned_softbody.h
index 023b490..131d2e4 100644
--- a/examples/testbed/tests/pinned_softbody.h
+++ b/examples/testbed/tests/pinned_softbody.h
@@ -33,7 +33,10 @@ public:
 		def.mesh = &m_mesh;
 		def.density = 0.2f;
 		def.E = 100.0f;
-		def.nu = 0.33f;
+		def.nu = 0.33f;		
+		def.c_yield = 0.1f;
+		def.c_creep = 0.5f;
+		def.c_max = 1.0f;
 
 		m_body = new b3SoftBody(def);
 
diff --git a/examples/testbed/tests/smash_softbody.h b/examples/testbed/tests/smash_softbody.h
index 1b54d7c..544d5a2 100644
--- a/examples/testbed/tests/smash_softbody.h
+++ b/examples/testbed/tests/smash_softbody.h
@@ -39,6 +39,9 @@ public:
 		def.density = 0.2f;
 		def.E = 100.0f;
 		def.nu = 0.33f;
+		def.c_yield = 0.6f;
+		def.c_creep = 1.0f;
+		def.c_max = 1.0f;
 
 		m_body = new b3SoftBody(def);
 
diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index b9f7c2c..2457d3a 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -42,9 +42,12 @@ struct b3SoftBodyRayCastSingleOutput
 // Soft body tetrahedron element
 struct b3SoftBodyElement
 {
-	b3Mat33 K[16]; 
+	b3Mat33 K[16]; // 12 x 12
 	b3Mat33 invE;
 	b3Quat q;
+	float32 B[72]; // 6 x 12
+	float32 P[72]; // V * BT * E -> 12 x 6
+	float32 epsilon_plastic[6]; // 6 x 1
 };
 
 // Soft body tetrahedron triangle
@@ -64,6 +67,9 @@ struct b3SoftBodyDef
 		density = 0.1f;
 		E = 100.0f;
 		nu = 0.3f;
+		c_yield = B3_MAX_FLOAT;
+		c_creep = 0.0f;
+		c_max = 0.0f;
 	}
 
 	// Soft body mesh
@@ -79,6 +85,17 @@ struct b3SoftBodyDef
 	// Material Poisson ratio in [0, 0.5]
 	// This is a dimensionless value
 	float32 nu;
+
+	// Material yield in [0, inf]
+	// This is a dimensionless value
+	float32 c_yield;
+
+	// Material creep rate in [0, 1 / dt]
+	// Units are inverse seconds
+	float32 c_creep;
+
+	// Material maximum plastic strain in [0, inf]
+	float32 c_max;
 };
 
 // A soft body represents a deformable volume as a collection of nodes and elements.
@@ -149,6 +166,15 @@ private:
 	// Material poisson ratio
 	float32 m_nu;
 
+	// Material yield
+	float32 m_c_yield;
+
+	// Material creep rate
+	float32 m_c_creep;
+
+	// Material maximum plastic strain
+	float32 m_c_max;
+
 	// Soft body nodes
 	b3SoftBodyNode* m_nodes;
 
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 186fbe3..140e85b 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -436,6 +436,9 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 	m_density = def.density;
 	m_E = def.E;
 	m_nu = def.nu;
+	m_c_yield = def.c_yield;
+	m_c_creep = def.c_creep;
+	m_c_max = def.c_max;
 	m_gravity.SetZero();
 	m_world = nullptr;
 
@@ -499,7 +502,7 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		b3ComputeD(D, m_E, m_nu);
 
 		// 6 x 12
-		float32 B[72];
+		float32* B = e->B;
 		b3ComputeB(B, e10, e20, e30, V);
 
 		// 12 x 6
@@ -519,6 +522,19 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		}
 
 		b3SetK(e->K, BT_D_B);
+
+		// 12 x 6
+		float32* P = e->P;
+		b3Mul(P, BT, 12, 6, D, 6, 6);
+		for (u32 i = 0; i < 72; ++i)
+		{
+			P[i] *= V;
+		}
+
+		for (u32 i = 0; i < 6; ++i)
+		{
+			e->epsilon_plastic[i] = 0.0f;
+		}
 	}
 
 	// Initialize triangles
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index f46653c..5ced0ec 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -241,6 +241,10 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 
 		b3Mat33* Ke = e->K;
 
+		float32* Be = e->B;
+		float32* Pe = e->P;
+		float32* epsilon_plastic = e->epsilon_plastic;
+
 		u32 v1 = mt->v1;
 		u32 v2 = mt->v2;
 		u32 v3 = mt->v3;
@@ -285,6 +289,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 			}
 		}
 
+		// Elasticity
 		b3Vec3 x1 = x[v1];
 		b3Vec3 x2 = x[v2];
 		b3Vec3 x3 = x[v3];
@@ -308,13 +313,66 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 		f0[v2] += f0s[1];
 		f0[v3] += f0s[2];
 		f0[v4] += f0s[3];
+
+		// Plasticity
+		b3Vec3 ps[4] = { p1, p2, p3, p4 };
+
+		b3Vec3 RT_x_x0[4];
+		for (u32 i = 0; i < 4; ++i)
+		{
+			RT_x_x0[i] = RT * ps[i] - xs[i];
+		}
+
+		// 6 x 1
+		float32 epsilon_total[6];
+		b3Mul(epsilon_total, Be, 6, 12, &RT_x_x0[0].x, 12, 1);
+
+		// 6 x 1
+		float32 epsilon_elastic[6];
+		for (u32 i = 0; i < 6; ++i)
+		{
+			epsilon_elastic[i] = epsilon_total[i] - epsilon_plastic[i];
+		}
+
+		float32 len_epsilon_elastic = b3Length(epsilon_elastic, 6);
+		if (len_epsilon_elastic > m_body->m_c_yield)
+		{
+			float32 amount = h * b3Min(m_body->m_c_creep, inv_h);
+			for (u32 i = 0; i < 6; ++i)
+			{
+				epsilon_plastic[i] += amount * epsilon_elastic[i];
+			}
+		}
+
+		float32 len_epsilon_plastic = b3Length(epsilon_plastic, 6);
+		if (len_epsilon_plastic > m_body->m_c_max)
+		{
+			float32 scale = m_body->m_c_max / len_epsilon_plastic;
+			for (u32 i = 0; i < 6; ++i)
+			{
+				epsilon_plastic[i] *= scale;
+			}
+		}
+
+		b3Vec3 fs_plastic[4];
+		b3Mul(&fs_plastic[0].x, Pe, 12, 6, epsilon_plastic, 6, 1);
+		for (u32 i = 0; i < 4; ++i)
+		{
+			fs_plastic[i] = R * fs_plastic[i];
+		}
+
+		f_plastic[v1] += fs_plastic[0];
+		f_plastic[v2] += fs_plastic[1];
+		f_plastic[v3] += fs_plastic[2];
+		f_plastic[v4] += fs_plastic[3];
 	}
 
 	f0 = -f0;
 
 	b3SparseMat33 A = M + h * h * K;
 
-	b3DenseVec3 b = M * v - h * (K * p + f0 + f_plastic - fe);
+	//b3DenseVec3 b = M * v - h * (K * p + f0 + f_plastic - fe);
+	b3DenseVec3 b = M * v - h * (K * p + f0 - (f_plastic + fe));
 
 	// Solve Ax = b
 	b3DenseVec3 sx(m_mesh->vertexCount);

From 5e044795df590317206a47bc68cd71b1ace8241b Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 23 May 2019 11:17:32 -0300
Subject: [PATCH 107/198] Use transpose

---
 src/bounce/softbody/softbody.cpp | 115 ++++++++++++++++---------------
 1 file changed, 61 insertions(+), 54 deletions(-)

diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 140e85b..6a66a6f 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -239,17 +239,18 @@ static B3_FORCE_INLINE void b3SetK(b3Mat33 K[16], float32 Ke[144])
 	// a41 a42 a43	
 	// a51 a52 a53		
 	// a61 a62 a63	
-	k21.x.x = Ke[3 + 12 * 0];
-	k21.x.y = Ke[4 + 12 * 0];
-	k21.x.z = Ke[5 + 12 * 0];
+	//k21.x.x = Ke[3 + 12 * 0];
+	//k21.x.y = Ke[4 + 12 * 0];
+	//k21.x.z = Ke[5 + 12 * 0];
 
-	k21.y.x = Ke[3 + 12 * 1];
-	k21.y.y = Ke[4 + 12 * 1];
-	k21.y.z = Ke[5 + 12 * 1];
+	//k21.y.x = Ke[3 + 12 * 1];
+	//k21.y.y = Ke[4 + 12 * 1];
+	//k21.y.z = Ke[5 + 12 * 1];
 
-	k21.z.x = Ke[3 + 12 * 2];
-	k21.z.y = Ke[4 + 12 * 2];
-	k21.z.z = Ke[5 + 12 * 2];
+	//k21.z.x = Ke[3 + 12 * 2];
+	//k21.z.y = Ke[4 + 12 * 2];
+	//k21.z.z = Ke[5 + 12 * 2];
+	k21 = b3Transpose(k12);
 
 	// k22	            
 	// a44 a45 a46	
@@ -303,33 +304,35 @@ static B3_FORCE_INLINE void b3SetK(b3Mat33 K[16], float32 Ke[144])
 	// a71 a72 a73	
 	// a81 a82 a83	
 	// a91 a92 a93	
-	k31.x.x = Ke[6 + 12 * 0];
-	k31.x.y = Ke[7 + 12 * 0];
-	k31.x.z = Ke[8 + 12 * 0];
+	//k31.x.x = Ke[6 + 12 * 0];
+	//k31.x.y = Ke[7 + 12 * 0];
+	//k31.x.z = Ke[8 + 12 * 0];
 
-	k31.y.x = Ke[6 + 12 * 1];
-	k31.y.y = Ke[7 + 12 * 1];
-	k31.y.z = Ke[8 + 12 * 1];
+	//k31.y.x = Ke[6 + 12 * 1];
+	//k31.y.y = Ke[7 + 12 * 1];
+	//k31.y.z = Ke[8 + 12 * 1];
 
-	k31.z.x = Ke[6 + 12 * 2];
-	k31.z.y = Ke[7 + 12 * 2];
-	k31.z.z = Ke[8 + 12 * 2];
+	//k31.z.x = Ke[6 + 12 * 2];
+	//k31.z.y = Ke[7 + 12 * 2];
+	//k31.z.z = Ke[8 + 12 * 2];
+	k31 = b3Transpose(k13);
 
 	// k32	
 	// a74 a75 a76	
 	// a84 a85 a86	
 	// a94 a95 a96	
-	k32.x.x = Ke[6 + 12 * 3];
-	k32.x.y = Ke[7 + 12 * 3];
-	k32.x.z = Ke[8 + 12 * 3];
+	//k32.x.x = Ke[6 + 12 * 3];
+	//k32.x.y = Ke[7 + 12 * 3];
+	//k32.x.z = Ke[8 + 12 * 3];
 
-	k32.y.x = Ke[6 + 12 * 4];
-	k32.y.y = Ke[7 + 12 * 4];
-	k32.y.z = Ke[8 + 12 * 4];
+	//k32.y.x = Ke[6 + 12 * 4];
+	//k32.y.y = Ke[7 + 12 * 4];
+	//k32.y.z = Ke[8 + 12 * 4];
 
-	k32.z.x = Ke[6 + 12 * 5];
-	k32.z.y = Ke[7 + 12 * 5];
-	k32.z.z = Ke[8 + 12 * 5];
+	//k32.z.x = Ke[6 + 12 * 5];
+	//k32.z.y = Ke[7 + 12 * 5];
+	//k32.z.z = Ke[8 + 12 * 5];
+	k32 = b3Transpose(k23);
 
 	// k33 
 	// a77 a78 a79 
@@ -367,49 +370,52 @@ static B3_FORCE_INLINE void b3SetK(b3Mat33 K[16], float32 Ke[144])
 	// a10_1 a10_2 a10_3	
 	// a11_1 a11_2 a11_3	
 	// a12_1 a12_2 a12_3	
-	k41.x.x = Ke[9 + 12 * 0];
-	k41.x.y = Ke[10 + 12 * 0];
-	k41.x.z = Ke[11 + 12 * 0];
+	//k41.x.x = Ke[9 + 12 * 0];
+	//k41.x.y = Ke[10 + 12 * 0];
+	//k41.x.z = Ke[11 + 12 * 0];
 
-	k41.y.x = Ke[9 + 12 * 1];
-	k41.y.y = Ke[10 + 12 * 1];
-	k41.y.z = Ke[11 + 12 * 1];
+	//k41.y.x = Ke[9 + 12 * 1];
+	//k41.y.y = Ke[10 + 12 * 1];
+	//k41.y.z = Ke[11 + 12 * 1];
 
-	k41.z.x = Ke[9 + 12 * 2];
-	k41.z.y = Ke[10 + 12 * 2];
-	k41.z.z = Ke[11 + 12 * 2];
+	//k41.z.x = Ke[9 + 12 * 2];
+	//k41.z.y = Ke[10 + 12 * 2];
+	//k41.z.z = Ke[11 + 12 * 2];
+	k41 = b3Transpose(k14);
 
 	// k42 
 	// a10_4 a10_5 a10_6 
 	// a11_4 a11_5 a11_6 
 	// a12_4 a12_5 a12_6 
-	k42.x.x = Ke[9 + 12 * 3];
-	k42.x.y = Ke[10 + 12 * 3];
-	k42.x.z = Ke[11 + 12 * 3];
+	//k42.x.x = Ke[9 + 12 * 3];
+	//k42.x.y = Ke[10 + 12 * 3];
+	//k42.x.z = Ke[11 + 12 * 3];
 
-	k42.y.x = Ke[9 + 12 * 4];
-	k42.y.y = Ke[10 + 12 * 4];
-	k42.y.z = Ke[11 + 12 * 4];
+	//k42.y.x = Ke[9 + 12 * 4];
+	//k42.y.y = Ke[10 + 12 * 4];
+	//k42.y.z = Ke[11 + 12 * 4];
 
-	k42.z.x = Ke[9 + 12 * 5];
-	k42.z.y = Ke[10 + 12 * 5];
-	k42.z.z = Ke[11 + 12 * 5];
+	//k42.z.x = Ke[9 + 12 * 5];
+	//k42.z.y = Ke[10 + 12 * 5];
+	//k42.z.z = Ke[11 + 12 * 5];
+	k42 = b3Transpose(k24);
 
 	// k43 
 	// a10_7 a10_8 a10_9 
 	// a11_7 a11_8 a11_9 
 	// a12_7 a12_8 a12_9 
-	k43.x.x = Ke[9 + 12 * 6];
-	k43.x.y = Ke[10 + 12 * 6];
-	k43.x.z = Ke[11 + 12 * 6];
+	//k43.x.x = Ke[9 + 12 * 6];
+	//k43.x.y = Ke[10 + 12 * 6];
+	//k43.x.z = Ke[11 + 12 * 6];
 
-	k43.y.x = Ke[9 + 12 * 7];
-	k43.y.y = Ke[10 + 12 * 7];
-	k43.y.z = Ke[11 + 12 * 7];
+	//k43.y.x = Ke[9 + 12 * 7];
+	//k43.y.y = Ke[10 + 12 * 7];
+	//k43.y.z = Ke[11 + 12 * 7];
 
-	k43.z.x = Ke[9 + 12 * 8];
-	k43.z.y = Ke[10 + 12 * 8];
-	k43.z.z = Ke[11 + 12 * 8];
+	//k43.z.x = Ke[9 + 12 * 8];
+	//k43.z.y = Ke[10 + 12 * 8];
+	//k43.z.z = Ke[11 + 12 * 8];
+	k43 = b3Transpose(k34);
 
 	// k44
 	// a10_10 a10_11 a10_12
@@ -427,6 +433,7 @@ static B3_FORCE_INLINE void b3SetK(b3Mat33 K[16], float32 Ke[144])
 	k44.z.y = Ke[10 + 12 * 11];
 	k44.z.z = Ke[11 + 12 * 11];
 }
+
 b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 {
 	B3_ASSERT(def.mesh);

From b6f504b37167c64b91f10bfe56fe833f95abcb36 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 24 May 2019 13:04:42 -0300
Subject: [PATCH 108/198] Include Rayleigh damping. Use struct instead of
 class. Update PinnedSoftBody test

---
 examples/testbed/tests/pinned_softbody.h      |  8 ++++-
 include/bounce/softbody/softbody.h            |  3 +-
 .../bounce/softbody/softbody_contact_solver.h |  4 +--
 include/bounce/softbody/softbody_node.h       | 29 ++++++++++++++-----
 include/bounce/softbody/softbody_solver.h     |  4 +--
 src/bounce/softbody/softbody.cpp              |  1 +
 src/bounce/softbody/softbody_solver.cpp       | 10 +++++--
 7 files changed, 44 insertions(+), 15 deletions(-)

diff --git a/examples/testbed/tests/pinned_softbody.h b/examples/testbed/tests/pinned_softbody.h
index 131d2e4..1b4eefe 100644
--- a/examples/testbed/tests/pinned_softbody.h
+++ b/examples/testbed/tests/pinned_softbody.h
@@ -32,7 +32,7 @@ public:
 		b3SoftBodyDef def;
 		def.mesh = &m_mesh;
 		def.density = 0.2f;
-		def.E = 100.0f;
+		def.E = 1000.0f;
 		def.nu = 0.33f;		
 		def.c_yield = 0.1f;
 		def.c_creep = 0.5f;
@@ -40,6 +40,12 @@ public:
 
 		m_body = new b3SoftBody(def);
 
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+			n->SetDamping(0.2f);
+		}
+
 		u32 pinIndex = ~0;
 		float32 pinDot = -B3_MAX_FLOAT;
 		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index 2457d3a..9316e95 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -26,7 +26,8 @@ class b3World;
 
 struct b3SoftBodyMesh;
 
-class b3SoftBodyNode;
+struct b3SoftBodyNode;
+struct b3SoftBodyElement;
 
 struct b3RayCastInput;
 struct b3RayCastOutput;
diff --git a/include/bounce/softbody/softbody_contact_solver.h b/include/bounce/softbody/softbody_contact_solver.h
index ff8350b..dea16cf 100644
--- a/include/bounce/softbody/softbody_contact_solver.h
+++ b/include/bounce/softbody/softbody_contact_solver.h
@@ -24,10 +24,10 @@
 
 class b3StackAllocator;
 
-class b3SoftBodyNode;
+struct b3SoftBodyNode;
 class b3Body;
 
-class b3NodeBodyContact;
+struct b3NodeBodyContact;
 
 struct b3DenseVec3;
 
diff --git a/include/bounce/softbody/softbody_node.h b/include/bounce/softbody/softbody_node.h
index 81f7e28..00ef770 100644
--- a/include/bounce/softbody/softbody_node.h
+++ b/include/bounce/softbody/softbody_node.h
@@ -25,15 +25,11 @@
 
 class b3Shape;
 class b3SoftBody;
-class b3SoftBodyNode;
+struct b3SoftBodyNode;
 
 // A contact between a node and a body
-class b3NodeBodyContact
+struct b3NodeBodyContact
 {
-public:
-	b3NodeBodyContact() { }
-	~b3NodeBodyContact() { }
-
 	b3SoftBodyNode* n1;
 	b3Shape* s2;
 
@@ -81,7 +77,7 @@ enum b3SoftBodyNodeType
 };
 
 // A soft body node.
-class b3SoftBodyNode 
+struct b3SoftBodyNode 
 {
 public:
 	// Set the node type.
@@ -110,6 +106,12 @@ public:
 	// Get the node mass.
 	float32 GetMass() const;
 
+	// Set the node damping.
+	void SetDamping(float32 damping);
+
+	// Get the node damping.
+	float32 GetDamping() const;
+
 	// Set the node radius.
 	void SetRadius(float32 radius);
 	
@@ -151,6 +153,9 @@ private:
 	// Inverse mass
 	float32 m_invMass;
 
+	// Damping
+	float32 m_damping;
+
 	// Radius
 	float32 m_radius;
 
@@ -227,6 +232,16 @@ inline float32 b3SoftBodyNode::GetMass() const
 	return m_mass;
 }
 
+inline void b3SoftBodyNode::SetDamping(float32 damping)
+{
+	m_damping = damping;
+}
+
+inline float32 b3SoftBodyNode::GetDamping() const
+{
+	return m_damping;
+}
+
 inline void b3SoftBodyNode::SetRadius(float32 radius)
 {
 	m_radius = radius;
diff --git a/include/bounce/softbody/softbody_solver.h b/include/bounce/softbody/softbody_solver.h
index 3018b38..a38491b 100644
--- a/include/bounce/softbody/softbody_solver.h
+++ b/include/bounce/softbody/softbody_solver.h
@@ -27,10 +27,10 @@ class b3StackAllocator;
 class b3SoftBody;
 class b3SoftBodyMesh;
 
-class b3SoftBodyNode;
+struct b3SoftBodyNode;
 struct b3SoftBodyElement;
 
-class b3NodeBodyContact;
+struct b3NodeBodyContact;
 
 struct b3SoftBodySolverDef
 {
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 6a66a6f..5712357 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -465,6 +465,7 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		n->m_force.SetZero();
 		n->m_mass = 0.0f;
 		n->m_invMass = 0.0f;
+		n->m_damping = 0.0f;
 		n->m_radius = 0.0f;
 		n->m_friction = 0.0f;
 		n->m_userData = nullptr;
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index 5ced0ec..a00f8a5 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -195,6 +195,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 	float32 inv_h = 1.0f / h;
 
 	b3SparseMat33 M(m_mesh->vertexCount);
+	b3SparseMat33 C(m_mesh->vertexCount);
 	b3DenseVec3 x(m_mesh->vertexCount);
 	b3DenseVec3 p(m_mesh->vertexCount);
 	b3DenseVec3 v(m_mesh->vertexCount);
@@ -207,6 +208,12 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 		b3SoftBodyNode* n = m_nodes + i;
 
 		M(i, i) = b3Diagonal(n->m_mass);
+		
+		// Rayleigh damping 
+		// C = alpha * M + beta * K
+		// Here the stiffness coefficient beta is zero
+		C(i, i) = b3Diagonal(n->m_damping * n->m_mass);
+		
 		x[i] = m_mesh->vertices[i];
 		p[i] = n->m_position;
 		v[i] = n->m_velocity;
@@ -369,9 +376,8 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 
 	f0 = -f0;
 
-	b3SparseMat33 A = M + h * h * K;
+	b3SparseMat33 A = M + h * C + h * h * K;
 
-	//b3DenseVec3 b = M * v - h * (K * p + f0 + f_plastic - fe);
 	b3DenseVec3 b = M * v - h * (K * p + f0 - (f_plastic + fe));
 
 	// Solve Ax = b

From 416157bccfeedfde9b26fa1633420b5a2ee1aa13 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 24 May 2019 19:30:38 -0300
Subject: [PATCH 109/198] Add block tetrahedral mesh for convenience

---
 include/bounce/bounce.h                       |   1 +
 include/bounce/softbody/block_softbody_mesh.h | 123 ++++++++++++++++++
 2 files changed, 124 insertions(+)
 create mode 100644 include/bounce/softbody/block_softbody_mesh.h

diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index 393e011..a36b9bb 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -73,6 +73,7 @@
 #include <bounce/cloth/garment/garment_mesh.h>
 
 #include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/block_softbody_mesh.h>
 #include <bounce/softbody/softbody.h>
 #include <bounce/softbody/softbody_node.h>
 
diff --git a/include/bounce/softbody/block_softbody_mesh.h b/include/bounce/softbody/block_softbody_mesh.h
new file mode 100644
index 0000000..7bf1d4e
--- /dev/null
+++ b/include/bounce/softbody/block_softbody_mesh.h
@@ -0,0 +1,123 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_BLOCK_SOFT_BODY_MESH_H
+#define B3_BLOCK_SOFT_BODY_MESH_H
+
+#include <bounce/softbody/softbody_mesh.H>
+
+template<u32 W = 1, u32 H = 1, u32 D = 1>
+struct b3BlockSoftBodyMesh : public b3SoftBodyMesh
+{
+	b3Vec3 blockVertices[(W + 1) * (H + 1) * (D + 1)];
+	b3SoftBodyMeshTetrahedron blockTetrahedrons[5 * W * H * D];
+
+	b3BlockSoftBodyMesh()
+	{
+		vertexCount = 0;
+		for (u32 x = 0; x <= W; ++x)
+		{
+			for (u32 y = 0; y <= H; ++y)
+			{
+				for (u32 z = 0; z <= D; ++z)
+				{
+					blockVertices[vertexCount++].Set(x, y, z);
+				}
+			}
+		}
+
+		B3_ASSERT(vertexCount == (W + 1) * (H + 1) * (D + 1));
+
+		b3Vec3 translation;
+		translation.x = -0.5f * float32(W);
+		translation.y = -0.5f * float32(H);
+		translation.z = -0.5f * float32(D);
+
+		for (u32 i = 0; i < vertexCount; ++i)
+		{
+			blockVertices[i] += translation;
+		}
+
+		tetrahedronCount = 0;
+		for (u32 x = 0; x < W; ++x)
+		{
+			for (u32 y = 0; y < H; ++y)
+			{
+				for (u32 z = 0; z < D; ++z)
+				{
+					//     4*-----*7
+					//     /|    /|
+					//    / |   / |
+					//  5*-----*6 |
+					//   | 0*--|--*3
+					//   | /   | /
+					//   |/    |/
+					//  1*-----*2
+					u32 v0 = (x * (H + 1) + y) * (D + 1) + z;
+					u32 v1 = v0 + 1;
+					u32 v3 = ((x + 1) * (H + 1) + y) * (D + 1) + z;
+					u32 v2 = v3 + 1;
+					u32 v7 = ((x + 1) * (H + 1) + (y + 1)) * (D + 1) + z;
+					u32 v6 = v7 + 1;
+					u32 v4 = (x * (H + 1) + (y + 1)) * (D + 1) + z;
+					u32 v5 = v4 + 1;
+
+					if ((x + y + z) % 2 == 1)
+					{
+						// CCW
+						//blockTetrahedrons[tetrahedronCount++] = { v1, v2, v6, v3 };
+						//blockTetrahedrons[tetrahedronCount++] = { v3, v6, v4, v7 };
+						//blockTetrahedrons[tetrahedronCount++] = { v1, v4, v6, v5 };
+						//blockTetrahedrons[tetrahedronCount++] = { v1, v3, v4, v0 };
+						//blockTetrahedrons[tetrahedronCount++] = { v1, v6, v4, v3 };
+
+						// CW
+						blockTetrahedrons[tetrahedronCount++] = { v2, v1, v6, v3 };
+						blockTetrahedrons[tetrahedronCount++] = { v6, v3, v4, v7 };
+						blockTetrahedrons[tetrahedronCount++] = { v4, v1, v6, v5 };
+						blockTetrahedrons[tetrahedronCount++] = { v3, v1, v4, v0 };
+						blockTetrahedrons[tetrahedronCount++] = { v6, v1, v4, v3 };
+					}
+					else
+					{
+						// CCW
+						//blockTetrahedrons[tetrahedronCount++] = { v2, v0, v5, v1 };
+						//blockTetrahedrons[tetrahedronCount++] = { v2, v7, v0, v3 };
+						//blockTetrahedrons[tetrahedronCount++] = { v2, v5, v7, v6 };
+						//blockTetrahedrons[tetrahedronCount++] = { v0, v7, v5, v4 };
+						//blockTetrahedrons[tetrahedronCount++] = { v2, v0, v7, v5 };
+
+						// CW
+						blockTetrahedrons[tetrahedronCount++] = { v0, v2, v5, v1 };
+						blockTetrahedrons[tetrahedronCount++] = { v7, v2, v0, v3 };
+						blockTetrahedrons[tetrahedronCount++] = { v5, v2, v7, v6 };
+						blockTetrahedrons[tetrahedronCount++] = { v7, v0, v5, v4 };
+						blockTetrahedrons[tetrahedronCount++] = { v0, v2, v7, v5 };
+					}
+				}
+			}
+		}
+
+		B3_ASSERT(tetrahedronCount == 5 * W * H * D);
+
+		vertices = blockVertices;
+		tetrahedrons = blockTetrahedrons;
+	}
+};
+
+#endif
\ No newline at end of file

From c696cb1a86533b5d9069b65e37dbf35e5e679653 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 24 May 2019 20:36:33 -0300
Subject: [PATCH 110/198] Update test

---
 examples/testbed/tests/softbody.h | 41 ++++++++++++++++++-------------
 1 file changed, 24 insertions(+), 17 deletions(-)

diff --git a/examples/testbed/tests/softbody.h b/examples/testbed/tests/softbody.h
index a7af14a..fbcad0d 100644
--- a/examples/testbed/tests/softbody.h
+++ b/examples/testbed/tests/softbody.h
@@ -26,18 +26,11 @@ class SoftBody : public Test
 public:
 	SoftBody()
 	{
-		m_mesh.SetAsSphere(5.0f, 1);
-
-		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
-		{
-			m_mesh.vertices[i].y += 10.0f;
-		}
-
 		// Create soft body
 		b3SoftBodyDef def;
 		def.mesh = &m_mesh;
 		def.density = 0.2f;
-		def.E = 100.0f;
+		def.E = 1000.0f;
 		def.nu = 0.33f;
 
 		m_body = new b3SoftBody(def);
@@ -54,23 +47,37 @@ public:
 			n->SetFriction(0.2f);
 		}
 
-		// Create ground
+		// Create body
 		{
 			b3BodyDef bd;
 			bd.type = e_staticBody;
+			bd.position.x = -3.5f;
 
 			b3Body* b = m_world.CreateBody(bd);
 
-			m_groundHull.SetAsCylinder(20.0f, 2.0f);
+			m_wallHull.Set(1.0f, 5.0f, 5.0f);
 
-			b3HullShape groundShape;
-			groundShape.m_hull = &m_groundHull;
+			b3HullShape wallShape;
+			wallShape.m_hull = &m_wallHull;
 
 			b3ShapeDef sd;
-			sd.shape = &groundShape;
-			sd.friction = 0.3f;
+			sd.shape = &wallShape;
 
-			b->CreateShape(sd);
+			b3Shape* wall = b->CreateShape(sd);
+		}
+
+		b3AABB3 aabb;
+		aabb.m_lower.Set(-3.0f, -5.0f, -5.0f);
+		aabb.m_upper.Set(-2.0f, 5.0f, 5.0f);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+			b3Vec3 p = n->GetPosition();
+			if (aabb.Contains(p))
+			{
+				n->SetType(e_staticSoftBodyNode);
+			}
 		}
 
 		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
@@ -144,12 +151,12 @@ public:
 		return new SoftBody();
 	}
 
-	b3QSoftBodyMesh m_mesh;
+	b3BlockSoftBodyMesh<5, 2, 2> m_mesh;
 	
 	b3SoftBody* m_body;
 	b3SoftBodyDragger* m_bodyDragger;
 	
-	b3QHull m_groundHull;
+	b3BoxHull m_wallHull;
 };
 
 #endif
\ No newline at end of file

From 6d2ac0d714751ceef097e3e165d2cc4bfe285a39 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 24 May 2019 21:05:02 -0300
Subject: [PATCH 111/198] Remove capital H

---
 include/bounce/softbody/block_softbody_mesh.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/bounce/softbody/block_softbody_mesh.h b/include/bounce/softbody/block_softbody_mesh.h
index 7bf1d4e..618caaf 100644
--- a/include/bounce/softbody/block_softbody_mesh.h
+++ b/include/bounce/softbody/block_softbody_mesh.h
@@ -19,7 +19,7 @@
 #ifndef B3_BLOCK_SOFT_BODY_MESH_H
 #define B3_BLOCK_SOFT_BODY_MESH_H
 
-#include <bounce/softbody/softbody_mesh.H>
+#include <bounce/softbody/softbody_mesh.h>
 
 template<u32 W = 1, u32 H = 1, u32 D = 1>
 struct b3BlockSoftBodyMesh : public b3SoftBodyMesh

From df21ca37d746cf0c0c8b2dde6c20e1d0f5268fda Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 27 May 2019 19:16:35 -0300
Subject: [PATCH 112/198] Remove __forceinline

---
 src/bounce/softbody/softbody_solver.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index a00f8a5..9876124 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -55,7 +55,7 @@ b3SoftBodySolver::~b3SoftBodySolver()
 }
 
 // https://animation.rwth-aachen.de/media/papers/2016-MIG-StableRotation.pdf
-static B3_FORCE_INLINE void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3Mat33& A, u32 maxIterations = 20)
+static void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3Mat33& A, u32 maxIterations = 20)
 {
 	for (u32 iteration = 0; iteration < maxIterations; ++iteration)
 	{
@@ -90,7 +90,7 @@ static B3_FORCE_INLINE void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3M
 	out = b3QuatMat33(q);
 }
 
-static B3_FORCE_INLINE void b3SolveMPCG(b3DenseVec3& x,
+static void b3SolveMPCG(b3DenseVec3& x,
 	const b3SparseMat33& A, const b3DenseVec3& b,
 	const b3DenseVec3& x0, const b3DiagMat33& S, u32 maxIterations = 20)
 {

From 0e5262629d94b82cfc4a1414c4d282cc79b0bfe6 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 28 May 2019 14:01:27 -0300
Subject: [PATCH 113/198] Support kinematic nodes

---
 include/bounce/softbody/softbody_node.h |  2 ++
 src/bounce/softbody/softbody.cpp        |  5 +++++
 src/bounce/softbody/softbody_solver.cpp | 10 +++++-----
 3 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/include/bounce/softbody/softbody_node.h b/include/bounce/softbody/softbody_node.h
index 00ef770..3e9021d 100644
--- a/include/bounce/softbody/softbody_node.h
+++ b/include/bounce/softbody/softbody_node.h
@@ -69,10 +69,12 @@ struct b3NodeBodyContactWorldPoint
 };
 
 // Static node: Can be moved manually.
+// Kinematic node: Non-zero velocity, can be moved by the solver.
 // Dynamic node: Non-zero velocity determined by force, can be moved by the solver.
 enum b3SoftBodyNodeType
 {
 	e_staticSoftBodyNode,
+	e_kinematicSoftBodyNode,
 	e_dynamicSoftBodyNode
 };
 
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 5712357..d326420 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -839,6 +839,11 @@ void b3SoftBody::Draw() const
 			b3Draw_draw->DrawPoint(v, 4.0f, b3Color_white);
 		}
 
+		if (n->m_type == e_kinematicSoftBodyNode)
+		{
+			b3Draw_draw->DrawPoint(v, 4.0f, b3Color_blue);
+		}
+		
 		if (n->m_type == e_dynamicSoftBodyNode)
 		{
 			b3Draw_draw->DrawPoint(v, 4.0f, b3Color_green);
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index 9876124..973586e 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -92,7 +92,7 @@ static void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3Mat33& A, u32 max
 
 static void b3SolveMPCG(b3DenseVec3& x,
 	const b3SparseMat33& A, const b3DenseVec3& b,
-	const b3DenseVec3& x0, const b3DiagMat33& S, u32 maxIterations = 20)
+	const b3DenseVec3& z, const b3DiagMat33& S, u32 maxIterations = 20)
 {
 	b3DiagMat33 P(A.rowCount);
 	b3DiagMat33 invP(A.rowCount);
@@ -116,7 +116,7 @@ static void b3SolveMPCG(b3DenseVec3& x,
 		invP[i] = b3Diagonal(D.x.x, D.y.y, D.z.z);
 	}
 
-	x = x0;
+	x = z;
 
 	float32 delta_0 = b3Dot(S * b, P * (S * b));
 
@@ -200,7 +200,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 	b3DenseVec3 p(m_mesh->vertexCount);
 	b3DenseVec3 v(m_mesh->vertexCount);
 	b3DenseVec3 fe(m_mesh->vertexCount);
-	b3DenseVec3 x0(m_mesh->vertexCount);
+	b3DenseVec3 z(m_mesh->vertexCount);
 	b3DiagMat33 S(m_mesh->vertexCount);
 
 	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
@@ -218,7 +218,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 		p[i] = n->m_position;
 		v[i] = n->m_velocity;
 		fe[i] = n->m_force;
-		x0[i] = n->m_velocity;
+		z[i] = n->m_velocity;
 
 		// Apply gravity
 		if (n->m_type == e_dynamicSoftBodyNode)
@@ -382,7 +382,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 
 	// Solve Ax = b
 	b3DenseVec3 sx(m_mesh->vertexCount);
-	b3SolveMPCG(sx, A, b, x0, S);
+	b3SolveMPCG(sx, A, b, z, S);
 
 	// Solve constraints
 	b3SoftBodyContactSolverDef contactSolverDef;

From a97e5c07cce11ca74ca1edd5b1eeaa4ef07640a2 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 28 May 2019 14:10:45 -0300
Subject: [PATCH 114/198] Rename Softbody to Beam

---
 examples/testbed/framework/test_entries.cpp   |  4 ++--
 examples/testbed/tests/{softbody.h => beam.h} | 12 ++++++------
 2 files changed, 8 insertions(+), 8 deletions(-)
 rename examples/testbed/tests/{softbody.h => beam.h} (96%)

diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index 5f4d116..d44b574 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -66,7 +66,7 @@
 #include <testbed/tests/tension_mapping.h>
 #include <testbed/tests/self_collision.h>
 #include <testbed/tests/rope_test.h>
-#include <testbed/tests/softbody.h>
+#include <testbed/tests/beam.h>
 #include <testbed/tests/pinned_softbody.h>
 #include <testbed/tests/smash_softbody.h>
 
@@ -119,7 +119,7 @@ TestEntry g_tests[] =
 	{ "Particle Types", &ParticleTypes::Create },
 	{ "Tension Mapping", &TensionMapping::Create },
 	{ "Self-Collision", &SelfCollision::Create },
-	{ "Soft Body", &SoftBody::Create },
+	{ "Beam", &Beam::Create },
 	{ "Pinned Soft Body", &PinnedSoftBody::Create },
 	{ "Smash Soft Body", &SmashSoftBody::Create },
 	{ "Rope", &Rope::Create },
diff --git a/examples/testbed/tests/softbody.h b/examples/testbed/tests/beam.h
similarity index 96%
rename from examples/testbed/tests/softbody.h
rename to examples/testbed/tests/beam.h
index fbcad0d..6a0a913 100644
--- a/examples/testbed/tests/softbody.h
+++ b/examples/testbed/tests/beam.h
@@ -16,15 +16,15 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SOFTBODY_H
-#define SOFTBODY_H
+#ifndef BEAM_H
+#define BEAM_H
 
 #include <testbed/framework/softbody_dragger.h>
 
-class SoftBody : public Test
+class Beam : public Test
 {
 public:
-	SoftBody()
+	Beam()
 	{
 		// Create soft body
 		b3SoftBodyDef def;
@@ -83,7 +83,7 @@ public:
 		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
 	}
 
-	~SoftBody()
+	~Beam()
 	{
 		delete m_bodyDragger;
 		delete m_body;
@@ -148,7 +148,7 @@ public:
 
 	static Test* Create()
 	{
-		return new SoftBody();
+		return new Beam();
 	}
 
 	b3BlockSoftBodyMesh<5, 2, 2> m_mesh;

From 2e65edc6a83bba76ba50e785c383671d6e8eee1a Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 31 May 2019 11:58:08 -0300
Subject: [PATCH 115/198] Move files around. Centralize sparsity and pattern
 structures. Add a view for b3SparseMat33.

---
 include/bounce/cloth/cloth_solver.h           |   4 +-
 .../bounce/{softbody => cloth}/sparse_mat33.h |  31 +++-
 include/bounce/cloth/sparse_mat33_view.h      | 137 ++++++++++++++++++
 include/bounce/cloth/sparse_sym_mat33.h       |  36 +----
 include/bounce/cloth/sparse_sym_mat33_view.h  |  29 +---
 src/bounce/cloth/cloth_solver.cpp             |  60 +++-----
 src/bounce/softbody/softbody_solver.cpp       |  12 +-
 7 files changed, 202 insertions(+), 107 deletions(-)
 rename include/bounce/{softbody => cloth}/sparse_mat33.h (94%)
 create mode 100644 include/bounce/cloth/sparse_mat33_view.h

diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index 2df48a2..7eb4229 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -87,7 +87,9 @@ private:
 	void ApplyConstraints();
 
 	// Solve Ax = b.
-	void Solve(b3DenseVec3& x, u32& iterations, const b3SparseSymMat33View& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const;
+	void SolveMPCG(b3DenseVec3& x, 
+		const b3SparseSymMat33View& A, const b3DenseVec3& b, 
+		const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y, u32 maxIterations = 30) const;
 
 	b3StackAllocator* m_allocator;
 
diff --git a/include/bounce/softbody/sparse_mat33.h b/include/bounce/cloth/sparse_mat33.h
similarity index 94%
rename from include/bounce/softbody/sparse_mat33.h
rename to include/bounce/cloth/sparse_mat33.h
index a746849..273b7ad 100644
--- a/include/bounce/softbody/sparse_mat33.h
+++ b/include/bounce/cloth/sparse_mat33.h
@@ -22,7 +22,36 @@
 #include <bounce/common/math/mat33.h>
 #include <bounce/cloth/diag_mat33.h>
 #include <bounce/cloth/dense_vec3.h>
-#include <bounce/cloth/sparse_sym_mat33.h>
+
+// An element in a sparse matrix.
+struct b3RowValue
+{
+	u32 column;
+	b3Mat33 value;
+	b3RowValue* next;
+};
+
+// Singly linked list of row elements.
+struct b3RowValueList
+{
+	b3RowValueList()
+	{
+		head = nullptr;
+		count = 0;
+	}
+
+	~b3RowValueList() { }
+
+	void PushFront(b3RowValue* link)
+	{
+		link->next = head;
+		head = link;
+		++count;
+	}
+
+	b3RowValue* head;
+	u32 count;
+};
 
 // A sparse matrix.
 // Each row is a list of non-zero elements in the row.
diff --git a/include/bounce/cloth/sparse_mat33_view.h b/include/bounce/cloth/sparse_mat33_view.h
new file mode 100644
index 0000000..9abb275
--- /dev/null
+++ b/include/bounce/cloth/sparse_mat33_view.h
@@ -0,0 +1,137 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SPARSE_MAT_33_VIEW_H
+#define B3_SPARSE_MAT_33_VIEW_H
+
+#include <bounce/cloth/sparse_mat33.h>
+
+struct b3ArrayRowValue
+{
+	u32 column;
+	b3Mat33 value;
+};
+
+struct b3RowValueArray
+{
+	u32 count;
+	b3ArrayRowValue* values;
+};
+
+// A read-only sparse matrix.
+struct b3SparseMat33View
+{
+	//
+	b3SparseMat33View(const b3SparseMat33& _m);
+
+	//
+	~b3SparseMat33View();
+
+	//
+	const b3Mat33& operator()(u32 i, u32 j) const;
+
+	u32 rowCount;
+	b3RowValueArray* rows;
+};
+
+inline b3SparseMat33View::b3SparseMat33View(const b3SparseMat33& _m)
+{
+	rowCount = _m.rowCount;
+	rows = (b3RowValueArray*)b3Alloc(rowCount * sizeof(b3RowValueArray));
+	for (u32 i = 0; i < _m.rowCount; ++i)
+	{
+		b3RowValueList* rowList = _m.rows + i;
+		b3RowValueArray* rowArray = rows + i;
+
+		rowArray->count = rowList->count;
+		rowArray->values = (b3ArrayRowValue*)b3Alloc(rowArray->count * sizeof(b3ArrayRowValue));
+
+		u32 valueIndex = 0;
+		for (b3RowValue* v = rowList->head; v; v = v->next)
+		{
+			rowArray->values[valueIndex].column = v->column;
+			rowArray->values[valueIndex].value = v->value;
+			++valueIndex;
+		}
+	}
+}
+
+inline b3SparseMat33View::~b3SparseMat33View()
+{
+	for (u32 i = 0; i < rowCount; ++i)
+	{
+		b3RowValueArray* rowArray = rows + i;
+		b3Free(rowArray->values);
+	}
+	b3Free(rows);
+}
+
+inline const b3Mat33& b3SparseMat33View::operator()(u32 i, u32 j) const
+{
+	B3_ASSERT(i < rowCount);
+	B3_ASSERT(j < rowCount);
+
+	if (i > j)
+	{
+		b3Swap(i, j);
+	}
+
+	b3RowValueArray* vs = rows + i;
+
+	for (u32 c = 0; c < vs->count; ++c)
+	{
+		b3ArrayRowValue* rv = vs->values + c;
+		if (rv->column == j)
+		{
+			return rv->value;
+		}
+	}
+
+	return b3Mat33_zero;
+}
+
+inline void b3Mul(b3DenseVec3& out, const b3SparseMat33View& A, const b3DenseVec3& v)
+{
+	B3_ASSERT(A.rowCount == out.n);
+
+	out.SetZero();
+
+	for (u32 i = 0; i < A.rowCount; ++i)
+	{
+		b3RowValueArray* rowArray = A.rows + i;
+
+		for (u32 c = 0; c < rowArray->count; ++c)
+		{
+			b3ArrayRowValue* rv = rowArray->values + c;
+
+			u32 j = rv->column;
+			b3Mat33 a = rv->value;
+
+			out[i] += a * v[j];
+		}
+	}
+}
+
+inline b3DenseVec3 operator*(const b3SparseMat33View& A, const b3DenseVec3& v)
+{
+	b3DenseVec3 result(v.n);
+	b3Mul(result, A, v);
+	return result;
+}
+
+#endif
diff --git a/include/bounce/cloth/sparse_sym_mat33.h b/include/bounce/cloth/sparse_sym_mat33.h
index 9d36f35..c8af4a2 100644
--- a/include/bounce/cloth/sparse_sym_mat33.h
+++ b/include/bounce/cloth/sparse_sym_mat33.h
@@ -19,44 +19,14 @@
 #ifndef B3_SPARSE_SYM_MAT_33_H
 #define B3_SPARSE_SYM_MAT_33_H
 
-#include <bounce/common/math/mat33.h>
-#include <bounce/cloth/diag_mat33.h>
-#include <bounce/cloth/dense_vec3.h>
-
-// An element in a sparse symmetric matrix.
-struct b3RowValue
-{
-	u32 column;
-	b3Mat33 value;
-	b3RowValue* next;
-};
-
-// Doubly linked list of row elements.
-struct b3RowValueList
-{
-	b3RowValueList()
-	{
-		head = nullptr;
-		count = 0;
-	}
-
-	~b3RowValueList() { }
-
-	void PushFront(b3RowValue* link)
-	{
-		link->next = head;
-		head = link;
-		++count;
-	}
-
-	b3RowValue* head;
-	u32 count;
-};
+#include <bounce/cloth/sparse_mat33.h>
 
 // A sparse symmetric matrix.
 // Each row is a list of non-zero elements in the row.
 // The total matrix capacity is bounded by 
 // M * (M + 1) / 2
+// You must write only the upper triangle elements of the original
+// matrix to this matrix because a_ji = a_ij.
 struct b3SparseSymMat33
 {
 	//
diff --git a/include/bounce/cloth/sparse_sym_mat33_view.h b/include/bounce/cloth/sparse_sym_mat33_view.h
index 48a3858..269d4dc 100644
--- a/include/bounce/cloth/sparse_sym_mat33_view.h
+++ b/include/bounce/cloth/sparse_sym_mat33_view.h
@@ -19,20 +19,9 @@
 #ifndef B3_SPARSE_SYM_MAT_33_VIEW_H
 #define B3_SPARSE_SYM_MAT_33_VIEW_H
 
+#include <bounce/cloth/sparse_mat33_view.h>
 #include <bounce/cloth/sparse_sym_mat33.h>
 
-struct b3ArrayRowValue
-{
-	u32 column;
-	b3Mat33 value;
-};
-
-struct b3RowValueArray
-{
-	u32 count;
-	b3ArrayRowValue* values;
-};
-
 // A read-only sparse symmetric matrix.
 struct b3SparseSymMat33View
 {
@@ -45,9 +34,6 @@ struct b3SparseSymMat33View
 	//
 	const b3Mat33& operator()(u32 i, u32 j) const;
 	
-	//
-	void Diagonal(b3DiagMat33& out) const;
-		
 	u32 rowCount;
 	b3RowValueArray* rows;
 };
@@ -99,6 +85,7 @@ inline const b3Mat33& b3SparseSymMat33View::operator()(u32 i, u32 j) const
 	for (u32 c = 0; c < vs->count; ++c)
 	{
 		b3ArrayRowValue* rv = vs->values + c;
+		
 		if (rv->column == j)
 		{
 			return rv->value;
@@ -108,16 +95,6 @@ inline const b3Mat33& b3SparseSymMat33View::operator()(u32 i, u32 j) const
 	return b3Mat33_zero;
 }
 
-inline void b3SparseSymMat33View::Diagonal(b3DiagMat33& out) const
-{
-	B3_ASSERT(rowCount == out.n);
-
-	for (u32 i = 0; i < rowCount; ++i)
-	{
-		out[i] = (*this)(i, i);
-	}
-}
-
 inline void b3Mul(b3DenseVec3& out, const b3SparseSymMat33View& A, const b3DenseVec3& v)
 {
 	B3_ASSERT(A.rowCount == out.n);
@@ -152,4 +129,4 @@ inline b3DenseVec3 operator*(const b3SparseSymMat33View& A, const b3DenseVec3& v
 	return result;
 }
 
-#endif
+#endif
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 29269f3..632f04e 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -287,9 +287,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 
 		// x
 		b3DenseVec3 x(m_particleCount);
-		u32 iterations = 0;
-		Solve(x, iterations, viewA, b, S, z, sx0);
-		b3_clothSolverIterations = iterations;
+		SolveMPCG(x, viewA, b, S, z, sx0);
 #if 0
 		// Copy constraint forces to the contacts
 		b3DenseVec3 f = A * x - b;
@@ -398,17 +396,21 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 	}
 }
 
-void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
-	const b3SparseSymMat33View& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const
+void b3ClothSolver::SolveMPCG(b3DenseVec3& x,
+	const b3SparseSymMat33View& A, const b3DenseVec3& b, 
+	const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y, u32 maxIterations) const
 {
 	B3_PROFILE("Cloth Solve Ax = b");
 
 	// P = diag(A)
-	b3DiagMat33 inv_P(m_particleCount);
-	A.Diagonal(inv_P);
+	b3DiagMat33 inv_P(A.rowCount);
+	for (u32 i = 0; i < A.rowCount; ++i)
+	{
+		inv_P[i] = A(i, i);
+	}
 
 	// Invert
-	for (u32 i = 0; i < m_particleCount; ++i)
+	for (u32 i = 0; i < inv_P.n; ++i)
 	{
 		b3Mat33& D = inv_P[i];
 
@@ -427,81 +429,53 @@ void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
 		D = b3Diagonal(xx, yy, zz);
 	}
 
-	// I
 	b3DiagMat33 I(m_particleCount);
 	I.SetIdentity();
 
-	// x = S * y + (I - S) * z 
 	x = (S * y) + (I - S) * z;
 
-	// b^ = S * (b - A * (I - S) * z)
 	b3DenseVec3 b_hat = S * (b - A * ((I - S) * z));
 
-	// b_delta = dot(b^, P^-1 * b_^)
 	float32 b_delta = b3Dot(b_hat, inv_P * b_hat);
 
-	// r = S * (b - A * x)
 	b3DenseVec3 r = S * (b - A * x);
 
-	// p = S * (P^-1 * r)
 	b3DenseVec3 p = S * (inv_P * r);
 
-	// delta_new = dot(r, p)
 	float32 delta_new = b3Dot(r, p);
 
-	// Set the tolerance.
-	const float32 tolerance = 2.0f * B3_EPSILON;
-
-	// Maximum number of iterations.
-	// Stop at this iteration if diverged.
-	const u32 max_iterations = 50;
-
 	u32 iteration = 0;
-
-	// Main iteration loop.
 	for (;;)
 	{
-		// Divergence check.
-		if (iteration >= max_iterations)
+		if (iteration >= maxIterations)
+		{
+			break;
+		}
+		
+		if (delta_new <= B3_EPSILON * B3_EPSILON * b_delta)
 		{
 			break;
 		}
 
-		// Convergence check.
-		if (delta_new <= tolerance * tolerance * b_delta)
-		{
-			break;
-		}
-
-		// s = S * (A * p)
 		b3DenseVec3 s = S * (A * p);
 
-		// alpha = delta_new / dot(p, s)
 		float32 alpha = delta_new / b3Dot(p, s);
 
-		// x = x + alpha * p
 		x = x + alpha * p;
-
-		// r = r - alpha * s
 		r = r - alpha * s;
 
-		// h = inv_P * r
 		b3DenseVec3 h = inv_P * r;
 
-		// delta_old = delta_new
 		float32 delta_old = delta_new;
 
-		// delta_new = dot(r, h)
 		delta_new = b3Dot(r, h);
 
-		// beta = delta_new / delta_old
 		float32 beta = delta_new / delta_old;
 
-		// p = S * (h + beta * p)
 		p = S * (h + beta * p);
 
 		++iteration;
 	}
 
-	iterations = iteration;
+	b3_clothSolverIterations = iteration;
 }
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index 973586e..9907e7a 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -20,12 +20,14 @@
 #include <bounce/softbody/softbody_mesh.h>
 #include <bounce/softbody/softbody_node.h>
 #include <bounce/softbody/softbody.h>
-#include <bounce/softbody/sparse_mat33.h>
 #include <bounce/softbody/softbody_contact_solver.h>
 
 #include <bounce/dynamics/body.h>
 #include <bounce/dynamics/shapes/shape.h>
 
+#include <bounce/cloth/sparse_mat33.h>
+#include <bounce/cloth/sparse_mat33_view.h>
+
 // This work is based on the paper "Interactive Virtual Materials" written by 
 // Matthias Mueller Fischer
 // The paper is available here:
@@ -91,9 +93,11 @@ static void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3Mat33& A, u32 max
 }
 
 static void b3SolveMPCG(b3DenseVec3& x,
-	const b3SparseMat33& A, const b3DenseVec3& b,
+	const b3SparseMat33View& A, const b3DenseVec3& b,
 	const b3DenseVec3& z, const b3DiagMat33& S, u32 maxIterations = 20)
 {
+	B3_PROFILE("Soft Body Solve Ax = b");
+
 	b3DiagMat33 P(A.rowCount);
 	b3DiagMat33 invP(A.rowCount);
 	for (u32 i = 0; i < A.rowCount; ++i)
@@ -377,12 +381,14 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 	f0 = -f0;
 
 	b3SparseMat33 A = M + h * C + h * h * K;
+	
+	b3SparseMat33View viewA(A);
 
 	b3DenseVec3 b = M * v - h * (K * p + f0 - (f_plastic + fe));
 
 	// Solve Ax = b
 	b3DenseVec3 sx(m_mesh->vertexCount);
-	b3SolveMPCG(sx, A, b, z, S);
+	b3SolveMPCG(sx, viewA, b, z, S);
 
 	// Solve constraints
 	b3SoftBodyContactSolverDef contactSolverDef;

From f2c7eb64ed1c936863784dbcf093c14cb8a00ec8 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 31 May 2019 12:29:18 -0300
Subject: [PATCH 116/198] Update sparse_mat33_view.h

---
 include/bounce/cloth/sparse_mat33_view.h | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/include/bounce/cloth/sparse_mat33_view.h b/include/bounce/cloth/sparse_mat33_view.h
index 9abb275..414808c 100644
--- a/include/bounce/cloth/sparse_mat33_view.h
+++ b/include/bounce/cloth/sparse_mat33_view.h
@@ -85,12 +85,7 @@ inline const b3Mat33& b3SparseMat33View::operator()(u32 i, u32 j) const
 {
 	B3_ASSERT(i < rowCount);
 	B3_ASSERT(j < rowCount);
-
-	if (i > j)
-	{
-		b3Swap(i, j);
-	}
-
+	
 	b3RowValueArray* vs = rows + i;
 
 	for (u32 c = 0; c < vs->count; ++c)

From d89e658313c719b4b758f265e6f518b0e1c53652 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 2 Jun 2019 11:03:19 -0300
Subject: [PATCH 117/198] Removed experimental code

---
 examples/testbed/framework/test_entries.cpp   |   6 +-
 examples/testbed/tests/character_test.h       | 624 ------------------
 .../{self_collision.h => cloth_capsule.h}     |  12 +-
 examples/testbed/tests/table_cloth.h          |   2 +-
 src/bounce/dynamics/shapes/mesh_shape.cpp     |  25 +-
 5 files changed, 16 insertions(+), 653 deletions(-)
 delete mode 100644 examples/testbed/tests/character_test.h
 rename examples/testbed/tests/{self_collision.h => cloth_capsule.h} (94%)

diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index d44b574..b2b6596 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -54,7 +54,6 @@
 #include <testbed/tests/pyramids.h>
 #include <testbed/tests/ray_cast.h>
 #include <testbed/tests/sensor_test.h>
-#include <testbed/tests/character_test.h>
 #include <testbed/tests/body_types.h>
 #include <testbed/tests/varying_friction.h>
 #include <testbed/tests/varying_restitution.h>
@@ -64,7 +63,7 @@
 #include <testbed/tests/pinned_cloth.h>
 #include <testbed/tests/particle_types.h>
 #include <testbed/tests/tension_mapping.h>
-#include <testbed/tests/self_collision.h>
+#include <testbed/tests/cloth_capsule.h>
 #include <testbed/tests/rope_test.h>
 #include <testbed/tests/beam.h>
 #include <testbed/tests/pinned_softbody.h>
@@ -107,7 +106,6 @@ TestEntry g_tests[] =
 	{ "Box Pyramid Rows", &Pyramids::Create },
 	{ "Ray Cast", &RayCast::Create },
 	{ "Sensor Test", &SensorTest::Create },
-	{ "Character", &CharacterTest::Create },
 	{ "Body Types", &BodyTypes::Create },
 	{ "Varying Friction", &VaryingFriction::Create },
 	{ "Varying Restitution", &VaryingRestitution::Create },
@@ -118,7 +116,7 @@ TestEntry g_tests[] =
 	{ "Pinned Cloth", &PinnedCloth::Create },
 	{ "Particle Types", &ParticleTypes::Create },
 	{ "Tension Mapping", &TensionMapping::Create },
-	{ "Self-Collision", &SelfCollision::Create },
+	{ "Cloth and Capsule", &ClothCapsule::Create },
 	{ "Beam", &Beam::Create },
 	{ "Pinned Soft Body", &PinnedSoftBody::Create },
 	{ "Smash Soft Body", &SmashSoftBody::Create },
diff --git a/examples/testbed/tests/character_test.h b/examples/testbed/tests/character_test.h
deleted file mode 100644
index 93a8f02..0000000
--- a/examples/testbed/tests/character_test.h
+++ /dev/null
@@ -1,624 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CHARACTER_TEST_H
-#define CHARACTER_TEST_H
-
-struct Plane
-{
-	b3Vec3 n;
-	b3Vec3 p;
-};
-
-class CharacterController
-{
-public:
-	CharacterController(b3SphereShape* shape)
-	{
-		m_characterShape = shape;
-		m_characterBody = m_characterShape->GetBody();
-		m_world = m_characterBody->GetWorld();
-		m_translation.SetZero();
-		m_isGrounded = false;
-		
-		UpdateGrounded();
-	}
-
-	~CharacterController()
-	{
-
-	}
-
-	bool IsGrounded() const
-	{
-		return m_isGrounded;
-	}
-
-	void Move(const b3Vec3& translation)
-	{
-		m_translation += translation;
-	}
-
-	void Step()
-	{
-		Solve();
-
-		UpdateGrounded();
-	}
-private:
-	b3Sphere GetCharacterSphere() const
-	{
-		b3Sphere sphere;
-		sphere.vertex = m_characterBody->GetWorldPoint(m_characterShape->m_center);
-		sphere.radius = m_characterShape->m_radius;
-		return sphere;
-	}
-	
-	void UpdateGrounded()
-	{
-		b3StackArray<b3Shape*, 32> shapes;
-		CollectStaticShapes(shapes);
-
-		b3StackArray<Plane, 32> planes;
-		CollectOverlapPlanes(planes, shapes);
-
-		m_isGrounded = false;
-		
-		for (u32 i = 0; i < planes.Count(); ++i)
-		{
-			Plane plane = planes[i];
-
-			float32 cosine = b3Dot(b3Vec3_y, plane.n);
-			
-			// ~80 degrees
-			const float32 kTol = 0.17f;
-			
-			if (cosine > kTol)
-			{
- 				m_isGrounded = true;
-				break;
-			}
-		}
-	}
-
-	void CollectStaticShapes(b3Array<b3Shape*>& shapes) const
-	{
-		for (b3Body* b = m_world->GetBodyList().m_head; b; b = b->GetNext())
-		{
-			if (b == m_characterBody)
-			{
-				continue;
-			}
-
-			if (b->GetType() != e_staticBody)
-			{
-				continue;
-			}
-
-			for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
-			{
-				shapes.PushBack(s);
-			}
-		}
-	}
-
-	void CollectOverlapPlanes(b3Array<Plane>& planes,
-		const b3Array<b3Shape*>& shapes) const
-	{
-		b3Sphere sphere2 = GetCharacterSphere();
-
-		for (u32 i = 0; i < shapes.Count(); ++i)
-		{
-			b3Shape* shape1 = shapes[i];
-			b3Body* body1 = shape1->GetBody();
-			b3Transform xf1 = body1->GetTransform();
-
-			if (shape1->GetType() == e_meshShape)
-			{
-				b3MeshShape* meshShape1 = (b3MeshShape*)shape1;
-				const b3Mesh* mesh1 = meshShape1->m_mesh;
-
-				for (u32 j = 0; j < mesh1->triangleCount; ++j)
-				{
-					b3TestSphereOutput output;
-					bool overlap = meshShape1->TestSphere(&output, sphere2, xf1, j);
-
-					if (overlap)
-					{
-						Plane plane;
-						plane.n = output.normal;
-						plane.p = output.point;
-
-						planes.PushBack(plane);
-					}
-				}
-			}
-			else
-			{
-				b3TestSphereOutput output;
-				bool overlap = shape1->TestSphere(&output, sphere2, xf1);
-
-				if (overlap)
-				{
-					Plane plane;
-					plane.n = output.normal;
-					plane.p = output.point;
-
-					planes.PushBack(plane);
-				}
-			}
-		}
-	}
-
-	void CollectSweepPlanes(b3Array<Plane>& planes,
-		const b3Array<b3Shape*>& shapes,
-		const b3Vec3& translation2) const
-	{
-		if (b3LengthSquared(translation2) < B3_EPSILON * B3_EPSILON)
-		{
-			return;
-		}
-
-		b3Transform xf2 = m_characterBody->GetTransform();
-
-		b3ShapeGJKProxy proxy2;
-		proxy2.Set(m_characterShape, 0);
-
-		for (u32 i = 0; i < shapes.Count(); ++i)
-		{
-			b3Shape* shape1 = shapes[i];
-			b3Body* body1 = shape1->GetBody();
-
-			b3Transform xf1 = body1->GetTransform();
-
-			if (shape1->GetType() == e_meshShape)
-			{
-				b3MeshShape* meshShape1 = (b3MeshShape*)shape1;
-				const b3Mesh* mesh1 = meshShape1->m_mesh;
-
-				for (u32 j = 0; j < mesh1->triangleCount; ++j)
-				{
-					b3ShapeGJKProxy proxy1;
-					proxy1.Set(shape1, j);
-
-					b3GJKShapeCastOutput output;
-					bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
-
-					if (hit)
-					{
-						Plane plane;
-						plane.n = output.normal;
-						plane.p = output.point;
-
-						planes.PushBack(plane);
-					}
-				}
-			}
-			else
-			{
-				b3ShapeGJKProxy proxy1;
-				proxy1.Set(shape1, 0);
-
-				b3GJKShapeCastOutput output;
-				bool hit = b3GJKShapeCast(&output, xf1, proxy1, xf2, proxy2, translation2);
-
-				if (hit)
-				{
-					Plane plane;
-					plane.n = output.normal;
-					plane.p = output.point;
-
-					planes.PushBack(plane);
-				}
-			}
-		}
-	}
-
-	b3Vec3 SolvePositionConstraints(const b3Array<Plane>& planes, const b3Vec3& position) const
-	{
-		b3Vec3 localCenter = m_characterBody->GetLocalCenter();
-		b3Vec3 c = position;
-		b3Quat q = m_characterBody->GetOrientation();
-
-		const u32 kMaxPositionIterations = 10;
-
-		for (u32 i = 0; i < kMaxPositionIterations; ++i)
-		{
-			for (u32 j = 0; j < planes.Count(); ++j)
-			{
-				Plane nc = planes[j];
-				b3Plane plane(nc.n, nc.p);
-
-				b3Transform xf;
-				xf.rotation = b3QuatMat33(q);
-				xf.position = c - b3Mul(xf.rotation, localCenter);
-
-				b3Sphere sphere;
-				sphere.vertex = b3Mul(xf, m_characterShape->m_center);
-				sphere.radius = m_characterShape->m_radius;
-
-				float32 separation = b3Distance(sphere.vertex, plane);
-
-				if (separation > sphere.radius)
-				{
-					continue;
-				}
-
-				separation -= sphere.radius;
-
-				float32 C = b3Clamp(B3_BAUMGARTE * (separation + B3_LINEAR_SLOP), -B3_MAX_LINEAR_CORRECTION, 0.0f);
-				
-				b3Vec3 normal = plane.normal;
-				b3Vec3 P = C * normal;
-
-				c -= P;
-			}
-		}
-
-		return c;
-	}
-
-	void Solve()
-	{
-		b3StackArray<b3Shape*, 32> shapes;
-		CollectStaticShapes(shapes);
-
-		// Collect collision planes
-		b3StackArray<Plane, 32> planes;
-		CollectOverlapPlanes(planes, shapes);
-
-		b3Vec3 startPosition = m_characterBody->GetWorldCenter();
-
-		b3Vec3 targetPosition = startPosition + m_translation;
-
-		m_translation.SetZero();
-
-		b3Vec3 solvePosition = SolvePositionConstraints(planes, targetPosition);
-
-		b3Vec3 oldSolvePosition = solvePosition;
-
-		for (;;)
-		{
-			// Collect collision planes
-			b3Vec3 translation = solvePosition - startPosition;
-			
-			CollectSweepPlanes(planes, shapes, translation);
-
-			solvePosition = SolvePositionConstraints(planes, targetPosition);
-
-			const float32 tolerance = 0.05f;
-
-			if (b3DistanceSquared(oldSolvePosition, solvePosition) < tolerance * tolerance)
-			{
-				break;
-			}
-
-			oldSolvePosition = solvePosition;
-		}
-
-		// Synchronize body
-		b3Quat orientation = m_characterBody->GetOrientation();
-
-		b3Vec3 axis;
-		float32 angle;
-		orientation.GetAxisAngle(&axis, &angle);
-
-		m_characterBody->SetTransform(solvePosition, axis, angle);
-	}
-
-	b3World* m_world;
-	b3Body* m_characterBody;
-	b3SphereShape* m_characterShape;
-	b3Vec3 m_translation;
-	bool m_isGrounded;
-};
-
-class CharacterTest : public Test
-{
-public:
-	CharacterTest()
-	{
-		{
-			b3BodyDef bdef;
-			b3Body* body = m_world.CreateBody(bdef);
-
-			b3HullShape hs;
-			hs.m_hull = &m_groundHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-		
-		{
-			b3BodyDef bdef;
-			bdef.position.Set(-10.0f, 3.0f, 0.0f);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			static b3BoxHull boxHull;
-			boxHull.Set(2.0f, 2.0f, 5.0f);
-
-			b3HullShape hs;
-			hs.m_hull = &boxHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-		
-		{
-			b3BodyDef bdef;
-			bdef.position.Set(-10.0f, 9.0f, 0.0f);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			static b3BoxHull boxHull;
-			boxHull.Set(1.0f, 4.0f, 1.0f);
-
-			b3HullShape hs;
-			hs.m_hull = &boxHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-		
-		{
-			b3BodyDef bdef;
-			bdef.position.Set(-10.0f, 2.7f, 7.0f);
-			bdef.orientation.Set(b3Vec3_x, 0.25f * B3_PI);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			static b3BoxHull boxHull;
-			boxHull.Set(2.0f, 0.25f, 3.0f);
-
-			b3HullShape hs;
-			hs.m_hull = &boxHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-		
-		{
-			b3BodyDef bdef;
-			bdef.position.Set(-10.0f, 2.7f, -7.0f);
-			bdef.orientation.Set(b3Vec3_x, -0.25f * B3_PI);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			static b3BoxHull boxHull;
-			boxHull.Set(2.0f, 0.25f, 3.0f);
-
-			b3HullShape hs;
-			hs.m_hull = &boxHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-
-		{
-			b3BodyDef bdef;
-			bdef.position.Set(10.0f, 3.0f, 0.0f);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			static b3BoxHull boxHull;
-			boxHull.Set(2.0f, 2.0f, 5.0f);
-
-			b3HullShape hs;
-			hs.m_hull = &boxHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-		
-		{
-			b3BodyDef bdef;
-			bdef.position.Set(10.0f, 9.0f, 0.0f);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			static b3BoxHull boxHull;
-			boxHull.Set(1.0f, 4.0f, 1.0f);
-
-			b3HullShape hs;
-			hs.m_hull = &boxHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-
-		{
-			b3BodyDef bdef;
-			bdef.position.Set(10.0f, 2.7f, 7.0f);
-			bdef.orientation.Set(b3Vec3_x, 0.25f * B3_PI);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			static b3BoxHull boxHull;
-			boxHull.Set(2.0f, 0.25f, 3.0f);
-
-			b3HullShape hs;
-			hs.m_hull = &boxHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-
-		{
-			b3BodyDef bdef;
-			bdef.position.Set(10.0f, 2.7f, -7.0f);
-			bdef.orientation.Set(b3Vec3_x, -0.25f * B3_PI);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			static b3BoxHull boxHull;
-			boxHull.Set(2.0f, 0.25f, 3.0f);
-
-			b3HullShape hs;
-			hs.m_hull = &boxHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-		
-		{
-			b3BodyDef bdef;
-			bdef.position.Set(0.0f, 4.0f, 0.0f);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			static b3BoxHull boxHull;
-			boxHull.Set(8.0f, 1.0f, 2.0f);
-
-			b3HullShape hs;
-			hs.m_hull = &boxHull;
-
-			b3ShapeDef sdef;
-			sdef.shape = &hs;
-
-			b3Shape* shape = body->CreateShape(sdef);
-		}
-		
-		{
-			b3BodyDef bdef;
-			bdef.type = b3BodyType::e_kinematicBody;
-			bdef.position.Set(0.0f, 1.0f, 20.0f);
-
-			b3Body* body = m_world.CreateBody(bdef);
-
-			b3SphereShape sphere;
-			sphere.m_center.SetZero();
-			sphere.m_radius = 1.0f;
-
-			b3ShapeDef sdef;
-			sdef.shape = &sphere;
-
-			b3SphereShape* shape = (b3SphereShape*)body->CreateShape(sdef);
-
-			m_characterController = new CharacterController(shape);
-		}
-	}
-
-	~CharacterTest()
-	{
-		delete m_characterController;
-	}
-
-	void Step()
-	{
-		g_draw->DrawString(b3Color_white, "Arrows - Walk");
-		g_draw->DrawString(b3Color_white, "Space - Jump");
-
-		float32 dt = g_testSettings->inv_hertz;
-
-		const float32 walkSpeed = 10.0f;
-		const float32 jumpSpeed = 10.0f;
-		const float32 gravityAcc = 9.8f;
-		
-		static b3Vec3 velocity = b3Vec3_zero;
-
-		velocity.x = 0.0f;
-		velocity.z = 0.0f;
-
-		extern GLFWwindow* g_window;
-
-		bool leftDown = glfwGetKey(g_window, GLFW_KEY_LEFT);
-		bool rightDown = glfwGetKey(g_window, GLFW_KEY_RIGHT);
-		bool downDown = glfwGetKey(g_window, GLFW_KEY_DOWN);
-		bool upDown = glfwGetKey(g_window, GLFW_KEY_UP);
-		bool spaceDown = glfwGetKey(g_window, GLFW_KEY_SPACE);
-
-		bool isGrounded = m_characterController->IsGrounded();
-
-		// Walk
-		if (leftDown)
-		{
-			velocity.x -= walkSpeed;
-		}
-
-		if (rightDown)
-		{
-			velocity.x += walkSpeed;
-		}
-
-		if (upDown)
-		{
-			velocity.z -= walkSpeed;
-		}
-
-		if (downDown)
-		{
-			velocity.z += walkSpeed;
-		}
-
-		if (isGrounded)
-		{	
-			velocity.y = 0.0f;
-
-			// Jump
-			if (spaceDown)
-			{
-				velocity.y += jumpSpeed;
-			}
-		}
-		else
-		{
-			// Integrate gravity
-			velocity.y -= dt * gravityAcc;
-		}
-		
-		// Compute translation
-		b3Vec3 translation = dt * velocity;
-		
-		// Move character
-		m_characterController->Move(translation);
-
-		// Step controllers
-		m_characterController->Step();
-
-		// Step world
-		Test::Step();
-	}
-
-	static Test* Create()
-	{
-		return new CharacterTest();
-	}
-
-	CharacterController* m_characterController;
-};
-
-#endif
\ No newline at end of file
diff --git a/examples/testbed/tests/self_collision.h b/examples/testbed/tests/cloth_capsule.h
similarity index 94%
rename from examples/testbed/tests/self_collision.h
rename to examples/testbed/tests/cloth_capsule.h
index 3051748..0a816e3 100644
--- a/examples/testbed/tests/self_collision.h
+++ b/examples/testbed/tests/cloth_capsule.h
@@ -16,13 +16,13 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SELF_COLLISION_H
-#define SELF_COLLISION_H
+#ifndef CLOTH_CAPSULE_H
+#define CLOTH_CAPSULE_H
 
-class SelfCollision : public Test
+class ClothCapsule : public Test
 {
 public:
-	SelfCollision() : m_rectangleGarment(5.0f, 5.0f)
+	ClothCapsule() : m_rectangleGarment(5.0f, 5.0f)
 	{
 		// Generate 2D mesh
 		m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
@@ -76,7 +76,7 @@ public:
 		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
 	}
 
-	~SelfCollision()
+	~ClothCapsule()
 	{
 		delete m_cloth;
 		delete m_clothDragger;
@@ -141,7 +141,7 @@ public:
 
 	static Test* Create()
 	{
-		return new SelfCollision();
+		return new ClothCapsule();
 	}
 
 	b3RectangleGarment m_rectangleGarment;
diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index 32fd016..9b9c147 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -53,7 +53,7 @@ public:
 
 		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
 		{
-			p->SetRadius(0.05f);
+			p->SetRadius(0.1f);
 			p->SetFriction(0.2f);
 		}
 
diff --git a/src/bounce/dynamics/shapes/mesh_shape.cpp b/src/bounce/dynamics/shapes/mesh_shape.cpp
index 99af62f..88f3f3d 100644
--- a/src/bounce/dynamics/shapes/mesh_shape.cpp
+++ b/src/bounce/dynamics/shapes/mesh_shape.cpp
@@ -17,9 +17,7 @@
 */
 
 #include <bounce/dynamics/shapes/mesh_shape.h>
-#include <bounce/dynamics/shapes/hull_shape.h>
 #include <bounce/collision/shapes/mesh.h>
-#include <bounce/collision/shapes/triangle_hull.h>
 
 b3MeshShape::b3MeshShape() 
 {
@@ -92,20 +90,11 @@ bool b3MeshShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere,
 
 bool b3MeshShape::TestSphere(b3TestSphereOutput* output, const b3Sphere& sphere, const b3Transform& xf, u32 index) const
 {
-	B3_ASSERT(index < m_mesh->triangleCount);
-	b3Triangle* triangle = m_mesh->triangles + index;
-	b3Vec3 v1 = m_mesh->vertices[triangle->v1];
-	b3Vec3 v2 = m_mesh->vertices[triangle->v2];
-	b3Vec3 v3 = m_mesh->vertices[triangle->v3];
-
-	b3TriangleHull hull(v1, v2, v3);
-
-	b3HullShape hullShape;
-	hullShape.m_body = m_body;
-	hullShape.m_hull = &hull;
-	hullShape.m_radius = B3_HULL_RADIUS;
-
-	return hullShape.TestSphere(output, sphere, xf);
+	B3_NOT_USED(output);
+	B3_NOT_USED(sphere);
+	B3_NOT_USED(xf);
+	B3_NOT_USED(index);
+	return false;
 }
 
 bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf, u32 index) const
@@ -137,7 +126,7 @@ bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input,
 	return false;
 }
 
-struct b3MeshRayCastCallback
+struct b3MeshShapeRayCastCallback
 {
 	float32 Report(const b3RayCastInput& subInput, u32 proxyId)
 	{
@@ -169,7 +158,7 @@ struct b3MeshRayCastCallback
 
 bool b3MeshShape::RayCast(b3RayCastOutput* output, const b3RayCastInput& input, const b3Transform& xf) const 
 {
-	b3MeshRayCastCallback callback;
+	b3MeshShapeRayCastCallback callback;
 	callback.input = input;
 	callback.mesh = this;
 	callback.xf = xf;

From 2e09982d3c57acb3863f5732b2401720e084fd23 Mon Sep 17 00:00:00 2001
From: Irlan Robson <irlanrobson@users.noreply.github.com>
Date: Sun, 2 Jun 2019 11:04:40 -0300
Subject: [PATCH 118/198] Update readme.md

---
 readme.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/readme.md b/readme.md
index 44d8d4d..4a992d9 100644
--- a/readme.md
+++ b/readme.md
@@ -20,7 +20,7 @@ Bounce uses [premake](https://premake.github.io/) for generating project files i
 * Say { premake5 vs2017 } on a command line. 
 * Open build/vs2017/bounce.sln.
 * Set testbed as the startup project.
-* In the testbed debugging properties, set the Working Directory to ..\..\examples\testbed.
+* In the testbed debugging properties, set the Working Directory to ..\\..\examples\testbed.
 * Press F5 to run.
 
 ### Linux

From f1429a54817e97897d5ed731ef08c450d63ae602 Mon Sep 17 00:00:00 2001
From: Irlan Robson <irlanrobson@users.noreply.github.com>
Date: Sun, 2 Jun 2019 11:12:19 -0300
Subject: [PATCH 119/198] Update readme.md

---
 readme.md | 23 +++++++++++++++++++++--
 1 file changed, 21 insertions(+), 2 deletions(-)

diff --git a/readme.md b/readme.md
index 4a992d9..d07e26c 100644
--- a/readme.md
+++ b/readme.md
@@ -104,8 +104,6 @@ Below are the external dependencies for testbed. If you don't care about testbed
 ### Dynamics
 
 * Rigid bodies
-* Cloth
-* Soft body
 * Contact, friction, restitution
 * Mouse, spring, sphere, cone, revolute joint types
 * Quaternion constraints
@@ -119,6 +117,27 @@ Below are the external dependencies for testbed. If you don't care about testbed
 * Contact callbacks: begin, pre-solve, post-solve
 * Ray-casting and volume queries
 
+### Rope
+
+* Rope 
+* Linear time solver
+
+### Cloth
+
+* Cloth
+* Vertex contact, friction
+* Linear time solver
+* Unconditional simulation stability
+* Ray-casting 
+
+### Soft Body
+
+* Soft body
+* Vertex contact, friction
+* Linear time solver
+* Unconditional simulation stability
+* Ray-casting 
+
 ### Testbed
 	
 * OpenGL with GLFW and GLAD

From 46600010fedc730a87b8a48e6e44bd1e06a06bb1 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 2 Jun 2019 12:05:36 -0300
Subject: [PATCH 120/198] More consistency and pass velocity and position
 iterations to cloth constraint solver

---
 examples/testbed/tests/cloth_capsule.h      |   2 +-
 examples/testbed/tests/pinned_cloth.h       |   2 +-
 examples/testbed/tests/table_cloth.h        |   2 +-
 examples/testbed/tests/tension_mapping.h    |   2 +-
 include/bounce/cloth/cloth.h                |   7 +-
 include/bounce/cloth/cloth_contact_solver.h |   6 +-
 include/bounce/cloth/cloth_solver.h         |  14 +--
 include/bounce/cloth/particle.h             |  26 ++---
 src/bounce/cloth/cloth.cpp                  | 109 ++------------------
 src/bounce/cloth/cloth_contact_solver.cpp   |  14 +--
 src/bounce/cloth/cloth_solver.cpp           |  84 ++-------------
 src/bounce/cloth/particle.cpp               |   6 +-
 12 files changed, 47 insertions(+), 227 deletions(-)

diff --git a/examples/testbed/tests/cloth_capsule.h b/examples/testbed/tests/cloth_capsule.h
index 0a816e3..84a4d0e 100644
--- a/examples/testbed/tests/cloth_capsule.h
+++ b/examples/testbed/tests/cloth_capsule.h
@@ -86,7 +86,7 @@ public:
 	{
 		Test::Step();
 
-		m_cloth->Step(g_testSettings->inv_hertz);
+		m_cloth->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
 
 		m_cloth->Draw();
 
diff --git a/examples/testbed/tests/pinned_cloth.h b/examples/testbed/tests/pinned_cloth.h
index b2a28ef..023e662 100644
--- a/examples/testbed/tests/pinned_cloth.h
+++ b/examples/testbed/tests/pinned_cloth.h
@@ -84,7 +84,7 @@ public:
 	{
 		Test::Step();
 
-		m_cloth->Step(g_testSettings->inv_hertz);
+		m_cloth->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
 
 		m_cloth->Draw();
 
diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index 9b9c147..5f83489 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -88,7 +88,7 @@ public:
 	{
 		Test::Step();
 
-		m_cloth->Step(g_testSettings->inv_hertz);
+		m_cloth->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
 
 		m_cloth->Draw();
 
diff --git a/examples/testbed/tests/tension_mapping.h b/examples/testbed/tests/tension_mapping.h
index 74d93ae..1da11b2 100644
--- a/examples/testbed/tests/tension_mapping.h
+++ b/examples/testbed/tests/tension_mapping.h
@@ -110,7 +110,7 @@ public:
 	{
 		Test::Step();
 
-		m_cloth->Step(g_testSettings->inv_hertz);
+		m_cloth->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
 
 		const b3ClothMesh* mesh = m_cloth->GetMesh();
 
diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index d4ff2a8..a200861 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -29,8 +29,7 @@ class b3Shape;
 
 class b3Particle;
 class b3Force;
-class b3BodyContact;
-class b3ParticleContact;
+struct b3ParticleBodyContact;
 
 struct b3ParticleDef;
 struct b3ForceDef;
@@ -134,7 +133,7 @@ public:
 	float32 GetEnergy() const;
 
 	// Perform a time step. 
-	void Step(float32 dt);
+	void Step(float32 dt, u32 velocityIterations, u32 positionIterations);
 
 	// Debug draw the cloth using the associated cloth mesh.
 	void Draw() const;
@@ -149,7 +148,7 @@ private:
 	void UpdateContacts();
 
 	// Solve
-	void Solve(float32 dt, const b3Vec3& gravity);
+	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 
 	// Stack allocator
 	b3StackAllocator m_stackAllocator;
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index 1fe3070..a945d03 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -27,7 +27,7 @@ class b3StackAllocator;
 class b3Particle;
 class b3Body;
 
-class b3BodyContact;
+struct b3ParticleBodyContact;
 
 struct b3DenseVec3;
 
@@ -88,7 +88,7 @@ struct b3ClothContactSolverDef
 	b3DenseVec3* velocities;
 	
 	u32 bodyContactCount;
-	b3BodyContact** bodyContacts;
+	b3ParticleBodyContact** bodyContacts;
 };
 
 inline float32 b3MixFriction(float32 u1, float32 u2)
@@ -118,7 +118,7 @@ protected:
 	b3DenseVec3* m_velocities;
 
 	u32 m_bodyContactCount;
-	b3BodyContact** m_bodyContacts;
+	b3ParticleBodyContact** m_bodyContacts;
 	b3ClothSolverBodyContactVelocityConstraint* m_bodyVelocityConstraints;
 	b3ClothSolverBodyContactPositionConstraint* m_bodyPositionConstraints;
 };
diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index 7eb4229..3a582db 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -33,8 +33,7 @@ struct b3DiagMat33;
 struct b3SparseSymMat33;
 struct b3SparseSymMat33View;
 
-class b3BodyContact;
-class b3ParticleContact;
+struct b3ParticleBodyContact;
 
 struct b3ClothSolverDef
 {
@@ -75,10 +74,9 @@ public:
 	
 	void Add(b3Particle* p);
 	void Add(b3Force* f);
-	void Add(b3BodyContact* c);
-	void Add(b3ParticleContact* c);
+	void Add(b3ParticleBodyContact* c);
 
-	void Solve(float32 dt, const b3Vec3& gravity);
+	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 private:
 	// Apply forces.
 	void ApplyForces();
@@ -107,11 +105,7 @@ private:
 	
 	u32 m_bodyContactCapacity;
 	u32 m_bodyContactCount;
-	b3BodyContact** m_bodyContacts;
-
-	u32 m_particleContactCapacity;
-	u32 m_particleContactCount;
-	b3ParticleContact** m_particleContacts;
+	b3ParticleBodyContact** m_bodyContacts;
 
 	b3ClothSolverData m_solverData;
 };
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index bec7da6..b496662 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -62,27 +62,13 @@ struct b3ParticleDef
 };
 
 // A contact between a particle and a solid
-class b3BodyContact
+struct b3ParticleBodyContact
 {
-public:
-	b3BodyContact() { }
-	~b3BodyContact() { }
-
 	b3Particle* p1;
 	b3Shape* s2;
 
 	// Contact constraint
-	float32 s;
-	b3Vec3 p;
-	b3Vec3 n;
-	float32 fn0;
-	float32 fn;
-	float32 ft1, ft2;
-	bool nActive;
-	bool t1Active;
-	bool t2Active;
-
-	// Contact constraint
+	b3Vec3 normal1;
 	b3Vec3 localPoint1;
 	b3Vec3 localPoint2;
 	float32 normalImpulse;
@@ -94,9 +80,9 @@ public:
 	bool active;
 };
 
-struct b3BodyContactWorldPoint
+struct b3ParticleBodyContactWorldPoint
 {
-	void Initialize(const b3BodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
+	void Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
 
 	b3Vec3 point;
 	b3Vec3 normal;
@@ -210,8 +196,8 @@ private:
 	// 
 	b3Cloth* m_cloth;
 
-	// 
-	b3BodyContact m_bodyContact;
+	// Contact
+	b3ParticleBodyContact m_bodyContact;
 
 	// 
 	b3Particle* m_prev;
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 90cd13b..b86c517 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -464,23 +464,14 @@ void b3Cloth::UpdateBodyContacts()
 		b3Vec3 point = bestPoint;
 		b3Vec3 normal = -bestNormal;
 
-		b3BodyContact* c = &p->m_bodyContact;
+		b3ParticleBodyContact* c = &p->m_bodyContact;
 		
-		b3BodyContact c0 = *c;
+		b3ParticleBodyContact c0 = *c;
 
 		c->active = true;
 		c->p1 = p;
 		c->s2 = shape;
-		c->s = separation;
-		c->p = point;
-		c->n = normal;
-		c->fn0 = 0.0f;
-		c->fn = 0.0f;
-		c->ft1 = 0.0f;
-		c->ft2 = 0.0f;
-		c->nActive = true;
-		c->t1Active = false;
-		c->t2Active = false;
+		c->normal1 = normal;
 		c->localPoint1.SetZero();
 		c->localPoint2 = body->GetLocalPoint(point);
 		c->t1 = b3Perp(normal);
@@ -488,97 +479,15 @@ void b3Cloth::UpdateBodyContacts()
 		c->normalImpulse = 0.0f;
 		c->tangentImpulse.SetZero();
 
-#if 0
-		// Apply position correction
-		p->m_translation += separation * normal;
-#endif
-
-		// Update contact state
 		if (c0.active == true)
 		{
-			if (c0.nActive == true)
-			{
-				c->fn0 = c0.fn0;
-				c->fn = c0.fn;
-				c->ft1 = c0.ft1;
-				c->ft2 = c0.ft2;
-
-				c->normalImpulse = c0.normalImpulse;
-				c->tangentImpulse = c0.tangentImpulse;
-#if 0
-				const float32 kForceTol = 0.0f;
-
-				// Allow the contact to release when the constraint force 
-				// switches from a repulsive force to an attractive one.
-				// if (c0.fn0 < kForceTol && c0.fn > kForceTol)
-				if (c0.fn > kForceTol)
-				{
-					// Contact force is attractive.
-					c->nActive = false;
-					continue;
-				}
-#endif
-			}
+			c->normalImpulse = c0.normalImpulse;
+			c->tangentImpulse = c0.tangentImpulse;
 		}
-#if 0
-		if (c0.active == false)
-		{
-			continue;
-		}
-		
-		// A friction force requires an associated normal force.
-		if (c0.nActive == false)
-		{
-			continue;
-		}
-		
-		b3Vec3 v1; v1.SetZero();
-		b3Vec3 v2 = p->m_velocity;
-		b3Vec3 dv = v2 - v1;
-
-		const float32 kVelTol = 2.0f * B3_EPSILON;
-
-		// Lock particle on surface
-		float32 dvt1 = b3Dot(dv, c->t1);
-		if (dvt1 * dvt1 < kVelTol * kVelTol)
-		{
-			c->t1Active = true;
-		}
-
-		float32 dvt2 = b3Dot(dv, c->t2);
-		if (dvt2 * dvt2 < kVelTol * kVelTol)
-		{
-			c->t2Active = true;
-		}
-
-		// Unlock particle off surface
-		float32 normalForce = c->fn;
-		
-		float32 friction = shape->GetFriction();
-		float32 maxFrictionForce = friction * normalForce;
-
-		if (c0.t1Active == true)
-		{
-			float32 tangentForce1 = c0.ft1;
-			if (tangentForce1 * tangentForce1 > maxFrictionForce * maxFrictionForce)
-			{
-				c->t1Active = false;
-			}
-		}
-
-		if (c0.t2Active == true)
-		{
-			float32 tangentForce2 = c0.ft2;
-			if (tangentForce2 * tangentForce2 > maxFrictionForce* maxFrictionForce)
-			{
-				c->t2Active = false;
-			}
-		}
-#endif
 	}
 }
 
-void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
+void b3Cloth::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
 {
 	B3_PROFILE("Cloth Solve");
 
@@ -610,7 +519,7 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 	}
 
 	// Solve	
-	solver.Solve(dt, gravity);
+	solver.Solve(dt, gravity, velocityIterations, positionIterations);
 }
 
 void b3Cloth::UpdateContacts()
@@ -619,7 +528,7 @@ void b3Cloth::UpdateContacts()
 	UpdateBodyContacts();
 }
 
-void b3Cloth::Step(float32 dt)
+void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 {
 	B3_PROFILE("Cloth Step");
 
@@ -629,7 +538,7 @@ void b3Cloth::Step(float32 dt)
 	// Solve constraints, integrate state, clear forces and translations. 
 	if (dt > 0.0f)
 	{
-		Solve(dt, m_gravity);
+		Solve(dt, m_gravity, velocityIterations, positionIterations);
 	}
 
 	// Clear external applied forces and translations
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index ac97dfc..46d84ad 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -49,7 +49,7 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
-		b3BodyContact* c = m_bodyContacts[i];
+		b3ParticleBodyContact* c = m_bodyContacts[i];
 		b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
 		b3ClothSolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
 
@@ -79,14 +79,14 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 		pc->localCenterA.SetZero();
 		pc->localCenterB = pc->bodyB->m_sweep.localCenter;
 
-		pc->normalA = c->n;
+		pc->normalA = c->normal1;
 		pc->localPointA = c->localPoint1;
 		pc->localPointB = c->localPoint2;
 	}
 
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
-		b3BodyContact* c = m_bodyContacts[i];
+		b3ParticleBodyContact* c = m_bodyContacts[i];
 		b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
 		b3ClothSolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
 
@@ -116,7 +116,7 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 		xfB.rotation = b3QuatMat33(qB);
 		xfB.position = xB - b3Mul(xfB.rotation, localCenterB);
 
-		b3BodyContactWorldPoint wp;
+		b3ParticleBodyContactWorldPoint wp;
 		wp.Initialize(c, pc->radiusA, xfA, pc->radiusB, xfB);
 
 		vc->normal = wp.normal;
@@ -310,7 +310,7 @@ void b3ClothContactSolver::StoreImpulses()
 {
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
-		b3BodyContact* c = m_bodyContacts[i];
+		b3ParticleBodyContact* c = m_bodyContacts[i];
 		b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
 
 		c->normalImpulse = vc->normalImpulse;
@@ -322,14 +322,14 @@ struct b3ClothSolverBodyContactSolverPoint
 {
 	void Initialize(const b3ClothSolverBodyContactPositionConstraint* pc, const b3Transform& xfA, const b3Transform& xfB)
 	{
+		b3Vec3 nA = pc->normalA;
+
 		b3Vec3 cA = b3Mul(xfA, pc->localPointA);
 		b3Vec3 cB = b3Mul(xfB, pc->localPointB);
 
 		float32 rA = pc->radiusA;
 		float32 rB = pc->radiusB;
 		
-		b3Vec3 nA = pc->normalA;
-
 		b3Vec3 pA = cA + rA * nA;
 		b3Vec3 pB = cB - rB * nA;
 
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 632f04e..665b27a 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -57,7 +57,7 @@ b3ClothSolver::b3ClothSolver(const b3ClothSolverDef& def)
 
 	m_bodyContactCapacity = def.bodyContactCapacity;
 	m_bodyContactCount = 0;
-	m_bodyContacts = (b3BodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3BodyContact*));;
+	m_bodyContacts = (b3ParticleBodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3ParticleBodyContact*));;
 }
 
 b3ClothSolver::~b3ClothSolver()
@@ -80,16 +80,11 @@ void b3ClothSolver::Add(b3Force* f)
 	m_forces[m_forceCount++] = f;
 }
 
-void b3ClothSolver::Add(b3BodyContact* c)
+void b3ClothSolver::Add(b3ParticleBodyContact* c)
 {
 	m_bodyContacts[m_bodyContactCount++] = c;
 }
 
-void b3ClothSolver::Add(b3ParticleContact* c)
-{
-	m_particleContacts[m_particleContactCount++] = c;
-}
-
 void b3ClothSolver::ApplyForces()
 {
 	for (u32 i = 0; i < m_forceCount; ++i)
@@ -149,6 +144,7 @@ void b3ClothSolver::ApplyConstraints()
 	for (u32 i = 0; i < m_particleCount; ++i)
 	{
 		b3Particle* p = m_particles[i];
+		
 		if (p->m_type != e_dynamicParticle)
 		{
 			b3AccelerationConstraint* ac = m_constraints + m_constraintCount;
@@ -158,47 +154,6 @@ void b3ClothSolver::ApplyConstraints()
 			ac->z.SetZero();
 		}
 	}
-#if 0
-	for (u32 i = 0; i < m_bodyContactCount; ++i)
-	{
-		b3BodyContact* bc = m_bodyContacts[i];
-		
-		if (bc->nActive == false)
-		{
-			continue;
-		}
-
-		b3Particle* p1 = bc->p1;
-
-		B3_ASSERT(p1->m_type == e_dynamicParticle);
-
-		b3AccelerationConstraint* ac = m_constraints + m_constraintCount;
-		++m_constraintCount;
-		ac->i1 = p1->m_solverId;
-		ac->ndof = 2;
-		ac->p = bc->n;
-		ac->z.SetZero();
-
-		if (bc->t1Active && bc->t2Active)
-		{
-			ac->ndof = 0;
-		}
-		else
-		{
-			if (bc->t1Active)
-			{
-				ac->ndof = 1;
-				ac->q = bc->t1;
-			}
-
-			if (bc->t2Active)
-			{
-				ac->ndof = 1;
-				ac->q = bc->t2;
-			}
-		}
-	}
-#endif
 
 	for (u32 i = 0; i < m_constraintCount; ++i)
 	{
@@ -206,7 +161,7 @@ void b3ClothSolver::ApplyConstraints()
 	}
 }
 
-void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
+void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
 {
 	float32 h = dt;
 	float32 inv_h = 1.0f / h;
@@ -288,23 +243,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		// x
 		b3DenseVec3 x(m_particleCount);
 		SolveMPCG(x, viewA, b, S, z, sx0);
-#if 0
-		// Copy constraint forces to the contacts
-		b3DenseVec3 f = A * x - b;
 
-		for (u32 i = 0; i < m_bodyContactCount; ++i)
-		{
-			b3BodyContact* c = m_bodyContacts[i];
-			b3Particle* p1 = c->p1;
-
-			b3Vec3 cf = f[p1->m_solverId];
-
-			c->fn0 = c->fn;
-			c->fn = b3Dot(cf, c->n);
-			c->ft1 = b3Dot(cf, c->t1);
-			c->ft2 = b3Dot(cf, c->t2);
-		}
-#endif
 		// 
 		sv = sv + x;
 		sx = sx + sy;
@@ -319,7 +258,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 			p->m_velocity = sv[i];
 		}
 	}
-#if 1
+
 	// Solve constraints
 	b3ClothContactSolverDef contactSolverDef;
 	contactSolverDef.allocator = m_allocator;
@@ -338,11 +277,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		contactSolver.WarmStart();
 	}
 
-	// Solve velocity constraints
 	{
-		const u32 kVelocityIterations = 10;
-
-		for (u32 i = 0; i < kVelocityIterations; ++i)
+		for (u32 i = 0; i < velocityIterations; ++i)
 		{
 			contactSolver.SolveBodyContactVelocityConstraints();
 		}
@@ -351,18 +287,14 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 	{
 		contactSolver.StoreImpulses();
 	}
-#endif
 
 	// Integrate positions
 	sx = sx + h * sv;
 
-#if 1
 	// Solve position constraints
 	{
-		const u32 kPositionIterations = 2;
-
 		bool positionSolved = false;
-		for (u32 i = 0; i < kPositionIterations; ++i)
+		for (u32 i = 0; i < positionIterations; ++i)
 		{
 			bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
 
@@ -385,7 +317,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 
 		body->SynchronizeShapes();
 	}
-#endif
+
 	// Copy state buffers back to the particles
 	for (u32 i = 0; i < m_particleCount; ++i)
 	{
diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index aa0bc67..a0e9fad 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -22,13 +22,13 @@
 #include <bounce/cloth/dense_vec3.h>
 #include <bounce/cloth/sparse_sym_mat33.h>
 
-void b3BodyContactWorldPoint::Initialize(const b3BodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
+void b3ParticleBodyContactWorldPoint::Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
 {
+	b3Vec3 nA = c->normal1;
+
 	b3Vec3 cA = b3Mul(xfA, c->localPoint1);
 	b3Vec3 cB = b3Mul(xfB, c->localPoint2);
 
-	b3Vec3 nA = c->n;
-	
 	b3Vec3 pA = cA + rA * nA;
 	b3Vec3 pB = cB - rB * nA;
 

From d81ee7b84a3edcc1111f7b2172d4ccc5d71d4455 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 3 Jun 2019 10:04:18 -0300
Subject: [PATCH 121/198] Delete unused

---
 include/bounce/cloth/garment/garment.h | 94 --------------------------
 1 file changed, 94 deletions(-)

diff --git a/include/bounce/cloth/garment/garment.h b/include/bounce/cloth/garment/garment.h
index 8e16f93..202abe2 100644
--- a/include/bounce/cloth/garment/garment.h
+++ b/include/bounce/cloth/garment/garment.h
@@ -69,98 +69,4 @@ struct b3CircleGarment : public b3Garment
 	}
 };
 
-struct b3ShirtGarment : public b3Garment
-{
-	b3RectanglePattern frontBody;
-	b3RectanglePattern frontRightSleeve;
-	b3RectanglePattern frontLeftSleeve;
-	
-	b3RectanglePattern backBody;
-	b3RectanglePattern backRightSleeve;
-	b3RectanglePattern backLeftSleeve;
-
-	b3SewingLine shirtSewingLines[12];
-
-	b3SewingPattern* shirtPatterns[6];
-
-	b3ShirtGarment() : 
-		frontBody(1.0f, 1.0f),
-		frontRightSleeve(0.2f, 0.2f),
-		frontLeftSleeve(0.2f, 0.2f),
-		backBody(1.0f, 1.0f),
-		backRightSleeve(0.2f, 0.2f),
-		backLeftSleeve(0.2f, 0.2f)
-	{
-		b3Vec2 etr;
-		etr.x = 1.2f;
-		etr.y = 0.8f;
-
-		b3Vec2 etl;
-		etl.x = -1.2f;
-		etl.y = 0.8f;
-		
-		for (u32 i = 0; i < 4; ++i)
-		{
-			frontRightSleeve.vertices[i] += etr;
-			frontLeftSleeve.vertices[i] += etl;
-			backRightSleeve.vertices[i] += etr;
-			backLeftSleeve.vertices[i] += etl;
-		}
-		
-		// Perform sewing
-		u32 count = 0;
-		
-		// Sew bodies
-		for (u32 i = 0; i < frontBody.vertexCount; ++i)
-		{
-			b3SewingLine line;
-			line.p1 = 0;
-			line.p2 = 3;
-			line.v1 = i;
-			line.v2 = i;
-
-			shirtSewingLines[count++] = line;
-		}
-
-		// Sew sleeves
-		for (u32 i = 0; i < frontRightSleeve.vertexCount; ++i)
-		{
-			b3SewingLine line;
-			line.p1 = 1;
-			line.p2 = 4;
-			line.v1 = i;
-			line.v2 = i;
-
-			shirtSewingLines[count++] = line;
-		}
-
-		for (u32 i = 0; i < frontLeftSleeve.vertexCount; ++i)
-		{
-			b3SewingLine line;
-			line.p1 = 2;
-			line.p2 = 5;
-			line.v1 = i;
-			line.v2 = i;
-
-			shirtSewingLines[count++] = line;
-		}
-
-		B3_ASSERT(12 == count);
-
-		shirtPatterns[0] = &frontBody;
-		shirtPatterns[1] = &frontRightSleeve;
-		shirtPatterns[2] = &frontLeftSleeve;
-
-		shirtPatterns[3] = &backBody;
-		shirtPatterns[4] = &backRightSleeve;
-		shirtPatterns[5] = &backLeftSleeve;
-
-		patternCount = 6;
-		patterns = shirtPatterns;
-
-		sewingCount = 12;
-		sewingLines = shirtSewingLines;
-	}
-};
-
 #endif
\ No newline at end of file

From 3b910491c383149cea2f1bb3d1ac2e454f769766 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 3 Jun 2019 14:32:58 -0300
Subject: [PATCH 122/198] Set AABB from center and radius

---
 include/bounce/collision/shapes/aabb3.h | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/include/bounce/collision/shapes/aabb3.h b/include/bounce/collision/shapes/aabb3.h
index a9e562e..09ffb2c 100644
--- a/include/bounce/collision/shapes/aabb3.h
+++ b/include/bounce/collision/shapes/aabb3.h
@@ -60,6 +60,20 @@ struct b3AABB3
 		}
 	}
 
+	// Set this AABB from a center point and a radius vector.
+	void Set(const b3Vec3& center, const b3Vec3& r)
+	{
+		m_lower = center - r;
+		m_upper = center + r;
+	}
+
+	// Set this AABB from a center point and a radius value.
+	void Set(const b3Vec3& center, float32 radius)
+	{
+		b3Vec3 r(radius, radius, radius);	
+		Set(center, r);
+	}
+
 	// Extend this AABB by a scalar.
 	void Extend(float32 s) 
 	{

From 2c78e67844ff0bc7b660454e5d80a52717097a37 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 3 Jun 2019 14:33:42 -0300
Subject: [PATCH 123/198] Use a node tree. Rename damping to mass damping.

---
 examples/testbed/tests/pinned_softbody.h |   2 +-
 include/bounce/softbody/softbody.h       |   7 ++
 include/bounce/softbody/softbody_node.h  |  48 +++++----
 src/bounce/softbody/softbody.cpp         | 120 ++++++++++++++---------
 src/bounce/softbody/softbody_node.cpp    |  43 ++++++++
 src/bounce/softbody/softbody_solver.cpp  |   2 +-
 6 files changed, 151 insertions(+), 71 deletions(-)
 create mode 100644 src/bounce/softbody/softbody_node.cpp

diff --git a/examples/testbed/tests/pinned_softbody.h b/examples/testbed/tests/pinned_softbody.h
index 1b4eefe..e058e24 100644
--- a/examples/testbed/tests/pinned_softbody.h
+++ b/examples/testbed/tests/pinned_softbody.h
@@ -43,7 +43,7 @@ public:
 		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
 		{
 			b3SoftBodyNode* n = m_body->GetVertexNode(i);
-			n->SetDamping(0.2f);
+			n->SetMassDamping(0.2f);
 		}
 
 		u32 pinIndex = ~0;
diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index 9316e95..3e17de5 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -22,6 +22,8 @@
 #include <bounce/common/math/transform.h>
 #include <bounce/common/memory/stack_allocator.h>
 
+#include <bounce/collision/trees/dynamic_tree.h>
+
 class b3World;
 
 struct b3SoftBodyMesh;
@@ -56,6 +58,7 @@ struct b3SoftBodyTriangle
 {
 	u32 v1, v2, v3;
 	u32 tetrahedron;
+	u32 treeId;
 };
 
 // Soft body definition
@@ -138,6 +141,7 @@ public:
 	// Debug draw the body using the associated mesh.
 	void Draw() const;
 private:
+	friend class b3SoftBodyNode;
 	friend class b3SoftBodySolver;
 
 	// Compute mass of each node.
@@ -185,6 +189,9 @@ private:
 	// Soft body triangles
 	b3SoftBodyTriangle* m_triangles;
 
+	// Node tree
+	b3DynamicTree m_nodeTree;
+
 	// Attached world
 	b3World* m_world;
 };
diff --git a/include/bounce/softbody/softbody_node.h b/include/bounce/softbody/softbody_node.h
index 3e9021d..7b7dd6f 100644
--- a/include/bounce/softbody/softbody_node.h
+++ b/include/bounce/softbody/softbody_node.h
@@ -48,21 +48,8 @@ struct b3NodeBodyContact
 
 struct b3NodeBodyContactWorldPoint
 {
-	void Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
-	{
-		b3Vec3 nA = c->normal1;
-		
-		b3Vec3 cA = xfA * c->localPoint1;
-		b3Vec3 cB = xfB * c->localPoint2;
-
-		b3Vec3 pA = cA + rA * nA;
-		b3Vec3 pB = cB - rB * nA;
-
-		point = 0.5f * (pA + pB);
-		normal = nA;
-		separation = b3Dot(cB - cA, nA) - rA - rB;
-	}
-
+	void Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
+	
 	b3Vec3 point;
 	b3Vec3 normal;
 	float32 separation;
@@ -108,11 +95,11 @@ public:
 	// Get the node mass.
 	float32 GetMass() const;
 
-	// Set the node damping.
-	void SetDamping(float32 damping);
+	// Set the node mass damping.
+	void SetMassDamping(float32 damping);
 
-	// Get the node damping.
-	float32 GetDamping() const;
+	// Get the node mass damping.
+	float32 GetMassDamping() const;
 
 	// Set the node radius.
 	void SetRadius(float32 radius);
@@ -137,6 +124,9 @@ private:
 
 	~b3SoftBodyNode() { }
 
+	// Synchronize node
+	void Synchronize();
+
 	// Type
 	b3SoftBodyNodeType m_type;
 
@@ -155,8 +145,8 @@ private:
 	// Inverse mass
 	float32 m_invMass;
 
-	// Damping
-	float32 m_damping;
+	// Mass damping
+	float32 m_massDamping;
 
 	// Radius
 	float32 m_radius;
@@ -173,6 +163,9 @@ private:
 	// Node and body contact
 	b3NodeBodyContact m_bodyContact;
 
+	// Tree identifier
+	u32 m_treeId;
+
 	// Soft body
 	b3SoftBody* m_body;
 };
@@ -190,6 +183,7 @@ inline void b3SoftBodyNode::SetType(b3SoftBodyNodeType type)
 	if (type == e_staticSoftBodyNode)
 	{
 		m_velocity.SetZero();
+		Synchronize();
 	}
 
 	m_bodyContact.active = false;
@@ -208,6 +202,8 @@ inline u32 b3SoftBodyNode::GetVertex() const
 inline void b3SoftBodyNode::SetPosition(const b3Vec3& position)
 {
 	m_position = position;
+
+	Synchronize();
 }
 
 inline const b3Vec3& b3SoftBodyNode::GetPosition() const
@@ -234,19 +230,21 @@ inline float32 b3SoftBodyNode::GetMass() const
 	return m_mass;
 }
 
-inline void b3SoftBodyNode::SetDamping(float32 damping)
+inline void b3SoftBodyNode::SetMassDamping(float32 massDamping)
 {
-	m_damping = damping;
+	m_massDamping = massDamping;
 }
 
-inline float32 b3SoftBodyNode::GetDamping() const
+inline float32 b3SoftBodyNode::GetMassDamping() const
 {
-	return m_damping;
+	return m_massDamping;
 }
 
 inline void b3SoftBodyNode::SetRadius(float32 radius)
 {
 	m_radius = radius;
+	
+	Synchronize();
 }
 
 inline float32 b3SoftBodyNode::GetRadius() const
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index d326420..c8c2936 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -25,6 +25,7 @@
 #include <bounce/collision/collision.h>
 
 #include <bounce/dynamics/world.h>
+#include <bounce/dynamics/world_listeners.h>
 #include <bounce/dynamics/body.h>
 #include <bounce/dynamics/shapes/shape.h>
 
@@ -451,9 +452,8 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 
 	const b3SoftBodyMesh* m = m_mesh;
 
-	m_nodes = (b3SoftBodyNode*)b3Alloc(m->vertexCount * sizeof(b3SoftBodyNode));
-
 	// Initialize nodes
+	m_nodes = (b3SoftBodyNode*)b3Alloc(m->vertexCount * sizeof(b3SoftBodyNode));
 	for (u32 i = 0; i < m->vertexCount; ++i)
 	{
 		b3SoftBodyNode* n = m_nodes + i;
@@ -465,12 +465,17 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		n->m_force.SetZero();
 		n->m_mass = 0.0f;
 		n->m_invMass = 0.0f;
-		n->m_damping = 0.0f;
+		n->m_massDamping = 0.0f;
 		n->m_radius = 0.0f;
 		n->m_friction = 0.0f;
 		n->m_userData = nullptr;
 		n->m_vertex = i;
 		n->m_bodyContact.active = false;
+
+		b3AABB3 aabb;
+		aabb.Set(n->m_position, 0.0f);
+
+		n->m_treeId = m_nodeTree.InsertNode(aabb, n);
 	}
 
 	// Compute mass
@@ -703,6 +708,43 @@ void b3SoftBody::ComputeMass()
 	}
 }
 
+class b3SoftBodyUpdateContactsQueryListener : public b3QueryListener
+{
+public:
+	bool ReportShape(b3Shape* shape)
+	{
+		b3Body* body = shape->GetBody();
+
+		if (body->GetType() != e_staticBody)
+		{
+			//continue;
+		}
+
+		b3Transform xf = body->GetTransform();
+
+		b3TestSphereOutput output;
+		if (shape->TestSphere(&output, sphere, xf))
+		{
+			if (output.separation < bestSeparation)
+			{
+				bestShape = shape;
+				bestSeparation = output.separation;
+				bestPoint = output.point;
+				bestNormal = output.normal;
+			}
+		}
+
+		return true;
+	}
+
+	b3SoftBodyNode* node;
+	b3Sphere sphere;
+	b3Shape* bestShape;
+	float32 bestSeparation;
+	b3Vec3 bestPoint;
+	b3Vec3 bestNormal;
+};
+
 void b3SoftBody::UpdateContacts()
 {
 	B3_PROFILE("Soft Body Update Contacts");
@@ -718,56 +760,33 @@ void b3SoftBody::UpdateContacts()
 	{
 		b3SoftBodyNode* n = m_nodes + i;
 
-		b3Sphere s1;
-		s1.vertex = n->m_position;
-		s1.radius = n->m_radius;
-
-		// Find the deepest penetration
-		b3Shape* bestShape = nullptr;
-		float32 bestSeparation = 0.0f;
-		b3Vec3 bestPoint(0.0f, 0.0f, 0.0f);
-		b3Vec3 bestNormal(0.0f, 0.0f, 0.0f);
-
-		for (b3Body* body = m_world->GetBodyList().m_head; body; body = body->GetNext())
+		if (n->m_type != e_dynamicSoftBodyNode)
 		{
-			if (n->m_type != e_dynamicSoftBodyNode)
-			{
-				continue;
-			}
-
-			if (body->GetType() != e_staticBody)
-			{
-				//continue;
-			}
-
-			b3Transform xf = body->GetTransform();
-			for (b3Shape* shape = body->GetShapeList().m_head; shape; shape = shape->GetNext())
-			{
-				b3TestSphereOutput output;
-				if (shape->TestSphere(&output, s1, xf))
-				{
-					if (output.separation < bestSeparation)
-					{
-						bestShape = shape;
-						bestSeparation = output.separation;
-						bestPoint = output.point;
-						bestNormal = output.normal;
-					}
-				}
-			}
+			continue;
 		}
 
-		if (bestShape == nullptr)
+		b3AABB3 aabb = m_nodeTree.GetAABB(n->m_treeId);
+
+		b3SoftBodyUpdateContactsQueryListener listener;
+		listener.node = n;
+		listener.sphere.vertex = n->m_position;
+		listener.sphere.radius = n->m_radius;
+		listener.bestShape = nullptr;
+		listener.bestSeparation = 0.0f;
+
+		m_world->QueryAABB(&listener, aabb);
+
+		if (listener.bestShape == nullptr)
 		{
 			n->m_bodyContact.active = false;
 			continue;
 		}
 
-		b3Shape* shape = bestShape;
+		b3Shape* shape = listener.bestShape;
 		b3Body* body = shape->GetBody();
-		float32 separation = bestSeparation;
-		b3Vec3 point = bestPoint;
-		b3Vec3 normal = -bestNormal;
+		float32 separation = listener.bestSeparation;
+		b3Vec3 point = listener.bestPoint;
+		b3Vec3 normal = -listener.bestNormal;
 
 		b3NodeBodyContact* c = &n->m_bodyContact;
 
@@ -822,6 +841,19 @@ void b3SoftBody::Step(float32 dt, u32 velocityIterations, u32 positionIterations
 	{
 		m_nodes[i].m_force.SetZero();
 	}
+
+	// Synchronize nodes
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+
+		if (n->m_type == e_staticSoftBodyNode)
+		{
+			continue;
+		}
+
+		n->Synchronize();
+	}
 }
 
 void b3SoftBody::Draw() const
diff --git a/src/bounce/softbody/softbody_node.cpp b/src/bounce/softbody/softbody_node.cpp
new file mode 100644
index 0000000..e18ffed
--- /dev/null
+++ b/src/bounce/softbody/softbody_node.cpp
@@ -0,0 +1,43 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/softbody/softbody_node.h>
+#include <bounce/softbody/softbody.h>
+
+void b3NodeBodyContactWorldPoint::Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
+{
+	b3Vec3 nA = c->normal1;
+
+	b3Vec3 cA = xfA * c->localPoint1;
+	b3Vec3 cB = xfB * c->localPoint2;
+
+	b3Vec3 pA = cA + rA * nA;
+	b3Vec3 pB = cB - rB * nA;
+
+	point = 0.5f * (pA + pB);
+	normal = nA;
+	separation = b3Dot(cB - cA, nA) - rA - rB;
+}
+
+void b3SoftBodyNode::Synchronize()
+{
+	b3AABB3 aabb;
+	aabb.Set(m_position, m_radius);
+
+	m_body->m_nodeTree.UpdateNode(m_treeId, aabb);
+}
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index 9907e7a..1b831e3 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -216,7 +216,7 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 		// Rayleigh damping 
 		// C = alpha * M + beta * K
 		// Here the stiffness coefficient beta is zero
-		C(i, i) = b3Diagonal(n->m_damping * n->m_mass);
+		C(i, i) = b3Diagonal(n->m_massDamping * n->m_mass);
 		
 		x[i] = m_mesh->vertices[i];
 		p[i] = n->m_position;

From 17bddf54265c1daa8213c8d0dc3af4ef2a1902ce Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 3 Jun 2019 17:16:49 -0300
Subject: [PATCH 124/198] Remove unused

---
 src/bounce/softbody/softbody.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index c8c2936..388ea3b 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -737,7 +737,6 @@ public:
 		return true;
 	}
 
-	b3SoftBodyNode* node;
 	b3Sphere sphere;
 	b3Shape* bestShape;
 	float32 bestSeparation;
@@ -768,7 +767,6 @@ void b3SoftBody::UpdateContacts()
 		b3AABB3 aabb = m_nodeTree.GetAABB(n->m_treeId);
 
 		b3SoftBodyUpdateContactsQueryListener listener;
-		listener.node = n;
 		listener.sphere.vertex = n->m_position;
 		listener.sphere.radius = n->m_radius;
 		listener.bestShape = nullptr;

From 92cdb42dca9386476bbed138596b5bf2b77b7ff3 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 3 Jun 2019 17:50:43 -0300
Subject: [PATCH 125/198] Use a particle tree for cloth

---
 include/bounce/cloth/cloth.h      |  11 ++-
 include/bounce/cloth/particle.h   |  12 ++-
 src/bounce/cloth/cloth.cpp        | 140 +++++++++++++++++++-----------
 src/bounce/cloth/cloth_solver.cpp |   2 +-
 src/bounce/cloth/particle.cpp     |  13 ++-
 src/bounce/softbody/softbody.cpp  |   2 +-
 6 files changed, 117 insertions(+), 63 deletions(-)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index a200861..e24e17f 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -23,6 +23,7 @@
 #include <bounce/common/template/list.h>
 #include <bounce/common/memory/stack_allocator.h>
 #include <bounce/common/memory/block_pool.h>
+#include <bounce/collision/trees/dynamic_tree.h>
 
 class b3World;
 class b3Shape;
@@ -138,12 +139,11 @@ public:
 	// Debug draw the cloth using the associated cloth mesh.
 	void Draw() const;
 private:
+	friend class b3Particle;
+
 	// Compute mass of each particle.
 	void ComputeMass();
 
-	// Update body contacts. 
-	void UpdateBodyContacts();
-
 	// Update contacts
 	void UpdateContacts();
 
@@ -173,7 +173,10 @@ private:
 
 	// List of particles
 	b3List2<b3Particle> m_particleList;
-	
+
+	// Particle tree
+	b3DynamicTree m_particleTree;
+
 	// List of forces
 	b3List2<b3Force> m_forceList;
 };
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index b496662..6d96c4a 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -152,6 +152,9 @@ private:
 	b3Particle(const b3ParticleDef& def, b3Cloth* cloth);
 	~b3Particle();
 
+	// Synchronize AABB
+	void Synchronize();
+
 	// Type
 	b3ParticleType m_type;
 
@@ -193,12 +196,15 @@ private:
 	// Solution
 	b3Vec3 m_x;
 
-	// 
+	// Parent cloth
 	b3Cloth* m_cloth;
 
 	// Contact
 	b3ParticleBodyContact m_bodyContact;
 
+	// Particle tree identifier
+	u32 m_treeId;
+
 	// 
 	b3Particle* m_prev;
 
@@ -220,6 +226,8 @@ inline void b3Particle::SetPosition(const b3Vec3& position)
 {
 	m_position = position;
 	m_translation.SetZero();
+
+	Synchronize();
 }
 
 inline const b3Vec3& b3Particle::GetPosition() const
@@ -249,6 +257,8 @@ inline float32 b3Particle::GetMass() const
 inline void b3Particle::SetRadius(float32 radius)
 {
 	m_radius = radius;
+	
+	Synchronize();
 }
 
 inline float32 b3Particle::GetRadius() const
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index b86c517..a5be051 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -22,10 +22,14 @@
 #include <bounce/cloth/force.h>
 #include <bounce/cloth/spring_force.h>
 #include <bounce/cloth/cloth_solver.h>
+
 #include <bounce/dynamics/world.h>
+#include <bounce/dynamics/world_listeners.h>
 #include <bounce/dynamics/body.h>
 #include <bounce/dynamics/shapes/shape.h>
+
 #include <bounce/collision/collision.h>
+
 #include <bounce/common/draw.h>
 
 static B3_FORCE_INLINE u32 b3NextIndex(u32 i)
@@ -157,9 +161,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 
 	const b3ClothMesh* m = m_mesh;
 
-	m_vertexParticles = (b3Particle**)b3Alloc(m->vertexCount * sizeof(b3Particle*));
-
 	// Create particles
+	m_vertexParticles = (b3Particle**)b3Alloc(m->vertexCount * sizeof(b3Particle*));
 	for (u32 i = 0; i < m->vertexCount; ++i)
 	{
 		b3ParticleDef pd;
@@ -170,6 +173,11 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 
 		p->m_vertex = i;
 
+		b3AABB3 aabb;
+		aabb.Set(p->m_position, p->m_radius);
+
+		p->m_treeId = m_particleTree.InsertNode(aabb, p);
+
 		m_vertexParticles[i] = p;
 	}
 
@@ -245,6 +253,9 @@ b3Cloth::~b3Cloth()
 	{
 		b3Particle* p0 = p;
 		p = p->m_next;
+		
+		m_particleTree.RemoveNode(p0->m_treeId);
+
 		p0->~b3Particle();
 	}
 
@@ -264,7 +275,14 @@ b3Particle* b3Cloth::CreateParticle(const b3ParticleDef& def)
 {
 	void* mem = m_particleBlocks.Allocate();
 	b3Particle* p = new(mem) b3Particle(def, this);
+	
+	b3AABB3 aabb;
+	aabb.Set(p->m_position, p->m_radius);
+	
+	p->m_treeId = m_particleTree.InsertNode(aabb, p);
+
 	m_particleList.PushFront(p);
+
 	return p;
 }
 
@@ -275,6 +293,8 @@ void b3Cloth::DestroyParticle(b3Particle* particle)
 		m_vertexParticles[particle->m_vertex] = NULL;
 	}
 
+	m_particleTree.RemoveNode(particle->m_treeId);
+
 	m_particleList.Remove(particle);
 	particle->~b3Particle();
 	m_particleBlocks.Free(particle);
@@ -399,9 +419,43 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
 	return b3RayCast(output, input, v1, v2, v3);
 }
 
-void b3Cloth::UpdateBodyContacts()
+class b3ClothUpdateContactsQueryListener : public b3QueryListener
 {
-	B3_PROFILE("Cloth Update Body Contacts");
+public:
+	bool ReportShape(b3Shape* shape)
+	{
+		b3Body* body = shape->GetBody();
+
+		if (body->GetType() != e_staticBody)
+		{
+			return true;
+		}
+
+		b3Transform xf = body->GetTransform();
+
+		b3TestSphereOutput output;
+		if (shape->TestSphere(&output, sphere, xf))
+		{
+			if (output.separation < bestSeparation)
+			{
+				bestShape = shape;
+				bestSeparation = output.separation;
+				bestPoint = output.point;
+				bestNormal = output.normal;
+			}
+		}
+	}
+
+	b3Sphere sphere;
+	b3Shape* bestShape;
+	float32 bestSeparation;
+	b3Vec3 bestPoint;
+	b3Vec3 bestNormal;
+};
+
+void b3Cloth::UpdateContacts()
+{
+	B3_PROFILE("Cloth Update Contacts");
 
 	// Is there a world attached to this cloth?
 	if (m_world == nullptr)
@@ -412,57 +466,32 @@ void b3Cloth::UpdateBodyContacts()
 	// Create contacts 
 	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
 	{
-		b3Sphere s1;
-		s1.vertex = p->m_position;
-		s1.radius = p->m_radius;
-
-		// Find the deepest penetration
-		b3Shape* bestShape = nullptr;
-		float32 bestSeparation = 0.0f;
-		b3Vec3 bestPoint(0.0f, 0.0f, 0.0f);
-		b3Vec3 bestNormal(0.0f, 0.0f, 0.0f);
-
-		for (b3Body* body = m_world->GetBodyList().m_head; body; body = body->GetNext())
+		if (p->m_type != e_dynamicParticle)
 		{
-			if (p->m_type != e_dynamicParticle)
-			{
-				continue;
-			}
-
-			if (body->GetType() != e_staticBody)
-			{
-				continue;
-			}
-
-			b3Transform xf = body->GetTransform();
-			for (b3Shape* shape = body->GetShapeList().m_head; shape; shape = shape->GetNext())
-			{
-				b3TestSphereOutput output;
-				if (shape->TestSphere(&output, s1, xf))
-				{
-					if (output.separation < bestSeparation)
-					{
-						bestShape = shape;
-						bestSeparation = output.separation;
-						bestPoint = output.point;
-						bestNormal = output.normal;
-					}
-				}
-			}
+			continue;
 		}
 
-		if (bestShape == nullptr)
+		b3AABB3 aabb = m_particleTree.GetAABB(p->m_treeId);
+
+		b3ClothUpdateContactsQueryListener listener;
+		listener.sphere.vertex = p->m_position;
+		listener.sphere.radius = p->m_radius;
+		listener.bestShape = nullptr;
+		listener.bestSeparation = 0.0f;
+
+		m_world->QueryAABB(&listener, aabb);
+
+		if (listener.bestShape == nullptr)
 		{
 			p->m_bodyContact.active = false;
 			continue;
 		}
 
-		// Ensure the the normal points from the particle 1 to shape 2
-		b3Shape* shape = bestShape;
+		b3Shape* shape = listener.bestShape;
 		b3Body* body = shape->GetBody();
-		float32 separation = bestSeparation;
-		b3Vec3 point = bestPoint;
-		b3Vec3 normal = -bestNormal;
+		float32 separation = listener.bestSeparation;
+		b3Vec3 point = listener.bestPoint;
+		b3Vec3 normal = -listener.bestNormal;
 
 		b3ParticleBodyContact* c = &p->m_bodyContact;
 		
@@ -522,12 +551,6 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u
 	solver.Solve(dt, gravity, velocityIterations, positionIterations);
 }
 
-void b3Cloth::UpdateContacts()
-{
-	// Update body contacts
-	UpdateBodyContacts();
-}
-
 void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 {
 	B3_PROFILE("Cloth Step");
@@ -535,7 +558,7 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 	// Update contacts
 	UpdateContacts();
 
-	// Solve constraints, integrate state, clear forces and translations. 
+	// Integrate state, solve constraints. 
 	if (dt > 0.0f)
 	{
 		Solve(dt, m_gravity, velocityIterations, positionIterations);
@@ -547,6 +570,17 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 		p->m_force.SetZero();
 		p->m_translation.SetZero();
 	}
+
+	// Synchronize particles
+	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
+	{
+		if (p->m_type == e_staticParticle)
+		{
+			continue;
+		}
+
+		p->Synchronize();
+	}
 }
 
 void b3Cloth::Draw() const
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 665b27a..0daf1a8 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -379,7 +379,7 @@ void b3ClothSolver::SolveMPCG(b3DenseVec3& x,
 	u32 iteration = 0;
 	for (;;)
 	{
-		if (iteration >= maxIterations)
+		if (iteration == maxIterations)
 		{
 			break;
 		}
diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index a0e9fad..3316a77 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -18,9 +18,6 @@
 
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth.h>
-#include <bounce/cloth/cloth_solver.h>
-#include <bounce/cloth/dense_vec3.h>
-#include <bounce/cloth/sparse_sym_mat33.h>
 
 void b3ParticleBodyContactWorldPoint::Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
 {
@@ -60,6 +57,14 @@ b3Particle::~b3Particle()
 
 }
 
+void b3Particle::Synchronize()
+{
+	b3AABB3 aabb;
+	aabb.Set(m_position, m_radius);
+
+	m_cloth->m_particleTree.UpdateNode(m_treeId, aabb);
+}
+
 void b3Particle::SetType(b3ParticleType type)
 {
 	if (m_type == type)
@@ -74,6 +79,8 @@ void b3Particle::SetType(b3ParticleType type)
 	{
 		m_velocity.SetZero();
 		m_translation.SetZero();
+		
+		Synchronize();
 	}
 
 	m_bodyContact.active = false;
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 388ea3b..fe97ac4 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -717,7 +717,7 @@ public:
 
 		if (body->GetType() != e_staticBody)
 		{
-			//continue;
+			// return true;
 		}
 
 		b3Transform xf = body->GetTransform();

From db949eeca0ff6fdec4b873ed9284e168e23d9e18 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 3 Jun 2019 18:37:32 -0300
Subject: [PATCH 126/198] Bugfix

---
 src/bounce/cloth/cloth.cpp | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index a5be051..4a7c1ec 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -172,12 +172,6 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		b3Particle* p = CreateParticle(pd);
 
 		p->m_vertex = i;
-
-		b3AABB3 aabb;
-		aabb.Set(p->m_position, p->m_radius);
-
-		p->m_treeId = m_particleTree.InsertNode(aabb, p);
-
 		m_vertexParticles[i] = p;
 	}
 

From ef1ae1230b47ec724ea09e6fa037a8f326369790 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 3 Jun 2019 18:48:55 -0300
Subject: [PATCH 127/198] Put some comments and reference code

---
 src/bounce/softbody/softbody.cpp | 21 +++++++++++++--------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index fe97ac4..3bd7119 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -83,13 +83,18 @@ static B3_FORCE_INLINE void b3ComputeD(float32 out[36], float32 E, float32 nu)
 	}
 }
 
+// Compute B = S * N,
+// where S is the operational matrix and N are the shape functions
+// This is a 6 x 12 matrix
+// A derivation and corresponding simplification for this matrix 
+// can be found here:
+// https://github.com/erleben/OpenTissue/blob/master/OpenTissue/dynamics/fem/fem_compute_b.h
 static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
 	const b3Vec3& e10,
 	const b3Vec3& e20,
 	const b3Vec3& e30,
 	float32 V)
 {
-	// Compute derivatives of shape functions N
 	float32 inv6V = 1.0f / (6.0f * V);
 
 	b3Vec3 B[4];
@@ -125,7 +130,7 @@ static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
 	float32 c4 = B[3].y;
 	float32 d4 = B[3].z;
 
-	float32 MB[72] =
+	float32 B_out[72] =
 	{
 		b1, 0, 0, c1, d1, 0,
 		0, c1, 0, b1, 0, d1,
@@ -146,7 +151,7 @@ static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
 
 	for (u32 i = 0; i < 72; ++i)
 	{
-		out[i] = MB[i];
+		out[i] = B_out[i];
 	}
 }
 
@@ -502,11 +507,11 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 
 		B3_ASSERT(V > 0.0f);
 
-		b3Vec3 e10 = p2 - p1;
-		b3Vec3 e20 = p3 - p1;
-		b3Vec3 e30 = p4 - p1;
+		b3Vec3 e1 = p2 - p1;
+		b3Vec3 e2 = p3 - p1;
+		b3Vec3 e3 = p4 - p1;
 
-		b3Mat33 E(e10, e20, e30);
+		b3Mat33 E(e1, e2, e3);
 
 		e->invE = b3Inverse(E);
 
@@ -516,7 +521,7 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 
 		// 6 x 12
 		float32* B = e->B;
-		b3ComputeB(B, e10, e20, e30, V);
+		b3ComputeB(B, e1, e2, e3, V);
 
 		// 12 x 6
 		float32 BT[72];

From 552970cfe74072e50f1acb1e35642106756a1304 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 3 Jun 2019 19:39:06 -0300
Subject: [PATCH 128/198] Return true

---
 src/bounce/cloth/cloth.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 4a7c1ec..84151dd 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -438,6 +438,8 @@ public:
 				bestNormal = output.normal;
 			}
 		}
+
+		return true;
 	}
 
 	b3Sphere sphere;

From 43085c8cc1665e2846433bee59a6ab763c80bde3 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 4 Jun 2019 19:38:43 -0300
Subject: [PATCH 129/198] Pushed code to draw a plane

---
 examples/testbed/framework/draw.cpp | 86 +++++++++++++++++------------
 examples/testbed/framework/draw.h   |  4 ++
 include/bounce/common/draw.h        |  6 ++
 include/bounce/common/math/mat33.h  | 16 +++---
 4 files changed, 69 insertions(+), 43 deletions(-)

diff --git a/examples/testbed/framework/draw.cpp b/examples/testbed/framework/draw.cpp
index 3640a76..f9a5fed 100644
--- a/examples/testbed/framework/draw.cpp
+++ b/examples/testbed/framework/draw.cpp
@@ -251,24 +251,9 @@ void Draw::DrawSolidPolygon(const b3Vec3& normal, const b3Vec3* vertices, u32 co
 
 void Draw::DrawCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
 {
-	// Build a tangent vector to normal.
-	b3Vec3 u = b3Cross(normal, b3Vec3(1.0f, 0.0f, 0.0f));
-	b3Vec3 v = b3Cross(normal, b3Vec3(0.0f, 1.0f, 0.0f));
+	b3Vec3 n1, n3;
+	b3ComputeBasis(normal, n1, n3);
 
-	// Handle edge cases (zero cross product).
-	b3Vec3 n1;
-	if (b3LengthSquared(u) > b3LengthSquared(v))
-	{
-		n1 = u;
-	}
-	else
-	{
-		n1 = v;
-	}
-
-	n1.Normalize();
-
-	// Build a quaternion to rotate the tangent about the normal.
 	u32 kEdgeCount = 20;
 	float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
 	b3Quat q(normal, kAngleInc);
@@ -292,24 +277,9 @@ void Draw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 r
 	b3Color fillColor(color.r, color.g, color.b, color.a);
 	b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
 
-	// Build a tangent vector to normal.
-	b3Vec3 u = b3Cross(normal, b3Vec3(1.0f, 0.0f, 0.0f));
-	b3Vec3 v = b3Cross(normal, b3Vec3(0.0f, 1.0f, 0.0f));
+	b3Vec3 n1, n3;
+	b3ComputeBasis(normal, n1, n3);
 
-	// Handle edge cases (zero cross product).
-	b3Vec3 n1;
-	if (b3LengthSquared(u) > b3LengthSquared(v))
-	{
-		n1 = u;
-	}
-	else
-	{
-		n1 = v;
-	}
-
-	n1.Normalize();
-
-	// Build a quaternion to rotate the tangent about the normal.
 	const u32 kEdgeCount = 20;
 	const float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
 	b3Quat q(normal, kAngleInc);
@@ -460,6 +430,54 @@ void Draw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
 	DrawSegment(vs[1], vs[7], color);
 }
 
+void Draw::DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
+{
+	b3Vec3 n1, n2;
+	b3ComputeBasis(normal, n1, n2);
+
+	float32 scale = 2.0f * radius;
+	
+	// v1__v4
+	// |    |
+	// v2__v3
+	b3Vec3 v1 = center - scale * n1 - scale * n2;
+	b3Vec3 v2 = center + scale * n1 - scale * n2;
+	b3Vec3 v3 = center + scale * n1 + scale * n2;
+	b3Vec3 v4 = center - scale * n1 + scale * n2;
+
+	DrawSegment(v1, v2, color);
+	DrawSegment(v2, v3, color);
+	DrawSegment(v3, v4, color);
+	DrawSegment(v4, v1, color);
+	
+	DrawSegment(center, center + normal, color);
+}
+
+void Draw::DrawSolidPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
+{
+	b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
+
+	b3Vec3 n1, n2;
+	b3ComputeBasis(normal, n1, n2);
+
+	float32 scale = 2.0f * radius;
+
+	b3Vec3 v1 = center - scale * n1 - scale * n2;
+	b3Vec3 v2 = center + scale * n1 - scale * n2;
+	b3Vec3 v3 = center + scale * n1 + scale * n2;
+	b3Vec3 v4 = center - scale * n1 + scale * n2;
+	
+	DrawSegment(v1, v2, frameColor);
+	DrawSegment(v2, v3, frameColor);
+	DrawSegment(v3, v4, frameColor);
+	DrawSegment(v4, v1, frameColor);
+
+	DrawSegment(center, center + normal, frameColor);
+
+	DrawSolidTriangle(normal, v1, v2, v3, color);
+	DrawSolidTriangle(normal, v3, v4, v1, color);
+}
+
 void Draw::DrawString(const b3Color& color, const b3Vec2& ps, const char* text, ...)
 {
 	va_list args;
diff --git a/examples/testbed/framework/draw.h b/examples/testbed/framework/draw.h
index b4db22b..cd89acb 100644
--- a/examples/testbed/framework/draw.h
+++ b/examples/testbed/framework/draw.h
@@ -91,6 +91,10 @@ public:
 
 	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
 
+	void DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
+
+	void DrawSolidPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
+
 	void DrawAABB(const b3AABB3& aabb, const b3Color& color);
 
 	void DrawTransform(const b3Transform& xf);
diff --git a/include/bounce/common/draw.h b/include/bounce/common/draw.h
index f6790b8..c1a3ce7 100644
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -107,6 +107,12 @@ public :
 	// Draw a solid capsule with segment and radius.
 	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
 
+	// Draw a plane with center, normal and radius.
+	virtual void DrawPlane(const b3Vec3& center, const b3Vec3& normal, float32 radius, const b3Color& color) = 0;
+
+	// Draw a solid plane with center, normal and radius.
+	virtual void DrawSolidPlane(const b3Vec3& center, const b3Vec3& normal, float32 radius, const b3Color& color) = 0;
+
 	// Draw a AABB.
 	virtual void DrawAABB(const b3AABB3& aabb, const b3Color& color) = 0;
 
diff --git a/include/bounce/common/math/mat33.h b/include/bounce/common/math/mat33.h
index 897fdce..89da221 100644
--- a/include/bounce/common/math/mat33.h
+++ b/include/bounce/common/math/mat33.h
@@ -233,22 +233,20 @@ inline b3Mat33 b3Outer(const b3Vec3& a, const b3Vec3& b)
 
 // Compute an orthogonal basis given one of its vectors.
 // The vector must be normalized.
-inline b3Mat33 b3Basis(const b3Vec3& a)
+inline void b3ComputeBasis(const b3Vec3& a, b3Vec3& b, b3Vec3& c)
 {
-	// Box2D
-	b3Mat33 A;
+	// https://box2d.org/2014/02/computing-a-basis/
 	if (b3Abs(a.x) >= float32(0.57735027))
 	{
-		A.y.Set(a.y, -a.x, 0.0f);
+		b.Set(a.y, -a.x, 0.0f);
 	}
 	else
 	{
-		A.y.Set(0.0f, a.z, -a.y);
+		b.Set(0.0f, a.z, -a.y);
 	}
-	A.x = a;
-	A.y = b3Normalize(A.y);
-	A.z = b3Cross(a, A.y);
-	return A;
+	
+	b.Normalize();
+	c = b3Cross(a, b);
 }
 
 // Rotation about the x-axis.

From 56db3517f958db6f3626be2f155a00431b492471 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 4 Jun 2019 20:56:51 -0300
Subject: [PATCH 130/198] Draw solid stuff inside b3World

---
 examples/testbed/framework/draw.cpp    | 171 +------------------------
 examples/testbed/framework/draw.h      |  14 +-
 examples/testbed/framework/test.cpp    |   2 +-
 examples/testbed/tests/collide_test.h  |   8 +-
 examples/testbed/tests/distance_test.h |   4 +-
 examples/testbed/tests/shape_cast.h    |  10 +-
 include/bounce/common/draw.h           |  24 ++--
 include/bounce/dynamics/world.h        |  11 +-
 src/bounce/dynamics/draw_world.cpp     | 135 +++++++++++++++++--
 src/bounce/rope/rope.cpp               |   4 +-
 10 files changed, 165 insertions(+), 218 deletions(-)

diff --git a/examples/testbed/framework/draw.cpp b/examples/testbed/framework/draw.cpp
index f9a5fed..fe1e305 100644
--- a/examples/testbed/framework/draw.cpp
+++ b/examples/testbed/framework/draw.cpp
@@ -302,16 +302,16 @@ void Draw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 r
 void Draw::DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color)
 {
 	b3Transform xf;
-	xf.SetIdentity();
+	xf.rotation.SetIdentity();
 	xf.position = center;
 
 	m_wire->DrawSphere(radius, color, xf);
 }
 
-void Draw::DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Color& color)
+void Draw::DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Mat33& rotation, const b3Color& color)
 {
 	b3Transform xf;
-	xf.SetIdentity();
+	xf.rotation = rotation;
 	xf.position = center;
 
 	m_solid->DrawSphere(radius, color, xf);
@@ -529,171 +529,6 @@ void Draw::DrawString(const b3Color& color, const char* text, ...)
 	va_end(args);
 }
 
-void Draw::DrawSolidSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf)
-{
-	b3Transform xfc;
-	xfc.rotation = xf.rotation;
-	xfc.position = xf * s->m_center;
-	m_solid->DrawSphere(s->m_radius, c, xfc);
-}
-
-void Draw::DrawSolidCapsule(const b3CapsuleShape* s, const b3Color& c, const b3Transform& xf)
-{
-	b3Vec3 c1 = s->m_centers[0];
-	b3Vec3 c2 = s->m_centers[1];
-	float32 height = b3Length(c1 - c2);
-	float32 radius = s->m_radius;
-
-	{
-		b3Transform xfc;
-		xfc.rotation = xf.rotation;
-		xfc.position = xf * c1;
-		m_solid->DrawSphere(radius, c, xfc);
-	}
-
-	if (height > 0.0f)
-	{
-		{
-			b3Mat33 R;
-			R.y = (1.0f / height) * (c1 - c2);
-			R.z = b3Perp(R.y);
-			R.x = b3Cross(R.y, R.z);
-
-			b3Transform xfc;
-			xfc.position = xf * (0.5f * (c1 + c2));
-			xfc.rotation = xf.rotation * R;
-
-			m_solid->DrawCylinder(radius, height, c, xfc);
-		}
-
-		{
-			b3Transform xfc;
-			xfc.rotation = xf.rotation;
-			xfc.position = xf * c2;
-			m_solid->DrawSphere(radius, c, xfc);
-		}
-	}
-}
-
-void Draw::DrawSolidHull(const b3HullShape* s, const b3Color& c, const b3Transform& xf)
-{
-	const b3Hull* hull = s->m_hull;
-
-	for (u32 i = 0; i < hull->faceCount; ++i)
-	{
-		const b3Face* face = hull->GetFace(i);
-		const b3HalfEdge* begin = hull->GetEdge(face->edge);
-
-		b3Vec3 n = xf.rotation * hull->planes[i].normal;
-
-		const b3HalfEdge* edge = hull->GetEdge(begin->next);
-		do
-		{
-			u32 i1 = begin->origin;
-			u32 i2 = edge->origin;
-			const b3HalfEdge* next = hull->GetEdge(edge->next);
-			u32 i3 = next->origin;
-
-			b3Vec3 p1 = xf * hull->vertices[i1];
-			b3Vec3 p2 = xf * hull->vertices[i2];
-			b3Vec3 p3 = xf * hull->vertices[i3];
-
-			m_triangles->Vertex(p1, c, n);
-			m_triangles->Vertex(p2, c, n);
-			m_triangles->Vertex(p3, c, n);
-
-			edge = next;
-		} while (hull->GetEdge(edge->next) != begin);
-	}
-}
-
-void Draw::DrawSolidMesh(const b3MeshShape* s, const b3Color& c, const b3Transform& xf)
-{
-	const b3Mesh* mesh = s->m_mesh;
-	for (u32 i = 0; i < mesh->triangleCount; ++i)
-	{
-		const b3Triangle* t = mesh->triangles + i;
-
-		b3Vec3 p1 = xf * mesh->vertices[t->v1];
-		b3Vec3 p2 = xf * mesh->vertices[t->v2];
-		b3Vec3 p3 = xf * mesh->vertices[t->v3];
-
-		b3Vec3 n1 = b3Cross(p2 - p1, p3 - p1);
-		n1.Normalize();
-
-		m_triangles->Vertex(p1, c, n1);
-		m_triangles->Vertex(p2, c, n1);
-		m_triangles->Vertex(p3, c, n1);
-
-		b3Vec3 n2 = -n1;
-
-		m_triangles->Vertex(p1, c, n2);
-		m_triangles->Vertex(p3, c, n2);
-		m_triangles->Vertex(p2, c, n2);
-	}
-}
-
-void Draw::DrawSolidShape(const b3Shape* s, const b3Color& c, const b3Transform& xf)
-{
-	switch (s->GetType())
-	{
-	case e_sphereShape:
-	{
-		DrawSolidSphere((b3SphereShape*)s, c, xf);
-		break;
-	}
-	case e_capsuleShape:
-	{
-		DrawSolidCapsule((b3CapsuleShape*)s, c, xf);
-		break;
-	}
-	case e_hullShape:
-	{
-		DrawSolidHull((b3HullShape*)s, c, xf);
-		break;
-	}
-	case e_meshShape:
-	{
-		DrawSolidMesh((b3MeshShape*)s, c, xf);
-		break;
-	}
-	default:
-	{
-		break;
-	}
-	}
-}
-
-void Draw::DrawSolidShapes(const b3World& world)
-{
-	for (b3Body* b = world.GetBodyList().m_head; b; b = b->GetNext())
-	{
-		b3Color c;
-		if (b->IsAwake() == false)
-		{
-			c = b3Color(0.5f, 0.25f, 0.25f, 1.0f);
-		}
-		else if (b->GetType() == e_staticBody)
-		{
-			c = b3Color(0.5f, 0.5f, 0.5f, 1.0f);
-		}
-		else if (b->GetType() == e_dynamicBody)
-		{
-			c = b3Color(1.0f, 0.5f, 0.5f, 1.0f);
-		}
-		else
-		{
-			c = b3Color(0.5f, 0.5f, 1.0f, 1.0f);
-		}
-
-		b3Transform xf = b->GetTransform();
-		for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
-		{
-			DrawSolidShape(s, c, xf);
-		}
-	}
-}
-
 void Draw::Flush()
 {
 	m_triangles->Flush();
diff --git a/examples/testbed/framework/draw.h b/examples/testbed/framework/draw.h
index cd89acb..4f5bda4 100644
--- a/examples/testbed/framework/draw.h
+++ b/examples/testbed/framework/draw.h
@@ -85,7 +85,7 @@ public:
 
 	void DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color);
 	
-	void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Color& color);
+	void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Mat33& rotation, const b3Color& color);
 
 	void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
 
@@ -105,18 +105,6 @@ public:
 
 	void DrawString(const b3Color& color, const char* string, ...);
 
-	void DrawSolidSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf);
-
-	void DrawSolidCapsule(const b3CapsuleShape* s, const b3Color& c, const b3Transform& xf);
-	
-	void DrawSolidHull(const b3HullShape* s, const b3Color& c, const b3Transform& xf);
-	
-	void DrawSolidMesh(const b3MeshShape* s, const b3Color& c, const b3Transform& xf);
-
-	void DrawSolidShape(const b3Shape* s, const b3Color& c, const b3Transform& xf);
-
-	void DrawSolidShapes(const b3World& world);
-
 	void Flush();
 private:
 	friend struct DrawPoints;
diff --git a/examples/testbed/framework/test.cpp b/examples/testbed/framework/test.cpp
index d6dc8b0..fe3ff77 100644
--- a/examples/testbed/framework/test.cpp
+++ b/examples/testbed/framework/test.cpp
@@ -88,7 +88,7 @@ void Test::Step()
 
 	if (g_settings->drawTriangles)
 	{
-		g_draw->DrawSolidShapes(m_world);
+		m_world.DrawSolid();
 	}
 
 	if (g_settings->drawStats)
diff --git a/examples/testbed/tests/collide_test.h b/examples/testbed/tests/collide_test.h
index 560df43..f76d704 100644
--- a/examples/testbed/tests/collide_test.h
+++ b/examples/testbed/tests/collide_test.h
@@ -50,13 +50,13 @@ public:
 			g_draw->DrawSegment(pw, pw + wm.points[i].normal, b3Color_white);
 		}
 
-		m_world.DrawShape(m_xfA, m_shapeA);
-		m_world.DrawShape(m_xfB, m_shapeB);
+		m_world.DrawShape(m_xfA, m_shapeA, b3Color_black);
+		m_world.DrawShape(m_xfB, m_shapeB, b3Color_black);
 
 		g_draw->Flush();
 
-		g_draw->DrawSolidShape(m_shapeA, b3Color(1.0f, 1.0f, 1.0f, 0.25f), m_xfA);
-		g_draw->DrawSolidShape(m_shapeB, b3Color(1.0f, 1.0f, 1.0f, 0.25f), m_xfB);
+		m_world.DrawSolidShape(m_xfA, m_shapeA, b3Color(1.0f, 1.0f, 1.0f, 0.25f));
+		m_world.DrawSolidShape(m_xfB, m_shapeB, b3Color(1.0f, 1.0f, 1.0f, 0.25f));
 
 		g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
 		g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");
diff --git a/examples/testbed/tests/distance_test.h b/examples/testbed/tests/distance_test.h
index e5ea4ac..4f659c7 100644
--- a/examples/testbed/tests/distance_test.h
+++ b/examples/testbed/tests/distance_test.h
@@ -68,8 +68,8 @@ public:
 		g_draw->DrawTransform(m_xfA);
 		g_draw->DrawTransform(m_xfB);
 		
-		m_world.DrawShape(m_xfA, &m_shapeA);
-		m_world.DrawShape(m_xfB, &m_shapeB);
+		m_world.DrawShape(m_xfA, &m_shapeA, b3Color_black);
+		m_world.DrawShape(m_xfB, &m_shapeB, b3Color_black);
 
 		g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
 		g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");
diff --git a/examples/testbed/tests/shape_cast.h b/examples/testbed/tests/shape_cast.h
index 392ce0c..f08e083 100644
--- a/examples/testbed/tests/shape_cast.h
+++ b/examples/testbed/tests/shape_cast.h
@@ -30,11 +30,11 @@ public:
 		g_draw->DrawTransform(m_xfA);
 		g_draw->DrawTransform(m_xfB);
 
-		m_world.DrawShape(m_xfA, &m_shapeA);
-		m_world.DrawShape(m_xfB, &m_shapeB);
+		m_world.DrawShape(m_xfA, &m_shapeA, b3Color_black);
+		m_world.DrawShape(m_xfB, &m_shapeB, b3Color_black);
 
-		g_draw->DrawSolidShape(&m_shapeA, b3Color_white, m_xfA);
-		g_draw->DrawSolidShape(&m_shapeB, b3Color_white, m_xfB);
+		m_world.DrawSolidShape(m_xfA, &m_shapeA, b3Color_white);
+		m_world.DrawSolidShape(m_xfB, &m_shapeB, b3Color_white);
 
 		b3Vec3 translationB = -100.0f * b3Vec3_x;
 		g_draw->DrawSegment(m_xfB.position, m_xfB.position + translationB, b3Color_white);
@@ -53,7 +53,7 @@ public:
 			xfB.rotation = m_xfB.rotation;
 			xfB.position = m_xfB.position + out.t * translationB;
 
-			m_world.DrawShape(xfB, &m_shapeB);
+			m_world.DrawShape(xfB, &m_shapeB, b3Color_black);
 		}
 	}
 
diff --git a/include/bounce/common/draw.h b/include/bounce/common/draw.h
index c1a3ce7..9030f44 100644
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -95,24 +95,24 @@ public :
 	// Draw a solid circle with center, normal, and radius.
 	virtual void DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color) = 0;
 
-	// Draw a sphere with center and radius.
-	virtual void DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color) = 0;
-
-	// Draw a solid sphere with center and radius.
-	virtual void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Color& color) = 0;
-	
-	// Draw a capsule with segment and radius.
-	virtual void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
-
-	// Draw a solid capsule with segment and radius.
-	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
-
 	// Draw a plane with center, normal and radius.
 	virtual void DrawPlane(const b3Vec3& center, const b3Vec3& normal, float32 radius, const b3Color& color) = 0;
 
 	// Draw a solid plane with center, normal and radius.
 	virtual void DrawSolidPlane(const b3Vec3& center, const b3Vec3& normal, float32 radius, const b3Color& color) = 0;
 
+	// Draw a sphere with center, and radius.
+	virtual void DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color) = 0;
+
+	// Draw a solid sphere with center, radius, and rotation.
+	virtual void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Mat33& rotation, const b3Color& color) = 0;
+	
+	// Draw a capsule with segment, and radius.
+	virtual void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
+
+	// Draw a solid capsule with segment, and radius.
+	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
+
 	// Draw a AABB.
 	virtual void DrawAABB(const b3AABB3& aabb, const b3Color& color) = 0;
 
diff --git a/include/bounce/dynamics/world.h b/include/bounce/dynamics/world.h
index d33a5a8..a60d72d 100644
--- a/include/bounce/dynamics/world.h
+++ b/include/bounce/dynamics/world.h
@@ -22,6 +22,7 @@
 #include <bounce/common/memory/stack_allocator.h>
 #include <bounce/common/memory/block_pool.h>
 #include <bounce/common/template/list.h>
+#include <bounce/common/draw.h>
 #include <bounce/dynamics/time_step.h>
 #include <bounce/dynamics/joint_manager.h>
 #include <bounce/dynamics/contact_manager.h>
@@ -121,9 +122,15 @@ public:
 	// Draw the entities in this world.
 	void Draw() const;
 	
+	// Draw solid the entities in this world.
+	void DrawSolid() const;
+
 	// Draw a shape.
-	void DrawShape(const b3Transform& xf, const b3Shape* shape) const;
-private :
+	void DrawShape(const b3Transform& xf, const b3Shape* shape, const b3Color& color) const;
+
+	// Draw solid a shape.
+	void DrawSolidShape(const b3Transform& xf, const b3Shape* shape, const b3Color& color) const;
+private:
 	enum b3Flags 
 	{
 		e_shapeAddedFlag = 0x0001,
diff --git a/src/bounce/dynamics/draw_world.cpp b/src/bounce/dynamics/draw_world.cpp
index 1d197c8..802b1e4 100644
--- a/src/bounce/dynamics/draw_world.cpp
+++ b/src/bounce/dynamics/draw_world.cpp
@@ -51,7 +51,7 @@ void b3World::Draw() const
 			const b3Transform& xf = b->GetTransform();
 			for (b3Shape* s = b->m_shapeList.m_head; s; s = s->m_next)
 			{
-				DrawShape(xf, s);
+				DrawShape(xf, s, b3Color_black);
 			}
 		}
 	}
@@ -142,16 +142,15 @@ void b3World::Draw() const
 	}
 }
 
-void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
+void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape, const b3Color& color) const
 {
-	b3Color wireColor(0.0f, 0.0f, 0.0f);
 	switch (shape->GetType())
 	{
 	case e_sphereShape:
 	{
 		const b3SphereShape* sphere = (b3SphereShape*)shape;
 		b3Vec3 p = xf * sphere->m_center;
-		b3Draw_draw->DrawPoint(p, 4.0f, wireColor);
+		b3Draw_draw->DrawPoint(p, 4.0f, color);
 		break;
 	}
 	case e_capsuleShape:
@@ -159,9 +158,9 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
 		const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
 		b3Vec3 p1 = xf * capsule->m_centers[0];
 		b3Vec3 p2 = xf * capsule->m_centers[1];
-		b3Draw_draw->DrawPoint(p1, 4.0f, wireColor);
-		b3Draw_draw->DrawPoint(p2, 4.0f, wireColor);
-		b3Draw_draw->DrawSegment(p1, p2, wireColor);
+		b3Draw_draw->DrawPoint(p1, 4.0f, color);
+		b3Draw_draw->DrawPoint(p2, 4.0f, color);
+		b3Draw_draw->DrawSegment(p1, p2, color);
 		break;
 	}
 	case e_hullShape:
@@ -176,7 +175,7 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
 			b3Vec3 p1 = xf * hull->vertices[edge->origin];
 			b3Vec3 p2 = xf * hull->vertices[twin->origin];
 
-			b3Draw_draw->DrawSegment(p1, p2, wireColor);
+			b3Draw_draw->DrawSegment(p1, p2, color);
 		}
 		break;
 	}
@@ -192,7 +191,7 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
 			b3Vec3 p2 = xf * mesh->vertices[t->v2];
 			b3Vec3 p3 = xf * mesh->vertices[t->v3];
 
-			b3Draw_draw->DrawTriangle(p1, p2, p3, wireColor);
+			b3Draw_draw->DrawTriangle(p1, p2, p3, color);
 		}
 		break;
 	}
@@ -201,4 +200,122 @@ void b3World::DrawShape(const b3Transform& xf, const b3Shape* shape) const
 		break;
 	}
 	};
+}
+
+void b3World::DrawSolid() const
+{
+	for (b3Body* b = m_bodyList.m_head; b; b = b->GetNext())
+	{
+		b3Color c;
+		if (b->IsAwake() == false)
+		{
+			c = b3Color(0.5f, 0.25f, 0.25f, 1.0f);
+		}
+		else if (b->GetType() == e_staticBody)
+		{
+			c = b3Color(0.5f, 0.5f, 0.5f, 1.0f);
+		}
+		else if (b->GetType() == e_dynamicBody)
+		{
+			c = b3Color(1.0f, 0.5f, 0.5f, 1.0f);
+		}
+		else
+		{
+			c = b3Color(0.5f, 0.5f, 1.0f, 1.0f);
+		}
+
+		b3Transform xf = b->GetTransform();
+		for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
+		{
+			DrawSolidShape(xf, s, c);
+		}
+	}
+}
+
+void b3World::DrawSolidShape(const b3Transform& xf, const b3Shape* shape, const b3Color& color) const
+{
+	switch (shape->GetType())
+	{
+	case e_sphereShape:
+	{
+		const b3SphereShape* sphere = (b3SphereShape*)shape;
+
+		b3Vec3 center = xf * sphere->m_center;
+		
+		b3Draw_draw->DrawSolidSphere(center, sphere->m_radius, xf.rotation, color);
+
+		break;
+	}
+	case e_capsuleShape:
+	{
+		const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
+
+		b3Vec3 c1 = xf * capsule->m_centers[0];
+		b3Vec3 c2 = xf * capsule->m_centers[1];
+
+		b3Draw_draw->DrawSolidCapsule(c1, c2, capsule->m_radius, color);
+
+		break;
+	}
+	case e_hullShape:
+	{
+		const b3HullShape* hullShape = (b3HullShape*)shape;
+
+		const b3Hull* hull = hullShape->m_hull;
+
+		for (u32 i = 0; i < hull->faceCount; ++i)
+		{
+			const b3Face* face = hull->GetFace(i);
+			const b3HalfEdge* begin = hull->GetEdge(face->edge);
+
+			b3Vec3 n = xf.rotation * hull->planes[i].normal;
+
+			const b3HalfEdge* edge = hull->GetEdge(begin->next);
+			do
+			{
+				u32 i1 = begin->origin;
+				u32 i2 = edge->origin;
+				const b3HalfEdge* next = hull->GetEdge(edge->next);
+				u32 i3 = next->origin;
+
+				b3Vec3 p1 = xf * hull->vertices[i1];
+				b3Vec3 p2 = xf * hull->vertices[i2];
+				b3Vec3 p3 = xf * hull->vertices[i3];
+
+				b3Draw_draw->DrawSolidTriangle(n, p1, p2, p3, color);
+
+				edge = next;
+			} while (hull->GetEdge(edge->next) != begin);
+		}
+
+		break;
+	}
+	case e_meshShape:
+	{
+		const b3MeshShape* meshShape = (b3MeshShape*)shape;
+
+		const b3Mesh* mesh = meshShape->m_mesh;
+		for (u32 i = 0; i < mesh->triangleCount; ++i)
+		{
+			const b3Triangle* t = mesh->triangles + i;
+
+			b3Vec3 p1 = xf * mesh->vertices[t->v1];
+			b3Vec3 p2 = xf * mesh->vertices[t->v2];
+			b3Vec3 p3 = xf * mesh->vertices[t->v3];
+
+			b3Vec3 n1 = b3Cross(p2 - p1, p3 - p1);
+			n1.Normalize();
+			b3Draw_draw->DrawSolidTriangle(n1, p1, p2, p3, color);
+
+			b3Vec3 n2 = -n1;
+			b3Draw_draw->DrawSolidTriangle(n2, p3, p2, p1, color);
+		}
+
+		break;
+	}
+	default:
+	{
+		break;
+	}
+	};
 }
\ No newline at end of file
diff --git a/src/bounce/rope/rope.cpp b/src/bounce/rope/rope.cpp
index 38824d7..d74582d 100644
--- a/src/bounce/rope/rope.cpp
+++ b/src/bounce/rope/rope.cpp
@@ -480,7 +480,7 @@ void b3Rope::Draw() const
 		b3RopeBody* b = m_links;
 		
 		b3Draw_draw->DrawTransform(b->m_X);
-		b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b3Color_green);
+		b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b->m_X.rotation, b3Color_green);
 	}
 
 	for (u32 i = 1; i < m_count; ++i)
@@ -498,6 +498,6 @@ void b3Rope::Draw() const
 		b3Draw_draw->DrawPoint(X_J0.position, 5.0f, b3Color_red);
 
 		b3Draw_draw->DrawTransform(b->m_X);
-		b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b3Color_green);
+		b3Draw_draw->DrawSolidSphere(b->m_X.position, 0.2f, b->m_X.rotation, b3Color_green);
 	}
 }
\ No newline at end of file

From 53e1f3a0be60f25a5dcce0b5e4a0a87097c4403e Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 4 Jun 2019 21:35:11 -0300
Subject: [PATCH 131/198] Bugfix

---
 examples/testbed/framework/draw.cpp | 26 +++++++++++++-------------
 examples/testbed/framework/draw.h   |  2 +-
 include/bounce/common/draw.h        |  4 ++--
 src/bounce/dynamics/draw_world.cpp  |  5 +----
 4 files changed, 17 insertions(+), 20 deletions(-)

diff --git a/examples/testbed/framework/draw.cpp b/examples/testbed/framework/draw.cpp
index fe1e305..c3c431a 100644
--- a/examples/testbed/framework/draw.cpp
+++ b/examples/testbed/framework/draw.cpp
@@ -341,15 +341,15 @@ void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const
 	}
 }
 
-void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Color& c)
+void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Transform& transform, const b3Color& c)
 {
 	float32 height = b3Length(c1 - c2);
 
 	{
-		b3Transform xfc;
-		xfc.rotation.SetIdentity();
-		xfc.position = c1;
-		m_solid->DrawSphere(radius, c, xfc);
+		b3Transform xf;
+		xf.rotation = transform.rotation;
+		xf.position = transform * c1;
+		m_solid->DrawSphere(radius, c, xf);
 	}
 
 	if (height > 0.0f)
@@ -360,18 +360,18 @@ void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius,
 			R.z = b3Perp(R.y);
 			R.x = b3Cross(R.y, R.z);
 
-			b3Transform xfc;
-			xfc.position = 0.5f * (c1 + c2);
-			xfc.rotation = R;
+			b3Transform xf;
+			xf.position = transform * (0.5f * (c1 + c2));
+			xf.rotation = transform.rotation * R;
 
-			m_solid->DrawCylinder(radius, height, c, xfc);
+			m_solid->DrawCylinder(radius, height, c, xf);
 		}
 
 		{
-			b3Transform xfc;
-			xfc.rotation.SetIdentity();
-			xfc.position = c2;
-			m_solid->DrawSphere(radius, c, xfc);
+			b3Transform xf;
+			xf.rotation = transform.rotation;
+			xf.position = transform * c2;
+			m_solid->DrawSphere(radius, c, xf);
 		}
 	}
 }
diff --git a/examples/testbed/framework/draw.h b/examples/testbed/framework/draw.h
index 4f5bda4..34b8551 100644
--- a/examples/testbed/framework/draw.h
+++ b/examples/testbed/framework/draw.h
@@ -89,7 +89,7 @@ public:
 
 	void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
 
-	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
+	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Transform& transform, const b3Color& color);
 
 	void DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
 
diff --git a/include/bounce/common/draw.h b/include/bounce/common/draw.h
index 9030f44..adb6028 100644
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -110,8 +110,8 @@ public :
 	// Draw a capsule with segment, and radius.
 	virtual void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
 
-	// Draw a solid capsule with segment, and radius.
-	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
+	// Draw a solid capsule with local segment, radius, and transform.
+	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Transform& transform, const b3Color& color) = 0;
 
 	// Draw a AABB.
 	virtual void DrawAABB(const b3AABB3& aabb, const b3Color& color) = 0;
diff --git a/src/bounce/dynamics/draw_world.cpp b/src/bounce/dynamics/draw_world.cpp
index 802b1e4..741286f 100644
--- a/src/bounce/dynamics/draw_world.cpp
+++ b/src/bounce/dynamics/draw_world.cpp
@@ -250,10 +250,7 @@ void b3World::DrawSolidShape(const b3Transform& xf, const b3Shape* shape, const
 	{
 		const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
 
-		b3Vec3 c1 = xf * capsule->m_centers[0];
-		b3Vec3 c2 = xf * capsule->m_centers[1];
-
-		b3Draw_draw->DrawSolidCapsule(c1, c2, capsule->m_radius, color);
+		b3Draw_draw->DrawSolidCapsule(capsule->m_centers[0], capsule->m_centers[1], capsule->m_radius, xf, color);
 
 		break;
 	}

From b277b8b588bd6cceade08346aec8445ca24abf5b Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 4 Jun 2019 21:47:01 -0300
Subject: [PATCH 132/198] Draw capsule in world space

---
 examples/testbed/framework/draw.cpp | 17 ++++++++---------
 examples/testbed/framework/draw.h   |  2 +-
 include/bounce/common/draw.h        |  4 ++--
 src/bounce/dynamics/draw_world.cpp  |  5 ++++-
 4 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/examples/testbed/framework/draw.cpp b/examples/testbed/framework/draw.cpp
index c3c431a..b1056cc 100644
--- a/examples/testbed/framework/draw.cpp
+++ b/examples/testbed/framework/draw.cpp
@@ -341,14 +341,14 @@ void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const
 	}
 }
 
-void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Transform& transform, const b3Color& c)
+void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Mat33& rotation, const b3Color& c)
 {
 	float32 height = b3Length(c1 - c2);
 
 	{
 		b3Transform xf;
-		xf.rotation = transform.rotation;
-		xf.position = transform * c1;
+		xf.rotation = rotation;
+		xf.position = c1;
 		m_solid->DrawSphere(radius, c, xf);
 	}
 
@@ -357,20 +357,19 @@ void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius,
 		{
 			b3Mat33 R;
 			R.y = (1.0f / height) * (c1 - c2);
-			R.z = b3Perp(R.y);
-			R.x = b3Cross(R.y, R.z);
+			b3ComputeBasis(R.y, R.z, R.x);
 
 			b3Transform xf;
-			xf.position = transform * (0.5f * (c1 + c2));
-			xf.rotation = transform.rotation * R;
+			xf.position = (0.5f * (c1 + c2));
+			xf.rotation = R;
 
 			m_solid->DrawCylinder(radius, height, c, xf);
 		}
 
 		{
 			b3Transform xf;
-			xf.rotation = transform.rotation;
-			xf.position = transform * c2;
+			xf.rotation = rotation;
+			xf.position = c2;
 			m_solid->DrawSphere(radius, c, xf);
 		}
 	}
diff --git a/examples/testbed/framework/draw.h b/examples/testbed/framework/draw.h
index 34b8551..32acb8f 100644
--- a/examples/testbed/framework/draw.h
+++ b/examples/testbed/framework/draw.h
@@ -89,7 +89,7 @@ public:
 
 	void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
 
-	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Transform& transform, const b3Color& color);
+	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Mat33& rotation, const b3Color& color);
 
 	void DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
 
diff --git a/include/bounce/common/draw.h b/include/bounce/common/draw.h
index adb6028..7865711 100644
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -110,8 +110,8 @@ public :
 	// Draw a capsule with segment, and radius.
 	virtual void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
 
-	// Draw a solid capsule with local segment, radius, and transform.
-	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Transform& transform, const b3Color& color) = 0;
+	// Draw a solid capsule with local segment, radius, and rotation.
+	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Mat33& rotation, const b3Color& color) = 0;
 
 	// Draw a AABB.
 	virtual void DrawAABB(const b3AABB3& aabb, const b3Color& color) = 0;
diff --git a/src/bounce/dynamics/draw_world.cpp b/src/bounce/dynamics/draw_world.cpp
index 741286f..5bd5477 100644
--- a/src/bounce/dynamics/draw_world.cpp
+++ b/src/bounce/dynamics/draw_world.cpp
@@ -250,7 +250,10 @@ void b3World::DrawSolidShape(const b3Transform& xf, const b3Shape* shape, const
 	{
 		const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
 
-		b3Draw_draw->DrawSolidCapsule(capsule->m_centers[0], capsule->m_centers[1], capsule->m_radius, xf, color);
+		b3Vec3 c1 = xf * capsule->m_centers[0];
+		b3Vec3 c2 = xf * capsule->m_centers[1];
+
+		b3Draw_draw->DrawSolidCapsule(c1, c2, capsule->m_radius, xf.rotation, color);
 
 		break;
 	}

From bb3156c3289c4edfdc71cfa93e40acdc1452ddb2 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 4 Jun 2019 21:47:22 -0300
Subject: [PATCH 133/198] Update draw.h

---
 include/bounce/common/draw.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/bounce/common/draw.h b/include/bounce/common/draw.h
index 7865711..7a78162 100644
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -110,7 +110,7 @@ public :
 	// Draw a capsule with segment, and radius.
 	virtual void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
 
-	// Draw a solid capsule with local segment, radius, and rotation.
+	// Draw a solid capsule with segment, radius, and rotation.
 	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Mat33& rotation, const b3Color& color) = 0;
 
 	// Draw a AABB.

From b3c2fcf3f899298b345982058e16af2db296b8de Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 5 Jun 2019 08:59:58 -0300
Subject: [PATCH 134/198] Silence Triangle

---
 src/bounce/cloth/garment/garment_mesh.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/bounce/cloth/garment/garment_mesh.cpp b/src/bounce/cloth/garment/garment_mesh.cpp
index b42be19..394eab3 100644
--- a/src/bounce/cloth/garment/garment_mesh.cpp
+++ b/src/bounce/cloth/garment/garment_mesh.cpp
@@ -106,10 +106,11 @@ static void b3Set(b3SewingPatternMesh* mesh, float32 desiredArea, const b3Sewing
 	mid.segmentmarkerlist = NULL;
 
 	// Run triangulation
+	// Q - quiet
 	// z - zero based indices
 	// p - PSLG
 	// c - preserve the convex hull
-	triangulate("zpc", &in, &mid, NULL);
+	triangulate("Qzpc", &in, &mid, NULL);
 
 	// Refine
 
@@ -131,11 +132,12 @@ static void b3Set(b3SewingPatternMesh* mesh, float32 desiredArea, const b3Sewing
 	out.segmentmarkerlist = NULL;
 
 	// Run triangulation
+	// Q - quiet
 	// z - zero based indices
 	// p - PSLG
 	// c - preserve the convex hull
 	// r - read triangles
-	triangulate("zpcra", &mid, &out, NULL);
+	triangulate("Qzpcra", &mid, &out, NULL);
 
 	// The first vertices of the output structure must be the vertices of the input structure.
 	for (int i = 0; i < in.numberofpoints; ++i)

From 2e9a8d7b249cbd7470fb0332bffe04733d3065f5 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 5 Jun 2019 09:00:15 -0300
Subject: [PATCH 135/198] Code consistency

---
 examples/testbed/framework/draw.cpp | 28 ++++++++++++----------------
 1 file changed, 12 insertions(+), 16 deletions(-)

diff --git a/examples/testbed/framework/draw.cpp b/examples/testbed/framework/draw.cpp
index b1056cc..ba206e6 100644
--- a/examples/testbed/framework/draw.cpp
+++ b/examples/testbed/framework/draw.cpp
@@ -322,10 +322,10 @@ void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const
 	float32 height = b3Length(c1 - c2);
 
 	{
-		b3Transform xfc;
-		xfc.rotation.SetIdentity();
-		xfc.position = c1;
-		m_wire->DrawSphere(radius, color, xfc);
+		b3Transform xf;
+		xf.rotation.SetIdentity();
+		xf.position = c1;
+		m_wire->DrawSphere(radius, color, xf);
 	}
 
 	if (height > 0.0f)
@@ -333,10 +333,10 @@ void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const
 		DrawSegment(c1, c2, color);
 
 		{
-			b3Transform xfc;
-			xfc.rotation.SetIdentity();
-			xfc.position = c2;
-			m_wire->DrawSphere(radius, color, xfc);
+			b3Transform xf;
+			xf.rotation.SetIdentity();
+			xf.position = c2;
+			m_wire->DrawSphere(radius, color, xf);
 		}
 	}
 }
@@ -360,7 +360,7 @@ void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius,
 			b3ComputeBasis(R.y, R.z, R.x);
 
 			b3Transform xf;
-			xf.position = (0.5f * (c1 + c2));
+			xf.position = 0.5f * (c1 + c2);
 			xf.rotation = R;
 
 			m_solid->DrawCylinder(radius, height, c, xf);
@@ -379,10 +379,6 @@ void Draw::DrawTransform(const b3Transform& xf)
 {
 	float32 lenght = 1.0f;
 
-	b3Color red(1.0f, 0.0f, 0.0f, 1.0f);
-	b3Color green(0.0f, 1.0f, 0.0f, 1.0f);
-	b3Color blue(0.0f, 0.0f, 1.0f, 1.0f);
-
 	b3Vec3 position = xf.position;
 	b3Mat33 rotation = xf.rotation;
 
@@ -390,9 +386,9 @@ void Draw::DrawTransform(const b3Transform& xf)
 	b3Vec3 B = position + lenght * rotation.y;
 	b3Vec3 C = position + lenght * rotation.z;
 
-	DrawSegment(position, A, red);
-	DrawSegment(position, B, green);
-	DrawSegment(position, C, blue);
+	DrawSegment(position, A, b3Color_red);
+	DrawSegment(position, B, b3Color_green);
+	DrawSegment(position, C, b3Color_blue);
 }
 
 void Draw::DrawAABB(const b3AABB3& aabb, const b3Color& color)

From ad254c77c8c6fae99cee7db6e2f46ddd57a31bf1 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 5 Jun 2019 11:30:24 -0300
Subject: [PATCH 136/198] Ensure not deleting a mesh particle

---
 src/bounce/cloth/cloth.cpp | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 84151dd..0550732 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -247,9 +247,6 @@ b3Cloth::~b3Cloth()
 	{
 		b3Particle* p0 = p;
 		p = p->m_next;
-		
-		m_particleTree.RemoveNode(p0->m_treeId);
-
 		p0->~b3Particle();
 	}
 
@@ -282,10 +279,7 @@ b3Particle* b3Cloth::CreateParticle(const b3ParticleDef& def)
 
 void b3Cloth::DestroyParticle(b3Particle* particle)
 {
-	if (particle->m_vertex != ~0)
-	{
-		m_vertexParticles[particle->m_vertex] = NULL;
-	}
+	B3_ASSERT(particle->m_vertex == ~0);
 
 	m_particleTree.RemoveNode(particle->m_treeId);
 

From 5ee66d645ef5f787974ada823fa0b56b0d3b0b8b Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 5 Jun 2019 13:48:37 -0300
Subject: [PATCH 137/198] Remove include

---
 examples/testbed/framework/cloth_dragger.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/examples/testbed/framework/cloth_dragger.cpp b/examples/testbed/framework/cloth_dragger.cpp
index e05d447..ad18319 100644
--- a/examples/testbed/framework/cloth_dragger.cpp
+++ b/examples/testbed/framework/cloth_dragger.cpp
@@ -17,7 +17,6 @@
 */
 
 #include <testbed/framework/cloth_dragger.h>
-#include <bounce/common/draw.h>
 
 b3ClothDragger::b3ClothDragger(b3Ray3* ray, b3Cloth* cloth)
 {

From 07ee080310cc6aa3fa982fccdc75552f63dae1b1 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 5 Jun 2019 13:49:40 -0300
Subject: [PATCH 138/198] Remove particle forces if it gets destroyed

---
 include/bounce/cloth/force.h        |  3 +++
 include/bounce/cloth/spring_force.h |  7 +++++++
 src/bounce/cloth/cloth.cpp          | 16 ++++++++++++++--
 3 files changed, 24 insertions(+), 2 deletions(-)

diff --git a/include/bounce/cloth/force.h b/include/bounce/cloth/force.h
index 04c456f..9e9132f 100644
--- a/include/bounce/cloth/force.h
+++ b/include/bounce/cloth/force.h
@@ -46,6 +46,9 @@ public:
 
 	//
 	b3Force* GetNext();
+
+	//
+	virtual bool HasParticle(const b3Particle* particle) const = 0;
 protected:
 	friend class b3List2<b3Force>;
 	friend class b3Cloth;
diff --git a/include/bounce/cloth/spring_force.h b/include/bounce/cloth/spring_force.h
index aee0425..f7da89f 100644
--- a/include/bounce/cloth/spring_force.h
+++ b/include/bounce/cloth/spring_force.h
@@ -67,6 +67,8 @@ public:
 	float32 GetDampingStiffness() const;
 
 	b3Vec3 GetActionForce() const;
+
+	bool HasParticle(const b3Particle* particle) const;
 private:
 	friend class b3Force;
 	friend class b3Cloth;
@@ -127,4 +129,9 @@ inline b3Vec3 b3SpringForce::GetActionForce() const
 	return m_f;
 }
 
+inline bool b3SpringForce::HasParticle(const b3Particle* particle) const
+{
+	return m_p1 == particle || m_p2 == particle;
+}
+
 #endif
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 0550732..85b12dd 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -257,8 +257,7 @@ b3Cloth::~b3Cloth()
 	{
 		b3Force* f0 = f;
 		f = f->m_next;
-		f0->~b3Force();
-		b3Free(f0);
+		b3Force::Destroy(f0);
 	}
 }
 
@@ -280,6 +279,19 @@ b3Particle* b3Cloth::CreateParticle(const b3ParticleDef& def)
 void b3Cloth::DestroyParticle(b3Particle* particle)
 {
 	B3_ASSERT(particle->m_vertex == ~0);
+	
+	b3Force* f = m_forceList.m_head;
+	while (f)
+	{
+		b3Force* f0 = f;
+		f = f->m_next;
+		
+		if (f0->HasParticle(particle))
+		{
+			m_forceList.Remove(f0);
+			b3Force::Destroy(f0);
+		}
+	}
 
 	m_particleTree.RemoveNode(particle->m_treeId);
 

From 7b4795f0a3bca12fc90179ea0e4973c71a40c09c Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 9 Jun 2019 15:38:19 -0300
Subject: [PATCH 139/198] Set B using only E^-1

---
 src/bounce/softbody/softbody.cpp | 89 ++++++++++++++++++--------------
 1 file changed, 49 insertions(+), 40 deletions(-)

diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 3bd7119..6dc6b94 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -62,7 +62,8 @@ static B3_FORCE_INLINE void b3Transpose(float32* B, float32* A, u32 AM, u32 AN)
 
 // Compute the elasticity matrix given Young modulus and Poisson's ratio
 // This is a 6 x 6 matrix 
-static B3_FORCE_INLINE void b3ComputeD(float32 out[36], float32 E, float32 nu)
+static B3_FORCE_INLINE void b3ComputeD(float32 out[36], 
+	float32 E, float32 nu)
 {
 	float32 lambda = (nu * E) / ((1 + nu) * (1 - 2 * nu));
 	float32 mu = E / (2 * (1 + nu));
@@ -90,47 +91,55 @@ static B3_FORCE_INLINE void b3ComputeD(float32 out[36], float32 E, float32 nu)
 // can be found here:
 // https://github.com/erleben/OpenTissue/blob/master/OpenTissue/dynamics/fem/fem_compute_b.h
 static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
-	const b3Vec3& e10,
-	const b3Vec3& e20,
-	const b3Vec3& e30,
-	float32 V)
+	const b3Mat33& invE)
 {
-	float32 inv6V = 1.0f / (6.0f * V);
+	// cofactor = det(E)^-1 * cofactor(E)
+	b3Mat33 cofactor = b3Transpose(invE);
 
-	b3Vec3 B[4];
+	// minor = det(E)^-1 * minor(E)
+	b3Mat33 minor;
 
-	B[1][0] = (e20[2] * e30[1] - e20[1] * e30[2]) * inv6V;
-	B[2][0] = (e10[1] * e30[2] - e10[2] * e30[1]) * inv6V;
-	B[3][0] = (e10[2] * e20[1] - e10[1] * e20[2]) * inv6V;
-	B[0][0] = -B[1][0] - B[2][0] - B[3][0];
+	minor.x.x = cofactor.x.x;
+	minor.x.y = -cofactor.x.y;
+	minor.x.z = cofactor.x.z;
 
-	B[1][1] = (e20[0] * e30[2] - e20[2] * e30[0]) * inv6V;
-	B[2][1] = (e10[2] * e30[0] - e10[0] * e30[2]) * inv6V;
-	B[3][1] = (e10[0] * e20[2] - e10[2] * e20[0]) * inv6V;
-	B[0][1] = -B[1][1] - B[2][1] - B[3][1];
+	minor.y.x = -cofactor.y.x;
+	minor.y.y = cofactor.y.y;
+	minor.y.z = -cofactor.y.z;
 
-	B[1][2] = (e20[1] * e30[0] - e20[0] * e30[1]) * inv6V;
-	B[2][2] = (e10[0] * e30[1] - e10[1] * e30[0]) * inv6V;
-	B[3][2] = (e10[1] * e20[0] - e10[0] * e20[1]) * inv6V;
-	B[0][2] = -B[1][2] - B[2][2] - B[3][2];
+	minor.z.x = cofactor.z.x;
+	minor.z.y = -cofactor.z.y;
+	minor.z.z = cofactor.z.z;
 
-	float32 b1 = B[0].x;
-	float32 c1 = B[0].y;
-	float32 d1 = B[0].z;
+	float32 e11 = -minor.x.x; // -det(E)^-1 * det(E_11)
+	float32 e12 = minor.y.x; //   det(E)^-1 * det(E_12) 
+	float32 e13 = -minor.z.x; // -det(E)^-1 * det(E_13)
 
-	float32 b2 = B[1].x;
-	float32 c2 = B[1].y;
-	float32 d2 = B[1].z;
-	
-	float32 b3 = B[2].x;
-	float32 c3 = B[2].y;
-	float32 d3 = B[2].z;
+	float32 e21 = minor.x.y; //   det(E)^-1 * det(E_21)
+	float32 e22 = -minor.y.y; // -det(E)^-1 * det(E_22)
+	float32 e23 = minor.z.y; //  -det(E)^-1 * det(E_23)
 
-	float32 b4 = B[3].x;
-	float32 c4 = B[3].y;
-	float32 d4 = B[3].z;
+	float32 e31 = -minor.x.z; // -det(E)^-1 * det(E_31)
+	float32 e32 = minor.y.z; //   det(E)^-1 * det(E_32) 
+	float32 e33 = -minor.z.z; // -det(E)^-1 * det(E_33)
 
-	float32 B_out[72] =
+	float32 b1 = -e11 - e12 - e13;
+	float32 c1 = -e21 - e22 - e23;
+	float32 d1 = -e31 - e32 - e33;
+
+	float32 b2 = e11;
+	float32 c2 = e21;
+	float32 d2 = e31;
+
+	float32 b3 = e12;
+	float32 c3 = e22;
+	float32 d3 = e32;
+
+	float32 b4 = e13;
+	float32 c4 = e23;
+	float32 d4 = e33;
+
+	float32 B[72] =
 	{
 		b1, 0, 0, c1, d1, 0,
 		0, c1, 0, b1, 0, d1,
@@ -151,7 +160,7 @@ static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
 
 	for (u32 i = 0; i < 72; ++i)
 	{
-		out[i] = B_out[i];
+		out[i] = B[i];
 	}
 }
 
@@ -521,7 +530,7 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 
 		// 6 x 12
 		float32* B = e->B;
-		b3ComputeB(B, e1, e2, e3, V);
+		b3ComputeB(B, e->invE);
 
 		// 12 x 6
 		float32 BT[72];
@@ -878,7 +887,7 @@ void b3SoftBody::Draw() const
 		{
 			b3Draw_draw->DrawPoint(v, 4.0f, b3Color_blue);
 		}
-		
+
 		if (n->m_type == e_dynamicSoftBodyNode)
 		{
 			b3Draw_draw->DrawPoint(v, 4.0f, b3Color_green);
@@ -905,28 +914,28 @@ void b3SoftBody::Draw() const
 
 		// v1, v2, v3
 		b3Draw_draw->DrawTriangle(v1, v2, v3, b3Color_black);
-		
+
 		b3Vec3 n1 = b3Cross(v2 - v1, v3 - v1);
 		n1.Normalize();
 		b3Draw_draw->DrawSolidTriangle(-n1, v1, v2, v3, b3Color_blue);
 
 		// v1, v3, v4
 		b3Draw_draw->DrawTriangle(v1, v3, v4, b3Color_black);
-		
+
 		b3Vec3 n2 = b3Cross(v3 - v1, v4 - v1);
 		n2.Normalize();
 		b3Draw_draw->DrawSolidTriangle(-n2, v1, v3, v4, b3Color_blue);
 
 		// v1, v4, v2
 		b3Draw_draw->DrawTriangle(v1, v4, v2, b3Color_black);
-		
+
 		b3Vec3 n3 = b3Cross(v4 - v1, v2 - v1);
 		n3.Normalize();
 		b3Draw_draw->DrawSolidTriangle(-n3, v1, v4, v2, b3Color_blue);
 
 		// v2, v4, v3
 		b3Draw_draw->DrawTriangle(v2, v4, v3, b3Color_black);
-		
+
 		b3Vec3 n4 = b3Cross(v4 - v2, v3 - v2);
 		n4.Normalize();
 		b3Draw_draw->DrawSolidTriangle(-n4, v2, v4, v3, b3Color_blue);

From 80aa6b6b7f07562afd6229ab05080060ca1273d3 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 9 Jun 2019 15:40:35 -0300
Subject: [PATCH 140/198] Comment

---
 src/bounce/softbody/softbody.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 6dc6b94..408338b 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -117,7 +117,7 @@ static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
 
 	float32 e21 = minor.x.y; //   det(E)^-1 * det(E_21)
 	float32 e22 = -minor.y.y; // -det(E)^-1 * det(E_22)
-	float32 e23 = minor.z.y; //  -det(E)^-1 * det(E_23)
+	float32 e23 = minor.z.y; //   det(E)^-1 * det(E_23)
 
 	float32 e31 = -minor.x.z; // -det(E)^-1 * det(E_31)
 	float32 e32 = minor.y.z; //   det(E)^-1 * det(E_32) 

From 00819d015a46d9ae585dcd30578c20b98c613adf Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 11 Jun 2019 22:19:04 -0300
Subject: [PATCH 141/198] Pass color to shader

---
 examples/testbed/framework/draw_gl2.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/examples/testbed/framework/draw_gl2.h b/examples/testbed/framework/draw_gl2.h
index f2166c7..16dd8fe 100644
--- a/examples/testbed/framework/draw_gl2.h
+++ b/examples/testbed/framework/draw_gl2.h
@@ -625,6 +625,7 @@ struct DrawWire
 		b3Mat44 m3 = g_glProjectionMatrix;
 		b3Mat44 m = m3 * m2 * m1;
 
+		glUniform4fv(m_colorUniform, 1, &c.r);
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_sphere.m_vboId);

From cb492f7d51fcd2855e0969618fd969b5de78e487 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 12 Jun 2019 17:39:57 -0300
Subject: [PATCH 142/198] Unbuffer move if proxy gets destroyed

---
 include/bounce/collision/broad_phase.h      | 25 +++++++--
 src/bounce/collision/broad_phase.cpp        | 60 ++++++++++++++-------
 src/bounce/collision/trees/dynamic_tree.cpp |  3 ++
 src/bounce/dynamics/body.cpp                |  2 +-
 4 files changed, 65 insertions(+), 25 deletions(-)

diff --git a/include/bounce/collision/broad_phase.h b/include/bounce/collision/broad_phase.h
index b9483a2..9c37a6e 100644
--- a/include/bounce/collision/broad_phase.h
+++ b/include/bounce/collision/broad_phase.h
@@ -22,6 +22,8 @@
 #include <bounce/collision/trees/dynamic_tree.h>
 #include <algorithm>
 
+#define B3_NULL_PROXY (0xFFFFFFFF)
+
 // A pair of broad-phase proxies.
 struct b3Pair
 {
@@ -49,9 +51,8 @@ public:
 	// Return true if the proxy has moved.
 	bool MoveProxy(u32 proxyId, const b3AABB3& aabb, const b3Vec3& displacement);
 
-	// Add a proxy to the list of moved proxies.
-	// Only moved proxies will be used internally as an AABB query reference object.
-	void BufferMove(u32 proxyId);
+	// Force move the proxy
+	void TouchProxy(u32 proxyId);
 
 	// Get the AABB of a given proxy.
 	const b3AABB3& GetAABB(u32 proxyId) const;
@@ -59,6 +60,9 @@ public:
 	// Get the user data attached to a proxy.
 	void* GetUserData(u32 proxyId) const;
 
+	// Get the number of proxies.
+	u32 GetProxyCount() const;
+
 	// Test if two proxy AABBs are overlapping.
 	bool TestOverlap(u32 proxy1, u32 proxy2) const;
 	
@@ -81,6 +85,9 @@ public:
 	void Draw() const;
 private :
 	friend class b3DynamicTree;
+
+	void BufferMove(u32 proxyId);
+	void UnbufferMove(u32 proxyId);
 	
 	// The client callback used to add an overlapping pair
 	// to the overlapping pair buffer.
@@ -89,6 +96,9 @@ private :
 	// The dynamic tree.
 	b3DynamicTree m_tree;
 
+	// Number of proxies
+	u32 m_proxyCount;
+
 	// The current proxy being queried for overlap with another proxies. 
 	// It is used to avoid a proxy overlap with itself.
 	u32 m_queryProxyId;
@@ -114,6 +124,11 @@ inline void* b3BroadPhase::GetUserData(u32 proxyId) const
 	return m_tree.GetUserData(proxyId);
 }
 
+inline u32 b3BroadPhase::GetProxyCount() const
+{
+	return m_proxyCount;
+}
+
 template<class T>
 inline void b3BroadPhase::QueryAABB(T* callback, const b3AABB3& aabb) const 
 {
@@ -152,8 +167,10 @@ inline void b3BroadPhase::FindPairs(T* callback)
 	{
 		// Keep the current queried proxy ID to avoid self overlapping.
 		m_queryProxyId = m_moveBuffer[i];
-		if (m_queryProxyId == B3_NULL_NODE_D) 
+
+		if (m_queryProxyId == B3_NULL_PROXY)
 		{
+			// Proxy was unbuffered
 			continue;
 		}
 
diff --git a/src/bounce/collision/broad_phase.cpp b/src/bounce/collision/broad_phase.cpp
index 58c1212..6f0d5bb 100644
--- a/src/bounce/collision/broad_phase.cpp
+++ b/src/bounce/collision/broad_phase.cpp
@@ -20,6 +20,8 @@
 
 b3BroadPhase::b3BroadPhase() 
 {
+	m_proxyCount = 0;
+
 	m_moveBufferCapacity = 16;
 	m_moveBuffer = (u32*)b3Alloc(m_moveBufferCapacity * sizeof(u32));
 	memset(m_moveBuffer, 0, m_moveBufferCapacity * sizeof(u32));
@@ -57,6 +59,17 @@ void b3BroadPhase::BufferMove(u32 proxyId)
 	++m_moveBufferCount;
 }
 
+void b3BroadPhase::UnbufferMove(u32 proxyId)
+{
+	for (u32 i = 0; i < m_moveBufferCount; ++i)
+	{
+		if (m_moveBuffer[i] == proxyId)
+		{
+			m_moveBuffer[i] = B3_NULL_PROXY;
+		}
+	}
+}
+
 bool b3BroadPhase::TestOverlap(u32 proxy1, u32 proxy2) const 
 {
 	return m_tree.TestOverlap(proxy1, proxy2);
@@ -64,20 +77,23 @@ bool b3BroadPhase::TestOverlap(u32 proxy1, u32 proxy2) const
 
 u32 b3BroadPhase::CreateProxy(const b3AABB3& aabb, void* userData) 
 {
-	// Later, if the node aabb has changed then it should be reinserted into the tree.
-	// However, this can be expansive due to the hierarchy reconstruction.
-	// Therefore, the original AABB is extended and inserted into the tree,
-	// so we can check later if the new (original) AABB is inside the old (fat) AABB.
 	b3AABB3 fatAABB = aabb;
 	fatAABB.Extend(B3_AABB_EXTENSION);	
+	
 	u32 proxyId = m_tree.InsertNode(fatAABB, userData);
+	
+	++m_proxyCount;
+	
 	BufferMove(proxyId);
+
 	return proxyId;
 }
 
 void b3BroadPhase::DestroyProxy(u32 proxyId) 
 {
-	return m_tree.RemoveNode(proxyId);
+	UnbufferMove(proxyId);
+	--m_proxyCount;
+	m_tree.RemoveNode(proxyId);
 }
 
 bool b3BroadPhase::MoveProxy(u32 proxyId, const b3AABB3& aabb, const b3Vec3& displacement)
@@ -88,39 +104,38 @@ bool b3BroadPhase::MoveProxy(u32 proxyId, const b3AABB3& aabb, const b3Vec3& dis
 		return false;
 	}
 
-	// Update the tree with a fat and motion predicted AABB.
-	const b3Vec3 kExtension(B3_AABB_EXTENSION, B3_AABB_EXTENSION, B3_AABB_EXTENSION);
+	// Extend the AABB.
+	b3AABB3 fatAABB = aabb;
+	fatAABB.Extend(B3_AABB_EXTENSION);
 
-	// Extend the new (original) AABB.
-	b3AABB3 fatAABB;
-	fatAABB.m_lower = aabb.m_lower - kExtension;
-	fatAABB.m_upper = aabb.m_upper + kExtension;
+	// Predict AABB displacement.
+	b3Vec3 d = B3_AABB_MULTIPLIER * displacement;
 
-	if (displacement.x < 0.0f)
+	if (d.x < 0.0f)
 	{
-		fatAABB.m_lower.x += B3_AABB_MULTIPLIER * displacement.x;
+		fatAABB.m_lower.x += d.x;
 	}
 	else
 	{
-		fatAABB.m_upper.x += B3_AABB_MULTIPLIER * displacement.x;
+		fatAABB.m_upper.x += d.x;
 	}
 
-	if (displacement.y < 0.0f)
+	if (d.y < 0.0f)
 	{
-		fatAABB.m_lower.y += B3_AABB_MULTIPLIER * displacement.y;
+		fatAABB.m_lower.y += d.y;
 	}
 	else
 	{
-		fatAABB.m_upper.y += B3_AABB_MULTIPLIER * displacement.y;
+		fatAABB.m_upper.y += d.y;
 	}
 
-	if (displacement.z < 0.0f)
+	if (d.z < 0.0f)
 	{
-		fatAABB.m_lower.z += B3_AABB_MULTIPLIER * displacement.z;
+		fatAABB.m_lower.z += d.z;
 	}
 	else
 	{
-		fatAABB.m_upper.z += B3_AABB_MULTIPLIER * displacement.z;
+		fatAABB.m_upper.z += d.z;
 	}
 
 	// Update proxy with the extented AABB.
@@ -133,6 +148,11 @@ bool b3BroadPhase::MoveProxy(u32 proxyId, const b3AABB3& aabb, const b3Vec3& dis
 	return true;
 }
 
+void b3BroadPhase::TouchProxy(u32 proxyId)
+{
+	BufferMove(proxyId);
+}
+
 bool b3BroadPhase::Report(u32 proxyId) 
 {
 	if (proxyId == m_queryProxyId) 
diff --git a/src/bounce/collision/trees/dynamic_tree.cpp b/src/bounce/collision/trees/dynamic_tree.cpp
index 99d482f..ca30f1c 100644
--- a/src/bounce/collision/trees/dynamic_tree.cpp
+++ b/src/bounce/collision/trees/dynamic_tree.cpp
@@ -123,6 +123,7 @@ void b3DynamicTree::RemoveNode(u32 proxyId)
 {
 	// Remove from the tree.
 	RemoveLeaf(proxyId);
+	
 	// Remove from the node array and make it available.
 	FreeNode(proxyId);
 }
@@ -131,8 +132,10 @@ void b3DynamicTree::UpdateNode(u32 proxyId, const b3AABB3& aabb)
 {
 	B3_ASSERT(m_root != B3_NULL_NODE_D);
 	B3_ASSERT(m_nodes[proxyId].IsLeaf());
+	
 	// Remove old AABB from the tree.
 	RemoveLeaf(proxyId);
+	
 	// Insert the new AABB to the tree.
 	m_nodes[proxyId].aabb = aabb;
 	InsertLeaf(proxyId);
diff --git a/src/bounce/dynamics/body.cpp b/src/bounce/dynamics/body.cpp
index e7e010d..caf19c8 100644
--- a/src/bounce/dynamics/body.cpp
+++ b/src/bounce/dynamics/body.cpp
@@ -457,7 +457,7 @@ void b3Body::SetType(b3BodyType type)
 	b3BroadPhase* phase = &m_world->m_contactMan.m_broadPhase;
 	for (b3Shape* s = m_shapeList.m_head; s; s = s->m_next)
 	{
-		phase->BufferMove(s->m_broadPhaseID);
+		phase->TouchProxy(s->m_broadPhaseID);
 	}
 }
 

From 078081fa3c1e9e02f3447a2438e862b9d7488890 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 12 Jun 2019 17:41:41 -0300
Subject: [PATCH 143/198] AABB stuff

---
 include/bounce/collision/shapes/aabb3.h   | 15 +++++++++++----
 src/bounce/dynamics/shapes/hull_shape.cpp |  2 +-
 src/bounce/dynamics/shapes/mesh_shape.cpp |  2 +-
 3 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/include/bounce/collision/shapes/aabb3.h b/include/bounce/collision/shapes/aabb3.h
index 09ffb2c..51ba36e 100644
--- a/include/bounce/collision/shapes/aabb3.h
+++ b/include/bounce/collision/shapes/aabb3.h
@@ -37,8 +37,8 @@ struct b3AABB3
 		return support;
 	}
 
-	// Compute this AABB from a list of points.
-	void Compute(const b3Vec3* points, u32 count)
+	// Set this AABB from a list of points.
+	void Set(const b3Vec3* points, u32 count)
 	{
 		m_lower = m_upper = points[0];
 		for (u32 i = 1; i < count; ++i)
@@ -48,8 +48,8 @@ struct b3AABB3
 		}
 	}
 
-	// Compute this AABB from a list of points and a transform.
-	void Compute(const b3Vec3* points, u32 count, const b3Transform& xf)
+	// Set this AABB from a list of points and a transform.
+	void Set(const b3Vec3* points, u32 count, const b3Transform& xf)
 	{
 		m_lower = m_upper = b3Mul(xf, points[0]);
 		for (u32 i = 1; i < count; ++i)
@@ -60,6 +60,13 @@ struct b3AABB3
 		}
 	}
 
+	// Set this AABB from a triangle.
+	void Set(const b3Vec3& v1, const b3Vec3& v2, const b3Vec3& v3)
+	{
+		m_lower = b3Min(v1, b3Min(v2, v3));
+		m_upper = b3Max(v1, b3Max(v2, v3));
+	}
+
 	// Set this AABB from a center point and a radius vector.
 	void Set(const b3Vec3& center, const b3Vec3& r)
 	{
diff --git a/src/bounce/dynamics/shapes/hull_shape.cpp b/src/bounce/dynamics/shapes/hull_shape.cpp
index 78da7bc..81be848 100644
--- a/src/bounce/dynamics/shapes/hull_shape.cpp
+++ b/src/bounce/dynamics/shapes/hull_shape.cpp
@@ -161,7 +161,7 @@ void b3HullShape::ComputeMass(b3MassData* massData, float32 density) const
 
 void b3HullShape::ComputeAABB(b3AABB3* aabb, const b3Transform& xf) const
 {
-	aabb->Compute(m_hull->vertices, m_hull->vertexCount, xf);
+	aabb->Set(m_hull->vertices, m_hull->vertexCount, xf);
 	aabb->Extend(m_radius);
 }
 
diff --git a/src/bounce/dynamics/shapes/mesh_shape.cpp b/src/bounce/dynamics/shapes/mesh_shape.cpp
index 88f3f3d..55724e6 100644
--- a/src/bounce/dynamics/shapes/mesh_shape.cpp
+++ b/src/bounce/dynamics/shapes/mesh_shape.cpp
@@ -56,7 +56,7 @@ void b3MeshShape::ComputeMass(b3MassData* massData, float32 density) const
 
 void b3MeshShape::ComputeAABB(b3AABB3* output, const b3Transform& xf) const 
 {
-	output->Compute(m_mesh->vertices, m_mesh->vertexCount, xf);
+	output->Set(m_mesh->vertices, m_mesh->vertexCount, xf);
 	output->Extend(m_radius);
 }
 

From 99270a70b9bd0cd566feb1872d921126a83e45e0 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 12 Jun 2019 17:42:05 -0300
Subject: [PATCH 144/198] AABB stuff

---
 include/bounce/collision/shapes/mesh.h | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/include/bounce/collision/shapes/mesh.h b/include/bounce/collision/shapes/mesh.h
index 3fbde6d..60586b1 100644
--- a/include/bounce/collision/shapes/mesh.h
+++ b/include/bounce/collision/shapes/mesh.h
@@ -78,14 +78,10 @@ inline u32 b3Mesh::GetSize() const
 inline b3AABB3 b3Mesh::GetTriangleAABB(u32 index) const
 {
 	const b3Triangle* triangle = triangles + index;
-	
-	u32 i1 = triangle->v1;
-	u32 i2 = triangle->v2;
-	u32 i3 = triangle->v3;
 
 	b3AABB3 aabb;
-	aabb.m_lower = b3Min(b3Min(vertices[i1], vertices[i2]), vertices[i3]);
-	aabb.m_upper = b3Max(b3Max(vertices[i1], vertices[i2]), vertices[i3]);
+	aabb.Set(vertices[triangle->v1], vertices[triangle->v2], vertices[triangle->v3]);
+
 	return aabb;
 }
 

From d3b6292afd9c8cf868a30cdd28d13462f7e3538f Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 12 Jun 2019 17:58:33 -0300
Subject: [PATCH 145/198] Keep particles and triangles in a tree

---
 include/bounce/cloth/cloth.h                 |  26 +-
 include/bounce/cloth/cloth_contact_manager.h |  81 +++++
 include/bounce/cloth/cloth_contact_solver.h  |  53 ++-
 include/bounce/cloth/cloth_solver.h          |   7 +
 include/bounce/cloth/particle.h              |  32 +-
 src/bounce/cloth/cloth.cpp                   | 198 ++++++++---
 src/bounce/cloth/cloth_contact_manager.cpp   | 336 +++++++++++++++++++
 src/bounce/cloth/cloth_contact_solver.cpp    | 281 +++++++++++++++-
 src/bounce/cloth/cloth_solver.cpp            |  21 +-
 src/bounce/cloth/particle.cpp                |  66 +++-
 10 files changed, 1043 insertions(+), 58 deletions(-)
 create mode 100644 include/bounce/cloth/cloth_contact_manager.h
 create mode 100644 src/bounce/cloth/cloth_contact_manager.cpp

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index e24e17f..a84cf1a 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -19,11 +19,11 @@
 #ifndef B3_CLOTH_H
 #define B3_CLOTH_H
 
-#include <bounce/common/math/transform.h>
 #include <bounce/common/template/list.h>
 #include <bounce/common/memory/stack_allocator.h>
 #include <bounce/common/memory/block_pool.h>
-#include <bounce/collision/trees/dynamic_tree.h>
+#include <bounce/common/math/transform.h>
+#include <bounce/cloth/cloth_contact_manager.h>
 
 class b3World;
 class b3Shape;
@@ -42,6 +42,8 @@ class b3RayCastListener;
 struct b3RayCastInput;
 struct b3RayCastOutput;
 
+struct b3ClothAABBProxy;
+
 struct b3ClothRayCastSingleOutput
 {
 	u32 triangle;
@@ -140,16 +142,23 @@ public:
 	void Draw() const;
 private:
 	friend class b3Particle;
+	friend class b3ClothContactManager;
 
 	// Compute mass of each particle.
 	void ComputeMass();
 
-	// Update contacts
-	void UpdateContacts();
+	// Update particle-body contacts
+	void UpdateParticleBodyContacts();
 
 	// Solve
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 
+	// Synchronize triangle AABB.
+	void SynchronizeTriangle(u32 triangleIndex);
+
+	// Time-step
+	float32 m_dt;
+
 	// Stack allocator
 	b3StackAllocator m_stackAllocator;
 
@@ -165,6 +174,9 @@ private:
 	// Vertex particles
 	b3Particle** m_vertexParticles;
 
+	// Triangle proxies
+	b3ClothAABBProxy* m_triangleProxies;
+
 	// Cloth density
 	float32 m_density;
 
@@ -174,11 +186,11 @@ private:
 	// List of particles
 	b3List2<b3Particle> m_particleList;
 
-	// Particle tree
-	b3DynamicTree m_particleTree;
-
 	// List of forces
 	b3List2<b3Force> m_forceList;
+
+	// Contact manager
+	b3ClothContactManager m_contactManager;
 };
 
 inline void b3Cloth::SetGravity(const b3Vec3& gravity)
diff --git a/include/bounce/cloth/cloth_contact_manager.h b/include/bounce/cloth/cloth_contact_manager.h
new file mode 100644
index 0000000..3e67e2f
--- /dev/null
+++ b/include/bounce/cloth/cloth_contact_manager.h
@@ -0,0 +1,81 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_CLOTH_CONTACT_MANAGER_H
+#define B3_CLOTH_CONTACT_MANAGER_H
+
+#include <bounce/common/memory/block_pool.h>
+#include <bounce/common/template/list.h>
+#include <bounce/collision/broad_phase.h>
+
+class b3Cloth;
+class b3Particle;
+struct b3ClothMeshTriangle;
+struct b3ClothAABBProxy;
+
+// Contact between particle and a triangle
+class b3ParticleTriangleContact
+{
+public:
+	b3Particle* m_p1;
+	
+	b3ClothMeshTriangle* m_triangle;
+	b3ClothAABBProxy* m_triangleProxy;
+	b3Particle* m_p2;
+	b3Particle* m_p3;
+	b3Particle* m_p4;
+
+	bool m_front;
+	
+	bool m_active;
+
+	float32 m_normalImpulse;
+
+	b3ParticleTriangleContact* m_prev;
+	b3ParticleTriangleContact* m_next;
+};
+
+// Contact delegator for b3Cloth.
+class b3ClothContactManager
+{
+public:
+	b3ClothContactManager();
+
+	// The broad-phase callback.
+	void AddPair(void* data1, void* data2);
+
+	void FindNewContacts();
+
+	void UpdateContacts();
+	
+	b3ParticleTriangleContact* Create();
+	
+	void Destroy(b3ParticleTriangleContact* c);
+
+	void Update(b3ParticleTriangleContact* c);
+
+	b3Cloth* m_cloth;
+
+	b3BlockPool m_particleTriangleContactBlocks;
+	
+	b3BroadPhase m_broadPhase;
+
+	b3List2<b3ParticleTriangleContact> m_particleTriangleContactList;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index a945d03..3005084 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -28,6 +28,7 @@ class b3Particle;
 class b3Body;
 
 struct b3ParticleBodyContact;
+class b3ParticleTriangleContact;
 
 struct b3DenseVec3;
 
@@ -80,6 +81,44 @@ struct b3ClothSolverBodyContactPositionConstraint
 	b3Vec3 localPointB;
 };
 
+struct b3ClothSolverTriangleContactVelocityConstraint
+{
+	u32 indexA;
+	float32 invMassA;
+
+	u32 indexB;
+	float32 invMassB;
+	u32 indexC;
+	float32 invMassC;
+	u32 indexD;
+	float32 invMassD;
+
+	b3Vec3 JA;
+	b3Vec3 JB;
+	b3Vec3 JC;
+	b3Vec3 JD;
+
+	float32 normalMass;
+	float32 normalImpulse;
+};
+
+struct b3ClothSolverTriangleContactPositionConstraint
+{
+	u32 indexA;
+	float32 invMassA;
+	float32 radiusA;
+
+	u32 indexB;
+	float32 invMassB;
+	u32 indexC;
+	float32 invMassC;
+	u32 indexD;
+	float32 invMassD;
+	float32 triangleRadius;
+
+	bool front;
+};
+
 struct b3ClothContactSolverDef
 {
 	b3StackAllocator* allocator;
@@ -89,6 +128,9 @@ struct b3ClothContactSolverDef
 	
 	u32 bodyContactCount;
 	b3ParticleBodyContact** bodyContacts;
+
+	u32 triangleContactCount;
+	b3ParticleTriangleContact** triangleContacts;
 };
 
 inline float32 b3MixFriction(float32 u1, float32 u2)
@@ -103,14 +145,18 @@ public:
 	~b3ClothContactSolver();
 
 	void InitializeBodyContactConstraints();
+	void InitializeTriangleContactConstraints();
 
-	void WarmStart();
+	void WarmStartBodyContactConstraints();
+	void WarmStartTriangleContactConstraints();
 
 	void SolveBodyContactVelocityConstraints();
+	void SolveTriangleContactVelocityConstraints();
 
 	void StoreImpulses();
 
 	bool SolveBodyContactPositionConstraints();
+	bool SolveTriangleContactPositionConstraints();
 protected:
 	b3StackAllocator* m_allocator;
 
@@ -121,6 +167,11 @@ protected:
 	b3ParticleBodyContact** m_bodyContacts;
 	b3ClothSolverBodyContactVelocityConstraint* m_bodyVelocityConstraints;
 	b3ClothSolverBodyContactPositionConstraint* m_bodyPositionConstraints;
+
+	u32 m_triangleContactCount;
+	b3ParticleTriangleContact** m_triangleContacts;
+	b3ClothSolverTriangleContactVelocityConstraint* m_triangleVelocityConstraints;
+	b3ClothSolverTriangleContactPositionConstraint* m_trianglePositionConstraints;
 };
 
 #endif
\ No newline at end of file
diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index 3a582db..c39e417 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -34,6 +34,7 @@ struct b3SparseSymMat33;
 struct b3SparseSymMat33View;
 
 struct b3ParticleBodyContact;
+class b3ParticleTriangleContact;
 
 struct b3ClothSolverDef
 {
@@ -41,6 +42,7 @@ struct b3ClothSolverDef
 	u32 particleCapacity;
 	u32 forceCapacity;
 	u32 bodyContactCapacity;
+	u32 triangleContactCapacity;
 };
 
 struct b3ClothSolverData
@@ -75,6 +77,7 @@ public:
 	void Add(b3Particle* p);
 	void Add(b3Force* f);
 	void Add(b3ParticleBodyContact* c);
+	void Add(b3ParticleTriangleContact* c);
 
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 private:
@@ -107,6 +110,10 @@ private:
 	u32 m_bodyContactCount;
 	b3ParticleBodyContact** m_bodyContacts;
 
+	u32 m_triangleContactCapacity;
+	u32 m_triangleContactCount;
+	b3ParticleTriangleContact** m_triangleContacts;
+	
 	b3ClothSolverData m_solverData;
 };
 
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index 6d96c4a..d2d13cf 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -44,6 +44,7 @@ struct b3ParticleDef
 	b3ParticleDef()
 	{
 		type = e_staticParticle;
+		mass = 0.0f;
 		position.SetZero();
 		velocity.SetZero();
 		force.SetZero();
@@ -53,6 +54,7 @@ struct b3ParticleDef
 	}
 
 	b3ParticleType type;
+	float32 mass;
 	b3Vec3 position;
 	b3Vec3 velocity;
 	b3Vec3 force;
@@ -89,6 +91,20 @@ struct b3ParticleBodyContactWorldPoint
 	float32 separation;
 };
 
+enum b3ClothAABBProxyType
+{
+	e_particleProxy,
+	e_triangleProxy
+};
+
+struct b3ClothAABBProxy
+{
+	b3ClothAABBProxyType type;
+	void* data;
+	u32 index;
+	u32 broadPhaseId;
+};
+
 // A cloth particle.
 class b3Particle
 {
@@ -143,18 +159,23 @@ private:
 	friend class b3List2<b3Particle>;
 	friend class b3Cloth;
 	friend class b3ClothSolver;
+	friend class b3ClothContactManager;
 	friend class b3ClothContactSolver;
 	friend class b3Force;
 	friend class b3SpringForce;
-	friend class b3BendForce;
-	friend class b3FrictionForce;
 
 	b3Particle(const b3ParticleDef& def, b3Cloth* cloth);
 	~b3Particle();
 
-	// Synchronize AABB
+	// Synchronize particle AABB
 	void Synchronize();
 
+	// Synchronize triangles AABB
+	void SynchronizeTriangles();
+
+	// Destroy contacts.
+	void DestroyContacts();
+
 	// Type
 	b3ParticleType m_type;
 
@@ -202,8 +223,8 @@ private:
 	// Contact
 	b3ParticleBodyContact m_bodyContact;
 
-	// Particle tree identifier
-	u32 m_treeId;
+	// AABB Proxy
+	b3ClothAABBProxy m_aabbProxy;
 
 	// 
 	b3Particle* m_prev;
@@ -228,6 +249,7 @@ inline void b3Particle::SetPosition(const b3Vec3& position)
 	m_translation.SetZero();
 
 	Synchronize();
+	SynchronizeTriangles();
 }
 
 inline const b3Vec3& b3Particle::GetPosition() const
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 85b12dd..3c66427 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -32,6 +32,8 @@
 
 #include <bounce/common/draw.h>
 
+#define B3_ENABLE_SELF_COLLISION 0
+
 static B3_FORCE_INLINE u32 b3NextIndex(u32 i)
 {
 	return i + 1 < 3 ? i + 1 : 0;
@@ -158,6 +160,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 
 	m_mesh = def.mesh;
 	m_density = def.density;
+	m_contactManager.m_cloth = this;
+	m_dt = 0.0f;
 
 	const b3ClothMesh* m = m_mesh;
 
@@ -167,10 +171,12 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 	{
 		b3ParticleDef pd;
 		pd.type = e_dynamicParticle;
+		pd.mass = 1.0f;
 		pd.position = m->vertices[i];
 
 		b3Particle* p = CreateParticle(pd);
 
+		p->m_aabbProxy.index = i;
 		p->m_vertex = i;
 		m_vertexParticles[i] = p;
 	}
@@ -200,7 +206,10 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		b3SpringForceDef fd;
 		fd.Initialize(p1, p2, def.structural, def.damping);
 
-		CreateForce(fd);
+		if (def.structural > 0.0f)
+		{
+			CreateForce(fd);
+		}
 	}
 
 	// Bending
@@ -216,9 +225,12 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		b3SpringForceDef fd;
 		fd.Initialize(p3, p4, def.bending, def.damping);
 
-		CreateForce(fd);
+		if (def.bending > 0.0f)
+		{
+			CreateForce(fd);
+		}
 	}
-
+	
 	allocator->Free(sharedEdges);
 	allocator->Free(uniqueEdges);
 
@@ -233,7 +245,30 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		b3SpringForceDef fd;
 		fd.Initialize(p1, p2, def.structural, def.damping);
 
-		CreateForce(fd);
+		if (def.structural > 0.0f)
+		{
+			CreateForce(fd);
+		}
+	}
+
+	// Initialize triangle proxies
+	m_triangleProxies = (b3ClothAABBProxy*)b3Alloc(m_mesh->triangleCount * sizeof(b3ClothAABBProxy));
+	for (u32 i = 0; i < m_mesh->triangleCount; ++i)
+	{
+		b3ClothMeshTriangle* triangle = m_mesh->triangles + i;
+		b3ClothAABBProxy* triangleProxy = m_triangleProxies + i;
+
+		b3Vec3 v1 = m_mesh->vertices[triangle->v1];
+		b3Vec3 v2 = m_mesh->vertices[triangle->v2];
+		b3Vec3 v3 = m_mesh->vertices[triangle->v3];
+
+		b3AABB3 aabb;
+		aabb.Set(v1, v2, v3);
+
+		triangleProxy->type = e_triangleProxy;
+		triangleProxy->index = i;
+		triangleProxy->data = triangle;
+		triangleProxy->broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, triangleProxy);
 	}
 
 	m_gravity.SetZero();
@@ -251,6 +286,7 @@ b3Cloth::~b3Cloth()
 	}
 
 	b3Free(m_vertexParticles);
+	b3Free(m_triangleProxies);
 
 	b3Force* f = m_forceList.m_head;
 	while (f)
@@ -265,11 +301,14 @@ b3Particle* b3Cloth::CreateParticle(const b3ParticleDef& def)
 {
 	void* mem = m_particleBlocks.Allocate();
 	b3Particle* p = new(mem) b3Particle(def, this);
-	
+
 	b3AABB3 aabb;
 	aabb.Set(p->m_position, p->m_radius);
-	
-	p->m_treeId = m_particleTree.InsertNode(aabb, p);
+
+	p->m_aabbProxy.type = e_particleProxy;
+	p->m_aabbProxy.data = p;
+	p->m_aabbProxy.index = p->m_vertex;
+	p->m_aabbProxy.broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &p->m_aabbProxy);
 
 	m_particleList.PushFront(p);
 
@@ -280,6 +319,7 @@ void b3Cloth::DestroyParticle(b3Particle* particle)
 {
 	B3_ASSERT(particle->m_vertex == ~0);
 	
+	// Destroy particle forces
 	b3Force* f = m_forceList.m_head;
 	while (f)
 	{
@@ -293,7 +333,11 @@ void b3Cloth::DestroyParticle(b3Particle* particle)
 		}
 	}
 
-	m_particleTree.RemoveNode(particle->m_treeId);
+	// Destroy particle contacts
+	particle->DestroyContacts();
+
+	// Destroy AABB proxy
+	m_contactManager.m_broadPhase.DestroyProxy(particle->m_aabbProxy.broadPhaseId);
 
 	m_particleList.Remove(particle);
 	particle->~b3Particle();
@@ -370,6 +414,44 @@ void b3Cloth::ComputeMass()
 	}
 }
 
+struct b3ClothRayCastSingleCallback
+{
+	float32 Report(const b3RayCastInput& input, u32 proxyId)
+	{
+		// Get primitive associated with the proxy.
+		void* userData = broadPhase->GetUserData(proxyId);
+		b3ClothAABBProxy* proxy = (b3ClothAABBProxy*)userData;
+
+		if (proxy->type != e_triangleProxy)
+		{
+			// Continue search from where we stopped.
+			return input.maxFraction;
+		}
+
+		u32 triangleIndex = proxy->index;
+
+		b3RayCastOutput subOutput;
+		if (cloth->RayCast(&subOutput, &input, triangleIndex))
+		{
+			// Ray hits triangle.
+			if (subOutput.fraction < output0.fraction)
+			{
+				triangle0 = proxy->index;
+				output0.fraction = subOutput.fraction;
+				output0.normal = subOutput.normal;
+			}
+		}
+
+		// Continue search from where we stopped.
+		return input.maxFraction;
+	}
+
+	const b3Cloth* cloth;
+	const b3BroadPhase* broadPhase;
+	u32 triangle0;
+	b3RayCastOutput output0;
+};
+
 bool b3Cloth::RayCastSingle(b3ClothRayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
 {
 	b3RayCastInput input;
@@ -377,29 +459,19 @@ bool b3Cloth::RayCastSingle(b3ClothRayCastSingleOutput* output, const b3Vec3& p1
 	input.p2 = p2;
 	input.maxFraction = 1.0f;
 
-	u32 triangle0 = ~0;
-	b3RayCastOutput output0;
-	output0.fraction = B3_MAX_FLOAT;
+	b3ClothRayCastSingleCallback callback;
+	callback.cloth = this;
+	callback.broadPhase = &m_contactManager.m_broadPhase;
+	callback.triangle0 = ~0;
+	callback.output0.fraction = B3_MAX_FLOAT;
 
-	for (u32 i = 0; i < m_mesh->triangleCount; ++i)
-	{
-		b3RayCastOutput subOutput;
-		if (RayCast(&subOutput, &input, i))
-		{
-			if (subOutput.fraction < output0.fraction)
-			{
-				triangle0 = i;
-				output0.fraction = subOutput.fraction;
-				output0.normal = subOutput.normal;
-			}
-		}
-	}
+	m_contactManager.m_broadPhase.RayCast(&callback, input);
 
-	if (triangle0 != ~0)
+	if (callback.triangle0 != ~0)
 	{
-		output->triangle = triangle0;
-		output->fraction = output0.fraction;
-		output->normal = output0.normal;
+		output->triangle = callback.triangle0;
+		output->fraction = callback.output0.fraction;
+		output->normal = callback.output0.normal;
 
 		return true;
 	}
@@ -455,9 +527,9 @@ public:
 	b3Vec3 bestNormal;
 };
 
-void b3Cloth::UpdateContacts()
+void b3Cloth::UpdateParticleBodyContacts()
 {
-	B3_PROFILE("Cloth Update Contacts");
+	B3_PROFILE("Cloth Update Particle Body Contacts");
 
 	// Is there a world attached to this cloth?
 	if (m_world == nullptr)
@@ -473,7 +545,7 @@ void b3Cloth::UpdateContacts()
 			continue;
 		}
 
-		b3AABB3 aabb = m_particleTree.GetAABB(p->m_treeId);
+		b3AABB3 aabb = m_contactManager.m_broadPhase.GetAABB(p->m_aabbProxy.broadPhaseId);
 
 		b3ClothUpdateContactsQueryListener listener;
 		listener.sphere.vertex = p->m_position;
@@ -528,6 +600,7 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u
 	solverDef.particleCapacity = m_particleList.m_count;
 	solverDef.forceCapacity = m_forceList.m_count;
 	solverDef.bodyContactCapacity = m_particleList.m_count;
+	solverDef.triangleContactCapacity = m_contactManager.m_particleTriangleContactList.m_count;
 
 	b3ClothSolver solver(solverDef);
 
@@ -549,6 +622,14 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u
 		}
 	}
 
+	for (b3ParticleTriangleContact* c = m_contactManager.m_particleTriangleContactList.m_head; c; c = c->m_next)
+	{
+		if (c->m_active)
+		{
+			solver.Add(c);
+		}
+	}
+
 	// Solve	
 	solver.Solve(dt, gravity, velocityIterations, positionIterations);
 }
@@ -557,8 +638,13 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 {
 	B3_PROFILE("Cloth Step");
 
-	// Update contacts
-	UpdateContacts();
+	m_dt = dt;
+
+	// Update particle-body contacts
+	UpdateParticleBodyContacts();
+
+	// Update self-contacts
+	m_contactManager.UpdateContacts();
 
 	// Integrate state, solve constraints. 
 	if (dt > 0.0f)
@@ -576,13 +662,49 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 	// Synchronize particles
 	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
 	{
-		if (p->m_type == e_staticParticle)
-		{
-			continue;
-		}
-
 		p->Synchronize();
 	}
+
+	// Synchronize triangles
+	for (u32 i = 0; i < m_mesh->triangleCount; ++i)
+	{
+		SynchronizeTriangle(i);
+	}
+
+#if B3_ENABLE_SELF_COLLISION
+
+	// Find new self-contacts
+	m_contactManager.FindNewContacts();
+
+#endif
+}
+
+void b3Cloth::SynchronizeTriangle(u32 triangleIndex)
+{
+	b3ClothMeshTriangle* triangle = m_mesh->triangles + triangleIndex;
+	b3ClothAABBProxy* triangleProxy = m_triangleProxies + triangleIndex;
+
+	b3Particle* p1 = m_vertexParticles[triangle->v1];
+	b3Particle* p2 = m_vertexParticles[triangle->v2];
+	b3Particle* p3 = m_vertexParticles[triangle->v3];
+
+	b3Vec3 x1 = p1->m_position;
+	b3Vec3 x2 = p2->m_position;
+	b3Vec3 x3 = p3->m_position;
+
+	b3Vec3 v1 = p1->m_velocity;
+	b3Vec3 v2 = p2->m_velocity;
+	b3Vec3 v3 = p3->m_velocity;
+
+	b3AABB3 aabb;
+	aabb.Set(x1, x2, x3);
+
+	const float32 kInv3 = 1.0f / 3.0f;
+	
+	b3Vec3 center_velocity = kInv3 * (v1 + v2 + v3);
+	b3Vec3 center_displacement = m_dt * center_velocity;
+
+	m_contactManager.m_broadPhase.MoveProxy(triangleProxy->broadPhaseId, aabb, center_displacement);
 }
 
 void b3Cloth::Draw() const
diff --git a/src/bounce/cloth/cloth_contact_manager.cpp b/src/bounce/cloth/cloth_contact_manager.cpp
new file mode 100644
index 0000000..6f5ce47
--- /dev/null
+++ b/src/bounce/cloth/cloth_contact_manager.cpp
@@ -0,0 +1,336 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/cloth/cloth_contact_manager.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/particle.h>
+
+#include <bounce/common/draw.h>
+
+b3ClothContactManager::b3ClothContactManager() : 
+	m_particleTriangleContactBlocks(sizeof(b3ParticleTriangleContact))
+{
+
+}
+
+void b3ClothContactManager::FindNewContacts()
+{
+	B3_PROFILE("Cloth Find New Contacts");
+	
+	m_broadPhase.FindPairs(this);
+}
+
+void b3ClothContactManager::AddPair(void* data1, void* data2)
+{
+	b3ClothAABBProxy* proxy1 = (b3ClothAABBProxy*)data1;
+	b3ClothAABBProxy* proxy2 = (b3ClothAABBProxy*)data2;
+
+	if (proxy1->type == e_particleProxy && proxy2->type == e_particleProxy)
+	{
+		// Particle-particle contacts are not supported.
+		return;
+	}
+
+	if (proxy1->type == e_triangleProxy && proxy2->type == e_triangleProxy)
+	{
+		// Triangle-triangle contacts are not supported.
+		return;
+	}
+
+	if (proxy1->type == e_triangleProxy)
+	{
+		// Ensure proxy1 is a particle and proxy 2 a triangle.
+		b3Swap(proxy1, proxy2);
+	}
+
+	B3_ASSERT(proxy1->type == e_particleProxy);
+	B3_ASSERT(proxy2->type == e_triangleProxy);
+
+	b3Particle* p1 = (b3Particle*)proxy1->data;
+
+	b3ClothMeshTriangle* triangle = (b3ClothMeshTriangle*)proxy2->data;
+	b3Particle* p2 = m_cloth->m_vertexParticles[triangle->v1];
+	b3Particle* p3 = m_cloth->m_vertexParticles[triangle->v2];
+	b3Particle* p4 = m_cloth->m_vertexParticles[triangle->v3];
+
+	// Check if there is a contact between the two entities.
+	for (b3ParticleTriangleContact* c = m_particleTriangleContactList.m_head; c; c = c->m_next)
+	{
+		if (c->m_p1 == p1 && c->m_triangle == triangle)
+		{
+			// A contact already exists.
+			return;
+		}
+	}
+
+	bool isntDynamic1 = p1->m_type != e_dynamicParticle;
+	bool isntDynamic2 = p2->m_type != e_dynamicParticle && p3->m_type != e_dynamicParticle && p4->m_type != e_dynamicParticle;
+
+	if (isntDynamic1 && isntDynamic2)
+	{
+		// The entities must not collide with each other.
+		return;
+	}
+
+	if (triangle->v1 == p1->m_vertex || triangle->v2 == p1->m_vertex || triangle->v3 == p1->m_vertex)
+	{
+		// The entities must not collide with each other.
+		return;
+	}
+	
+	// Create a new contact.
+	b3ParticleTriangleContact* c = Create();
+
+	c->m_p1 = p1;
+	
+	c->m_p2 = p2;
+	c->m_p3 = p3;
+	c->m_p4 = p4;
+	c->m_triangle = triangle;
+	c->m_triangleProxy = proxy2;
+
+	c->m_front = false;
+	c->m_active = false;
+
+	c->m_normalImpulse = 0.0f;
+
+	// Add the contact to the cloth contact list.
+	m_particleTriangleContactList.PushFront(c);
+}
+
+b3ParticleTriangleContact* b3ClothContactManager::Create()
+{
+	void* block = m_particleTriangleContactBlocks.Allocate();
+	return new(block) b3ParticleTriangleContact();
+}
+
+void b3ClothContactManager::Destroy(b3ParticleTriangleContact* c)
+{
+	m_particleTriangleContactList.Remove(c);
+
+	c->~b3ParticleTriangleContact();
+	
+	m_particleTriangleContactBlocks.Free(c);
+}
+
+static void b3Solve3(float32 out[3],
+	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
+	const b3Vec3& Q)
+{
+	// Test vertex regions
+	float32 wAB[3], wBC[3], wCA[3];
+	b3BarycentricCoordinates(wAB, A, B, Q);
+	b3BarycentricCoordinates(wBC, B, C, Q);
+	b3BarycentricCoordinates(wCA, C, A, Q);
+
+	// R A
+	if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
+	{
+		out[0] = 1.0f;
+		out[1] = 0.0f;
+		out[2] = 0.0f;
+		return;
+	}
+
+	// R B
+	if (wAB[0] <= 0.0f && wBC[1] <= 0.0f)
+	{
+		out[0] = 0.0f;
+		out[1] = 1.0f;
+		out[2] = 0.0f;
+		return;
+	}
+
+	// R C
+	if (wBC[0] <= 0.0f && wCA[1] <= 0.0f)
+	{
+		out[0] = 0.0f;
+		out[1] = 0.0f;
+		out[2] = 1.0f;
+		return;
+	}
+
+	// Test edge regions		
+	float32 wABC[4];
+	b3BarycentricCoordinates(wABC, A, B, C, Q);
+
+	// R AB
+	if (wAB[0] > 0.0f && wAB[1] > 0.0f && wABC[3] * wABC[2] <= 0.0f)
+	{
+		float32 divisor = wAB[2];
+		B3_ASSERT(divisor > 0.0f);
+		float32 s = 1.0f / divisor;
+		out[0] = s * wAB[0];
+		out[1] = s * wAB[1];
+		out[2] = 0.0f;
+		return;
+	}
+
+	// R BC
+	if (wBC[0] > 0.0f && wBC[1] > 0.0f && wABC[3] * wABC[0] <= 0.0f)
+	{
+		float32 divisor = wBC[2];
+		B3_ASSERT(divisor > 0.0f);
+		float32 s = 1.0f / divisor;
+		out[0] = 0.0f;
+		out[1] = s * wBC[0];
+		out[2] = s * wBC[1];
+		return;
+	}
+
+	// R CA
+	if (wCA[0] > 0.0f && wCA[1] > 0.0f && wABC[3] * wABC[1] <= 0.0f)
+	{
+		float32 divisor = wCA[2];
+		B3_ASSERT(divisor > 0.0f);
+		float32 s = 1.0f / divisor;
+		out[0] = s * wCA[1];
+		out[1] = 0.0f;
+		out[2] = s * wCA[0];
+		return;
+	}
+
+	// R ABC/ACB
+	float32 divisor = wABC[3];
+	if (divisor == 0.0f)
+	{
+		float32 s = 1.0f / 3.0f;
+		out[0] = s;
+		out[1] = s;
+		out[2] = s;
+		return;
+	}
+
+	B3_ASSERT(divisor > 0.0f);
+	float32 s = 1.0f / divisor;
+	out[0] = s * wABC[0];
+	out[1] = s * wABC[1];
+	out[2] = s * wABC[2];
+}
+
+void b3ClothContactManager::Update(b3ParticleTriangleContact* c)
+{
+	b3Particle* p1 = c->m_p1;
+	
+	b3Particle* p2 = c->m_p2;
+	b3Particle* p3 = c->m_p3;
+	b3Particle* p4 = c->m_p4;
+
+	float32 r1 = p1->m_radius;
+	float32 r2 = 0.0f;
+
+	float32 totalRadius = r1 + r2;
+
+	b3Vec3 A = p2->m_position;
+	b3Vec3 B = p3->m_position;
+	b3Vec3 C = p4->m_position;
+
+	b3Vec3 n = b3Cross(B - A, C - A);
+	float32 len = n.Normalize();
+
+	// Is ABC degenerate?
+	if (len == 0.0f)
+	{
+		c->m_active = false;
+		return;
+	}
+
+	b3Vec3 P1 = p1->m_position;
+
+	float32 distance = b3Dot(n, P1 - A);
+
+	// Is P1 below the plane?
+	if (distance < -totalRadius)
+	{
+		c->m_active = false;
+		return;
+	}
+
+	// Is P1 above the plane?
+	if (distance > totalRadius)
+	{
+		c->m_active = false;
+		return;
+	}
+
+	// Closest point on ABC to P1
+	float32 wABC[3];
+	b3Solve3(wABC, A, B, C, P1);
+
+	b3Vec3 P2 = wABC[0] * A + wABC[1] * B + wABC[2] * C;
+
+	if (b3DistanceSquared(P1, P2) > totalRadius * totalRadius)
+	{
+		c->m_active = false;
+		return;
+	}
+
+	// Activate the contact
+	c->m_active = true;
+
+	// Is the the other point in front of the plane? 
+	if (distance >= 0.0f)
+	{
+		c->m_front = true;
+	}
+	else
+	{
+		c->m_front = false;
+	}
+}
+
+void b3ClothContactManager::UpdateContacts()
+{
+	B3_PROFILE("Cloth Update Contacts");
+	
+	// Update the state of all triangle contacts.
+	b3ParticleTriangleContact* c = m_particleTriangleContactList.m_head;
+	while (c)
+	{
+		bool isntDynamic1 = c->m_p1->m_type != e_dynamicParticle;
+		bool isntDynamic2 = c->m_p2->m_type != e_dynamicParticle && c->m_p3->m_type != e_dynamicParticle && c->m_p4->m_type != e_dynamicParticle;
+
+		// Destroy the contact if primitives must not collide with each other.
+		if (isntDynamic1 && isntDynamic2)
+		{
+			b3ParticleTriangleContact* quack = c;
+			c = c->m_next;
+			Destroy(quack);
+			continue;
+		}
+
+		u32 proxy1 = c->m_p1->m_aabbProxy.broadPhaseId;
+		u32 proxy2 = c->m_triangleProxy->broadPhaseId;
+
+		// Destroy the contact if primitive AABBs are not overlapping.
+		bool overlap = m_broadPhase.TestOverlap(proxy1, proxy2);
+		if (overlap == false)
+		{
+			b3ParticleTriangleContact* quack = c;
+			c = c->m_next;
+			Destroy(quack);
+			continue;
+		}
+
+		// The contact persists.
+		Update(c);
+
+		c = c->m_next;
+	}
+}
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index 46d84ad..0a7768c 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -17,6 +17,7 @@
 */
 
 #include <bounce/cloth/cloth_contact_solver.h>
+#include <bounce/cloth/cloth_contact_manager.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/dense_vec3.h>
 #include <bounce/common/memory/stack_allocator.h>
@@ -34,10 +35,18 @@ b3ClothContactSolver::b3ClothContactSolver(const b3ClothContactSolverDef& def)
 	m_bodyContacts = def.bodyContacts;
 	m_bodyVelocityConstraints = (b3ClothSolverBodyContactVelocityConstraint*)m_allocator->Allocate(m_bodyContactCount * sizeof(b3ClothSolverBodyContactVelocityConstraint));
 	m_bodyPositionConstraints = (b3ClothSolverBodyContactPositionConstraint*)m_allocator->Allocate(m_bodyContactCount * sizeof(b3ClothSolverBodyContactPositionConstraint));
+
+	m_triangleContactCount = def.triangleContactCount;
+	m_triangleContacts = def.triangleContacts;
+	m_triangleVelocityConstraints = (b3ClothSolverTriangleContactVelocityConstraint*)m_allocator->Allocate(m_triangleContactCount * sizeof(b3ClothSolverTriangleContactVelocityConstraint));
+	m_trianglePositionConstraints = (b3ClothSolverTriangleContactPositionConstraint*)m_allocator->Allocate(m_triangleContactCount * sizeof(b3ClothSolverTriangleContactPositionConstraint));
 }
 
 b3ClothContactSolver::~b3ClothContactSolver()
 {
+	m_allocator->Free(m_trianglePositionConstraints);
+	m_allocator->Free(m_triangleVelocityConstraints);
+
 	m_allocator->Free(m_bodyPositionConstraints);
 	m_allocator->Free(m_bodyVelocityConstraints);
 }
@@ -170,8 +179,93 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 		}
 	}
 }
+void b3ClothContactSolver::InitializeTriangleContactConstraints()
+{
+	b3DenseVec3& x = *m_positions;
 
-void b3ClothContactSolver::WarmStart()
+	for (u32 i = 0; i < m_triangleContactCount; ++i)
+	{
+		b3ParticleTriangleContact* c = m_triangleContacts[i];
+		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
+		b3ClothSolverTriangleContactPositionConstraint* pc = m_trianglePositionConstraints + i;
+
+		vc->indexA = c->m_p1->m_solverId;
+		vc->invMassA = c->m_p1->m_type == e_staticParticle ? 0.0f : c->m_p1->m_invMass;
+
+		vc->indexB = c->m_p2->m_solverId;
+		vc->invMassB = c->m_p2->m_type == e_staticParticle ? 0.0f : c->m_p2->m_invMass;
+
+		vc->indexC = c->m_p3->m_solverId;
+		vc->invMassC = c->m_p3->m_type == e_staticParticle ? 0.0f : c->m_p3->m_invMass;
+
+		vc->indexD = c->m_p4->m_solverId;
+		vc->invMassD = c->m_p4->m_type == e_staticParticle ? 0.0f : c->m_p4->m_invMass;
+
+		pc->indexA = c->m_p1->m_solverId;
+		pc->invMassA = c->m_p1->m_type == e_staticParticle ? 0.0f : c->m_p1->m_invMass;
+		pc->radiusA = c->m_p1->m_radius;
+
+		pc->indexB = c->m_p2->m_solverId;
+		pc->invMassB = c->m_p2->m_type == e_staticParticle ? 0.0f : c->m_p2->m_invMass;
+
+		pc->indexC = c->m_p3->m_solverId;
+		pc->invMassC = c->m_p3->m_type == e_staticParticle ? 0.0f : c->m_p3->m_invMass;
+
+		pc->indexD = c->m_p4->m_solverId;
+		pc->invMassD = c->m_p4->m_type == e_staticParticle ? 0.0f : c->m_p4->m_invMass;
+
+		pc->triangleRadius = 0.0f;
+		pc->front = c->m_front;
+
+		u32 indexA = pc->indexA;
+		float32 mA = pc->invMassA;
+
+		u32 indexB = pc->indexB;
+		float32 mB = pc->invMassB;
+
+		u32 indexC = pc->indexC;
+		float32 mC = pc->invMassC;
+
+		u32 indexD = pc->indexD;
+		float32 mD = pc->invMassD;
+
+		b3Vec3 xA = x[indexA];
+		b3Vec3 xB = x[indexB];
+		b3Vec3 xC = x[indexC];
+		b3Vec3 xD = x[indexD];
+
+		b3Vec3 n = b3Cross(xC - xB, xD - xB);
+
+		if (pc->front == false)
+		{
+			n = -n;
+		}
+
+		float32 n_len = n.Normalize();
+
+		b3Mat33 I; I.SetIdentity();
+
+		b3Mat33 N = I - b3Outer(n, n);
+		if (n_len > B3_EPSILON)
+		{
+			N = (1.0f / n_len) * N;
+		}
+
+		b3Vec3 N_n = N * n;
+
+		vc->JA = n;
+		vc->JB = b3Cross(xC - xD, N_n) - n;
+		vc->JC = b3Cross(xD - xB, N_n);
+		vc->JD = b3Cross(xC - xB, N_n);
+
+		float32 K = mA + mB * b3Dot(vc->JB, vc->JB) + mC * b3Dot(vc->JC, vc->JC) + mD * b3Dot(vc->JD, vc->JD);
+
+		vc->normalMass = K > 0.0f ? 1.0f / K : 0.0f;
+		vc->normalImpulse = c->m_normalImpulse;
+	}
+}
+
+void b3ClothContactSolver::WarmStartBodyContactConstraints()
 {
 	b3DenseVec3& v = *m_velocities;
 
@@ -218,6 +312,46 @@ void b3ClothContactSolver::WarmStart()
 	}
 }
 
+void b3ClothContactSolver::WarmStartTriangleContactConstraints()
+{
+	b3DenseVec3& v = *m_velocities;
+	
+	for (u32 i = 0; i < m_triangleContactCount; ++i)
+	{
+		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
+
+		u32 indexA = vc->indexA;
+		u32 indexB = vc->indexB;
+		u32 indexC = vc->indexC;
+		u32 indexD = vc->indexD;
+
+		b3Vec3 vA = v[indexA];
+		b3Vec3 vB = v[indexB];
+		b3Vec3 vC = v[indexC];
+		b3Vec3 vD = v[indexD];
+
+		float32 mA = vc->invMassA;
+		float32 mB = vc->invMassB;
+		float32 mC = vc->invMassC;
+		float32 mD = vc->invMassD;
+
+		b3Vec3 PA = vc->normalImpulse * vc->JA;
+		b3Vec3 PB = vc->normalImpulse * vc->JB;
+		b3Vec3 PC = vc->normalImpulse * vc->JC;
+		b3Vec3 PD = vc->normalImpulse * vc->JD;
+
+		vA += mA * PA;
+		vB += mB * PB;
+		vC += mC * PC;
+		vD += mD * PD;
+
+		v[indexA] = vA;
+		v[indexB] = vB;
+		v[indexC] = vC;
+		v[indexD] = vD;
+	}
+}
+
 void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
 {
 	b3DenseVec3& v = *m_velocities;
@@ -306,6 +440,56 @@ void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
 	}
 }
 
+void b3ClothContactSolver::SolveTriangleContactVelocityConstraints()
+{
+	b3DenseVec3& v = *m_velocities;
+
+	for (u32 i = 0; i < m_triangleContactCount; ++i)
+	{
+		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
+
+		u32 indexA = vc->indexA;
+		float32 mA = vc->invMassA;
+
+		u32 indexB = vc->indexB;
+		float32 mB = vc->invMassB;
+
+		u32 indexC = vc->indexC;
+		float32 mC = vc->invMassC;
+
+		u32 indexD = vc->indexD;
+		float32 mD = vc->invMassD;
+
+		b3Vec3 vA = v[indexA];
+		b3Vec3 vB = v[indexB];
+		b3Vec3 vC = v[indexC];
+		b3Vec3 vD = v[indexD];
+
+		float32 Cdot = b3Dot(vc->JA, vA) + b3Dot(vc->JB, vB) + b3Dot(vc->JC, vC) + b3Dot(vc->JD, vD);
+
+		float32 impulse = -vc->normalMass * Cdot;
+
+		float32 oldImpulse = vc->normalImpulse;
+		vc->normalImpulse = b3Max(vc->normalImpulse + impulse, 0.0f);
+		impulse = vc->normalImpulse - oldImpulse;
+
+		b3Vec3 PA = impulse * vc->JA;
+		b3Vec3 PB = impulse * vc->JB;
+		b3Vec3 PC = impulse * vc->JC;
+		b3Vec3 PD = impulse * vc->JD;
+
+		vA += mA * PA;
+		vB += mB * PB;
+		vC += mC * PC;
+		vD += mD * PD;
+
+		v[indexA] = vA;
+		v[indexB] = vB;
+		v[indexC] = vC;
+		v[indexD] = vD;
+	}
+}
+
 void b3ClothContactSolver::StoreImpulses()
 {
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
@@ -316,6 +500,14 @@ void b3ClothContactSolver::StoreImpulses()
 		c->normalImpulse = vc->normalImpulse;
 		c->tangentImpulse = vc->tangentImpulse;
 	}
+
+	for (u32 i = 0; i < m_triangleContactCount; ++i)
+	{
+		b3ParticleTriangleContact* c = m_triangleContacts[i];
+		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
+
+		c->m_normalImpulse = vc->normalImpulse;
+	}
 }
 
 struct b3ClothSolverBodyContactSolverPoint
@@ -417,5 +609,92 @@ bool b3ClothContactSolver::SolveBodyContactPositionConstraints()
 		bodyB->m_sweep.orientation = qB;
 	}
 
+	return minSeparation >= -3.0f * B3_LINEAR_SLOP;
+}
+
+bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
+{
+	b3DenseVec3& x = *m_positions;
+
+	float32 minSeparation = 0.0f;
+
+	for (u32 i = 0; i < m_triangleContactCount; ++i)
+	{
+		b3ClothSolverTriangleContactPositionConstraint* pc = m_trianglePositionConstraints + i;
+
+		u32 indexA = pc->indexA;
+		float32 mA = pc->invMassA;
+		float32 radiusA = pc->radiusA;
+
+		u32 indexB = pc->indexB;
+		float32 mB = pc->invMassB;
+
+		u32 indexC = pc->indexC;
+		float32 mC = pc->invMassC;
+
+		u32 indexD = pc->indexD;
+		float32 mD = pc->invMassD;
+
+		float32 triangleRadius = pc->triangleRadius;
+
+		b3Vec3 xA = x[indexA];
+		b3Vec3 xB = x[indexB];
+		b3Vec3 xC = x[indexC];
+		b3Vec3 xD = x[indexD];
+
+		b3Vec3 n = b3Cross(xC - xB, xD - xB);
+		if (pc->front == false)
+		{
+			n = -n;
+		}
+
+		float32 n_len = n.Normalize();
+
+		float32 distance = b3Dot(n, xA - xB);
+		float32 separation = distance - radiusA - triangleRadius;
+
+		// Update max constraint error.
+		minSeparation = b3Min(minSeparation, separation);
+
+		// Allow some slop and prevent large corrections.
+		float32 C = b3Clamp(B3_BAUMGARTE * (separation + B3_LINEAR_SLOP), -B3_MAX_LINEAR_CORRECTION, 0.0f);
+
+		b3Mat33 I; I.SetIdentity();
+
+		b3Mat33 N = I - b3Outer(n, n);
+		if (n_len > B3_EPSILON)
+		{
+			N = (1.0f / n_len) * N;
+		}
+
+		b3Vec3 N_n = N * n;
+
+		b3Vec3 JA = n;
+		b3Vec3 JB = b3Cross(xC - xD, N_n) - n;
+		b3Vec3 JC = b3Cross(xD - xB, N_n);
+		b3Vec3 JD = b3Cross(xC - xB, N_n);
+
+		// Compute effective mass.
+		float32 K = mA + mB * b3Dot(JB, JB) + mC * b3Dot(JC, JC) + mD * b3Dot(JD, JD);
+
+		// Compute normal impulse.
+		float32 impulse = K > 0.0f ? -C / K : 0.0f;
+
+		b3Vec3 PA = impulse * JA;
+		b3Vec3 PB = impulse * JB;
+		b3Vec3 PC = impulse * JC;
+		b3Vec3 PD = impulse * JD;
+
+		xA += mA * PA;
+		xB += mB * PB;
+		xC += mC * PC;
+		xD += mD * PD;
+
+		x[indexA] = xA;
+		x[indexB] = xB;
+		x[indexC] = xC;
+		x[indexD] = xD;
+	}
+
 	return minSeparation >= -3.0f * B3_LINEAR_SLOP;
 }
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 0daf1a8..92c7530 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -58,10 +58,15 @@ b3ClothSolver::b3ClothSolver(const b3ClothSolverDef& def)
 	m_bodyContactCapacity = def.bodyContactCapacity;
 	m_bodyContactCount = 0;
 	m_bodyContacts = (b3ParticleBodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3ParticleBodyContact*));;
+
+	m_triangleContactCapacity = def.triangleContactCapacity;
+	m_triangleContactCount = 0;
+	m_triangleContacts = (b3ParticleTriangleContact**)m_allocator->Allocate(m_triangleContactCapacity * sizeof(b3ParticleTriangleContact*));;
 }
 
 b3ClothSolver::~b3ClothSolver()
 {
+	m_allocator->Free(m_triangleContacts);
 	m_allocator->Free(m_bodyContacts);
 
 	m_allocator->Free(m_constraints);
@@ -85,6 +90,11 @@ void b3ClothSolver::Add(b3ParticleBodyContact* c)
 	m_bodyContacts[m_bodyContactCount++] = c;
 }
 
+void b3ClothSolver::Add(b3ParticleTriangleContact* c)
+{
+	m_triangleContacts[m_triangleContactCount++] = c;
+}
+
 void b3ClothSolver::ApplyForces()
 {
 	for (u32 i = 0; i < m_forceCount; ++i)
@@ -266,21 +276,26 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 	contactSolverDef.velocities = m_solverData.v;
 	contactSolverDef.bodyContactCount = m_bodyContactCount;
 	contactSolverDef.bodyContacts = m_bodyContacts;
+	contactSolverDef.triangleContactCount = m_triangleContactCount;
+	contactSolverDef.triangleContacts = m_triangleContacts;
 
 	b3ClothContactSolver contactSolver(contactSolverDef);
 
 	{
 		contactSolver.InitializeBodyContactConstraints();
+		contactSolver.InitializeTriangleContactConstraints();
 	}
 
 	{
-		contactSolver.WarmStart();
+		contactSolver.WarmStartBodyContactConstraints();
+		contactSolver.WarmStartTriangleContactConstraints();
 	}
 
 	{
 		for (u32 i = 0; i < velocityIterations; ++i)
 		{
 			contactSolver.SolveBodyContactVelocityConstraints();
+			contactSolver.SolveTriangleContactVelocityConstraints();
 		}
 	}
 
@@ -297,9 +312,11 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 		for (u32 i = 0; i < positionIterations; ++i)
 		{
 			bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
+			bool triangleContactsSolved = contactSolver.SolveTriangleContactPositionConstraints();
 
-			if (bodyContactsSolved)
+			if (bodyContactsSolved && triangleContactsSolved)
 			{
+				// Early out if the position errors are small.
 				positionSolved = true;
 				break;
 			}
diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index 3316a77..5eeddb0 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -18,6 +18,7 @@
 
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_mesh.h>
 
 void b3ParticleBodyContactWorldPoint::Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
 {
@@ -42,8 +43,20 @@ b3Particle::b3Particle(const b3ParticleDef& def, b3Cloth* cloth)
 	m_velocity = def.velocity;
 	m_force = def.force;
 	m_translation.SetZero();
-	m_mass = 0.0f;
-	m_invMass = 0.0f;
+	m_mass = def.mass;
+
+	if (m_mass == 0.0f)
+	{
+		m_type = e_staticParticle;
+		m_mass = 1.0f;
+		m_invMass = 1.0f;
+	}
+	else
+	{
+		m_type = e_dynamicParticle;
+		m_invMass = 1.0f / m_mass;
+	}
+
 	m_radius = def.radius;
 	m_friction = def.friction;
 	m_userData = nullptr;
@@ -62,7 +75,48 @@ void b3Particle::Synchronize()
 	b3AABB3 aabb;
 	aabb.Set(m_position, m_radius);
 
-	m_cloth->m_particleTree.UpdateNode(m_treeId, aabb);
+	b3Vec3 displacement = m_cloth->m_dt * m_velocity;
+
+	m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_aabbProxy.broadPhaseId, aabb, displacement);
+}
+
+void b3Particle::SynchronizeTriangles()
+{
+	if (m_vertex == ~0)
+	{
+		return;
+	}
+
+	for (u32 i = 0; i < m_cloth->m_mesh->triangleCount; ++i)
+	{
+		b3ClothMeshTriangle* triangle = m_cloth->m_mesh->triangles + i;
+
+		if (triangle->v1 == m_vertex || triangle->v2 == m_vertex || triangle->v3 == m_vertex)
+		{
+			m_cloth->SynchronizeTriangle(i);
+		}
+	}
+}
+
+void b3Particle::DestroyContacts()
+{
+	// Destroy body contacts
+	m_bodyContact.active = false;
+
+	// Destroy triangle contacts
+	b3ParticleTriangleContact* c = m_cloth->m_contactManager.m_particleTriangleContactList.m_head;
+	while (c)
+	{
+		if (c->m_p1 == this)
+		{
+			b3ParticleTriangleContact* quack = c;
+			c = c->m_next;
+			m_cloth->m_contactManager.Destroy(quack);
+			continue;
+		}
+
+		c = c->m_next;
+	}
 }
 
 void b3Particle::SetType(b3ParticleType type)
@@ -81,7 +135,11 @@ void b3Particle::SetType(b3ParticleType type)
 		m_translation.SetZero();
 		
 		Synchronize();
+		SynchronizeTriangles();
 	}
 
-	m_bodyContact.active = false;
+	DestroyContacts();
+	
+	// Move the proxy so new contacts can be created.
+	m_cloth->m_contactManager.m_broadPhase.TouchProxy(m_aabbProxy.broadPhaseId);
 }
\ No newline at end of file

From e5db997fa7485ece3c5f042de2ebddfffa774702 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 12 Jun 2019 18:20:39 -0300
Subject: [PATCH 146/198] Update cloth_contact_manager.cpp

---
 src/bounce/cloth/cloth_contact_manager.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/bounce/cloth/cloth_contact_manager.cpp b/src/bounce/cloth/cloth_contact_manager.cpp
index 6f5ce47..601041d 100644
--- a/src/bounce/cloth/cloth_contact_manager.cpp
+++ b/src/bounce/cloth/cloth_contact_manager.cpp
@@ -21,8 +21,6 @@
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
 
-#include <bounce/common/draw.h>
-
 b3ClothContactManager::b3ClothContactManager() : 
 	m_particleTriangleContactBlocks(sizeof(b3ParticleTriangleContact))
 {

From 46abe231e30f1797ea6da426f8c5d23b3f882fd4 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 12 Jun 2019 20:46:54 -0300
Subject: [PATCH 147/198] Use a modified inverse mass to avoid some instability
 problems

---
 src/bounce/cloth/cloth_contact_solver.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index 0a7768c..9154c8a 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -675,7 +675,8 @@ bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
 		b3Vec3 JD = b3Cross(xC - xB, N_n);
 
 		// Compute effective mass.
-		float32 K = mA + mB * b3Dot(JB, JB) + mC * b3Dot(JC, JC) + mD * b3Dot(JD, JD);
+		//float32 K = mA + mB * b3Dot(JB, JB) + mC * b3Dot(JC, JC) + mD * b3Dot(JD, JD);
+		float32 K = mA + mB + mC + mD;
 
 		// Compute normal impulse.
 		float32 impulse = K > 0.0f ? -C / K : 0.0f;

From 6b92664c1e1f0803fa0096d1d4ded934dc9386b0 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 12 Jun 2019 20:52:39 -0300
Subject: [PATCH 148/198] Use modified mass in velocity solver too

---
 src/bounce/cloth/cloth_contact_solver.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index 9154c8a..57f3f05 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -258,7 +258,8 @@ void b3ClothContactSolver::InitializeTriangleContactConstraints()
 		vc->JC = b3Cross(xD - xB, N_n);
 		vc->JD = b3Cross(xC - xB, N_n);
 
-		float32 K = mA + mB * b3Dot(vc->JB, vc->JB) + mC * b3Dot(vc->JC, vc->JC) + mD * b3Dot(vc->JD, vc->JD);
+		//float32 K = mA + mB * b3Dot(vc->JB, vc->JB) + mC * b3Dot(vc->JC, vc->JC) + mD * b3Dot(vc->JD, vc->JD);
+		float32 K = mA + mB + mC + mD;
 
 		vc->normalMass = K > 0.0f ? 1.0f / K : 0.0f;
 		vc->normalImpulse = c->m_normalImpulse;

From f7becc7ee78872c221d37e3fdffbc5f074072636 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 13 Jun 2019 10:13:15 -0300
Subject: [PATCH 149/198] Organize cloth contacts

---
 include/bounce/cloth/cloth_contact.h         |  64 +++++++
 include/bounce/cloth/cloth_contact_manager.h |  39 +---
 include/bounce/cloth/particle.h              |   9 +-
 src/bounce/cloth/cloth_contact.cpp           | 183 +++++++++++++++++++
 src/bounce/cloth/cloth_contact_manager.cpp   | 183 +------------------
 5 files changed, 264 insertions(+), 214 deletions(-)
 create mode 100644 include/bounce/cloth/cloth_contact.h
 create mode 100644 src/bounce/cloth/cloth_contact.cpp

diff --git a/include/bounce/cloth/cloth_contact.h b/include/bounce/cloth/cloth_contact.h
new file mode 100644
index 0000000..f913ebe
--- /dev/null
+++ b/include/bounce/cloth/cloth_contact.h
@@ -0,0 +1,64 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_CLOTH_CONTACT_H
+#define B3_CLOTH_CONTACT_H
+
+#include <bounce/common/template/list.h>
+
+class b3Particle;
+struct b3ClothMeshTriangle;
+struct b3ClothAABBProxy;
+
+// Contact between particle and a triangle
+class b3ParticleTriangleContact
+{
+public:
+private:
+	friend class b3Cloth;
+	friend class b3Particle;
+	friend class b3ClothContactManager;
+	friend class b3List2<b3ParticleTriangleContact>;
+	friend class b3ClothContactSolver;
+
+	b3ParticleTriangleContact() { }
+	~b3ParticleTriangleContact() { }
+
+	void Update();
+
+	// Particle
+	b3Particle* m_p1;
+
+	// Triangle
+	b3ClothMeshTriangle* m_triangle;
+	b3ClothAABBProxy* m_triangleProxy;
+	b3Particle* m_p2;
+	b3Particle* m_p3;
+	b3Particle* m_p4;
+
+	float32 m_normalImpulse;
+
+	bool m_front;
+
+	bool m_active;
+
+	b3ParticleTriangleContact* m_prev;
+	b3ParticleTriangleContact* m_next;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/cloth/cloth_contact_manager.h b/include/bounce/cloth/cloth_contact_manager.h
index 3e67e2f..8f4517e 100644
--- a/include/bounce/cloth/cloth_contact_manager.h
+++ b/include/bounce/cloth/cloth_contact_manager.h
@@ -19,36 +19,12 @@
 #ifndef B3_CLOTH_CONTACT_MANAGER_H
 #define B3_CLOTH_CONTACT_MANAGER_H
 
+#include <bounce/cloth/cloth_contact.h>
+#include <bounce/collision/broad_phase.h>
 #include <bounce/common/memory/block_pool.h>
 #include <bounce/common/template/list.h>
-#include <bounce/collision/broad_phase.h>
 
 class b3Cloth;
-class b3Particle;
-struct b3ClothMeshTriangle;
-struct b3ClothAABBProxy;
-
-// Contact between particle and a triangle
-class b3ParticleTriangleContact
-{
-public:
-	b3Particle* m_p1;
-	
-	b3ClothMeshTriangle* m_triangle;
-	b3ClothAABBProxy* m_triangleProxy;
-	b3Particle* m_p2;
-	b3Particle* m_p3;
-	b3Particle* m_p4;
-
-	bool m_front;
-	
-	bool m_active;
-
-	float32 m_normalImpulse;
-
-	b3ParticleTriangleContact* m_prev;
-	b3ParticleTriangleContact* m_next;
-};
 
 // Contact delegator for b3Cloth.
 class b3ClothContactManager
@@ -62,19 +38,14 @@ public:
 	void FindNewContacts();
 
 	void UpdateContacts();
-	
-	b3ParticleTriangleContact* Create();
-	
+
+	b3ParticleTriangleContact* CreateParticleTriangleContact();
 	void Destroy(b3ParticleTriangleContact* c);
 
-	void Update(b3ParticleTriangleContact* c);
-
-	b3Cloth* m_cloth;
-
 	b3BlockPool m_particleTriangleContactBlocks;
 	
+	b3Cloth* m_cloth;
 	b3BroadPhase m_broadPhase;
-
 	b3List2<b3ParticleTriangleContact> m_particleTriangleContactList;
 };
 
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index d2d13cf..bdef984 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -19,10 +19,10 @@
 #ifndef B3_PARTICLE_H
 #define B3_PARTICLE_H
 
+#include <bounce/cloth/force.h>
 #include <bounce/common/math/transform.h>
 #include <bounce/common/math/vec2.h>
 #include <bounce/common/template/list.h>
-#include <bounce/cloth/force.h>
 
 class b3Shape;
 class b3Cloth;
@@ -91,12 +91,14 @@ struct b3ParticleBodyContactWorldPoint
 	float32 separation;
 };
 
+// Cloth primitive type
 enum b3ClothAABBProxyType
 {
 	e_particleProxy,
 	e_triangleProxy
 };
 
+// Cloth primitive broadphase proxy
 struct b3ClothAABBProxy
 {
 	b3ClothAABBProxyType type;
@@ -160,6 +162,7 @@ private:
 	friend class b3Cloth;
 	friend class b3ClothSolver;
 	friend class b3ClothContactManager;
+	friend class b3ParticleTriangleContact;
 	friend class b3ClothContactSolver;
 	friend class b3Force;
 	friend class b3SpringForce;
@@ -226,10 +229,8 @@ private:
 	// AABB Proxy
 	b3ClothAABBProxy m_aabbProxy;
 
-	// 
+	// Links to the cloth particle list.
 	b3Particle* m_prev;
-
-	//
 	b3Particle* m_next;
 };
 
diff --git a/src/bounce/cloth/cloth_contact.cpp b/src/bounce/cloth/cloth_contact.cpp
new file mode 100644
index 0000000..edbcb05
--- /dev/null
+++ b/src/bounce/cloth/cloth_contact.cpp
@@ -0,0 +1,183 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/cloth/cloth_contact.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/common/geometry.h>
+
+// 
+static void b3Solve3(float32 out[3],
+	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
+	const b3Vec3& Q)
+{
+	// Test vertex regions
+	float32 wAB[3], wBC[3], wCA[3];
+	b3BarycentricCoordinates(wAB, A, B, Q);
+	b3BarycentricCoordinates(wBC, B, C, Q);
+	b3BarycentricCoordinates(wCA, C, A, Q);
+
+	// R A
+	if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
+	{
+		out[0] = 1.0f;
+		out[1] = 0.0f;
+		out[2] = 0.0f;
+		return;
+	}
+
+	// R B
+	if (wAB[0] <= 0.0f && wBC[1] <= 0.0f)
+	{
+		out[0] = 0.0f;
+		out[1] = 1.0f;
+		out[2] = 0.0f;
+		return;
+	}
+
+	// R C
+	if (wBC[0] <= 0.0f && wCA[1] <= 0.0f)
+	{
+		out[0] = 0.0f;
+		out[1] = 0.0f;
+		out[2] = 1.0f;
+		return;
+	}
+
+	// Test edge regions		
+	float32 wABC[4];
+	b3BarycentricCoordinates(wABC, A, B, C, Q);
+
+	// R AB
+	if (wAB[0] > 0.0f && wAB[1] > 0.0f && wABC[3] * wABC[2] <= 0.0f)
+	{
+		float32 divisor = wAB[2];
+		B3_ASSERT(divisor > 0.0f);
+		float32 s = 1.0f / divisor;
+		out[0] = s * wAB[0];
+		out[1] = s * wAB[1];
+		out[2] = 0.0f;
+		return;
+	}
+
+	// R BC
+	if (wBC[0] > 0.0f && wBC[1] > 0.0f && wABC[3] * wABC[0] <= 0.0f)
+	{
+		float32 divisor = wBC[2];
+		B3_ASSERT(divisor > 0.0f);
+		float32 s = 1.0f / divisor;
+		out[0] = 0.0f;
+		out[1] = s * wBC[0];
+		out[2] = s * wBC[1];
+		return;
+	}
+
+	// R CA
+	if (wCA[0] > 0.0f && wCA[1] > 0.0f && wABC[3] * wABC[1] <= 0.0f)
+	{
+		float32 divisor = wCA[2];
+		B3_ASSERT(divisor > 0.0f);
+		float32 s = 1.0f / divisor;
+		out[0] = s * wCA[1];
+		out[1] = 0.0f;
+		out[2] = s * wCA[0];
+		return;
+	}
+
+	// R ABC/ACB
+	float32 divisor = wABC[3];
+	if (divisor == 0.0f)
+	{
+		float32 s = 1.0f / 3.0f;
+		out[0] = s;
+		out[1] = s;
+		out[2] = s;
+		return;
+	}
+
+	B3_ASSERT(divisor > 0.0f);
+	float32 s = 1.0f / divisor;
+	out[0] = s * wABC[0];
+	out[1] = s * wABC[1];
+	out[2] = s * wABC[2];
+}
+
+void b3ParticleTriangleContact::Update()
+{
+	b3Vec3 A = m_p2->m_position;
+	b3Vec3 B = m_p3->m_position;
+	b3Vec3 C = m_p4->m_position;
+
+	b3Vec3 N = b3Cross(B - A, C - A);
+	float32 len = N.Normalize();
+
+	// Is ABC degenerate?
+	if (len == 0.0f)
+	{
+		m_active = false;
+		return;
+	}
+
+	float32 r1 = m_p1->m_radius;
+	float32 r2 = 0.0f;
+
+	float32 totalRadius = r1 + r2;
+
+	b3Vec3 P1 = m_p1->m_position;
+
+	float32 distance = b3Dot(N, P1 - A);
+
+	// Is P1 below the plane?
+	if (distance < -totalRadius)
+	{
+		m_active = false;
+		return;
+	}
+
+	// Is P1 above the plane?
+	if (distance > totalRadius)
+	{
+		m_active = false;
+		return;
+	}
+
+	// Closest point on ABC to P1
+	float32 wABC[3];
+	b3Solve3(wABC, A, B, C, P1);
+
+	b3Vec3 P2 = wABC[0] * A + wABC[1] * B + wABC[2] * C;
+
+	if (b3DistanceSquared(P1, P2) > totalRadius * totalRadius)
+	{
+		m_active = false;
+		return;
+	}
+
+	// Activate the contact
+	m_active = true;
+
+	// Is P1 in front or back of the plane? 
+	if (distance >= 0.0f)
+	{
+		m_front = true;
+	}
+	else
+	{
+		m_front = false;
+	}
+}
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_contact_manager.cpp b/src/bounce/cloth/cloth_contact_manager.cpp
index 601041d..872f2c2 100644
--- a/src/bounce/cloth/cloth_contact_manager.cpp
+++ b/src/bounce/cloth/cloth_contact_manager.cpp
@@ -93,26 +93,23 @@ void b3ClothContactManager::AddPair(void* data1, void* data2)
 	}
 	
 	// Create a new contact.
-	b3ParticleTriangleContact* c = Create();
+	b3ParticleTriangleContact* c = CreateParticleTriangleContact();
 
 	c->m_p1 = p1;
-	
+	c->m_triangle = triangle;
+	c->m_triangleProxy = proxy2;
 	c->m_p2 = p2;
 	c->m_p3 = p3;
 	c->m_p4 = p4;
-	c->m_triangle = triangle;
-	c->m_triangleProxy = proxy2;
-
+	c->m_normalImpulse = 0.0f;
 	c->m_front = false;
 	c->m_active = false;
 
-	c->m_normalImpulse = 0.0f;
-
 	// Add the contact to the cloth contact list.
 	m_particleTriangleContactList.PushFront(c);
 }
 
-b3ParticleTriangleContact* b3ClothContactManager::Create()
+b3ParticleTriangleContact* b3ClothContactManager::CreateParticleTriangleContact()
 {
 	void* block = m_particleTriangleContactBlocks.Allocate();
 	return new(block) b3ParticleTriangleContact();
@@ -127,177 +124,11 @@ void b3ClothContactManager::Destroy(b3ParticleTriangleContact* c)
 	m_particleTriangleContactBlocks.Free(c);
 }
 
-static void b3Solve3(float32 out[3],
-	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
-	const b3Vec3& Q)
-{
-	// Test vertex regions
-	float32 wAB[3], wBC[3], wCA[3];
-	b3BarycentricCoordinates(wAB, A, B, Q);
-	b3BarycentricCoordinates(wBC, B, C, Q);
-	b3BarycentricCoordinates(wCA, C, A, Q);
-
-	// R A
-	if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
-	{
-		out[0] = 1.0f;
-		out[1] = 0.0f;
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R B
-	if (wAB[0] <= 0.0f && wBC[1] <= 0.0f)
-	{
-		out[0] = 0.0f;
-		out[1] = 1.0f;
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R C
-	if (wBC[0] <= 0.0f && wCA[1] <= 0.0f)
-	{
-		out[0] = 0.0f;
-		out[1] = 0.0f;
-		out[2] = 1.0f;
-		return;
-	}
-
-	// Test edge regions		
-	float32 wABC[4];
-	b3BarycentricCoordinates(wABC, A, B, C, Q);
-
-	// R AB
-	if (wAB[0] > 0.0f && wAB[1] > 0.0f && wABC[3] * wABC[2] <= 0.0f)
-	{
-		float32 divisor = wAB[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = s * wAB[0];
-		out[1] = s * wAB[1];
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R BC
-	if (wBC[0] > 0.0f && wBC[1] > 0.0f && wABC[3] * wABC[0] <= 0.0f)
-	{
-		float32 divisor = wBC[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = 0.0f;
-		out[1] = s * wBC[0];
-		out[2] = s * wBC[1];
-		return;
-	}
-
-	// R CA
-	if (wCA[0] > 0.0f && wCA[1] > 0.0f && wABC[3] * wABC[1] <= 0.0f)
-	{
-		float32 divisor = wCA[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = s * wCA[1];
-		out[1] = 0.0f;
-		out[2] = s * wCA[0];
-		return;
-	}
-
-	// R ABC/ACB
-	float32 divisor = wABC[3];
-	if (divisor == 0.0f)
-	{
-		float32 s = 1.0f / 3.0f;
-		out[0] = s;
-		out[1] = s;
-		out[2] = s;
-		return;
-	}
-
-	B3_ASSERT(divisor > 0.0f);
-	float32 s = 1.0f / divisor;
-	out[0] = s * wABC[0];
-	out[1] = s * wABC[1];
-	out[2] = s * wABC[2];
-}
-
-void b3ClothContactManager::Update(b3ParticleTriangleContact* c)
-{
-	b3Particle* p1 = c->m_p1;
-	
-	b3Particle* p2 = c->m_p2;
-	b3Particle* p3 = c->m_p3;
-	b3Particle* p4 = c->m_p4;
-
-	float32 r1 = p1->m_radius;
-	float32 r2 = 0.0f;
-
-	float32 totalRadius = r1 + r2;
-
-	b3Vec3 A = p2->m_position;
-	b3Vec3 B = p3->m_position;
-	b3Vec3 C = p4->m_position;
-
-	b3Vec3 n = b3Cross(B - A, C - A);
-	float32 len = n.Normalize();
-
-	// Is ABC degenerate?
-	if (len == 0.0f)
-	{
-		c->m_active = false;
-		return;
-	}
-
-	b3Vec3 P1 = p1->m_position;
-
-	float32 distance = b3Dot(n, P1 - A);
-
-	// Is P1 below the plane?
-	if (distance < -totalRadius)
-	{
-		c->m_active = false;
-		return;
-	}
-
-	// Is P1 above the plane?
-	if (distance > totalRadius)
-	{
-		c->m_active = false;
-		return;
-	}
-
-	// Closest point on ABC to P1
-	float32 wABC[3];
-	b3Solve3(wABC, A, B, C, P1);
-
-	b3Vec3 P2 = wABC[0] * A + wABC[1] * B + wABC[2] * C;
-
-	if (b3DistanceSquared(P1, P2) > totalRadius * totalRadius)
-	{
-		c->m_active = false;
-		return;
-	}
-
-	// Activate the contact
-	c->m_active = true;
-
-	// Is the the other point in front of the plane? 
-	if (distance >= 0.0f)
-	{
-		c->m_front = true;
-	}
-	else
-	{
-		c->m_front = false;
-	}
-}
-
 void b3ClothContactManager::UpdateContacts()
 {
 	B3_PROFILE("Cloth Update Contacts");
 	
-	// Update the state of all triangle contacts.
+	// Update the state of particle-triangle contacts.
 	b3ParticleTriangleContact* c = m_particleTriangleContactList.m_head;
 	while (c)
 	{
@@ -327,7 +158,7 @@ void b3ClothContactManager::UpdateContacts()
 		}
 
 		// The contact persists.
-		Update(c);
+		c->Update();
 
 		c = c->m_next;
 	}

From 901aa7255da4d34855260de102ed9705ded61281 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 13 Jun 2019 13:36:31 -0300
Subject: [PATCH 150/198] Update cloth.h

---
 include/bounce/cloth/cloth.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index a84cf1a..330c842 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -67,7 +67,7 @@ struct b3ClothDef
 	// Cloth mesh 
 	const b3ClothMesh* mesh;
 
-	// Cloth density in kg/m^3
+	// Cloth density in kg/m^2
 	float32 density;
 
 	// Structural stiffness

From 922a5a0a7458f2d16301031c6a0595c5bd9ccb33 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 14 Jun 2019 10:46:22 -0300
Subject: [PATCH 151/198] Swap parameters

---
 include/bounce/common/draw.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/bounce/common/draw.h b/include/bounce/common/draw.h
index 7a78162..bc5f1d9 100644
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -96,10 +96,10 @@ public :
 	virtual void DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color) = 0;
 
 	// Draw a plane with center, normal and radius.
-	virtual void DrawPlane(const b3Vec3& center, const b3Vec3& normal, float32 radius, const b3Color& color) = 0;
+	virtual void DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color) = 0;
 
 	// Draw a solid plane with center, normal and radius.
-	virtual void DrawSolidPlane(const b3Vec3& center, const b3Vec3& normal, float32 radius, const b3Color& color) = 0;
+	virtual void DrawSolidPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color) = 0;
 
 	// Draw a sphere with center, and radius.
 	virtual void DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color) = 0;

From 24a86505ee15c1095e133b4eb4aadd4b3024a53b Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 14 Jun 2019 11:47:30 -0300
Subject: [PATCH 152/198] Move stuff around

---
 include/bounce/cloth/cloth_solver.h |   8 --
 src/bounce/cloth/cloth_solver.cpp   | 170 ++++++++++++++--------------
 2 files changed, 84 insertions(+), 94 deletions(-)

diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index c39e417..85ed648 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -81,17 +81,9 @@ public:
 
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 private:
-	// Apply forces.
 	void ApplyForces();
-	
-	// Apply constraints.
 	void ApplyConstraints();
 
-	// Solve Ax = b.
-	void SolveMPCG(b3DenseVec3& x, 
-		const b3SparseSymMat33View& A, const b3DenseVec3& b, 
-		const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y, u32 maxIterations = 30) const;
-
 	b3StackAllocator* m_allocator;
 
 	u32 m_particleCapacity;
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 92c7530..c0cc90a 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -171,6 +171,84 @@ void b3ClothSolver::ApplyConstraints()
 	}
 }
 
+// 
+static void b3SolveMPCG(b3DenseVec3& x,
+	const b3SparseSymMat33View& A, const b3DenseVec3& b,
+	const b3DiagMat33& S, const b3DenseVec3& z, 
+	const b3DenseVec3& y, const b3DiagMat33& I, u32 maxIterations = 20)
+{
+	B3_PROFILE("Cloth Solve MPCG");
+
+	// Jacobi preconditioner 
+	// P = diag(A)
+	b3DiagMat33 inv_P(A.rowCount);
+	for (u32 i = 0; i < A.rowCount; ++i)
+	{
+		b3Mat33 a = A(i, i);
+
+		// Sylvester Criterion to ensure PD-ness
+		B3_ASSERT(b3Det(a.x, a.y, a.z) > 0.0f);
+
+		B3_ASSERT(a.x.x != 0.0f);
+		float32 xx = 1.0f / a.x.x;
+
+		B3_ASSERT(a.y.y != 0.0f);
+		float32 yy = 1.0f / a.y.y;
+
+		B3_ASSERT(a.z.z != 0.0f);
+		float32 zz = 1.0f / a.z.z;
+
+		inv_P[i] = b3Diagonal(xx, yy, zz);
+	}
+
+	x = (S * y) + (I - S) * z;
+
+	b3DenseVec3 b_hat = S * (b - A * ((I - S) * z));
+
+	float32 b_delta = b3Dot(b_hat, inv_P * b_hat);
+
+	b3DenseVec3 r = S * (b - A * x);
+
+	b3DenseVec3 p = S * (inv_P * r);
+
+	float32 delta_new = b3Dot(r, p);
+
+	u32 iteration = 0;
+	for (;;)
+	{
+		if (iteration == maxIterations)
+		{
+			break;
+		}
+
+		if (delta_new <= B3_EPSILON * B3_EPSILON * b_delta)
+		{
+			break;
+		}
+
+		b3DenseVec3 s = S * (A * p);
+
+		float32 alpha = delta_new / b3Dot(p, s);
+
+		x = x + alpha * p;
+		r = r - alpha * s;
+
+		b3DenseVec3 h = inv_P * r;
+
+		float32 delta_old = delta_new;
+
+		delta_new = b3Dot(r, h);
+
+		float32 beta = delta_new / delta_old;
+
+		p = S * (h + beta * p);
+
+		++iteration;
+	}
+
+	b3_clothSolverIterations = iteration;
+}
+
 void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
 {
 	float32 h = dt;
@@ -250,11 +328,15 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 		// b
 		b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
 
+		// I
+		b3DiagMat33 I(m_particleCount);
+		I.SetIdentity();
+
 		// x
 		b3DenseVec3 x(m_particleCount);
-		SolveMPCG(x, viewA, b, S, z, sx0);
+		b3SolveMPCG(x, viewA, b, S, z, sx0, I);
 
-		// 
+		// Velocity update
 		sv = sv + x;
 		sx = sx + sy;
 
@@ -344,87 +426,3 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 		p->m_velocity = sv[i];
 	}
 }
-
-void b3ClothSolver::SolveMPCG(b3DenseVec3& x,
-	const b3SparseSymMat33View& A, const b3DenseVec3& b, 
-	const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y, u32 maxIterations) const
-{
-	B3_PROFILE("Cloth Solve Ax = b");
-
-	// P = diag(A)
-	b3DiagMat33 inv_P(A.rowCount);
-	for (u32 i = 0; i < A.rowCount; ++i)
-	{
-		inv_P[i] = A(i, i);
-	}
-
-	// Invert
-	for (u32 i = 0; i < inv_P.n; ++i)
-	{
-		b3Mat33& D = inv_P[i];
-
-		// Sylvester Criterion to ensure PD-ness
-		B3_ASSERT(b3Det(D.x, D.y, D.z) > 0.0f);
-
-		B3_ASSERT(D.x.x != 0.0f);
-		float32 xx = 1.0f / D.x.x;
-
-		B3_ASSERT(D.y.y != 0.0f);
-		float32 yy = 1.0f / D.y.y;
-
-		B3_ASSERT(D.z.z != 0.0f);
-		float32 zz = 1.0f / D.z.z;
-
-		D = b3Diagonal(xx, yy, zz);
-	}
-
-	b3DiagMat33 I(m_particleCount);
-	I.SetIdentity();
-
-	x = (S * y) + (I - S) * z;
-
-	b3DenseVec3 b_hat = S * (b - A * ((I - S) * z));
-
-	float32 b_delta = b3Dot(b_hat, inv_P * b_hat);
-
-	b3DenseVec3 r = S * (b - A * x);
-
-	b3DenseVec3 p = S * (inv_P * r);
-
-	float32 delta_new = b3Dot(r, p);
-
-	u32 iteration = 0;
-	for (;;)
-	{
-		if (iteration == maxIterations)
-		{
-			break;
-		}
-		
-		if (delta_new <= B3_EPSILON * B3_EPSILON * b_delta)
-		{
-			break;
-		}
-
-		b3DenseVec3 s = S * (A * p);
-
-		float32 alpha = delta_new / b3Dot(p, s);
-
-		x = x + alpha * p;
-		r = r - alpha * s;
-
-		b3DenseVec3 h = inv_P * r;
-
-		float32 delta_old = delta_new;
-
-		delta_new = b3Dot(r, h);
-
-		float32 beta = delta_new / delta_old;
-
-		p = S * (h + beta * p);
-
-		++iteration;
-	}
-
-	b3_clothSolverIterations = iteration;
-}
\ No newline at end of file

From a3a9495d881884b7beb2f282c1b57f291032456a Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 14 Jun 2019 11:48:34 -0300
Subject: [PATCH 153/198] Use Jacobi preconditioner, not inverse Jacobi

---
 src/bounce/softbody/softbody_solver.cpp | 25 ++++++++++++++-----------
 1 file changed, 14 insertions(+), 11 deletions(-)

diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index 1b831e3..b726143 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -92,32 +92,35 @@ static void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3Mat33& A, u32 max
 	out = b3QuatMat33(q);
 }
 
+// 
 static void b3SolveMPCG(b3DenseVec3& x,
 	const b3SparseMat33View& A, const b3DenseVec3& b,
 	const b3DenseVec3& z, const b3DiagMat33& S, u32 maxIterations = 20)
 {
-	B3_PROFILE("Soft Body Solve Ax = b");
+	B3_PROFILE("Soft Body Solve MPCG");
 
+	// Jacobi preconditioner
+	// P = diag(A) 
 	b3DiagMat33 P(A.rowCount);
 	b3DiagMat33 invP(A.rowCount);
 	for (u32 i = 0; i < A.rowCount; ++i)
 	{
-		b3Mat33 D = A(i, i);
+		b3Mat33 a = A(i, i);
 
 		// Sylvester Criterion to ensure PD-ness
-		B3_ASSERT(b3Det(D.x, D.y, D.z) > 0.0f);
+		B3_ASSERT(b3Det(a.x, a.y, a.z) > 0.0f);
 
-		B3_ASSERT(D.x.x != 0.0f);
-		float32 xx = 1.0f / D.x.x;
+		B3_ASSERT(a.x.x != 0.0f);
+		float32 xx = 1.0f / a.x.x;
 
-		B3_ASSERT(D.y.y != 0.0f);
-		float32 yy = 1.0f / D.y.y;
+		B3_ASSERT(a.y.y != 0.0f);
+		float32 yy = 1.0f / a.y.y;
 
-		B3_ASSERT(D.z.z != 0.0f);
-		float32 zz = 1.0f / D.z.z;
+		B3_ASSERT(a.z.z != 0.0f);
+		float32 zz = 1.0f / a.z.z;
 
-		P[i] = b3Diagonal(xx, yy, zz);
-		invP[i] = b3Diagonal(D.x.x, D.y.y, D.z.z);
+		P[i] = b3Diagonal(a.x.x, a.y.y, a.z.z);
+		invP[i] = b3Diagonal(xx, yy, zz);
 	}
 
 	x = z;

From 11724ef5e3cf82c917df4012866df93242db42a0 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 15 Jun 2019 11:33:24 -0300
Subject: [PATCH 154/198] Put nodes in a broadphase to reduce tree updates

---
 include/bounce/softbody/softbody.h      | 9 ++++++---
 include/bounce/softbody/softbody_node.h | 4 ++--
 src/bounce/softbody/softbody.cpp        | 7 +++++--
 src/bounce/softbody/softbody_node.cpp   | 4 +++-
 4 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index 3e17de5..9506b96 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -22,7 +22,7 @@
 #include <bounce/common/math/transform.h>
 #include <bounce/common/memory/stack_allocator.h>
 
-#include <bounce/collision/trees/dynamic_tree.h>
+#include <bounce/collision/broad_phase.h>
 
 class b3World;
 
@@ -189,8 +189,11 @@ private:
 	// Soft body triangles
 	b3SoftBodyTriangle* m_triangles;
 
-	// Node tree
-	b3DynamicTree m_nodeTree;
+	// Broadphase
+	b3BroadPhase m_broadPhase;
+
+	// Time-step
+	float32 m_dt;
 
 	// Attached world
 	b3World* m_world;
diff --git a/include/bounce/softbody/softbody_node.h b/include/bounce/softbody/softbody_node.h
index 7b7dd6f..bc9a98b 100644
--- a/include/bounce/softbody/softbody_node.h
+++ b/include/bounce/softbody/softbody_node.h
@@ -163,8 +163,8 @@ private:
 	// Node and body contact
 	b3NodeBodyContact m_bodyContact;
 
-	// Tree identifier
-	u32 m_treeId;
+	// Broadphase proxy
+	u32 m_broadPhaseId;
 
 	// Soft body
 	b3SoftBody* m_body;
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 408338b..2448d1e 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -463,6 +463,7 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 	m_c_max = def.c_max;
 	m_gravity.SetZero();
 	m_world = nullptr;
+	m_dt = 0.0f;
 
 	const b3SoftBodyMesh* m = m_mesh;
 
@@ -489,7 +490,7 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		b3AABB3 aabb;
 		aabb.Set(n->m_position, 0.0f);
 
-		n->m_treeId = m_nodeTree.InsertNode(aabb, n);
+		n->m_broadPhaseId = m_broadPhase.CreateProxy(aabb, n);
 	}
 
 	// Compute mass
@@ -778,7 +779,7 @@ void b3SoftBody::UpdateContacts()
 			continue;
 		}
 
-		b3AABB3 aabb = m_nodeTree.GetAABB(n->m_treeId);
+		b3AABB3 aabb = m_broadPhase.GetAABB(n->m_broadPhaseId);
 
 		b3SoftBodyUpdateContactsQueryListener listener;
 		listener.sphere.vertex = n->m_position;
@@ -839,6 +840,8 @@ void b3SoftBody::Step(float32 dt, u32 velocityIterations, u32 positionIterations
 {
 	B3_PROFILE("Soft Body Step");
 
+	m_dt = dt;
+
 	// Update contacts
 	UpdateContacts();
 
diff --git a/src/bounce/softbody/softbody_node.cpp b/src/bounce/softbody/softbody_node.cpp
index e18ffed..9df0ad4 100644
--- a/src/bounce/softbody/softbody_node.cpp
+++ b/src/bounce/softbody/softbody_node.cpp
@@ -39,5 +39,7 @@ void b3SoftBodyNode::Synchronize()
 	b3AABB3 aabb;
 	aabb.Set(m_position, m_radius);
 
-	m_body->m_nodeTree.UpdateNode(m_treeId, aabb);
+	b3Vec3 displacement = m_body->m_dt * m_velocity;
+
+	m_body->m_broadPhase.MoveProxy(m_broadPhaseId, aabb, displacement);
 }
\ No newline at end of file

From 4f34c6a95b4d4e41697d02a2634f1578bda7c482 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 15 Jun 2019 11:38:33 -0300
Subject: [PATCH 155/198] Remove unused, update comment

---
 include/bounce/softbody/softbody.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index 9506b96..6099850 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -58,7 +58,6 @@ struct b3SoftBodyTriangle
 {
 	u32 v1, v2, v3;
 	u32 tetrahedron;
-	u32 treeId;
 };
 
 // Soft body definition
@@ -90,15 +89,16 @@ struct b3SoftBodyDef
 	// This is a dimensionless value
 	float32 nu;
 
-	// Material yield in [0, inf]
+	// Material elastic strain yield in [0, inf]
 	// This is a dimensionless value
 	float32 c_yield;
 
 	// Material creep rate in [0, 1 / dt]
-	// Units are inverse seconds
+	// Units are Hz
 	float32 c_creep;
 
 	// Material maximum plastic strain in [0, inf]
+	// This is a dimensionless value
 	float32 c_max;
 };
 

From bc90c4f30e4c530c83e924e9559aaa74c1df622d Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 16 Jun 2019 10:01:46 -0300
Subject: [PATCH 156/198] Positive diagonal check

---
 src/bounce/cloth/cloth_solver.cpp       | 6 +++---
 src/bounce/softbody/softbody_solver.cpp | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index c0cc90a..da71c12 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -189,13 +189,13 @@ static void b3SolveMPCG(b3DenseVec3& x,
 		// Sylvester Criterion to ensure PD-ness
 		B3_ASSERT(b3Det(a.x, a.y, a.z) > 0.0f);
 
-		B3_ASSERT(a.x.x != 0.0f);
+		B3_ASSERT(a.x.x > 0.0f);
 		float32 xx = 1.0f / a.x.x;
 
-		B3_ASSERT(a.y.y != 0.0f);
+		B3_ASSERT(a.y.y > 0.0f);
 		float32 yy = 1.0f / a.y.y;
 
-		B3_ASSERT(a.z.z != 0.0f);
+		B3_ASSERT(a.z.z > 0.0f);
 		float32 zz = 1.0f / a.z.z;
 
 		inv_P[i] = b3Diagonal(xx, yy, zz);
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index b726143..0eaff88 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -110,13 +110,13 @@ static void b3SolveMPCG(b3DenseVec3& x,
 		// Sylvester Criterion to ensure PD-ness
 		B3_ASSERT(b3Det(a.x, a.y, a.z) > 0.0f);
 
-		B3_ASSERT(a.x.x != 0.0f);
+		B3_ASSERT(a.x.x > 0.0f);
 		float32 xx = 1.0f / a.x.x;
 
-		B3_ASSERT(a.y.y != 0.0f);
+		B3_ASSERT(a.y.y > 0.0f);
 		float32 yy = 1.0f / a.y.y;
 
-		B3_ASSERT(a.z.z != 0.0f);
+		B3_ASSERT(a.z.z > 0.0f);
 		float32 zz = 1.0f / a.z.z;
 
 		P[i] = b3Diagonal(a.x.x, a.y.y, a.z.z);

From 5f756dafca96c0f039c5472462d33947cc6afc60 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 17 Jun 2019 12:41:27 -0300
Subject: [PATCH 157/198] Use a particle versus triangle contact constraint
 which is, numerically, more stable

---
 include/bounce/cloth/cloth_contact.h        |   2 +-
 include/bounce/cloth/cloth_contact_solver.h |   9 +-
 src/bounce/cloth/cloth_contact.cpp          |  13 +--
 src/bounce/cloth/cloth_contact_manager.cpp  |   1 -
 src/bounce/cloth/cloth_contact_solver.cpp   | 108 ++++++++++----------
 5 files changed, 62 insertions(+), 71 deletions(-)

diff --git a/include/bounce/cloth/cloth_contact.h b/include/bounce/cloth/cloth_contact.h
index f913ebe..d2760a8 100644
--- a/include/bounce/cloth/cloth_contact.h
+++ b/include/bounce/cloth/cloth_contact.h
@@ -53,7 +53,7 @@ private:
 
 	float32 m_normalImpulse;
 
-	bool m_front;
+	float32 w2, w3, w4;
 
 	bool m_active;
 
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index 3005084..27c0a46 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -92,11 +92,10 @@ struct b3ClothSolverTriangleContactVelocityConstraint
 	float32 invMassC;
 	u32 indexD;
 	float32 invMassD;
+	
+	float32 wB, wC, wD;
 
-	b3Vec3 JA;
-	b3Vec3 JB;
-	b3Vec3 JC;
-	b3Vec3 JD;
+	b3Vec3 normal;
 
 	float32 normalMass;
 	float32 normalImpulse;
@@ -116,7 +115,7 @@ struct b3ClothSolverTriangleContactPositionConstraint
 	float32 invMassD;
 	float32 triangleRadius;
 
-	bool front;
+	float32 wB, wC, wD;
 };
 
 struct b3ClothContactSolverDef
diff --git a/src/bounce/cloth/cloth_contact.cpp b/src/bounce/cloth/cloth_contact.cpp
index edbcb05..7fafa9e 100644
--- a/src/bounce/cloth/cloth_contact.cpp
+++ b/src/bounce/cloth/cloth_contact.cpp
@@ -171,13 +171,8 @@ void b3ParticleTriangleContact::Update()
 	// Activate the contact
 	m_active = true;
 
-	// Is P1 in front or back of the plane? 
-	if (distance >= 0.0f)
-	{
-		m_front = true;
-	}
-	else
-	{
-		m_front = false;
-	}
+	// Store Barycentric coordinates for P1
+	w2 = wABC[0];
+	w3 = wABC[1];
+	w4 = wABC[2];
 }
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_contact_manager.cpp b/src/bounce/cloth/cloth_contact_manager.cpp
index 872f2c2..33d70d7 100644
--- a/src/bounce/cloth/cloth_contact_manager.cpp
+++ b/src/bounce/cloth/cloth_contact_manager.cpp
@@ -102,7 +102,6 @@ void b3ClothContactManager::AddPair(void* data1, void* data2)
 	c->m_p3 = p3;
 	c->m_p4 = p4;
 	c->m_normalImpulse = 0.0f;
-	c->m_front = false;
 	c->m_active = false;
 
 	// Add the contact to the cloth contact list.
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index 57f3f05..cf30a5d 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -215,7 +215,10 @@ void b3ClothContactSolver::InitializeTriangleContactConstraints()
 		pc->invMassD = c->m_p4->m_type == e_staticParticle ? 0.0f : c->m_p4->m_invMass;
 
 		pc->triangleRadius = 0.0f;
-		pc->front = c->m_front;
+
+		pc->wB = c->w2;
+		pc->wC = c->w3;
+		pc->wD = c->w4;
 
 		u32 indexA = pc->indexA;
 		float32 mA = pc->invMassA;
@@ -234,32 +237,21 @@ void b3ClothContactSolver::InitializeTriangleContactConstraints()
 		b3Vec3 xC = x[indexC];
 		b3Vec3 xD = x[indexD];
 
-		b3Vec3 n = b3Cross(xC - xB, xD - xB);
+		float32 wB = pc->wB;
+		float32 wC = pc->wC;
+		float32 wD = pc->wD;
 
-		if (pc->front == false)
-		{
-			n = -n;
-		}
+		b3Vec3 cB = wB * xB + wC * xC + wD * xD;
 
-		float32 n_len = n.Normalize();
+		b3Vec3 n = cB - xA;
+		n.Normalize();
 
-		b3Mat33 I; I.SetIdentity();
+		vc->normal = n;
+		vc->wB = wB;
+		vc->wC = wC;
+		vc->wD = wD;
 
-		b3Mat33 N = I - b3Outer(n, n);
-		if (n_len > B3_EPSILON)
-		{
-			N = (1.0f / n_len) * N;
-		}
-
-		b3Vec3 N_n = N * n;
-
-		vc->JA = n;
-		vc->JB = b3Cross(xC - xD, N_n) - n;
-		vc->JC = b3Cross(xD - xB, N_n);
-		vc->JD = b3Cross(xC - xB, N_n);
-
-		//float32 K = mA + mB * b3Dot(vc->JB, vc->JB) + mC * b3Dot(vc->JC, vc->JC) + mD * b3Dot(vc->JD, vc->JD);
-		float32 K = mA + mB + mC + mD;
+		float32 K = mA + mB * wB * wB + mC * wC * wC + mD * wD * wD;
 
 		vc->normalMass = K > 0.0f ? 1.0f / K : 0.0f;
 		vc->normalImpulse = c->m_normalImpulse;
@@ -336,10 +328,15 @@ void b3ClothContactSolver::WarmStartTriangleContactConstraints()
 		float32 mC = vc->invMassC;
 		float32 mD = vc->invMassD;
 
-		b3Vec3 PA = vc->normalImpulse * vc->JA;
-		b3Vec3 PB = vc->normalImpulse * vc->JB;
-		b3Vec3 PC = vc->normalImpulse * vc->JC;
-		b3Vec3 PD = vc->normalImpulse * vc->JD;
+		b3Vec3 JA = -vc->normal;
+		b3Vec3 JB = vc->wB * vc->normal;
+		b3Vec3 JC = vc->wC * vc->normal;
+		b3Vec3 JD = vc->wD * vc->normal;
+
+		b3Vec3 PA = vc->normalImpulse * JA;
+		b3Vec3 PB = vc->normalImpulse * JB;
+		b3Vec3 PC = vc->normalImpulse * JC;
+		b3Vec3 PD = vc->normalImpulse * JD;
 
 		vA += mA * PA;
 		vB += mB * PB;
@@ -461,12 +458,18 @@ void b3ClothContactSolver::SolveTriangleContactVelocityConstraints()
 		u32 indexD = vc->indexD;
 		float32 mD = vc->invMassD;
 
+		float32 wB = vc->wB;
+		float32 wC = vc->wC;
+		float32 wD = vc->wD;
+
 		b3Vec3 vA = v[indexA];
 		b3Vec3 vB = v[indexB];
 		b3Vec3 vC = v[indexC];
 		b3Vec3 vD = v[indexD];
 
-		float32 Cdot = b3Dot(vc->JA, vA) + b3Dot(vc->JB, vB) + b3Dot(vc->JC, vC) + b3Dot(vc->JD, vD);
+		b3Vec3 vCB = wB * vB + wC * vC + wD * vD;
+
+		float32 Cdot = b3Dot(vCB - vA, vc->normal);
 
 		float32 impulse = -vc->normalMass * Cdot;
 
@@ -474,10 +477,15 @@ void b3ClothContactSolver::SolveTriangleContactVelocityConstraints()
 		vc->normalImpulse = b3Max(vc->normalImpulse + impulse, 0.0f);
 		impulse = vc->normalImpulse - oldImpulse;
 
-		b3Vec3 PA = impulse * vc->JA;
-		b3Vec3 PB = impulse * vc->JB;
-		b3Vec3 PC = impulse * vc->JC;
-		b3Vec3 PD = impulse * vc->JD;
+		b3Vec3 JA = -vc->normal;
+		b3Vec3 JB = wB * vc->normal;
+		b3Vec3 JC = wC * vc->normal;
+		b3Vec3 JD = wD * vc->normal;
+
+		b3Vec3 PA = impulse * JA;
+		b3Vec3 PB = impulse * JB;
+		b3Vec3 PC = impulse * JC;
+		b3Vec3 PD = impulse * JD;
 
 		vA += mA * PA;
 		vB += mB * PB;
@@ -638,20 +646,21 @@ bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
 
 		float32 triangleRadius = pc->triangleRadius;
 
+		float32 wB = pc->wB;
+		float32 wC = pc->wC;
+		float32 wD = pc->wD;
+
 		b3Vec3 xA = x[indexA];
 		b3Vec3 xB = x[indexB];
 		b3Vec3 xC = x[indexC];
 		b3Vec3 xD = x[indexD];
 
-		b3Vec3 n = b3Cross(xC - xB, xD - xB);
-		if (pc->front == false)
-		{
-			n = -n;
-		}
+		b3Vec3 cB = wB * xB + wC * xC + wD * xD;
 
-		float32 n_len = n.Normalize();
+		b3Vec3 n = cB - xA;
+		
+		float32 distance = n.Normalize();
 
-		float32 distance = b3Dot(n, xA - xB);
 		float32 separation = distance - radiusA - triangleRadius;
 
 		// Update max constraint error.
@@ -660,24 +669,13 @@ bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
 		// Allow some slop and prevent large corrections.
 		float32 C = b3Clamp(B3_BAUMGARTE * (separation + B3_LINEAR_SLOP), -B3_MAX_LINEAR_CORRECTION, 0.0f);
 
-		b3Mat33 I; I.SetIdentity();
-
-		b3Mat33 N = I - b3Outer(n, n);
-		if (n_len > B3_EPSILON)
-		{
-			N = (1.0f / n_len) * N;
-		}
-
-		b3Vec3 N_n = N * n;
-
-		b3Vec3 JA = n;
-		b3Vec3 JB = b3Cross(xC - xD, N_n) - n;
-		b3Vec3 JC = b3Cross(xD - xB, N_n);
-		b3Vec3 JD = b3Cross(xC - xB, N_n);
+		b3Vec3 JA = -n;
+		b3Vec3 JB = wB * n;
+		b3Vec3 JC = wC * n;
+		b3Vec3 JD = wD * n;
 
 		// Compute effective mass.
-		//float32 K = mA + mB * b3Dot(JB, JB) + mC * b3Dot(JC, JC) + mD * b3Dot(JD, JD);
-		float32 K = mA + mB + mC + mD;
+		float32 K = mA + mB * wB * wB + mC * wC * wC + mD * wD * wD;
 
 		// Compute normal impulse.
 		float32 impulse = K > 0.0f ? -C / K : 0.0f;

From ee8a15ddaa13c866fc930b665e1daf58cf8984fc Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 17 Jun 2019 12:41:59 -0300
Subject: [PATCH 158/198] Disable bending in a test

---
 examples/testbed/tests/table_cloth.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index 5f83489..3040ade 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -42,7 +42,7 @@ public:
 		b3ClothDef def;
 		def.mesh = &m_rectangleClothMesh;
 		def.density = 0.2f;
-		def.bending = 10000.0f;
+		//def.bending = 10000.0f;
 		def.structural = 10000.0f;
 		def.damping = 0.0f;
 

From 9414b7a2758fedeb62ec78e7d659f67e899d78ed Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 17 Jun 2019 14:27:22 -0300
Subject: [PATCH 159/198] Put a member variable prefix

---
 include/bounce/cloth/cloth_contact.h      | 2 +-
 src/bounce/cloth/cloth_contact.cpp        | 6 +++---
 src/bounce/cloth/cloth_contact_solver.cpp | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/include/bounce/cloth/cloth_contact.h b/include/bounce/cloth/cloth_contact.h
index d2760a8..86646b0 100644
--- a/include/bounce/cloth/cloth_contact.h
+++ b/include/bounce/cloth/cloth_contact.h
@@ -53,7 +53,7 @@ private:
 
 	float32 m_normalImpulse;
 
-	float32 w2, w3, w4;
+	float32 m_w2, m_w3, m_w4;
 
 	bool m_active;
 
diff --git a/src/bounce/cloth/cloth_contact.cpp b/src/bounce/cloth/cloth_contact.cpp
index 7fafa9e..814a728 100644
--- a/src/bounce/cloth/cloth_contact.cpp
+++ b/src/bounce/cloth/cloth_contact.cpp
@@ -172,7 +172,7 @@ void b3ParticleTriangleContact::Update()
 	m_active = true;
 
 	// Store Barycentric coordinates for P1
-	w2 = wABC[0];
-	w3 = wABC[1];
-	w4 = wABC[2];
+	m_w2 = wABC[0];
+	m_w3 = wABC[1];
+	m_w4 = wABC[2];
 }
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index cf30a5d..b713c4f 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -216,9 +216,9 @@ void b3ClothContactSolver::InitializeTriangleContactConstraints()
 
 		pc->triangleRadius = 0.0f;
 
-		pc->wB = c->w2;
-		pc->wC = c->w3;
-		pc->wD = c->w4;
+		pc->wB = c->m_w2;
+		pc->wC = c->m_w3;
+		pc->wD = c->m_w4;
 
 		u32 indexA = pc->indexA;
 		float32 mA = pc->invMassA;

From 13d8415a155030138436922b4714560a37e21f8d Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 18 Jun 2019 11:43:03 -0300
Subject: [PATCH 160/198] Support cloth self friction, thickness. Small
 refactor

---
 include/bounce/cloth/cloth.h                |  24 ++-
 include/bounce/cloth/cloth_contact.h        |  13 +-
 include/bounce/cloth/cloth_contact_solver.h |  10 +-
 include/bounce/cloth/cloth_triangle.h       |  98 +++++++++++
 include/bounce/cloth/particle.h             |  10 +-
 src/bounce/cloth/cloth.cpp                  | 120 +++++++-------
 src/bounce/cloth/cloth_contact_manager.cpp  |  15 +-
 src/bounce/cloth/cloth_contact_solver.cpp   | 174 ++++++++++++++++----
 src/bounce/cloth/cloth_triangle.cpp         |  40 +++++
 src/bounce/cloth/particle.cpp               |   9 +-
 10 files changed, 390 insertions(+), 123 deletions(-)
 create mode 100644 include/bounce/cloth/cloth_triangle.h
 create mode 100644 src/bounce/cloth/cloth_triangle.cpp

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 330c842..98109b2 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -29,6 +29,8 @@ class b3World;
 class b3Shape;
 
 class b3Particle;
+class b3ClothTriangle;
+
 class b3Force;
 struct b3ParticleBodyContact;
 
@@ -62,6 +64,8 @@ struct b3ClothDef
 		structural = 0.0f;
 		bending = 0.0f;
 		damping = 0.0f;
+		thickness = 0.0f;
+		friction = 0.2f;
 	}
 
 	// Cloth mesh 
@@ -78,6 +82,12 @@ struct b3ClothDef
 
 	// Damping stiffness
 	float32 damping;
+
+	// Cloth thickness
+	float32 thickness;
+
+	// Cloth coefficient of friction
+	float32 friction;
 };
 
 // A cloth represents a deformable surface as a collection of particles.
@@ -126,6 +136,9 @@ public:
 	// Return the particle associated with the given vertex.
 	b3Particle* GetVertexParticle(u32 i);
 
+	// Return the cloth triangle given the triangle index.
+	b3ClothTriangle* GetTriangle(u32 i);
+
 	// Return the list of particles in this cloth.
 	const b3List2<b3Particle>& GetParticleList() const;
 
@@ -142,6 +155,7 @@ public:
 	void Draw() const;
 private:
 	friend class b3Particle;
+	friend class b3ClothTriangle;
 	friend class b3ClothContactManager;
 
 	// Compute mass of each particle.
@@ -153,12 +167,6 @@ private:
 	// Solve
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 
-	// Synchronize triangle AABB.
-	void SynchronizeTriangle(u32 triangleIndex);
-
-	// Time-step
-	float32 m_dt;
-
 	// Stack allocator
 	b3StackAllocator m_stackAllocator;
 
@@ -174,8 +182,8 @@ private:
 	// Vertex particles
 	b3Particle** m_vertexParticles;
 
-	// Triangle proxies
-	b3ClothAABBProxy* m_triangleProxies;
+	// Triangles
+	b3ClothTriangle* m_triangles;
 
 	// Cloth density
 	float32 m_density;
diff --git a/include/bounce/cloth/cloth_contact.h b/include/bounce/cloth/cloth_contact.h
index 86646b0..6e7e291 100644
--- a/include/bounce/cloth/cloth_contact.h
+++ b/include/bounce/cloth/cloth_contact.h
@@ -22,8 +22,7 @@
 #include <bounce/common/template/list.h>
 
 class b3Particle;
-struct b3ClothMeshTriangle;
-struct b3ClothAABBProxy;
+class b3ClothTriangle;
 
 // Contact between particle and a triangle
 class b3ParticleTriangleContact
@@ -32,6 +31,7 @@ public:
 private:
 	friend class b3Cloth;
 	friend class b3Particle;
+	friend class b3ClothTriangle;
 	friend class b3ClothContactManager;
 	friend class b3List2<b3ParticleTriangleContact>;
 	friend class b3ClothContactSolver;
@@ -45,16 +45,17 @@ private:
 	b3Particle* m_p1;
 
 	// Triangle
-	b3ClothMeshTriangle* m_triangle;
-	b3ClothAABBProxy* m_triangleProxy;
+	b3ClothTriangle* m_t2;
 	b3Particle* m_p2;
 	b3Particle* m_p3;
 	b3Particle* m_p4;
 
-	float32 m_normalImpulse;
-
 	float32 m_w2, m_w3, m_w4;
 
+	float32 m_normalImpulse;
+	float32 m_tangentImpulse1;
+	float32 m_tangentImpulse2;
+
 	bool m_active;
 
 	b3ParticleTriangleContact* m_prev;
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index 27c0a46..5d69900 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -96,9 +96,17 @@ struct b3ClothSolverTriangleContactVelocityConstraint
 	float32 wB, wC, wD;
 
 	b3Vec3 normal;
-
 	float32 normalMass;
 	float32 normalImpulse;
+
+	float32 friction;
+
+	b3Vec3 tangent1;
+	b3Vec3 tangent2;
+	float32 tangentMass1;
+	float32 tangentMass2;
+	float32 tangentImpulse1;
+	float32 tangentImpulse2;
 };
 
 struct b3ClothSolverTriangleContactPositionConstraint
diff --git a/include/bounce/cloth/cloth_triangle.h b/include/bounce/cloth/cloth_triangle.h
new file mode 100644
index 0000000..6d4fcc3
--- /dev/null
+++ b/include/bounce/cloth/cloth_triangle.h
@@ -0,0 +1,98 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_CLOTH_TRIANGLE_H
+#define B3_CLOTH_TRIANGLE_H
+
+#include <bounce/cloth/particle.h>
+
+// A cloth triangle
+class b3ClothTriangle
+{
+public:
+	// Return the triangle index.
+	u32 GetTriangle() const;
+
+	// Set the triangle radius.
+	void SetRadius(float32 radius);
+
+	// Return the triangle radius.
+	float32 GetRadius() const;
+
+	// Set the triangle coefficient of friction.
+	void SetFriction(float32 friction);
+
+	// Return the triangle coefficient of friction.
+	float32 GetFriction() const;
+private:
+	friend class b3Cloth;
+	friend class b3Particle;
+	friend class b3ClothContactManager;
+	friend class b3ParticleTriangleContact;
+	friend class b3ClothSolver;
+	friend class b3ClothContactSolver;
+
+	b3ClothTriangle() { }
+	~b3ClothTriangle() { }
+
+	// Synchronize AABB
+	void Synchronize(const b3Vec3& displacement);
+
+	// Cloth
+	b3Cloth* m_cloth;
+
+	// Triangle index
+	u32 m_triangle;
+
+	// Radius
+	float32 m_radius;
+
+	// Coefficient of friction
+	float32 m_friction;
+
+	// AABB Proxy
+	b3ClothAABBProxy m_aabbProxy;
+};
+
+inline u32 b3ClothTriangle::GetTriangle() const
+{
+	return m_triangle;
+}
+
+inline void b3ClothTriangle::SetRadius(float32 radius) 
+{
+	m_radius = radius;
+	Synchronize(b3Vec3_zero);
+}
+
+inline float32 b3ClothTriangle::GetRadius() const
+{
+	return m_radius;
+}
+
+inline void b3ClothTriangle::SetFriction(float32 friction)
+{
+	m_friction = friction;
+}
+
+inline float32 b3ClothTriangle::GetFriction() const
+{
+	return m_friction;
+}
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index bdef984..9adbf2c 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -103,7 +103,6 @@ struct b3ClothAABBProxy
 {
 	b3ClothAABBProxyType type;
 	void* data;
-	u32 index;
 	u32 broadPhaseId;
 };
 
@@ -160,6 +159,7 @@ public:
 private:
 	friend class b3List2<b3Particle>;
 	friend class b3Cloth;
+	friend class b3ClothTriangle;
 	friend class b3ClothSolver;
 	friend class b3ClothContactManager;
 	friend class b3ParticleTriangleContact;
@@ -171,7 +171,7 @@ private:
 	~b3Particle();
 
 	// Synchronize particle AABB
-	void Synchronize();
+	void Synchronize(const b3Vec3& displacement);
 
 	// Synchronize triangles AABB
 	void SynchronizeTriangles();
@@ -246,10 +246,12 @@ inline u32 b3Particle::GetVertex() const
 
 inline void b3Particle::SetPosition(const b3Vec3& position)
 {
+	b3Vec3 displacement = position - m_position;
+
 	m_position = position;
 	m_translation.SetZero();
 
-	Synchronize();
+	Synchronize(displacement);
 	SynchronizeTriangles();
 }
 
@@ -281,7 +283,7 @@ inline void b3Particle::SetRadius(float32 radius)
 {
 	m_radius = radius;
 	
-	Synchronize();
+	Synchronize(b3Vec3_zero);
 }
 
 inline float32 b3Particle::GetRadius() const
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 3c66427..13aa712 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -19,6 +19,7 @@
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_triangle.h>
 #include <bounce/cloth/force.h>
 #include <bounce/cloth/spring_force.h>
 #include <bounce/cloth/cloth_solver.h>
@@ -161,11 +162,10 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 	m_mesh = def.mesh;
 	m_density = def.density;
 	m_contactManager.m_cloth = this;
-	m_dt = 0.0f;
 
 	const b3ClothMesh* m = m_mesh;
 
-	// Create particles
+	// Initialize particles
 	m_vertexParticles = (b3Particle**)b3Alloc(m->vertexCount * sizeof(b3Particle*));
 	for (u32 i = 0; i < m->vertexCount; ++i)
 	{
@@ -176,7 +176,6 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 
 		b3Particle* p = CreateParticle(pd);
 
-		p->m_aabbProxy.index = i;
 		p->m_vertex = i;
 		m_vertexParticles[i] = p;
 	}
@@ -184,7 +183,32 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 	// Compute mass
 	ComputeMass();
 
-	// Create forces
+	// Initialize triangles
+	m_triangles = (b3ClothTriangle*)b3Alloc(m_mesh->triangleCount * sizeof(b3ClothTriangle));
+	for (u32 i = 0; i < m_mesh->triangleCount; ++i)
+	{
+		b3ClothMeshTriangle* meshTriangle = m_mesh->triangles + i;
+		b3ClothTriangle* triangle = m_triangles + i;
+
+		triangle->m_cloth = this;
+		triangle->m_radius = def.thickness;
+		triangle->m_friction = def.friction;
+		triangle->m_triangle = i;
+
+		b3Vec3 v1 = m_mesh->vertices[meshTriangle->v1];
+		b3Vec3 v2 = m_mesh->vertices[meshTriangle->v2];
+		b3Vec3 v3 = m_mesh->vertices[meshTriangle->v3];
+
+		b3AABB3 aabb;
+		aabb.Set(v1, v2, v3);
+		aabb.Extend(triangle->m_radius);
+
+		triangle->m_aabbProxy.type = e_triangleProxy;
+		triangle->m_aabbProxy.data = triangle;
+		triangle->m_aabbProxy.broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &triangle->m_aabbProxy);
+	}
+
+	// Initialize forces
 	b3StackAllocator* allocator = &m_stackAllocator;
 
 	// Worst-case edge memory
@@ -251,32 +275,15 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		}
 	}
 
-	// Initialize triangle proxies
-	m_triangleProxies = (b3ClothAABBProxy*)b3Alloc(m_mesh->triangleCount * sizeof(b3ClothAABBProxy));
-	for (u32 i = 0; i < m_mesh->triangleCount; ++i)
-	{
-		b3ClothMeshTriangle* triangle = m_mesh->triangles + i;
-		b3ClothAABBProxy* triangleProxy = m_triangleProxies + i;
-
-		b3Vec3 v1 = m_mesh->vertices[triangle->v1];
-		b3Vec3 v2 = m_mesh->vertices[triangle->v2];
-		b3Vec3 v3 = m_mesh->vertices[triangle->v3];
-
-		b3AABB3 aabb;
-		aabb.Set(v1, v2, v3);
-
-		triangleProxy->type = e_triangleProxy;
-		triangleProxy->index = i;
-		triangleProxy->data = triangle;
-		triangleProxy->broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, triangleProxy);
-	}
-
 	m_gravity.SetZero();
 	m_world = nullptr;
 }
 
 b3Cloth::~b3Cloth()
 {
+	b3Free(m_vertexParticles);
+	b3Free(m_triangles);
+
 	b3Particle* p = m_particleList.m_head;
 	while (p)
 	{
@@ -285,9 +292,6 @@ b3Cloth::~b3Cloth()
 		p0->~b3Particle();
 	}
 
-	b3Free(m_vertexParticles);
-	b3Free(m_triangleProxies);
-
 	b3Force* f = m_forceList.m_head;
 	while (f)
 	{
@@ -307,7 +311,6 @@ b3Particle* b3Cloth::CreateParticle(const b3ParticleDef& def)
 
 	p->m_aabbProxy.type = e_particleProxy;
 	p->m_aabbProxy.data = p;
-	p->m_aabbProxy.index = p->m_vertex;
 	p->m_aabbProxy.broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &p->m_aabbProxy);
 
 	m_particleList.PushFront(p);
@@ -373,6 +376,12 @@ b3Particle* b3Cloth::GetVertexParticle(u32 i)
 	return m_vertexParticles[i];
 }
 
+b3ClothTriangle* b3Cloth::GetTriangle(u32 i)
+{
+	B3_ASSERT(i < m_mesh->triangleCount);
+	return m_triangles + i;
+}
+
 void b3Cloth::ComputeMass()
 {
 	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
@@ -428,7 +437,8 @@ struct b3ClothRayCastSingleCallback
 			return input.maxFraction;
 		}
 
-		u32 triangleIndex = proxy->index;
+		b3ClothTriangle* triangle = (b3ClothTriangle*)proxy->data;
+		u32 triangleIndex = triangle->GetTriangle();
 
 		b3RayCastOutput subOutput;
 		if (cloth->RayCast(&subOutput, &input, triangleIndex))
@@ -436,7 +446,7 @@ struct b3ClothRayCastSingleCallback
 			// Ray hits triangle.
 			if (subOutput.fraction < output0.fraction)
 			{
-				triangle0 = proxy->index;
+				triangle0 = triangleIndex;
 				output0.fraction = subOutput.fraction;
 				output0.normal = subOutput.normal;
 			}
@@ -638,8 +648,6 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 {
 	B3_PROFILE("Cloth Step");
 
-	m_dt = dt;
-
 	// Update particle-body contacts
 	UpdateParticleBodyContacts();
 
@@ -662,13 +670,29 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 	// Synchronize particles
 	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
 	{
-		p->Synchronize();
+		b3Vec3 displacement = dt * p->m_velocity;
+
+		p->Synchronize(displacement);
 	}
 
 	// Synchronize triangles
 	for (u32 i = 0; i < m_mesh->triangleCount; ++i)
 	{
-		SynchronizeTriangle(i);
+		b3ClothMeshTriangle* triangle = m_mesh->triangles + i;
+
+		b3Particle* p1 = m_vertexParticles[triangle->v1];
+		b3Particle* p2 = m_vertexParticles[triangle->v2];
+		b3Particle* p3 = m_vertexParticles[triangle->v3];
+
+		b3Vec3 v1 = p1->m_velocity;
+		b3Vec3 v2 = p2->m_velocity;
+		b3Vec3 v3 = p3->m_velocity;
+
+		b3Vec3 velocity = (v1 + v2 + v3) / 3.0f;
+
+		b3Vec3 displacement = dt * velocity;
+
+		m_triangles[i].Synchronize(displacement);
 	}
 
 #if B3_ENABLE_SELF_COLLISION
@@ -679,34 +703,6 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 #endif
 }
 
-void b3Cloth::SynchronizeTriangle(u32 triangleIndex)
-{
-	b3ClothMeshTriangle* triangle = m_mesh->triangles + triangleIndex;
-	b3ClothAABBProxy* triangleProxy = m_triangleProxies + triangleIndex;
-
-	b3Particle* p1 = m_vertexParticles[triangle->v1];
-	b3Particle* p2 = m_vertexParticles[triangle->v2];
-	b3Particle* p3 = m_vertexParticles[triangle->v3];
-
-	b3Vec3 x1 = p1->m_position;
-	b3Vec3 x2 = p2->m_position;
-	b3Vec3 x3 = p3->m_position;
-
-	b3Vec3 v1 = p1->m_velocity;
-	b3Vec3 v2 = p2->m_velocity;
-	b3Vec3 v3 = p3->m_velocity;
-
-	b3AABB3 aabb;
-	aabb.Set(x1, x2, x3);
-
-	const float32 kInv3 = 1.0f / 3.0f;
-	
-	b3Vec3 center_velocity = kInv3 * (v1 + v2 + v3);
-	b3Vec3 center_displacement = m_dt * center_velocity;
-
-	m_contactManager.m_broadPhase.MoveProxy(triangleProxy->broadPhaseId, aabb, center_displacement);
-}
-
 void b3Cloth::Draw() const
 {
 	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
diff --git a/src/bounce/cloth/cloth_contact_manager.cpp b/src/bounce/cloth/cloth_contact_manager.cpp
index 33d70d7..eef9ae1 100644
--- a/src/bounce/cloth/cloth_contact_manager.cpp
+++ b/src/bounce/cloth/cloth_contact_manager.cpp
@@ -20,6 +20,7 @@
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_triangle.h>
 
 b3ClothContactManager::b3ClothContactManager() : 
 	m_particleTriangleContactBlocks(sizeof(b3ParticleTriangleContact))
@@ -62,7 +63,8 @@ void b3ClothContactManager::AddPair(void* data1, void* data2)
 
 	b3Particle* p1 = (b3Particle*)proxy1->data;
 
-	b3ClothMeshTriangle* triangle = (b3ClothMeshTriangle*)proxy2->data;
+	b3ClothTriangle* t2 = (b3ClothTriangle*)proxy2->data;
+	b3ClothMeshTriangle* triangle = m_cloth->m_mesh->triangles + t2->m_triangle;
 	b3Particle* p2 = m_cloth->m_vertexParticles[triangle->v1];
 	b3Particle* p3 = m_cloth->m_vertexParticles[triangle->v2];
 	b3Particle* p4 = m_cloth->m_vertexParticles[triangle->v3];
@@ -70,7 +72,7 @@ void b3ClothContactManager::AddPair(void* data1, void* data2)
 	// Check if there is a contact between the two entities.
 	for (b3ParticleTriangleContact* c = m_particleTriangleContactList.m_head; c; c = c->m_next)
 	{
-		if (c->m_p1 == p1 && c->m_triangle == triangle)
+		if (c->m_p1 == p1 && c->m_t2 == t2)
 		{
 			// A contact already exists.
 			return;
@@ -86,7 +88,7 @@ void b3ClothContactManager::AddPair(void* data1, void* data2)
 		return;
 	}
 
-	if (triangle->v1 == p1->m_vertex || triangle->v2 == p1->m_vertex || triangle->v3 == p1->m_vertex)
+	if (p1 == p2 || p1 == p3 || p1 == p4)
 	{
 		// The entities must not collide with each other.
 		return;
@@ -96,12 +98,13 @@ void b3ClothContactManager::AddPair(void* data1, void* data2)
 	b3ParticleTriangleContact* c = CreateParticleTriangleContact();
 
 	c->m_p1 = p1;
-	c->m_triangle = triangle;
-	c->m_triangleProxy = proxy2;
+	c->m_t2 = t2;
 	c->m_p2 = p2;
 	c->m_p3 = p3;
 	c->m_p4 = p4;
 	c->m_normalImpulse = 0.0f;
+	c->m_tangentImpulse1 = 0.0f;
+	c->m_tangentImpulse2 = 0.0f;
 	c->m_active = false;
 
 	// Add the contact to the cloth contact list.
@@ -144,7 +147,7 @@ void b3ClothContactManager::UpdateContacts()
 		}
 
 		u32 proxy1 = c->m_p1->m_aabbProxy.broadPhaseId;
-		u32 proxy2 = c->m_triangleProxy->broadPhaseId;
+		u32 proxy2 = c->m_t2->m_aabbProxy.broadPhaseId;
 
 		// Destroy the contact if primitive AABBs are not overlapping.
 		bool overlap = m_broadPhase.TestOverlap(proxy1, proxy2);
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index b713c4f..d736e7c 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -19,6 +19,7 @@
 #include <bounce/cloth/cloth_contact_solver.h>
 #include <bounce/cloth/cloth_contact_manager.h>
 #include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_triangle.h>
 #include <bounce/cloth/dense_vec3.h>
 #include <bounce/common/memory/stack_allocator.h>
 #include <bounce/dynamics/shapes/shape.h>
@@ -214,7 +215,7 @@ void b3ClothContactSolver::InitializeTriangleContactConstraints()
 		pc->indexD = c->m_p4->m_solverId;
 		pc->invMassD = c->m_p4->m_type == e_staticParticle ? 0.0f : c->m_p4->m_invMass;
 
-		pc->triangleRadius = 0.0f;
+		pc->triangleRadius = c->m_t2->m_radius;
 
 		pc->wB = c->m_w2;
 		pc->wC = c->m_w3;
@@ -255,6 +256,14 @@ void b3ClothContactSolver::InitializeTriangleContactConstraints()
 
 		vc->normalMass = K > 0.0f ? 1.0f / K : 0.0f;
 		vc->normalImpulse = c->m_normalImpulse;
+
+		vc->friction = b3MixFriction(c->m_p1->m_friction, c->m_t2->m_friction);
+		vc->tangent1 = b3Perp(n);
+		vc->tangent2 = b3Cross(vc->tangent1, n);
+		vc->tangentMass1 = vc->normalMass;
+		vc->tangentMass2 = vc->normalMass;
+		vc->tangentImpulse1 = c->m_tangentImpulse1;
+		vc->tangentImpulse2 = c->m_tangentImpulse2;
 	}
 }
 
@@ -328,21 +337,57 @@ void b3ClothContactSolver::WarmStartTriangleContactConstraints()
 		float32 mC = vc->invMassC;
 		float32 mD = vc->invMassD;
 
-		b3Vec3 JA = -vc->normal;
-		b3Vec3 JB = vc->wB * vc->normal;
-		b3Vec3 JC = vc->wC * vc->normal;
-		b3Vec3 JD = vc->wD * vc->normal;
+		{
+			b3Vec3 JA = -vc->normal;
+			b3Vec3 JB = vc->wB * vc->normal;
+			b3Vec3 JC = vc->wC * vc->normal;
+			b3Vec3 JD = vc->wD * vc->normal;
 
-		b3Vec3 PA = vc->normalImpulse * JA;
-		b3Vec3 PB = vc->normalImpulse * JB;
-		b3Vec3 PC = vc->normalImpulse * JC;
-		b3Vec3 PD = vc->normalImpulse * JD;
+			b3Vec3 PA = vc->normalImpulse * JA;
+			b3Vec3 PB = vc->normalImpulse * JB;
+			b3Vec3 PC = vc->normalImpulse * JC;
+			b3Vec3 PD = vc->normalImpulse * JD;
 
-		vA += mA * PA;
-		vB += mB * PB;
-		vC += mC * PC;
-		vD += mD * PD;
+			vA += mA * PA;
+			vB += mB * PB;
+			vC += mC * PC;
+			vD += mD * PD; 
+		}
 
+		{
+			b3Vec3 JA = -vc->tangent1;
+			b3Vec3 JB = vc->wB * vc->tangent1;
+			b3Vec3 JC = vc->wC * vc->tangent1;
+			b3Vec3 JD = vc->wD * vc->tangent1;
+
+			b3Vec3 PA = vc->tangentImpulse1 * JA;
+			b3Vec3 PB = vc->tangentImpulse1 * JB;
+			b3Vec3 PC = vc->tangentImpulse1 * JC;
+			b3Vec3 PD = vc->tangentImpulse1 * JD;
+
+			vA += mA * PA;
+			vB += mB * PB;
+			vC += mC * PC;
+			vD += mD * PD; 
+		}
+		
+		{
+			b3Vec3 JA = -vc->tangent2;
+			b3Vec3 JB = vc->wB * vc->tangent2;
+			b3Vec3 JC = vc->wC * vc->tangent2;
+			b3Vec3 JD = vc->wD * vc->tangent2;
+
+			b3Vec3 PA = vc->tangentImpulse2 * JA;
+			b3Vec3 PB = vc->tangentImpulse2 * JB;
+			b3Vec3 PC = vc->tangentImpulse2 * JC;
+			b3Vec3 PD = vc->tangentImpulse2 * JD;
+
+			vA += mA * PA;
+			vB += mB * PB;
+			vC += mC * PC;
+			vD += mD * PD;
+		}
+		
 		v[indexA] = vA;
 		v[indexB] = vB;
 		v[indexC] = vC;
@@ -467,30 +512,95 @@ void b3ClothContactSolver::SolveTriangleContactVelocityConstraints()
 		b3Vec3 vC = v[indexC];
 		b3Vec3 vD = v[indexD];
 
-		b3Vec3 vCB = wB * vB + wC * vC + wD * vD;
+		// Solve normal constraint.
+		{
+			b3Vec3 vCB = wB * vB + wC * vC + wD * vD;
 
-		float32 Cdot = b3Dot(vCB - vA, vc->normal);
+			float32 Cdot = b3Dot(vCB - vA, vc->normal);
 
-		float32 impulse = -vc->normalMass * Cdot;
+			float32 impulse = -vc->normalMass * Cdot;
 
-		float32 oldImpulse = vc->normalImpulse;
-		vc->normalImpulse = b3Max(vc->normalImpulse + impulse, 0.0f);
-		impulse = vc->normalImpulse - oldImpulse;
+			float32 oldImpulse = vc->normalImpulse;
+			vc->normalImpulse = b3Max(vc->normalImpulse + impulse, 0.0f);
+			impulse = vc->normalImpulse - oldImpulse;
 
-		b3Vec3 JA = -vc->normal;
-		b3Vec3 JB = wB * vc->normal;
-		b3Vec3 JC = wC * vc->normal;
-		b3Vec3 JD = wD * vc->normal;
+			b3Vec3 JA = -vc->normal;
+			b3Vec3 JB = wB * vc->normal;
+			b3Vec3 JC = wC * vc->normal;
+			b3Vec3 JD = wD * vc->normal;
 
-		b3Vec3 PA = impulse * JA;
-		b3Vec3 PB = impulse * JB;
-		b3Vec3 PC = impulse * JC;
-		b3Vec3 PD = impulse * JD;
+			b3Vec3 PA = impulse * JA;
+			b3Vec3 PB = impulse * JB;
+			b3Vec3 PC = impulse * JC;
+			b3Vec3 PD = impulse * JD;
 
-		vA += mA * PA;
-		vB += mB * PB;
-		vC += mC * PC;
-		vD += mD * PD;
+			vA += mA * PA;
+			vB += mB * PB;
+			vC += mC * PC;
+			vD += mD * PD;
+		}
+
+		// Solve tangent constraint.
+		{
+			float32 hi = vc->friction * vc->normalImpulse;
+			float32 lo = -hi;
+
+			b3Vec3 vCB = wB * vB + wC * vC + wD * vD;
+
+			float32 Cdot = b3Dot(vCB - vA, vc->tangent1);
+
+			float32 impulse = -vc->tangentMass1 * Cdot;
+
+			float32 oldImpulse = vc->tangentImpulse1;
+			vc->tangentImpulse1 = b3Clamp(vc->tangentImpulse1 + impulse, lo, hi);
+			impulse = vc->tangentImpulse1 - oldImpulse;
+
+			b3Vec3 JA = -vc->tangent1;
+			b3Vec3 JB = wB * vc->tangent1;
+			b3Vec3 JC = wC * vc->tangent1;
+			b3Vec3 JD = wD * vc->tangent1;
+
+			b3Vec3 PA = impulse * JA;
+			b3Vec3 PB = impulse * JB;
+			b3Vec3 PC = impulse * JC;
+			b3Vec3 PD = impulse * JD;
+
+			vA += mA * PA;
+			vB += mB * PB;
+			vC += mC * PC;
+			vD += mD * PD;
+		}
+
+		// Solve bitangent constraint.
+		{
+			float32 hi = vc->friction * vc->normalImpulse;
+			float32 lo = -hi;
+
+			b3Vec3 vCB = wB * vB + wC * vC + wD * vD;
+
+			float32 Cdot = b3Dot(vCB - vA, vc->tangent2);
+
+			float32 impulse = -vc->tangentMass2 * Cdot;
+
+			float32 oldImpulse = vc->tangentImpulse2;
+			vc->tangentImpulse2 = b3Clamp(vc->tangentImpulse2 + impulse, lo, hi);
+			impulse = vc->tangentImpulse2 - oldImpulse;
+
+			b3Vec3 JA = -vc->tangent2;
+			b3Vec3 JB = wB * vc->tangent2;
+			b3Vec3 JC = wC * vc->tangent2;
+			b3Vec3 JD = wD * vc->tangent2;
+
+			b3Vec3 PA = impulse * JA;
+			b3Vec3 PB = impulse * JB;
+			b3Vec3 PC = impulse * JC;
+			b3Vec3 PD = impulse * JD;
+
+			vA += mA * PA;
+			vB += mB * PB;
+			vC += mC * PC;
+			vD += mD * PD;
+		}
 
 		v[indexA] = vA;
 		v[indexB] = vB;
@@ -516,6 +626,8 @@ void b3ClothContactSolver::StoreImpulses()
 		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
 
 		c->m_normalImpulse = vc->normalImpulse;
+		c->m_tangentImpulse1 = vc->tangentImpulse1;
+		c->m_tangentImpulse2 = vc->tangentImpulse2;
 	}
 }
 
diff --git a/src/bounce/cloth/cloth_triangle.cpp b/src/bounce/cloth/cloth_triangle.cpp
new file mode 100644
index 0000000..f4776f5
--- /dev/null
+++ b/src/bounce/cloth/cloth_triangle.cpp
@@ -0,0 +1,40 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/cloth/cloth_triangle.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_mesh.h>
+
+void b3ClothTriangle::Synchronize(const b3Vec3& displacement)
+{
+	b3ClothMeshTriangle* triangle = m_cloth->m_mesh->triangles + m_triangle;
+
+	b3Particle* p1 = m_cloth->m_vertexParticles[triangle->v1];
+	b3Particle* p2 = m_cloth->m_vertexParticles[triangle->v2];
+	b3Particle* p3 = m_cloth->m_vertexParticles[triangle->v3];
+
+	b3Vec3 x1 = p1->m_position;
+	b3Vec3 x2 = p2->m_position;
+	b3Vec3 x3 = p3->m_position;
+
+	b3AABB3 aabb;
+	aabb.Set(x1, x2, x3);
+	aabb.Extend(m_radius);
+
+	m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_aabbProxy.broadPhaseId, aabb, displacement);
+}
\ No newline at end of file
diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index 5eeddb0..b6caf0b 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -19,6 +19,7 @@
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/cloth_triangle.h>
 
 void b3ParticleBodyContactWorldPoint::Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
 {
@@ -70,13 +71,11 @@ b3Particle::~b3Particle()
 
 }
 
-void b3Particle::Synchronize()
+void b3Particle::Synchronize(const b3Vec3& displacement)
 {
 	b3AABB3 aabb;
 	aabb.Set(m_position, m_radius);
 
-	b3Vec3 displacement = m_cloth->m_dt * m_velocity;
-
 	m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_aabbProxy.broadPhaseId, aabb, displacement);
 }
 
@@ -93,7 +92,7 @@ void b3Particle::SynchronizeTriangles()
 
 		if (triangle->v1 == m_vertex || triangle->v2 == m_vertex || triangle->v3 == m_vertex)
 		{
-			m_cloth->SynchronizeTriangle(i);
+			m_cloth->GetTriangle(i)->Synchronize(b3Vec3_zero);
 		}
 	}
 }
@@ -134,7 +133,7 @@ void b3Particle::SetType(b3ParticleType type)
 		m_velocity.SetZero();
 		m_translation.SetZero();
 		
-		Synchronize();
+		Synchronize(b3Vec3_zero);
 		SynchronizeTriangles();
 	}
 

From f9e8d9394bb89d798e98d39c11312a137cfe0a9f Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 18 Jun 2019 11:55:09 -0300
Subject: [PATCH 161/198] Apply a bugfix

---
 src/bounce/cloth/cloth_contact.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/bounce/cloth/cloth_contact.cpp b/src/bounce/cloth/cloth_contact.cpp
index 814a728..be57dad 100644
--- a/src/bounce/cloth/cloth_contact.cpp
+++ b/src/bounce/cloth/cloth_contact.cpp
@@ -19,6 +19,7 @@
 #include <bounce/cloth/cloth_contact.h>
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_triangle.h>
 #include <bounce/common/geometry.h>
 
 // 
@@ -134,7 +135,7 @@ void b3ParticleTriangleContact::Update()
 	}
 
 	float32 r1 = m_p1->m_radius;
-	float32 r2 = 0.0f;
+	float32 r2 = m_t2->m_radius;
 
 	float32 totalRadius = r1 + r2;
 

From 9d935ea17f4913bc408401844b319f0cd3b570fe Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 18 Jun 2019 11:58:10 -0300
Subject: [PATCH 162/198] Set particle radius to thickness

---
 src/bounce/cloth/cloth.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 13aa712..98da7f1 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -173,6 +173,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		pd.type = e_dynamicParticle;
 		pd.mass = 1.0f;
 		pd.position = m->vertices[i];
+		pd.radius = def.thickness;
 
 		b3Particle* p = CreateParticle(pd);
 

From 170793896d48cc89e0cda305b7173751fbcd08dd Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 18 Jun 2019 12:48:34 -0300
Subject: [PATCH 163/198] Synchronize node AABB given displacement

---
 include/bounce/softbody/softbody.h      |  3 ---
 include/bounce/softbody/softbody_node.h | 10 ++++++----
 src/bounce/softbody/softbody.cpp        |  7 +++----
 src/bounce/softbody/softbody_node.cpp   |  4 +---
 4 files changed, 10 insertions(+), 14 deletions(-)

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index 6099850..944fa9c 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -192,9 +192,6 @@ private:
 	// Broadphase
 	b3BroadPhase m_broadPhase;
 
-	// Time-step
-	float32 m_dt;
-
 	// Attached world
 	b3World* m_world;
 };
diff --git a/include/bounce/softbody/softbody_node.h b/include/bounce/softbody/softbody_node.h
index bc9a98b..87d039a 100644
--- a/include/bounce/softbody/softbody_node.h
+++ b/include/bounce/softbody/softbody_node.h
@@ -125,7 +125,7 @@ private:
 	~b3SoftBodyNode() { }
 
 	// Synchronize node
-	void Synchronize();
+	void Synchronize(const b3Vec3& displacement);
 
 	// Type
 	b3SoftBodyNodeType m_type;
@@ -183,7 +183,7 @@ inline void b3SoftBodyNode::SetType(b3SoftBodyNodeType type)
 	if (type == e_staticSoftBodyNode)
 	{
 		m_velocity.SetZero();
-		Synchronize();
+		Synchronize(b3Vec3_zero);
 	}
 
 	m_bodyContact.active = false;
@@ -201,9 +201,11 @@ inline u32 b3SoftBodyNode::GetVertex() const
 
 inline void b3SoftBodyNode::SetPosition(const b3Vec3& position)
 {
+	b3Vec3 displacement = position - m_position;
+
 	m_position = position;
 
-	Synchronize();
+	Synchronize(displacement);
 }
 
 inline const b3Vec3& b3SoftBodyNode::GetPosition() const
@@ -244,7 +246,7 @@ inline void b3SoftBodyNode::SetRadius(float32 radius)
 {
 	m_radius = radius;
 	
-	Synchronize();
+	Synchronize(b3Vec3_zero);
 }
 
 inline float32 b3SoftBodyNode::GetRadius() const
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 2448d1e..4a55a2d 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -463,7 +463,6 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 	m_c_max = def.c_max;
 	m_gravity.SetZero();
 	m_world = nullptr;
-	m_dt = 0.0f;
 
 	const b3SoftBodyMesh* m = m_mesh;
 
@@ -840,8 +839,6 @@ void b3SoftBody::Step(float32 dt, u32 velocityIterations, u32 positionIterations
 {
 	B3_PROFILE("Soft Body Step");
 
-	m_dt = dt;
-
 	// Update contacts
 	UpdateContacts();
 
@@ -867,7 +864,9 @@ void b3SoftBody::Step(float32 dt, u32 velocityIterations, u32 positionIterations
 			continue;
 		}
 
-		n->Synchronize();
+		b3Vec3 displacement = dt * n->m_velocity;
+
+		n->Synchronize(displacement);
 	}
 }
 
diff --git a/src/bounce/softbody/softbody_node.cpp b/src/bounce/softbody/softbody_node.cpp
index 9df0ad4..45a8eb0 100644
--- a/src/bounce/softbody/softbody_node.cpp
+++ b/src/bounce/softbody/softbody_node.cpp
@@ -34,12 +34,10 @@ void b3NodeBodyContactWorldPoint::Initialize(const b3NodeBodyContact* c, float32
 	separation = b3Dot(cB - cA, nA) - rA - rB;
 }
 
-void b3SoftBodyNode::Synchronize()
+void b3SoftBodyNode::Synchronize(const b3Vec3& displacement)
 {
 	b3AABB3 aabb;
 	aabb.Set(m_position, m_radius);
 
-	b3Vec3 displacement = m_body->m_dt * m_velocity;
-
 	m_body->m_broadPhase.MoveProxy(m_broadPhaseId, aabb, displacement);
 }
\ No newline at end of file

From 9765e72ab9cc469fe459c3ad83eb1c9fbbbf8c0e Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Tue, 18 Jun 2019 21:00:03 -0300
Subject: [PATCH 164/198] Better API naming. Enable self-collision by default.

---
 examples/testbed/framework/cloth_dragger.cpp | 24 +++----
 examples/testbed/tests/tension_mapping.h     | 23 +++---
 include/bounce/cloth/cloth.h                 |  8 +--
 include/bounce/cloth/cloth_triangle.h        |  3 +
 include/bounce/cloth/particle.h              |  6 +-
 src/bounce/cloth/cloth.cpp                   | 74 +++++++++-----------
 src/bounce/cloth/cloth_contact_manager.cpp   | 14 ++--
 src/bounce/cloth/cloth_triangle.cpp          |  8 +--
 src/bounce/cloth/particle.cpp                |  4 +-
 9 files changed, 85 insertions(+), 79 deletions(-)

diff --git a/examples/testbed/framework/cloth_dragger.cpp b/examples/testbed/framework/cloth_dragger.cpp
index ad18319..fb208c2 100644
--- a/examples/testbed/framework/cloth_dragger.cpp
+++ b/examples/testbed/framework/cloth_dragger.cpp
@@ -45,9 +45,9 @@ bool b3ClothDragger::StartDragging()
 	m_triangle = m_mesh->triangles + rayOut.triangle;
 	m_x = rayOut.fraction;
 
-	b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
-	b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
-	b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3);
+	b3Particle* p1 = m_cloth->GetParticle(m_triangle->v1);
+	b3Particle* p2 = m_cloth->GetParticle(m_triangle->v2);
+	b3Particle* p3 = m_cloth->GetParticle(m_triangle->v3);
 
 	b3Vec3 v1 = p1->GetPosition();
 	b3Vec3 v2 = p2->GetPosition();
@@ -133,13 +133,13 @@ void b3ClothDragger::Drag()
 	}
 	else
 	{
-		b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
+		b3Particle* p1 = m_cloth->GetParticle(m_triangle->v1);
 		p1->ApplyTranslation(dx);
 
-		b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
+		b3Particle* p2 = m_cloth->GetParticle(m_triangle->v2);
 		p2->ApplyTranslation(dx);
 
-		b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3);
+		b3Particle* p3 = m_cloth->GetParticle(m_triangle->v3);
 		p3->ApplyTranslation(dx);
 	}
 }
@@ -172,9 +172,9 @@ void b3ClothDragger::StopDragging()
 	}
 	else
 	{
-		m_cloth->GetVertexParticle(m_triangle->v1)->SetType(m_t1);
-		m_cloth->GetVertexParticle(m_triangle->v2)->SetType(m_t2);
-		m_cloth->GetVertexParticle(m_triangle->v3)->SetType(m_t3);
+		m_cloth->GetParticle(m_triangle->v1)->SetType(m_t1);
+		m_cloth->GetParticle(m_triangle->v2)->SetType(m_t2);
+		m_cloth->GetParticle(m_triangle->v3)->SetType(m_t3);
 	}
 
 	m_triangle = nullptr;
@@ -184,9 +184,9 @@ b3Vec3 b3ClothDragger::GetPointA() const
 {
 	B3_ASSERT(IsDragging() == true);
 
-	b3Vec3 A = m_cloth->GetVertexParticle(m_triangle->v1)->GetPosition();
-	b3Vec3 B = m_cloth->GetVertexParticle(m_triangle->v2)->GetPosition();
-	b3Vec3 C = m_cloth->GetVertexParticle(m_triangle->v3)->GetPosition();
+	b3Vec3 A = m_cloth->GetParticle(m_triangle->v1)->GetPosition();
+	b3Vec3 B = m_cloth->GetParticle(m_triangle->v2)->GetPosition();
+	b3Vec3 C = m_cloth->GetParticle(m_triangle->v3)->GetPosition();
 
 	return m_u * A + m_v * B + (1.0f - m_u - m_v) * C;
 }
diff --git a/examples/testbed/tests/tension_mapping.h b/examples/testbed/tests/tension_mapping.h
index 1da11b2..3b4f89b 100644
--- a/examples/testbed/tests/tension_mapping.h
+++ b/examples/testbed/tests/tension_mapping.h
@@ -130,8 +130,15 @@ public:
 				u32 v1 = s->GetParticle1()->GetVertex();
 				u32 v2 = s->GetParticle2()->GetVertex();
 
-				tension[v1] += s->GetActionForce();
-				tension[v2] -= s->GetActionForce();
+				if (v1 != ~0)
+				{
+					tension[v1] += s->GetActionForce();
+				}
+
+				if (v2 != ~0)
+				{
+					tension[v2] -= s->GetActionForce();
+				}
 			}
 		}
 
@@ -139,13 +146,13 @@ public:
 		{
 			b3ClothMeshTriangle* t = mesh->triangles + i;
 
-			b3Vec3 v1 = m_cloth->GetVertexParticle(t->v1)->GetPosition();
-			b3Vec3 v2 = m_cloth->GetVertexParticle(t->v2)->GetPosition();
-			b3Vec3 v3 = m_cloth->GetVertexParticle(t->v3)->GetPosition();
+			b3Vec3 v1 = m_cloth->GetParticle(t->v1)->GetPosition();
+			b3Vec3 v2 = m_cloth->GetParticle(t->v2)->GetPosition();
+			b3Vec3 v3 = m_cloth->GetParticle(t->v3)->GetPosition();
 
-			b3Draw_draw->DrawSegment(v1, v2, b3Color_black);
-			b3Draw_draw->DrawSegment(v2, v3, b3Color_black);
-			b3Draw_draw->DrawSegment(v3, v1, b3Color_black);
+			g_draw->DrawSegment(v1, v2, b3Color_black);
+			g_draw->DrawSegment(v2, v3, b3Color_black);
+			g_draw->DrawSegment(v3, v1, b3Color_black);
 
 			b3Vec3 f1 = tension[t->v1];
 			float32 L1 = b3Length(f1);
diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 98109b2..1f8e365 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -133,8 +133,8 @@ public:
 	// Return the cloth mesh proxy.
 	const b3ClothMesh* GetMesh() const;
 
-	// Return the particle associated with the given vertex.
-	b3Particle* GetVertexParticle(u32 i);
+	// Return the cloth particle given vertex index.
+	b3Particle* GetParticle(u32 i);
 
 	// Return the cloth triangle given the triangle index.
 	b3ClothTriangle* GetTriangle(u32 i);
@@ -179,8 +179,8 @@ private:
 	// Proxy mesh
 	const b3ClothMesh* m_mesh;
 	
-	// Vertex particles
-	b3Particle** m_vertexParticles;
+	// Particles
+	b3Particle** m_particles;
 
 	// Triangles
 	b3ClothTriangle* m_triangles;
diff --git a/include/bounce/cloth/cloth_triangle.h b/include/bounce/cloth/cloth_triangle.h
index 6d4fcc3..ca51ccc 100644
--- a/include/bounce/cloth/cloth_triangle.h
+++ b/include/bounce/cloth/cloth_triangle.h
@@ -67,6 +67,9 @@ private:
 
 	// AABB Proxy
 	b3ClothAABBProxy m_aabbProxy;
+
+	// Broadphase ID
+	u32 m_broadPhaseId;
 };
 
 inline u32 b3ClothTriangle::GetTriangle() const
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index 9adbf2c..ce909e2 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -102,8 +102,7 @@ enum b3ClothAABBProxyType
 struct b3ClothAABBProxy
 {
 	b3ClothAABBProxyType type;
-	void* data;
-	u32 broadPhaseId;
+	void* owner;
 };
 
 // A cloth particle.
@@ -229,6 +228,9 @@ private:
 	// AABB Proxy
 	b3ClothAABBProxy m_aabbProxy;
 
+	// Broadphase ID
+	u32 m_broadPhaseId;
+
 	// Links to the cloth particle list.
 	b3Particle* m_prev;
 	b3Particle* m_next;
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 98da7f1..936df66 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -33,8 +33,6 @@
 
 #include <bounce/common/draw.h>
 
-#define B3_ENABLE_SELF_COLLISION 0
-
 static B3_FORCE_INLINE u32 b3NextIndex(u32 i)
 {
 	return i + 1 < 3 ? i + 1 : 0;
@@ -166,7 +164,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 	const b3ClothMesh* m = m_mesh;
 
 	// Initialize particles
-	m_vertexParticles = (b3Particle**)b3Alloc(m->vertexCount * sizeof(b3Particle*));
+	m_particles = (b3Particle**)b3Alloc(m->vertexCount * sizeof(b3Particle*));
 	for (u32 i = 0; i < m->vertexCount; ++i)
 	{
 		b3ParticleDef pd;
@@ -178,7 +176,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		b3Particle* p = CreateParticle(pd);
 
 		p->m_vertex = i;
-		m_vertexParticles[i] = p;
+		m_particles[i] = p;
 	}
 
 	// Compute mass
@@ -205,8 +203,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		aabb.Extend(triangle->m_radius);
 
 		triangle->m_aabbProxy.type = e_triangleProxy;
-		triangle->m_aabbProxy.data = triangle;
-		triangle->m_aabbProxy.broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &triangle->m_aabbProxy);
+		triangle->m_aabbProxy.owner = triangle;
+		triangle->m_broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &triangle->m_aabbProxy);
 	}
 
 	// Initialize forces
@@ -225,8 +223,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 	{
 		b3UniqueEdge* e = uniqueEdges + i;
 
-		b3Particle* p1 = m_vertexParticles[e->v1];
-		b3Particle* p2 = m_vertexParticles[e->v2];
+		b3Particle* p1 = m_particles[e->v1];
+		b3Particle* p2 = m_particles[e->v2];
 
 		b3SpringForceDef fd;
 		fd.Initialize(p1, p2, def.structural, def.damping);
@@ -242,10 +240,10 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 	{
 		b3SharedEdge* e = sharedEdges + i;
 
-		b3Particle* p1 = m_vertexParticles[e->v1];
-		b3Particle* p2 = m_vertexParticles[e->v2];
-		b3Particle* p3 = m_vertexParticles[e->nsv1];
-		b3Particle* p4 = m_vertexParticles[e->nsv2];
+		b3Particle* p1 = m_particles[e->v1];
+		b3Particle* p2 = m_particles[e->v2];
+		b3Particle* p3 = m_particles[e->nsv1];
+		b3Particle* p4 = m_particles[e->nsv2];
 
 		b3SpringForceDef fd;
 		fd.Initialize(p3, p4, def.bending, def.damping);
@@ -264,8 +262,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 	{
 		b3ClothMeshSewingLine* line = m->sewingLines + i;
 
-		b3Particle* p1 = m_vertexParticles[line->v1];
-		b3Particle* p2 = m_vertexParticles[line->v2];
+		b3Particle* p1 = m_particles[line->v1];
+		b3Particle* p2 = m_particles[line->v2];
 
 		b3SpringForceDef fd;
 		fd.Initialize(p1, p2, def.structural, def.damping);
@@ -282,7 +280,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 
 b3Cloth::~b3Cloth()
 {
-	b3Free(m_vertexParticles);
+	b3Free(m_particles);
 	b3Free(m_triangles);
 
 	b3Particle* p = m_particleList.m_head;
@@ -311,8 +309,8 @@ b3Particle* b3Cloth::CreateParticle(const b3ParticleDef& def)
 	aabb.Set(p->m_position, p->m_radius);
 
 	p->m_aabbProxy.type = e_particleProxy;
-	p->m_aabbProxy.data = p;
-	p->m_aabbProxy.broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &p->m_aabbProxy);
+	p->m_aabbProxy.owner = p;
+	p->m_broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &p->m_aabbProxy);
 
 	m_particleList.PushFront(p);
 
@@ -341,7 +339,7 @@ void b3Cloth::DestroyParticle(b3Particle* particle)
 	particle->DestroyContacts();
 
 	// Destroy AABB proxy
-	m_contactManager.m_broadPhase.DestroyProxy(particle->m_aabbProxy.broadPhaseId);
+	m_contactManager.m_broadPhase.DestroyProxy(particle->m_broadPhaseId);
 
 	m_particleList.Remove(particle);
 	particle->~b3Particle();
@@ -371,10 +369,10 @@ float32 b3Cloth::GetEnergy() const
 	return 0.5f * E;
 }
 
-b3Particle* b3Cloth::GetVertexParticle(u32 i)
+b3Particle* b3Cloth::GetParticle(u32 i)
 {
 	B3_ASSERT(i < m_mesh->vertexCount);
-	return m_vertexParticles[i];
+	return m_particles[i];
 }
 
 b3ClothTriangle* b3Cloth::GetTriangle(u32 i)
@@ -407,9 +405,9 @@ void b3Cloth::ComputeMass()
 
 		float32 mass = rho * area;
 
-		b3Particle* p1 = m_vertexParticles[triangle->v1];
-		b3Particle* p2 = m_vertexParticles[triangle->v2];
-		b3Particle* p3 = m_vertexParticles[triangle->v3];
+		b3Particle* p1 = m_particles[triangle->v1];
+		b3Particle* p2 = m_particles[triangle->v2];
+		b3Particle* p3 = m_particles[triangle->v3];
 
 		p1->m_mass += inv3 * mass;
 		p2->m_mass += inv3 * mass;
@@ -438,7 +436,7 @@ struct b3ClothRayCastSingleCallback
 			return input.maxFraction;
 		}
 
-		b3ClothTriangle* triangle = (b3ClothTriangle*)proxy->data;
+		b3ClothTriangle* triangle = (b3ClothTriangle*)proxy->owner;
 		u32 triangleIndex = triangle->GetTriangle();
 
 		b3RayCastOutput subOutput;
@@ -495,9 +493,9 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
 	B3_ASSERT(triangleIndex < m_mesh->triangleCount);
 	b3ClothMeshTriangle* triangle = m_mesh->triangles + triangleIndex;
 
-	b3Vec3 v1 = m_vertexParticles[triangle->v1]->m_position;
-	b3Vec3 v2 = m_vertexParticles[triangle->v2]->m_position;
-	b3Vec3 v3 = m_vertexParticles[triangle->v3]->m_position;
+	b3Vec3 v1 = m_particles[triangle->v1]->m_position;
+	b3Vec3 v2 = m_particles[triangle->v2]->m_position;
+	b3Vec3 v3 = m_particles[triangle->v3]->m_position;
 
 	return b3RayCast(output, input, v1, v2, v3);
 }
@@ -556,7 +554,7 @@ void b3Cloth::UpdateParticleBodyContacts()
 			continue;
 		}
 
-		b3AABB3 aabb = m_contactManager.m_broadPhase.GetAABB(p->m_aabbProxy.broadPhaseId);
+		b3AABB3 aabb = m_contactManager.m_broadPhase.GetAABB(p->m_broadPhaseId);
 
 		b3ClothUpdateContactsQueryListener listener;
 		listener.sphere.vertex = p->m_position;
@@ -681,9 +679,9 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 	{
 		b3ClothMeshTriangle* triangle = m_mesh->triangles + i;
 
-		b3Particle* p1 = m_vertexParticles[triangle->v1];
-		b3Particle* p2 = m_vertexParticles[triangle->v2];
-		b3Particle* p3 = m_vertexParticles[triangle->v3];
+		b3Particle* p1 = m_particles[triangle->v1];
+		b3Particle* p2 = m_particles[triangle->v2];
+		b3Particle* p3 = m_particles[triangle->v3];
 
 		b3Vec3 v1 = p1->m_velocity;
 		b3Vec3 v2 = p2->m_velocity;
@@ -696,12 +694,8 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 		m_triangles[i].Synchronize(displacement);
 	}
 
-#if B3_ENABLE_SELF_COLLISION
-
 	// Find new self-contacts
 	m_contactManager.FindNewContacts();
-
-#endif
 }
 
 void b3Cloth::Draw() const
@@ -741,8 +735,8 @@ void b3Cloth::Draw() const
 	for (u32 i = 0; i < m->sewingLineCount; ++i)
 	{
 		b3ClothMeshSewingLine* s = m->sewingLines + i;
-		b3Particle* p1 = m_vertexParticles[s->v1];
-		b3Particle* p2 = m_vertexParticles[s->v2];
+		b3Particle* p1 = m_particles[s->v1];
+		b3Particle* p2 = m_particles[s->v2];
 
 		b3Draw_draw->DrawSegment(p1->m_position, p2->m_position, b3Color_white);
 	}
@@ -751,9 +745,9 @@ void b3Cloth::Draw() const
 	{
 		b3ClothMeshTriangle* t = m->triangles + i;
 
-		b3Particle* p1 = m_vertexParticles[t->v1];
-		b3Particle* p2 = m_vertexParticles[t->v2];
-		b3Particle* p3 = m_vertexParticles[t->v3];
+		b3Particle* p1 = m_particles[t->v1];
+		b3Particle* p2 = m_particles[t->v2];
+		b3Particle* p3 = m_particles[t->v3];
 
 		b3Vec3 v1 = p1->m_position;
 		b3Vec3 v2 = p2->m_position;
diff --git a/src/bounce/cloth/cloth_contact_manager.cpp b/src/bounce/cloth/cloth_contact_manager.cpp
index eef9ae1..d41b4a8 100644
--- a/src/bounce/cloth/cloth_contact_manager.cpp
+++ b/src/bounce/cloth/cloth_contact_manager.cpp
@@ -61,13 +61,13 @@ void b3ClothContactManager::AddPair(void* data1, void* data2)
 	B3_ASSERT(proxy1->type == e_particleProxy);
 	B3_ASSERT(proxy2->type == e_triangleProxy);
 
-	b3Particle* p1 = (b3Particle*)proxy1->data;
+	b3Particle* p1 = (b3Particle*)proxy1->owner;
 
-	b3ClothTriangle* t2 = (b3ClothTriangle*)proxy2->data;
+	b3ClothTriangle* t2 = (b3ClothTriangle*)proxy2->owner;
 	b3ClothMeshTriangle* triangle = m_cloth->m_mesh->triangles + t2->m_triangle;
-	b3Particle* p2 = m_cloth->m_vertexParticles[triangle->v1];
-	b3Particle* p3 = m_cloth->m_vertexParticles[triangle->v2];
-	b3Particle* p4 = m_cloth->m_vertexParticles[triangle->v3];
+	b3Particle* p2 = m_cloth->m_particles[triangle->v1];
+	b3Particle* p3 = m_cloth->m_particles[triangle->v2];
+	b3Particle* p4 = m_cloth->m_particles[triangle->v3];
 
 	// Check if there is a contact between the two entities.
 	for (b3ParticleTriangleContact* c = m_particleTriangleContactList.m_head; c; c = c->m_next)
@@ -146,8 +146,8 @@ void b3ClothContactManager::UpdateContacts()
 			continue;
 		}
 
-		u32 proxy1 = c->m_p1->m_aabbProxy.broadPhaseId;
-		u32 proxy2 = c->m_t2->m_aabbProxy.broadPhaseId;
+		u32 proxy1 = c->m_p1->m_broadPhaseId;
+		u32 proxy2 = c->m_t2->m_broadPhaseId;
 
 		// Destroy the contact if primitive AABBs are not overlapping.
 		bool overlap = m_broadPhase.TestOverlap(proxy1, proxy2);
diff --git a/src/bounce/cloth/cloth_triangle.cpp b/src/bounce/cloth/cloth_triangle.cpp
index f4776f5..1fc5477 100644
--- a/src/bounce/cloth/cloth_triangle.cpp
+++ b/src/bounce/cloth/cloth_triangle.cpp
@@ -24,9 +24,9 @@ void b3ClothTriangle::Synchronize(const b3Vec3& displacement)
 {
 	b3ClothMeshTriangle* triangle = m_cloth->m_mesh->triangles + m_triangle;
 
-	b3Particle* p1 = m_cloth->m_vertexParticles[triangle->v1];
-	b3Particle* p2 = m_cloth->m_vertexParticles[triangle->v2];
-	b3Particle* p3 = m_cloth->m_vertexParticles[triangle->v3];
+	b3Particle* p1 = m_cloth->m_particles[triangle->v1];
+	b3Particle* p2 = m_cloth->m_particles[triangle->v2];
+	b3Particle* p3 = m_cloth->m_particles[triangle->v3];
 
 	b3Vec3 x1 = p1->m_position;
 	b3Vec3 x2 = p2->m_position;
@@ -36,5 +36,5 @@ void b3ClothTriangle::Synchronize(const b3Vec3& displacement)
 	aabb.Set(x1, x2, x3);
 	aabb.Extend(m_radius);
 
-	m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_aabbProxy.broadPhaseId, aabb, displacement);
+	m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_broadPhaseId, aabb, displacement);
 }
\ No newline at end of file
diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index b6caf0b..308188c 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -76,7 +76,7 @@ void b3Particle::Synchronize(const b3Vec3& displacement)
 	b3AABB3 aabb;
 	aabb.Set(m_position, m_radius);
 
-	m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_aabbProxy.broadPhaseId, aabb, displacement);
+	m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_broadPhaseId, aabb, displacement);
 }
 
 void b3Particle::SynchronizeTriangles()
@@ -140,5 +140,5 @@ void b3Particle::SetType(b3ParticleType type)
 	DestroyContacts();
 	
 	// Move the proxy so new contacts can be created.
-	m_cloth->m_contactManager.m_broadPhase.TouchProxy(m_aabbProxy.broadPhaseId);
+	m_cloth->m_contactManager.m_broadPhase.TouchProxy(m_broadPhaseId);
 }
\ No newline at end of file

From 625310be71cc9f2d3de76b2849e42d9c63547429 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 19 Jun 2019 12:39:28 -0300
Subject: [PATCH 165/198] Split the solvers into force solver and contact
 solver

---
 include/bounce/cloth/cloth_contact_solver.h |  10 +-
 include/bounce/cloth/cloth_force_solver.h   |  89 +++++
 include/bounce/cloth/cloth_solver.h         |  41 +-
 include/bounce/cloth/force.h                |   6 +-
 include/bounce/cloth/particle.h             |   1 +
 include/bounce/cloth/spring_force.h         |   2 +-
 src/bounce/cloth/cloth_contact_solver.cpp   |  88 ++---
 src/bounce/cloth/cloth_force_solver.cpp     | 293 ++++++++++++++
 src/bounce/cloth/cloth_solver.cpp           | 401 ++++----------------
 src/bounce/cloth/spring_force.cpp           |   4 +-
 10 files changed, 511 insertions(+), 424 deletions(-)
 create mode 100644 include/bounce/cloth/cloth_force_solver.h
 create mode 100644 src/bounce/cloth/cloth_force_solver.cpp

diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index 5d69900..76f13bc 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -30,8 +30,6 @@ class b3Body;
 struct b3ParticleBodyContact;
 class b3ParticleTriangleContact;
 
-struct b3DenseVec3;
-
 struct b3ClothSolverBodyContactVelocityConstraint
 {
 	u32 indexA;
@@ -130,8 +128,8 @@ struct b3ClothContactSolverDef
 {
 	b3StackAllocator* allocator;
 	
-	b3DenseVec3* positions;
-	b3DenseVec3* velocities;
+	b3Vec3* positions;
+	b3Vec3* velocities;
 	
 	u32 bodyContactCount;
 	b3ParticleBodyContact** bodyContacts;
@@ -167,8 +165,8 @@ public:
 protected:
 	b3StackAllocator* m_allocator;
 
-	b3DenseVec3* m_positions;
-	b3DenseVec3* m_velocities;
+	b3Vec3* m_positions;
+	b3Vec3* m_velocities;
 
 	u32 m_bodyContactCount;
 	b3ParticleBodyContact** m_bodyContacts;
diff --git a/include/bounce/cloth/cloth_force_solver.h b/include/bounce/cloth/cloth_force_solver.h
new file mode 100644
index 0000000..763e3cc
--- /dev/null
+++ b/include/bounce/cloth/cloth_force_solver.h
@@ -0,0 +1,89 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_CLOTH_FORCE_SOLVER_H
+#define B3_CLOTH_FORCE_SOLVER_H
+
+#include <bounce/common/math/mat22.h>
+#include <bounce/common/math/mat33.h>
+
+class b3StackAllocator;
+
+class b3Particle;
+class b3Force;
+
+struct b3DenseVec3;
+struct b3DiagMat33;
+struct b3SparseSymMat33;
+struct b3SparseSymMat33View;
+
+struct b3ClothForceSolverDef
+{
+	b3StackAllocator* stack;
+	u32 particleCount;
+	b3Particle** particles;
+	u32 forceCount;
+	b3Force** forces;
+};
+
+struct b3ClothForceSolverData
+{
+	b3DenseVec3* x;
+	b3DenseVec3* v;
+	b3DenseVec3* f;
+	b3DenseVec3* y;
+	b3SparseSymMat33* dfdx;
+	b3SparseSymMat33* dfdv;
+	b3DiagMat33* S;
+	b3DenseVec3* z;
+};
+
+struct b3AccelerationConstraint
+{
+	u32 i1;
+	u32 ndof;
+	b3Vec3 p, q, z;
+
+	void Apply(const b3ClothForceSolverData* data);
+};
+
+class b3ClothForceSolver
+{
+public:
+	b3ClothForceSolver(const b3ClothForceSolverDef& def);
+	~b3ClothForceSolver();
+
+	void Solve(float32 dt, const b3Vec3& gravity);
+private:
+	void ApplyForces();
+	void ApplyConstraints();
+
+	b3StackAllocator* m_allocator;
+
+	u32 m_particleCount;
+	b3Particle** m_particles;
+
+	u32 m_forceCount;
+	b3Force** m_forces;
+
+	b3AccelerationConstraint* m_constraints;
+
+	b3ClothForceSolverData m_solverData;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index 85ed648..2edf011 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -25,14 +25,7 @@
 class b3StackAllocator;
 
 class b3Particle;
-class b3Body;
 class b3Force;
-
-struct b3DenseVec3;
-struct b3DiagMat33;
-struct b3SparseSymMat33;
-struct b3SparseSymMat33View;
-
 struct b3ParticleBodyContact;
 class b3ParticleTriangleContact;
 
@@ -45,29 +38,6 @@ struct b3ClothSolverDef
 	u32 triangleContactCapacity;
 };
 
-struct b3ClothSolverData
-{
-	b3DenseVec3* x;
-	b3DenseVec3* v;
-	b3DenseVec3* f;
-	b3DenseVec3* y;
-	b3SparseSymMat33* dfdx;
-	b3SparseSymMat33* dfdv;
-	b3DiagMat33* S;
-	b3DenseVec3* z;
-	float32 dt;
-	float32 invdt;
-};
-
-struct b3AccelerationConstraint
-{
-	u32 i1;
-	u32 ndof;
-	b3Vec3 p, q, z;
-
-	void Apply(const b3ClothSolverData* data);
-};
-
 class b3ClothSolver
 {
 public:
@@ -81,9 +51,6 @@ public:
 
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 private:
-	void ApplyForces();
-	void ApplyConstraints();
-
 	b3StackAllocator* m_allocator;
 
 	u32 m_particleCapacity;
@@ -93,11 +60,7 @@ private:
 	u32 m_forceCapacity;
 	u32 m_forceCount;
 	b3Force** m_forces;
-	
-	u32 m_constraintCapacity;
-	u32 m_constraintCount;
-	b3AccelerationConstraint* m_constraints;
-	
+
 	u32 m_bodyContactCapacity;
 	u32 m_bodyContactCount;
 	b3ParticleBodyContact** m_bodyContacts;
@@ -105,8 +68,6 @@ private:
 	u32 m_triangleContactCapacity;
 	u32 m_triangleContactCount;
 	b3ParticleTriangleContact** m_triangleContacts;
-	
-	b3ClothSolverData m_solverData;
 };
 
 #endif
\ No newline at end of file
diff --git a/include/bounce/cloth/force.h b/include/bounce/cloth/force.h
index 9e9132f..392e0ef 100644
--- a/include/bounce/cloth/force.h
+++ b/include/bounce/cloth/force.h
@@ -22,7 +22,7 @@
 #include <bounce/common/math/transform.h>
 #include <bounce/common/template/list.h>
 
-struct b3ClothSolverData;
+struct b3ClothForceSolverData;
 
 class b3Particle;
 
@@ -52,7 +52,7 @@ public:
 protected:
 	friend class b3List2<b3Force>;
 	friend class b3Cloth;
-	friend class b3ClothSolver;
+	friend class b3ClothForceSolver;
 	friend class b3Particle;
 
 	static b3Force* Create(const b3ForceDef* def);
@@ -61,7 +61,7 @@ protected:
 	b3Force() { }
 	virtual ~b3Force() { }
 
-	virtual void Apply(const b3ClothSolverData* data) = 0;
+	virtual void Apply(const b3ClothForceSolverData* data) = 0;
 
 	// Force type
 	b3ForceType m_type;
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index ce909e2..6844e28 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -160,6 +160,7 @@ private:
 	friend class b3Cloth;
 	friend class b3ClothTriangle;
 	friend class b3ClothSolver;
+	friend class b3ClothForceSolver;
 	friend class b3ClothContactManager;
 	friend class b3ParticleTriangleContact;
 	friend class b3ClothContactSolver;
diff --git a/include/bounce/cloth/spring_force.h b/include/bounce/cloth/spring_force.h
index f7da89f..fa01405 100644
--- a/include/bounce/cloth/spring_force.h
+++ b/include/bounce/cloth/spring_force.h
@@ -76,7 +76,7 @@ private:
 	b3SpringForce(const b3SpringForceDef* def);
 	~b3SpringForce();
 
-	void Apply(const b3ClothSolverData* data);
+	void Apply(const b3ClothForceSolverData* data);
 
 	// Solver shared
 
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index d736e7c..d6ef10c 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -20,7 +20,6 @@
 #include <bounce/cloth/cloth_contact_manager.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
-#include <bounce/cloth/dense_vec3.h>
 #include <bounce/common/memory/stack_allocator.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/dynamics/body.h>
@@ -54,9 +53,6 @@ b3ClothContactSolver::~b3ClothContactSolver()
 
 void b3ClothContactSolver::InitializeBodyContactConstraints()
 {
-	b3DenseVec3& x = *m_positions;
-	b3DenseVec3& v = *m_velocities;
-
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
 		b3ParticleBodyContact* c = m_bodyContacts[i];
@@ -109,7 +105,7 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 		b3Mat33 iA = vc->invIA;
 		b3Mat33 iB = vc->invIB;
 
-		b3Vec3 xA = x[indexA];
+		b3Vec3 xA = m_positions[indexA];
 		b3Vec3 xB = bodyB->m_sweep.worldCenter;
 
 		b3Quat qA; qA.SetIdentity();
@@ -182,8 +178,6 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 }
 void b3ClothContactSolver::InitializeTriangleContactConstraints()
 {
-	b3DenseVec3& x = *m_positions;
-
 	for (u32 i = 0; i < m_triangleContactCount; ++i)
 	{
 		b3ParticleTriangleContact* c = m_triangleContacts[i];
@@ -233,10 +227,10 @@ void b3ClothContactSolver::InitializeTriangleContactConstraints()
 		u32 indexD = pc->indexD;
 		float32 mD = pc->invMassD;
 
-		b3Vec3 xA = x[indexA];
-		b3Vec3 xB = x[indexB];
-		b3Vec3 xC = x[indexC];
-		b3Vec3 xD = x[indexD];
+		b3Vec3 xA = m_positions[indexA];
+		b3Vec3 xB = m_positions[indexB];
+		b3Vec3 xC = m_positions[indexC];
+		b3Vec3 xD = m_positions[indexD];
 
 		float32 wB = pc->wB;
 		float32 wC = pc->wC;
@@ -269,8 +263,6 @@ void b3ClothContactSolver::InitializeTriangleContactConstraints()
 
 void b3ClothContactSolver::WarmStartBodyContactConstraints()
 {
-	b3DenseVec3& v = *m_velocities;
-
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
 		b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
@@ -278,7 +270,7 @@ void b3ClothContactSolver::WarmStartBodyContactConstraints()
 		u32 indexA = vc->indexA;
 		b3Body* bodyB = vc->bodyB;
 
-		b3Vec3 vA = v[indexA];
+		b3Vec3 vA = m_velocities[indexA];
 		b3Vec3 vB = bodyB->GetLinearVelocity();
 
 		b3Vec3 wA; wA.SetZero();
@@ -307,7 +299,7 @@ void b3ClothContactSolver::WarmStartBodyContactConstraints()
 		vB += mB * (P1 + P2);
 		wB += iB * b3Cross(vc->rB, P1 + P2);
 
-		v[indexA] = vA;
+		m_velocities[indexA] = vA;
 
 		bodyB->SetLinearVelocity(vB);
 		bodyB->SetAngularVelocity(wB);
@@ -316,8 +308,6 @@ void b3ClothContactSolver::WarmStartBodyContactConstraints()
 
 void b3ClothContactSolver::WarmStartTriangleContactConstraints()
 {
-	b3DenseVec3& v = *m_velocities;
-	
 	for (u32 i = 0; i < m_triangleContactCount; ++i)
 	{
 		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
@@ -327,10 +317,10 @@ void b3ClothContactSolver::WarmStartTriangleContactConstraints()
 		u32 indexC = vc->indexC;
 		u32 indexD = vc->indexD;
 
-		b3Vec3 vA = v[indexA];
-		b3Vec3 vB = v[indexB];
-		b3Vec3 vC = v[indexC];
-		b3Vec3 vD = v[indexD];
+		b3Vec3 vA = m_velocities[indexA];
+		b3Vec3 vB = m_velocities[indexB];
+		b3Vec3 vC = m_velocities[indexC];
+		b3Vec3 vD = m_velocities[indexD];
 
 		float32 mA = vc->invMassA;
 		float32 mB = vc->invMassB;
@@ -388,17 +378,15 @@ void b3ClothContactSolver::WarmStartTriangleContactConstraints()
 			vD += mD * PD;
 		}
 		
-		v[indexA] = vA;
-		v[indexB] = vB;
-		v[indexC] = vC;
-		v[indexD] = vD;
+		m_velocities[indexA] = vA;
+		m_velocities[indexB] = vB;
+		m_velocities[indexC] = vC;
+		m_velocities[indexD] = vD;
 	}
 }
 
 void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
 {
-	b3DenseVec3& v = *m_velocities;
-
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
 		b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
@@ -406,7 +394,7 @@ void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
 		u32 indexA = vc->indexA;
 		b3Body* bodyB = vc->bodyB;
 
-		b3Vec3 vA = v[indexA];
+		b3Vec3 vA = m_velocities[indexA];
 		b3Vec3 vB = bodyB->GetLinearVelocity();
 
 		b3Vec3 wA; wA.SetZero();
@@ -476,7 +464,7 @@ void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
 			wB += iB * b3Cross(rB, P);
 		}
 
-		v[indexA] = vA;
+		m_velocities[indexA] = vA;
 
 		bodyB->SetLinearVelocity(vB);
 		bodyB->SetAngularVelocity(wB);
@@ -485,8 +473,6 @@ void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
 
 void b3ClothContactSolver::SolveTriangleContactVelocityConstraints()
 {
-	b3DenseVec3& v = *m_velocities;
-
 	for (u32 i = 0; i < m_triangleContactCount; ++i)
 	{
 		b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
@@ -507,10 +493,10 @@ void b3ClothContactSolver::SolveTriangleContactVelocityConstraints()
 		float32 wC = vc->wC;
 		float32 wD = vc->wD;
 
-		b3Vec3 vA = v[indexA];
-		b3Vec3 vB = v[indexB];
-		b3Vec3 vC = v[indexC];
-		b3Vec3 vD = v[indexD];
+		b3Vec3 vA = m_velocities[indexA];
+		b3Vec3 vB = m_velocities[indexB];
+		b3Vec3 vC = m_velocities[indexC];
+		b3Vec3 vD = m_velocities[indexD];
 
 		// Solve normal constraint.
 		{
@@ -602,10 +588,10 @@ void b3ClothContactSolver::SolveTriangleContactVelocityConstraints()
 			vD += mD * PD;
 		}
 
-		v[indexA] = vA;
-		v[indexB] = vB;
-		v[indexC] = vC;
-		v[indexD] = vD;
+		m_velocities[indexA] = vA;
+		m_velocities[indexB] = vB;
+		m_velocities[indexC] = vC;
+		m_velocities[indexD] = vD;
 	}
 }
 
@@ -658,8 +644,6 @@ struct b3ClothSolverBodyContactSolverPoint
 
 bool b3ClothContactSolver::SolveBodyContactPositionConstraints()
 {
-	b3DenseVec3& x = *m_positions;
-
 	float32 minSeparation = 0.0f;
 
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
@@ -676,7 +660,7 @@ bool b3ClothContactSolver::SolveBodyContactPositionConstraints()
 		b3Mat33 iB = pc->invIB;
 		b3Vec3 localCenterB = pc->localCenterB;
 
-		b3Vec3 cA = x[indexA];
+		b3Vec3 cA = m_positions[indexA];
 		b3Quat qA; qA.SetIdentity();
 
 		b3Vec3 cB = bodyB->m_sweep.worldCenter;
@@ -724,7 +708,7 @@ bool b3ClothContactSolver::SolveBodyContactPositionConstraints()
 		qB += b3Derivative(qB, iB * b3Cross(rB, P));
 		qB.Normalize();
 
-		x[indexA] = cA;
+		m_positions[indexA] = cA;
 
 		bodyB->m_sweep.worldCenter = cB;
 		bodyB->m_sweep.orientation = qB;
@@ -735,8 +719,6 @@ bool b3ClothContactSolver::SolveBodyContactPositionConstraints()
 
 bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
 {
-	b3DenseVec3& x = *m_positions;
-
 	float32 minSeparation = 0.0f;
 
 	for (u32 i = 0; i < m_triangleContactCount; ++i)
@@ -762,10 +744,10 @@ bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
 		float32 wC = pc->wC;
 		float32 wD = pc->wD;
 
-		b3Vec3 xA = x[indexA];
-		b3Vec3 xB = x[indexB];
-		b3Vec3 xC = x[indexC];
-		b3Vec3 xD = x[indexD];
+		b3Vec3 xA = m_positions[indexA];
+		b3Vec3 xB = m_positions[indexB];
+		b3Vec3 xC = m_positions[indexC];
+		b3Vec3 xD = m_positions[indexD];
 
 		b3Vec3 cB = wB * xB + wC * xC + wD * xD;
 
@@ -802,10 +784,10 @@ bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
 		xC += mC * PC;
 		xD += mD * PD;
 
-		x[indexA] = xA;
-		x[indexB] = xB;
-		x[indexC] = xC;
-		x[indexD] = xD;
+		m_positions[indexA] = xA;
+		m_positions[indexB] = xB;
+		m_positions[indexC] = xC;
+		m_positions[indexD] = xD;
 	}
 
 	return minSeparation >= -3.0f * B3_LINEAR_SLOP;
diff --git a/src/bounce/cloth/cloth_force_solver.cpp b/src/bounce/cloth/cloth_force_solver.cpp
new file mode 100644
index 0000000..0dd373e
--- /dev/null
+++ b/src/bounce/cloth/cloth_force_solver.cpp
@@ -0,0 +1,293 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/cloth/cloth_force_solver.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/force.h>
+#include <bounce/cloth/dense_vec3.h>
+#include <bounce/cloth/diag_mat33.h>
+#include <bounce/cloth/sparse_sym_mat33.h>
+#include <bounce/cloth/sparse_sym_mat33_view.h>
+#include <bounce/common/memory/stack_allocator.h>
+
+// Here, we solve Ax = b using the Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
+// described in the paper:
+// "Large Steps in Cloth Simulation - David Baraff, Andrew Witkin".
+
+// Some improvements for the original MPCG algorithm are described in the paper:
+// "On the modified conjugate gradient method in cloth simulation - Uri M. Ascher, Eddy Boxerman".
+
+u32 b3_clothSolverIterations = 0;
+
+b3ClothForceSolver::b3ClothForceSolver(const b3ClothForceSolverDef& def)
+{
+	m_allocator = def.stack;
+
+	m_particleCount = def.particleCount;
+	m_particles = def.particles;
+
+	m_forceCount = def.forceCount;
+	m_forces = def.forces;
+
+	m_constraints = (b3AccelerationConstraint*)m_allocator->Allocate(m_particleCount * sizeof(b3AccelerationConstraint));
+}
+
+b3ClothForceSolver::~b3ClothForceSolver()
+{
+	m_allocator->Free(m_constraints);
+}
+
+void b3ClothForceSolver::ApplyForces()
+{
+	for (u32 i = 0; i < m_forceCount; ++i)
+	{
+		m_forces[i]->Apply(&m_solverData);
+	}
+}
+
+void b3AccelerationConstraint::Apply(const b3ClothForceSolverData* data)
+{
+	b3DiagMat33& sS = *data->S;
+	b3DenseVec3& sz = *data->z;
+
+	sz[i1] = z;
+
+	b3Mat33 I; I.SetIdentity();
+
+	switch (ndof)
+	{
+	case 3:
+	{
+		sS[i1] = I;
+		break;
+	}
+	case 2:
+	{
+		sS[i1] = I - b3Outer(p, p);
+		break;
+	}
+	case 1:
+	{
+		sS[i1] = I - b3Outer(p, p) - b3Outer(q, q);
+		break;
+	}
+	case 0:
+	{
+		sS[i1].SetZero();
+		break;
+	}
+	default:
+	{
+		B3_ASSERT(false);
+		break;
+	}
+	}
+}
+
+void b3ClothForceSolver::ApplyConstraints()
+{
+	for (u32 i = 0; i < m_particleCount; ++i)
+	{
+		b3Particle* p = m_particles[i];
+		b3AccelerationConstraint* c = m_constraints + i;
+
+		c->i1 = i;
+
+		if (p->m_type != e_dynamicParticle)
+		{
+			c->ndof = 0;
+			c->z.SetZero();
+		}
+		else
+		{
+			c->ndof = 3;
+			c->z.SetZero();
+		}
+	}
+
+	for (u32 i = 0; i < m_particleCount; ++i)
+	{
+		m_constraints[i].Apply(&m_solverData);
+	}
+}
+
+// Solve Ax = b
+static void b3SolveMPCG(b3DenseVec3& x,
+	const b3SparseSymMat33View& A, const b3DenseVec3& b,
+	const b3DiagMat33& S, const b3DenseVec3& z,
+	const b3DenseVec3& y, const b3DiagMat33& I, u32 maxIterations = 20)
+{
+	B3_PROFILE("Cloth Solve MPCG");
+
+	// Jacobi preconditioner 
+	// P = diag(A)
+	b3DiagMat33 inv_P(A.rowCount);
+	for (u32 i = 0; i < A.rowCount; ++i)
+	{
+		b3Mat33 a = A(i, i);
+
+		// Sylvester Criterion to ensure PD-ness
+		B3_ASSERT(b3Det(a.x, a.y, a.z) > 0.0f);
+
+		B3_ASSERT(a.x.x > 0.0f);
+		float32 xx = 1.0f / a.x.x;
+
+		B3_ASSERT(a.y.y > 0.0f);
+		float32 yy = 1.0f / a.y.y;
+
+		B3_ASSERT(a.z.z > 0.0f);
+		float32 zz = 1.0f / a.z.z;
+
+		inv_P[i] = b3Diagonal(xx, yy, zz);
+	}
+
+	x = (S * y) + (I - S) * z;
+
+	b3DenseVec3 b_hat = S * (b - A * ((I - S) * z));
+
+	float32 b_delta = b3Dot(b_hat, inv_P * b_hat);
+
+	b3DenseVec3 r = S * (b - A * x);
+
+	b3DenseVec3 p = S * (inv_P * r);
+
+	float32 delta_new = b3Dot(r, p);
+
+	u32 iteration = 0;
+	for (;;)
+	{
+		if (iteration == maxIterations)
+		{
+			break;
+		}
+
+		if (delta_new <= B3_EPSILON * B3_EPSILON * b_delta)
+		{
+			break;
+		}
+
+		b3DenseVec3 s = S * (A * p);
+
+		float32 alpha = delta_new / b3Dot(p, s);
+
+		x = x + alpha * p;
+		r = r - alpha * s;
+
+		b3DenseVec3 h = inv_P * r;
+
+		float32 delta_old = delta_new;
+
+		delta_new = b3Dot(r, h);
+
+		float32 beta = delta_new / delta_old;
+
+		p = S * (h + beta * p);
+
+		++iteration;
+	}
+
+	b3_clothSolverIterations = iteration;
+}
+
+void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
+{
+	float32 h = dt;
+
+	b3DenseVec3 sx(m_particleCount);
+	b3DenseVec3 sv(m_particleCount);
+	b3DenseVec3 sf(m_particleCount);
+	b3DenseVec3 sy(m_particleCount);
+	b3DenseVec3 sz(m_particleCount);
+	b3DenseVec3 sx0(m_particleCount);
+	b3SparseSymMat33 dfdx(m_particleCount);
+	b3SparseSymMat33 dfdv(m_particleCount);
+	b3DiagMat33 S(m_particleCount);
+
+	m_solverData.x = &sx;
+	m_solverData.v = &sv;
+	m_solverData.f = &sf;
+	m_solverData.y = &sy;
+	m_solverData.z = &sz;
+	m_solverData.dfdx = &dfdx;
+	m_solverData.dfdv = &dfdv;
+	m_solverData.S = &S;
+
+	for (u32 i = 0; i < m_particleCount; ++i)
+	{
+		b3Particle* p = m_particles[i];
+
+		sx[i] = p->m_position;
+		sv[i] = p->m_velocity;
+		sf[i] = p->m_force;
+
+		if (p->m_type == e_dynamicParticle)
+		{
+			// Apply weight
+			sf[i] += p->m_mass * gravity;
+		}
+
+		sy[i] = p->m_translation;
+		sx0[i] = p->m_x;
+	}
+
+	// Apply internal forces
+	ApplyForces();
+
+	// Apply constraints
+	ApplyConstraints();
+
+	// Solve Ax = b, where
+	// A = M - h * dfdv - h * h * dfdx
+	// b = h * (f0 + h * dfdx * v0 + dfdx * y) 
+	b3SparseSymMat33 M(m_particleCount);
+	for (u32 i = 0; i < m_particleCount; ++i)
+	{
+		M(i, i) = b3Diagonal(m_particles[i]->m_mass);
+	}
+
+	// A
+	b3SparseSymMat33 A = M - h * dfdv - h * h * dfdx;
+
+	// View for A
+	b3SparseSymMat33View viewA(A);
+
+	// b
+	b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
+
+	// I
+	b3DiagMat33 I(m_particleCount);
+	I.SetIdentity();
+
+	// x
+	b3DenseVec3 x(m_particleCount);
+	b3SolveMPCG(x, viewA, b, S, sz, sx0, I);
+
+	// Velocity update
+	sv = sv + x;
+	sx = sx + sy;
+
+	// Copy state buffers back to the particle
+	for (u32 i = 0; i < m_particleCount; ++i)
+	{
+		b3Particle* p = m_particles[i];
+
+		p->m_x = x[i];
+		p->m_position = sx[i];
+		p->m_velocity = sv[i];
+	}
+}
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index da71c12..5584b29 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -17,27 +17,13 @@
 */
 
 #include <bounce/cloth/cloth_solver.h>
+#include <bounce/cloth/cloth_force_solver.h>
 #include <bounce/cloth/cloth_contact_solver.h>
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/particle.h>
-#include <bounce/cloth/force.h>
-#include <bounce/cloth/dense_vec3.h>
-#include <bounce/cloth/diag_mat33.h>
-#include <bounce/cloth/sparse_sym_mat33.h>
-#include <bounce/cloth/sparse_sym_mat33_view.h>
-#include <bounce/common/memory/stack_allocator.h>
-#include <bounce/common/math/mat.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/dynamics/body.h>
-
-// Here, we solve Ax = b using the Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
-// described in the paper:
-// "Large Steps in Cloth Simulation - David Baraff, Andrew Witkin".
-
-// Some improvements for the original MPCG algorithm are described in the paper:
-// "On the modified conjugate gradient method in cloth simulation - Uri M. Ascher, Eddy Boxerman".
-
-u32 b3_clothSolverIterations = 0;
+#include <bounce/common/memory/stack_allocator.h>
 
 b3ClothSolver::b3ClothSolver(const b3ClothSolverDef& def)
 {
@@ -51,10 +37,6 @@ b3ClothSolver::b3ClothSolver(const b3ClothSolverDef& def)
 	m_forceCount = 0;
 	m_forces = (b3Force**)m_allocator->Allocate(m_forceCapacity * sizeof(b3Force*));;
 
-	m_constraintCapacity = def.particleCapacity;
-	m_constraintCount = 0;
-	m_constraints = (b3AccelerationConstraint*)m_allocator->Allocate(m_constraintCapacity * sizeof(b3AccelerationConstraint));
-
 	m_bodyContactCapacity = def.bodyContactCapacity;
 	m_bodyContactCount = 0;
 	m_bodyContacts = (b3ParticleBodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3ParticleBodyContact*));;
@@ -68,8 +50,6 @@ b3ClothSolver::~b3ClothSolver()
 {
 	m_allocator->Free(m_triangleContacts);
 	m_allocator->Free(m_bodyContacts);
-
-	m_allocator->Free(m_constraints);
 	m_allocator->Free(m_forces);
 	m_allocator->Free(m_particles);
 }
@@ -95,326 +75,106 @@ void b3ClothSolver::Add(b3ParticleTriangleContact* c)
 	m_triangleContacts[m_triangleContactCount++] = c;
 }
 
-void b3ClothSolver::ApplyForces()
-{
-	for (u32 i = 0; i < m_forceCount; ++i)
-	{
-		m_forces[i]->Apply(&m_solverData);
-	}
-}
-
-void b3AccelerationConstraint::Apply(const b3ClothSolverData* data)
-{
-	b3DiagMat33& sS = *data->S;
-	b3DenseVec3& sz = *data->z;
-
-	sz[i1] = z;
-
-	b3Mat33 I; I.SetIdentity();
-
-	switch (ndof)
-	{
-	case 3:
-	{
-		sS[i1] = I;
-		break;
-	}
-	case 2:
-	{
-		sS[i1] = I - b3Outer(p, p);
-		break;
-	}
-	case 1:
-	{
-		sS[i1] = I - b3Outer(p, p) - b3Outer(q, q);
-		break;
-	}
-	case 0:
-	{
-		sS[i1].SetZero();
-		break;
-	}
-	default:
-	{
-		B3_ASSERT(false);
-		break;
-	}
-	}
-}
-
-void b3ClothSolver::ApplyConstraints()
-{
-	b3DiagMat33& S = *m_solverData.S;
-	b3DenseVec3& z = *m_solverData.z;
-	b3DenseVec3& x = *m_solverData.x;
-
-	S.SetIdentity();
-	z.SetZero();
-	
-	for (u32 i = 0; i < m_particleCount; ++i)
-	{
-		b3Particle* p = m_particles[i];
-		
-		if (p->m_type != e_dynamicParticle)
-		{
-			b3AccelerationConstraint* ac = m_constraints + m_constraintCount;
-			++m_constraintCount;
-			ac->i1 = i;
-			ac->ndof = 0;
-			ac->z.SetZero();
-		}
-	}
-
-	for (u32 i = 0; i < m_constraintCount; ++i)
-	{
-		m_constraints[i].Apply(&m_solverData);
-	}
-}
-
-// 
-static void b3SolveMPCG(b3DenseVec3& x,
-	const b3SparseSymMat33View& A, const b3DenseVec3& b,
-	const b3DiagMat33& S, const b3DenseVec3& z, 
-	const b3DenseVec3& y, const b3DiagMat33& I, u32 maxIterations = 20)
-{
-	B3_PROFILE("Cloth Solve MPCG");
-
-	// Jacobi preconditioner 
-	// P = diag(A)
-	b3DiagMat33 inv_P(A.rowCount);
-	for (u32 i = 0; i < A.rowCount; ++i)
-	{
-		b3Mat33 a = A(i, i);
-
-		// Sylvester Criterion to ensure PD-ness
-		B3_ASSERT(b3Det(a.x, a.y, a.z) > 0.0f);
-
-		B3_ASSERT(a.x.x > 0.0f);
-		float32 xx = 1.0f / a.x.x;
-
-		B3_ASSERT(a.y.y > 0.0f);
-		float32 yy = 1.0f / a.y.y;
-
-		B3_ASSERT(a.z.z > 0.0f);
-		float32 zz = 1.0f / a.z.z;
-
-		inv_P[i] = b3Diagonal(xx, yy, zz);
-	}
-
-	x = (S * y) + (I - S) * z;
-
-	b3DenseVec3 b_hat = S * (b - A * ((I - S) * z));
-
-	float32 b_delta = b3Dot(b_hat, inv_P * b_hat);
-
-	b3DenseVec3 r = S * (b - A * x);
-
-	b3DenseVec3 p = S * (inv_P * r);
-
-	float32 delta_new = b3Dot(r, p);
-
-	u32 iteration = 0;
-	for (;;)
-	{
-		if (iteration == maxIterations)
-		{
-			break;
-		}
-
-		if (delta_new <= B3_EPSILON * B3_EPSILON * b_delta)
-		{
-			break;
-		}
-
-		b3DenseVec3 s = S * (A * p);
-
-		float32 alpha = delta_new / b3Dot(p, s);
-
-		x = x + alpha * p;
-		r = r - alpha * s;
-
-		b3DenseVec3 h = inv_P * r;
-
-		float32 delta_old = delta_new;
-
-		delta_new = b3Dot(r, h);
-
-		float32 beta = delta_new / delta_old;
-
-		p = S * (h + beta * p);
-
-		++iteration;
-	}
-
-	b3_clothSolverIterations = iteration;
-}
-
 void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
 {
-	float32 h = dt;
-	float32 inv_h = 1.0f / h;
+	{
+		// Solve internal dynamics
+		b3ClothForceSolverDef forceSolverDef;
+		forceSolverDef.stack = m_allocator;
+		forceSolverDef.particleCount = m_particleCount;
+		forceSolverDef.particles = m_particles;
+		forceSolverDef.forceCount = m_forceCount;
+		forceSolverDef.forces = m_forces;
 
-	b3DenseVec3 sx(m_particleCount);
-	b3DenseVec3 sv(m_particleCount);
-	b3DenseVec3 sf(m_particleCount);
+		b3ClothForceSolver forceSolver(forceSolverDef);
 
-	m_solverData.dt = h;
-	m_solverData.invdt = inv_h;
-	m_solverData.x = &sx;
-	m_solverData.v = &sv;
-	m_solverData.f = &sf;
+		forceSolver.Solve(dt, gravity);
+	}
+
+	// Copy particle state to state buffer
+	b3Vec3* positions = (b3Vec3*)m_allocator->Allocate(m_particleCount * sizeof(b3Vec3));
+	b3Vec3* velocities = (b3Vec3*)m_allocator->Allocate(m_particleCount * sizeof(b3Vec3));
 
 	for (u32 i = 0; i < m_particleCount; ++i)
 	{
-		b3Particle* p = m_particles[i];
-
-		sx[i] = p->m_position;
-		sv[i] = p->m_velocity;
-		sf[i] = p->m_force;
-
-		// Apply weight
-		if (p->m_type == e_dynamicParticle)
-		{
-			sf[i] += p->m_mass * gravity;
-		}
+		positions[i] = m_particles[i]->m_position;
+		velocities[i] = m_particles[i]->m_velocity;
 	}
 
-	// Integrate velocities
 	{
-		b3SparseSymMat33 dfdx(m_particleCount);
-		b3SparseSymMat33 dfdv(m_particleCount);
-		b3DiagMat33 S(m_particleCount);
-		b3DenseVec3 z(m_particleCount);
-		b3DenseVec3 sy(m_particleCount);
-		b3DenseVec3 sx0(m_particleCount);
+		// Solve constraints
+		b3ClothContactSolverDef contactSolverDef;
+		contactSolverDef.allocator = m_allocator;
+		contactSolverDef.positions = positions;
+		contactSolverDef.velocities = velocities;
+		contactSolverDef.bodyContactCount = m_bodyContactCount;
+		contactSolverDef.bodyContacts = m_bodyContacts;
+		contactSolverDef.triangleContactCount = m_triangleContactCount;
+		contactSolverDef.triangleContacts = m_triangleContacts;
 
-		m_solverData.y = &sy;
-		m_solverData.dfdx = &dfdx;
-		m_solverData.dfdv = &dfdv;
-		m_solverData.S = &S;
-		m_solverData.z = &z;
+		b3ClothContactSolver contactSolver(contactSolverDef);
 
-		// Apply position correction
-		for (u32 i = 0; i < m_particleCount; ++i)
 		{
-			b3Particle* p = m_particles[i];
-
-			sy[i] = p->m_translation;
-			sx0[i] = p->m_x;
+			// Initialize constraints
+			contactSolver.InitializeBodyContactConstraints();
+			contactSolver.InitializeTriangleContactConstraints();
 		}
 
-		// Apply internal forces
-		ApplyForces();
-
-		// Apply constraints
-		ApplyConstraints();
-
-		// Solve Ax = b, where
-		// A = M - h * dfdv - h * h * dfdx
-		// b = h * (f0 + h * dfdx * v0 + dfdx * y) 
-
-		b3SparseSymMat33 M(m_particleCount);
-		for (u32 i = 0; i < m_particleCount; ++i)
 		{
-			M(i, i) = b3Diagonal(m_particles[i]->m_mass);
+			// Warm start velocity constraints
+			contactSolver.WarmStartBodyContactConstraints();
+			contactSolver.WarmStartTriangleContactConstraints();
 		}
 
-		// A
-		b3SparseSymMat33 A = M - h * dfdv - h * h * dfdx;
-		
-		// View for A
-		b3SparseSymMat33View viewA(A);
-
-		// b
-		b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
-
-		// I
-		b3DiagMat33 I(m_particleCount);
-		I.SetIdentity();
-
-		// x
-		b3DenseVec3 x(m_particleCount);
-		b3SolveMPCG(x, viewA, b, S, z, sx0, I);
-
-		// Velocity update
-		sv = sv + x;
-		sx = sx + sy;
-
-		// Copy state buffers back to the particle
-		for (u32 i = 0; i < m_particleCount; ++i)
 		{
-			b3Particle* p = m_particles[i];
-
-			p->m_x = x[i];
-			p->m_position = sx[i];
-			p->m_velocity = sv[i];
-		}
-	}
-
-	// Solve constraints
-	b3ClothContactSolverDef contactSolverDef;
-	contactSolverDef.allocator = m_allocator;
-	contactSolverDef.positions = m_solverData.x;
-	contactSolverDef.velocities = m_solverData.v;
-	contactSolverDef.bodyContactCount = m_bodyContactCount;
-	contactSolverDef.bodyContacts = m_bodyContacts;
-	contactSolverDef.triangleContactCount = m_triangleContactCount;
-	contactSolverDef.triangleContacts = m_triangleContacts;
-
-	b3ClothContactSolver contactSolver(contactSolverDef);
-
-	{
-		contactSolver.InitializeBodyContactConstraints();
-		contactSolver.InitializeTriangleContactConstraints();
-	}
-
-	{
-		contactSolver.WarmStartBodyContactConstraints();
-		contactSolver.WarmStartTriangleContactConstraints();
-	}
-
-	{
-		for (u32 i = 0; i < velocityIterations; ++i)
-		{
-			contactSolver.SolveBodyContactVelocityConstraints();
-			contactSolver.SolveTriangleContactVelocityConstraints();
-		}
-	}
-
-	{
-		contactSolver.StoreImpulses();
-	}
-
-	// Integrate positions
-	sx = sx + h * sv;
-
-	// Solve position constraints
-	{
-		bool positionSolved = false;
-		for (u32 i = 0; i < positionIterations; ++i)
-		{
-			bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
-			bool triangleContactsSolved = contactSolver.SolveTriangleContactPositionConstraints();
-
-			if (bodyContactsSolved && triangleContactsSolved)
+			// Solve velocity constraints
+			for (u32 i = 0; i < velocityIterations; ++i)
 			{
-				// Early out if the position errors are small.
-				positionSolved = true;
-				break;
+				contactSolver.SolveBodyContactVelocityConstraints();
+				contactSolver.SolveTriangleContactVelocityConstraints();
 			}
 		}
-	}
 
-	// Synchronize bodies
-	for (u32 i = 0; i < m_bodyContactCount; ++i)
-	{
-		b3Body* body = m_bodyContacts[i]->s2->GetBody();
+		{
+			// Cache impulses for warm-starting
+			contactSolver.StoreImpulses();
+		}
 
-		body->SynchronizeTransform();
+		// Integrate positions
+		float32 h = dt;
+		for (u32 i = 0; i < m_particleCount; ++i)
+		{
+			positions[i] += h * velocities[i];
+		}
 
-		body->m_worldInvI = b3RotateToFrame(body->m_invI, body->m_xf.rotation);
+		// Solve position constraints
+		{
+			bool positionSolved = false;
+			for (u32 i = 0; i < positionIterations; ++i)
+			{
+				bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
+				bool triangleContactsSolved = contactSolver.SolveTriangleContactPositionConstraints();
 
-		body->SynchronizeShapes();
+				if (bodyContactsSolved && triangleContactsSolved)
+				{
+					// Early out if the position errors are small.
+					positionSolved = true;
+					break;
+				}
+			}
+		}
+
+		// Synchronize bodies
+		for (u32 i = 0; i < m_bodyContactCount; ++i)
+		{
+			b3Body* body = m_bodyContacts[i]->s2->GetBody();
+
+			body->SynchronizeTransform();
+
+			body->m_worldInvI = b3RotateToFrame(body->m_invI, body->m_xf.rotation);
+
+			body->SynchronizeShapes();
+		}
 	}
 
 	// Copy state buffers back to the particles
@@ -422,7 +182,10 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 	{
 		b3Particle* p = m_particles[i];
 
-		p->m_position = sx[i];
-		p->m_velocity = sv[i];
+		p->m_position = positions[i];
+		p->m_velocity = velocities[i];
 	}
-}
+
+	m_allocator->Free(velocities);
+	m_allocator->Free(positions);
+}
\ No newline at end of file
diff --git a/src/bounce/cloth/spring_force.cpp b/src/bounce/cloth/spring_force.cpp
index 723b1ac..e2d0265 100644
--- a/src/bounce/cloth/spring_force.cpp
+++ b/src/bounce/cloth/spring_force.cpp
@@ -18,7 +18,7 @@
 
 #include <bounce/cloth/spring_force.h>
 #include <bounce/cloth/particle.h>
-#include <bounce/cloth/cloth_solver.h>
+#include <bounce/cloth/cloth_force_solver.h>
 #include <bounce/cloth/dense_vec3.h>
 #include <bounce/cloth/sparse_sym_mat33.h>
 
@@ -50,7 +50,7 @@ b3SpringForce::~b3SpringForce()
 
 }
 
-void b3SpringForce::Apply(const b3ClothSolverData* data)
+void b3SpringForce::Apply(const b3ClothForceSolverData* data)
 {
 	b3DenseVec3& x = *data->x;
 	b3DenseVec3& v = *data->v;

From 02872af0dbeee6007b3cd4747dc4a0ce6ff2f64a Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 19 Jun 2019 14:08:44 -0300
Subject: [PATCH 166/198] Include cloth triangle inside Bounce headers

---
 include/bounce/bounce.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index a36b9bb..e3f4335 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -66,6 +66,7 @@
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_triangle.h>
 #include <bounce/cloth/spring_force.h>
 
 #include <bounce/cloth/garment/sewing_pattern.h>

From 66ec7309e5598fc60a500ab4e17b62a0ef8e7249 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 19 Jun 2019 16:07:04 -0300
Subject: [PATCH 167/198] Also split soft body solver in two

---
 include/bounce/softbody/softbody.h            |   1 +
 .../bounce/softbody/softbody_contact_solver.h |  14 +-
 .../bounce/softbody/softbody_force_solver.h   |  53 ++
 include/bounce/softbody/softbody_node.h       |   1 +
 include/bounce/softbody/softbody_solver.h     |   5 +
 src/bounce/softbody/softbody.cpp              |   9 +
 .../softbody/softbody_contact_solver.cpp      |  37 +-
 src/bounce/softbody/softbody_force_solver.cpp | 396 +++++++++++++++
 src/bounce/softbody/softbody_solver.cpp       | 477 +++---------------
 9 files changed, 559 insertions(+), 434 deletions(-)
 create mode 100644 include/bounce/softbody/softbody_force_solver.h
 create mode 100644 src/bounce/softbody/softbody_force_solver.cpp

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index 944fa9c..08ae969 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -143,6 +143,7 @@ public:
 private:
 	friend class b3SoftBodyNode;
 	friend class b3SoftBodySolver;
+	friend class b3SoftBodyForceSolver;
 
 	// Compute mass of each node.
 	void ComputeMass();
diff --git a/include/bounce/softbody/softbody_contact_solver.h b/include/bounce/softbody/softbody_contact_solver.h
index dea16cf..4187ab4 100644
--- a/include/bounce/softbody/softbody_contact_solver.h
+++ b/include/bounce/softbody/softbody_contact_solver.h
@@ -84,10 +84,11 @@ struct b3SoftBodyContactSolverDef
 {
 	b3StackAllocator* allocator;
 
-	b3DenseVec3* positions;
-	b3DenseVec3* velocities;
+	b3Vec3* positions;
+	b3Vec3* velocities;
 
-	u32 bodyContactCapacity;
+	u32 bodyContactCount;
+	b3NodeBodyContact** bodyContacts;
 };
 
 inline float32 b3MixFriction(float32 u1, float32 u2)
@@ -101,8 +102,6 @@ public:
 	b3SoftBodyContactSolver(const b3SoftBodyContactSolverDef& def);
 	~b3SoftBodyContactSolver();
 
-	void Add(b3NodeBodyContact* c);
-
 	void InitializeBodyContactConstraints();
 
 	void WarmStart();
@@ -115,10 +114,9 @@ public:
 protected:
 	b3StackAllocator* m_allocator;
 
-	b3DenseVec3* m_positions;
-	b3DenseVec3* m_velocities;
+	b3Vec3* m_positions;
+	b3Vec3* m_velocities;
 
-	u32 m_bodyContactCapacity;
 	u32 m_bodyContactCount;
 	b3NodeBodyContact** m_bodyContacts;
 	
diff --git a/include/bounce/softbody/softbody_force_solver.h b/include/bounce/softbody/softbody_force_solver.h
new file mode 100644
index 0000000..1c2f35b
--- /dev/null
+++ b/include/bounce/softbody/softbody_force_solver.h
@@ -0,0 +1,53 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFT_BODY_FORCE_SOLVER_H
+#define B3_SOFT_BODY_FORCE_SOLVER_H
+
+#include <bounce/common/math/mat22.h>
+#include <bounce/common/math/mat33.h>
+
+class b3StackAllocator;
+
+class b3SoftBody;
+class b3SoftBodyMesh;
+
+struct b3SoftBodyNode;
+struct b3SoftBodyElement;
+
+struct b3SoftBodyForceSolverDef
+{
+	b3SoftBody* body;
+};
+
+class b3SoftBodyForceSolver
+{
+public:
+	b3SoftBodyForceSolver(const b3SoftBodyForceSolverDef& def);
+	~b3SoftBodyForceSolver();
+
+	void Solve(float32 dt, const b3Vec3& gravity);
+private:
+	b3SoftBody* m_body;
+	b3StackAllocator* m_allocator;
+	const b3SoftBodyMesh* m_mesh;
+	b3SoftBodyNode* m_nodes;
+	b3SoftBodyElement* m_elements;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/softbody/softbody_node.h b/include/bounce/softbody/softbody_node.h
index 87d039a..604e70b 100644
--- a/include/bounce/softbody/softbody_node.h
+++ b/include/bounce/softbody/softbody_node.h
@@ -118,6 +118,7 @@ public:
 private:
 	friend class b3SoftBody;
 	friend class b3SoftBodySolver;
+	friend class b3SoftBodyForceSolver;
 	friend class b3SoftBodyContactSolver;
 
 	b3SoftBodyNode() { }
diff --git a/include/bounce/softbody/softbody_solver.h b/include/bounce/softbody/softbody_solver.h
index a38491b..e0a3396 100644
--- a/include/bounce/softbody/softbody_solver.h
+++ b/include/bounce/softbody/softbody_solver.h
@@ -43,6 +43,8 @@ public:
 	b3SoftBodySolver(const b3SoftBodySolverDef& def);
 	~b3SoftBodySolver();
 
+	void Add(b3NodeBodyContact* c);
+
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 private:
 	b3SoftBody* m_body;
@@ -50,6 +52,9 @@ private:
 	const b3SoftBodyMesh* m_mesh;
 	b3SoftBodyNode* m_nodes;
 	b3SoftBodyElement* m_elements;
+	u32 m_bodyContactCapacity;
+	u32 m_bodyContactCount;
+	b3NodeBodyContact** m_bodyContacts;
 };
 
 #endif
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 4a55a2d..e0267ce 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -832,6 +832,15 @@ void b3SoftBody::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations
 
 	b3SoftBodySolver solver(def);
 
+	// Push the active contacts
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		if (m_nodes[i].m_bodyContact.active)
+		{
+			solver.Add(&m_nodes[i].m_bodyContact);
+		}
+	}
+
 	solver.Solve(dt, gravity, velocityIterations, positionIterations);
 }
 
diff --git a/src/bounce/softbody/softbody_contact_solver.cpp b/src/bounce/softbody/softbody_contact_solver.cpp
index c079a66..f680d11 100644
--- a/src/bounce/softbody/softbody_contact_solver.cpp
+++ b/src/bounce/softbody/softbody_contact_solver.cpp
@@ -18,10 +18,9 @@
 
 #include <bounce/softbody/softbody_contact_solver.h>
 #include <bounce/softbody/softbody_node.h>
-#include <bounce/cloth/dense_vec3.h>
-#include <bounce/common/memory/stack_allocator.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/dynamics/body.h>
+#include <bounce/common/memory/stack_allocator.h>
 
 b3SoftBodyContactSolver::b3SoftBodyContactSolver(const b3SoftBodyContactSolverDef& def)
 {
@@ -30,30 +29,20 @@ b3SoftBodyContactSolver::b3SoftBodyContactSolver(const b3SoftBodyContactSolverDe
 	m_positions = def.positions;
 	m_velocities = def.velocities;
 
-	m_bodyContactCapacity = def.bodyContactCapacity;
-	m_bodyContactCount = 0;
-	m_bodyContacts = (b3NodeBodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3NodeBodyContact*));
+	m_bodyContactCount = def.bodyContactCount;
+	m_bodyContacts = def.bodyContacts;
 }
 
 b3SoftBodyContactSolver::~b3SoftBodyContactSolver()
 {
 	m_allocator->Free(m_bodyPositionConstraints);
 	m_allocator->Free(m_bodyVelocityConstraints);
-	m_allocator->Free(m_bodyContacts);
-}
-
-void b3SoftBodyContactSolver::Add(b3NodeBodyContact* c)
-{
-	m_bodyContacts[m_bodyContactCount++] = c;
 }
 
 void b3SoftBodyContactSolver::InitializeBodyContactConstraints()
 {
 	m_bodyVelocityConstraints = (b3SoftBodySolverBodyContactVelocityConstraint*)m_allocator->Allocate(m_bodyContactCount * sizeof(b3SoftBodySolverBodyContactVelocityConstraint));
 	m_bodyPositionConstraints = (b3SoftBodySolverBodyContactPositionConstraint*)m_allocator->Allocate(m_bodyContactCount * sizeof(b3SoftBodySolverBodyContactPositionConstraint));
-	
-	b3DenseVec3& x = *m_positions;
-	b3DenseVec3& v = *m_velocities;
 
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
@@ -107,7 +96,7 @@ void b3SoftBodyContactSolver::InitializeBodyContactConstraints()
 		b3Mat33 iA = vc->invIA;
 		b3Mat33 iB = vc->invIB;
 
-		b3Vec3 xA = x[indexA];
+		b3Vec3 xA = m_positions[indexA];
 		b3Vec3 xB = bodyB->m_sweep.worldCenter;
 
 		b3Quat qA; qA.SetIdentity();
@@ -181,8 +170,6 @@ void b3SoftBodyContactSolver::InitializeBodyContactConstraints()
 
 void b3SoftBodyContactSolver::WarmStart()
 {
-	b3DenseVec3& v = *m_velocities;
-
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
 		b3SoftBodySolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
@@ -190,7 +177,7 @@ void b3SoftBodyContactSolver::WarmStart()
 		u32 indexA = vc->indexA;
 		b3Body* bodyB = vc->bodyB;
 
-		b3Vec3 vA = v[indexA];
+		b3Vec3 vA = m_velocities[indexA];
 		b3Vec3 vB = bodyB->GetLinearVelocity();
 
 		b3Vec3 wA; wA.SetZero();
@@ -219,7 +206,7 @@ void b3SoftBodyContactSolver::WarmStart()
 		vB += mB * (P1 + P2);
 		wB += iB * b3Cross(vc->rB, P1 + P2);
 
-		v[indexA] = vA;
+		m_velocities[indexA] = vA;
 
 		bodyB->SetLinearVelocity(vB);
 		bodyB->SetAngularVelocity(wB);
@@ -228,8 +215,6 @@ void b3SoftBodyContactSolver::WarmStart()
 
 void b3SoftBodyContactSolver::SolveBodyContactVelocityConstraints()
 {
-	b3DenseVec3& v = *m_velocities;
-
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
 	{
 		b3SoftBodySolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
@@ -237,7 +222,7 @@ void b3SoftBodyContactSolver::SolveBodyContactVelocityConstraints()
 		u32 indexA = vc->indexA;
 		b3Body* bodyB = vc->bodyB;
 
-		b3Vec3 vA = v[indexA];
+		b3Vec3 vA = m_velocities[indexA];
 		b3Vec3 vB = bodyB->GetLinearVelocity();
 
 		b3Vec3 wA; wA.SetZero();
@@ -307,7 +292,7 @@ void b3SoftBodyContactSolver::SolveBodyContactVelocityConstraints()
 			wB += iB * b3Cross(rB, P);
 		}
 
-		v[indexA] = vA;
+		m_velocities[indexA] = vA;
 
 		bodyB->SetLinearVelocity(vB);
 		bodyB->SetAngularVelocity(wB);
@@ -353,8 +338,6 @@ struct b3SoftBodySolverBodyContactSolverPoint
 
 bool b3SoftBodyContactSolver::SolveBodyContactPositionConstraints()
 {
-	b3DenseVec3& x = *m_positions;
-
 	float32 minSeparation = 0.0f;
 
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
@@ -371,7 +354,7 @@ bool b3SoftBodyContactSolver::SolveBodyContactPositionConstraints()
 		b3Mat33 iB = pc->invIB;
 		b3Vec3 localCenterB = pc->localCenterB;
 
-		b3Vec3 cA = x[indexA];
+		b3Vec3 cA = m_positions[indexA];
 		b3Quat qA; qA.SetIdentity();
 
 		b3Vec3 cB = bodyB->m_sweep.worldCenter;
@@ -419,7 +402,7 @@ bool b3SoftBodyContactSolver::SolveBodyContactPositionConstraints()
 		qB += b3Derivative(qB, iB * b3Cross(rB, P));
 		qB.Normalize();
 
-		x[indexA] = cA;
+		m_positions[indexA] = cA;
 
 		bodyB->m_sweep.worldCenter = cB;
 		bodyB->m_sweep.orientation = qB;
diff --git a/src/bounce/softbody/softbody_force_solver.cpp b/src/bounce/softbody/softbody_force_solver.cpp
new file mode 100644
index 0000000..e35307d
--- /dev/null
+++ b/src/bounce/softbody/softbody_force_solver.cpp
@@ -0,0 +1,396 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/softbody/softbody_force_solver.h>
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/softbody_node.h>
+#include <bounce/softbody/softbody.h>
+#include <bounce/cloth/sparse_mat33.h>
+#include <bounce/cloth/sparse_mat33_view.h>
+
+// This work is based on the paper "Interactive Virtual Materials" written by 
+// Matthias Mueller Fischer
+// The paper is available here:
+// http://matthias-mueller-fischer.ch/publications/GI2004.pdf
+
+// In order to support velocity constraints on node velocities 
+// we solve Ax = b using a Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
+
+// Number of MPCG iterations, a value that is normally small when small time steps are taken.
+u32 b3_softBodySolverIterations = 0;
+
+// Enables the stiffness warping solver.
+bool b3_enableStiffnessWarping = true;
+
+b3SoftBodyForceSolver::b3SoftBodyForceSolver(const b3SoftBodyForceSolverDef& def)
+{
+	m_body = def.body;
+	m_allocator = &m_body->m_stackAllocator;
+	m_mesh = m_body->m_mesh;
+	m_nodes = m_body->m_nodes;
+	m_elements = m_body->m_elements;
+}
+
+b3SoftBodyForceSolver::~b3SoftBodyForceSolver()
+{
+
+}
+
+// Extract rotation from deformation
+// https://animation.rwth-aachen.de/media/papers/2016-MIG-StableRotation.pdf
+static void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3Mat33& A, u32 maxIterations = 20)
+{
+	for (u32 iteration = 0; iteration < maxIterations; ++iteration)
+	{
+		b3Mat33 R = b3QuatMat33(q);
+
+		float32 s = b3Abs(b3Dot(R.x, A.x) + b3Dot(R.y, A.y) + b3Dot(R.z, A.z));
+
+		if (s == 0.0f)
+		{
+			break;
+		}
+
+		float32 inv_s = 1.0f / s + 1.0e-9f;
+
+		b3Vec3 v = b3Cross(R.x, A.x) + b3Cross(R.y, A.y) + b3Cross(R.z, A.z);
+
+		b3Vec3 omega = inv_s * v;
+
+		float32 w = b3Length(omega);
+
+		if (w < 1.0e-9f)
+		{
+			break;
+		}
+
+		b3Quat omega_q(omega / w, w);
+
+		q = omega_q * q;
+		q.Normalize();
+	}
+
+	out = b3QuatMat33(q);
+}
+
+// Solve A * x = b
+static void b3SolveMPCG(b3DenseVec3& x,
+	const b3SparseMat33View& A, const b3DenseVec3& b,
+	const b3DenseVec3& z, const b3DiagMat33& S, u32 maxIterations = 20)
+{
+	B3_PROFILE("Soft Body Solve MPCG");
+
+	// Jacobi preconditioner
+	// P = diag(A) 
+	b3DiagMat33 P(A.rowCount);
+	b3DiagMat33 invP(A.rowCount);
+	for (u32 i = 0; i < A.rowCount; ++i)
+	{
+		b3Mat33 a = A(i, i);
+
+		// Sylvester Criterion to ensure PD-ness
+		B3_ASSERT(b3Det(a.x, a.y, a.z) > 0.0f);
+
+		B3_ASSERT(a.x.x > 0.0f);
+		float32 xx = 1.0f / a.x.x;
+
+		B3_ASSERT(a.y.y > 0.0f);
+		float32 yy = 1.0f / a.y.y;
+
+		B3_ASSERT(a.z.z > 0.0f);
+		float32 zz = 1.0f / a.z.z;
+
+		P[i] = b3Diagonal(a.x.x, a.y.y, a.z.z);
+		invP[i] = b3Diagonal(xx, yy, zz);
+	}
+
+	x = z;
+
+	float32 delta_0 = b3Dot(S * b, P * (S * b));
+
+	b3DenseVec3 r = S * (b - A * x);
+	b3DenseVec3 c = S * (invP * r);
+
+	float32 delta_new = b3Dot(r, c);
+
+	u32 iteration = 0;
+	for (;;)
+	{
+		if (iteration == maxIterations)
+		{
+			break;
+		}
+
+		if (delta_new <= B3_EPSILON * B3_EPSILON * delta_0)
+		{
+			break;
+		}
+
+		b3DenseVec3 q = S * (A * c);
+
+		float32 alpha = delta_new / b3Dot(c, q);
+
+		x = x + alpha * c;
+		r = r - alpha * q;
+
+		b3DenseVec3 s = invP * r;
+
+		float32 delta_old = delta_new;
+
+		delta_new = b3Dot(r, s);
+
+		float32 beta = delta_new / delta_old;
+
+		c = S * (s + beta * c);
+
+		++iteration;
+	}
+
+	b3_softBodySolverIterations = iteration;
+}
+
+// C = A * B
+static B3_FORCE_INLINE void b3Mul(float32* C, float32* A, u32 AM, u32 AN, float32* B, u32 BM, u32 BN)
+{
+	B3_ASSERT(AN == BM);
+
+	for (u32 i = 0; i < AM; ++i)
+	{
+		for (u32 j = 0; j < BN; ++j)
+		{
+			C[i + AM * j] = 0.0f;
+
+			for (u32 k = 0; k < AN; ++k)
+			{
+				C[i + AM * j] += A[i + AM * k] * B[k + BM * j];
+			}
+		}
+	}
+}
+
+// ||v||
+static B3_FORCE_INLINE float32 b3Length(float32* v, u32 n)
+{
+	float32 result = 0.0f;
+	for (u32 i = 0; i < n; ++i)
+	{
+		result += v[i] * v[i];
+	}
+	return b3Sqrt(result);
+}
+
+void b3SoftBodyForceSolver::Solve(float32 dt, const b3Vec3& gravity)
+{
+	float32 h = dt;
+	float32 inv_h = 1.0f / h;
+
+	b3SparseMat33 M(m_mesh->vertexCount);
+	b3SparseMat33 C(m_mesh->vertexCount);
+	b3SparseMat33 K(m_mesh->vertexCount);
+	b3DenseVec3 x(m_mesh->vertexCount);
+	b3DenseVec3 p(m_mesh->vertexCount);
+	b3DenseVec3 v(m_mesh->vertexCount);
+	b3DenseVec3 fe(m_mesh->vertexCount);
+	b3DenseVec3 f0(m_mesh->vertexCount);
+	b3DenseVec3 f_plastic(m_mesh->vertexCount);
+	b3DenseVec3 z(m_mesh->vertexCount);
+	b3DiagMat33 S(m_mesh->vertexCount);
+
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_nodes + i;
+
+		M(i, i) = b3Diagonal(n->m_mass);
+
+		// Rayleigh damping 
+		// C = alpha * M + beta * K
+		// Here the stiffness coefficient beta is zero
+		C(i, i) = b3Diagonal(n->m_massDamping * n->m_mass);
+
+		x[i] = m_mesh->vertices[i];
+		p[i] = n->m_position;
+		v[i] = n->m_velocity;
+		fe[i] = n->m_force;
+		z[i] = n->m_velocity;
+
+		// Apply gravity
+		if (n->m_type == e_dynamicSoftBodyNode)
+		{
+			fe[i] += n->m_mass * gravity;
+			S[i].SetIdentity();
+		}
+		else
+		{
+			S[i].SetZero();
+		}
+	}
+
+	// Element assembly
+	f0.SetZero();
+	f_plastic.SetZero();
+
+	for (u32 ei = 0; ei < m_mesh->tetrahedronCount; ++ei)
+	{
+		b3SoftBodyMeshTetrahedron* mt = m_mesh->tetrahedrons + ei;
+		b3SoftBodyElement* e = m_elements + ei;
+
+		b3Mat33* Ke = e->K;
+
+		float32* Be = e->B;
+		float32* Pe = e->P;
+		float32* epsilon_plastic = e->epsilon_plastic;
+
+		u32 v1 = mt->v1;
+		u32 v2 = mt->v2;
+		u32 v3 = mt->v3;
+		u32 v4 = mt->v4;
+
+		b3Vec3 p1 = p[v1];
+		b3Vec3 p2 = p[v2];
+		b3Vec3 p3 = p[v3];
+		b3Vec3 p4 = p[v4];
+
+		b3Mat33 R;
+		if (b3_enableStiffnessWarping)
+		{
+			b3Vec3 e1 = p2 - p1;
+			b3Vec3 e2 = p3 - p1;
+			b3Vec3 e3 = p4 - p1;
+
+			b3Mat33 E(e1, e2, e3);
+
+			b3Mat33 A = E * e->invE;
+
+			b3ExtractRotation(R, e->q, A);
+		}
+		else
+		{
+			R.SetIdentity();
+		}
+
+		b3Mat33 RT = b3Transpose(R);
+
+		u32 vs[4] = { v1, v2, v3, v4 };
+
+		for (u32 i = 0; i < 4; ++i)
+		{
+			u32 vi = vs[i];
+
+			for (u32 j = 0; j < 4; ++j)
+			{
+				u32 vj = vs[j];
+
+				K(vi, vj) += R * Ke[i + 4 * j] * RT;
+			}
+		}
+
+		// Elasticity
+		b3Vec3 x1 = x[v1];
+		b3Vec3 x2 = x[v2];
+		b3Vec3 x3 = x[v3];
+		b3Vec3 x4 = x[v4];
+
+		b3Vec3 xs[4] = { x1, x2, x3, x4 };
+
+		b3Vec3 f0s[4];
+
+		for (u32 i = 0; i < 4; ++i)
+		{
+			f0s[i].SetZero();
+
+			for (u32 j = 0; j < 4; ++j)
+			{
+				f0s[i] += R * Ke[i + 4 * j] * xs[j];
+			}
+		}
+
+		f0[v1] += f0s[0];
+		f0[v2] += f0s[1];
+		f0[v3] += f0s[2];
+		f0[v4] += f0s[3];
+
+		// Plasticity
+		b3Vec3 ps[4] = { p1, p2, p3, p4 };
+
+		b3Vec3 RT_x_x0[4];
+		for (u32 i = 0; i < 4; ++i)
+		{
+			RT_x_x0[i] = RT * ps[i] - xs[i];
+		}
+
+		// 6 x 1
+		float32 epsilon_total[6];
+		b3Mul(epsilon_total, Be, 6, 12, &RT_x_x0[0].x, 12, 1);
+
+		// 6 x 1
+		float32 epsilon_elastic[6];
+		for (u32 i = 0; i < 6; ++i)
+		{
+			epsilon_elastic[i] = epsilon_total[i] - epsilon_plastic[i];
+		}
+
+		float32 len_epsilon_elastic = b3Length(epsilon_elastic, 6);
+		if (len_epsilon_elastic > m_body->m_c_yield)
+		{
+			float32 amount = h * b3Min(m_body->m_c_creep, inv_h);
+			for (u32 i = 0; i < 6; ++i)
+			{
+				epsilon_plastic[i] += amount * epsilon_elastic[i];
+			}
+		}
+
+		float32 len_epsilon_plastic = b3Length(epsilon_plastic, 6);
+		if (len_epsilon_plastic > m_body->m_c_max)
+		{
+			float32 scale = m_body->m_c_max / len_epsilon_plastic;
+			for (u32 i = 0; i < 6; ++i)
+			{
+				epsilon_plastic[i] *= scale;
+			}
+		}
+
+		b3Vec3 fs_plastic[4];
+		b3Mul(&fs_plastic[0].x, Pe, 12, 6, epsilon_plastic, 6, 1);
+		for (u32 i = 0; i < 4; ++i)
+		{
+			fs_plastic[i] = R * fs_plastic[i];
+		}
+
+		f_plastic[v1] += fs_plastic[0];
+		f_plastic[v2] += fs_plastic[1];
+		f_plastic[v3] += fs_plastic[2];
+		f_plastic[v4] += fs_plastic[3];
+	}
+
+	f0 = -f0;
+
+	b3SparseMat33 A = M + h * C + h * h * K;
+
+	b3SparseMat33View viewA(A);
+
+	b3DenseVec3 b = M * v - h * (K * p + f0 - (f_plastic + fe));
+
+	b3DenseVec3 sx(m_mesh->vertexCount);
+	b3SolveMPCG(sx, viewA, b, z, S);
+
+	// Copy velocity back to the particle
+	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	{
+		m_nodes[i].m_velocity = sx[i];
+	}
+}
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index 0eaff88..54c369d 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -20,28 +20,11 @@
 #include <bounce/softbody/softbody_mesh.h>
 #include <bounce/softbody/softbody_node.h>
 #include <bounce/softbody/softbody.h>
+#include <bounce/softbody/softbody_force_solver.h>
 #include <bounce/softbody/softbody_contact_solver.h>
-
 #include <bounce/dynamics/body.h>
 #include <bounce/dynamics/shapes/shape.h>
 
-#include <bounce/cloth/sparse_mat33.h>
-#include <bounce/cloth/sparse_mat33_view.h>
-
-// This work is based on the paper "Interactive Virtual Materials" written by 
-// Matthias Mueller Fischer
-// The paper is available here:
-// http://matthias-mueller-fischer.ch/publications/GI2004.pdf
-
-// In order to support velocity constraints on node velocities 
-// we solve Ax = b using a Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
-
-// Number of MPCG iterations, a value that is normally small when small time steps are taken.
-u32 b3_softBodySolverIterations = 0;
-
-// Enables the stiffness warping solver.
-bool b3_enableStiffnessWarping = true;
-
 b3SoftBodySolver::b3SoftBodySolver(const b3SoftBodySolverDef& def)
 {
 	m_body = def.body;
@@ -49,432 +32,128 @@ b3SoftBodySolver::b3SoftBodySolver(const b3SoftBodySolverDef& def)
 	m_mesh = m_body->m_mesh;
 	m_nodes = m_body->m_nodes;
 	m_elements = m_body->m_elements;
+	m_bodyContactCapacity = m_mesh->vertexCount;
+	m_bodyContactCount = 0;
+	m_bodyContacts = (b3NodeBodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3NodeBodyContact*));
 }
 
 b3SoftBodySolver::~b3SoftBodySolver()
 {
-
+	m_allocator->Free(m_bodyContacts);
 }
 
-// https://animation.rwth-aachen.de/media/papers/2016-MIG-StableRotation.pdf
-static void b3ExtractRotation(b3Mat33& out, b3Quat& q, const b3Mat33& A, u32 maxIterations = 20)
+void b3SoftBodySolver::Add(b3NodeBodyContact* c)
 {
-	for (u32 iteration = 0; iteration < maxIterations; ++iteration)
-	{
-		b3Mat33 R = b3QuatMat33(q);
-
-		float32 s = b3Abs(b3Dot(R.x, A.x) + b3Dot(R.y, A.y) + b3Dot(R.z, A.z));
-
-		if (s == 0.0f)
-		{
-			break;
-		}
-
-		float32 inv_s = 1.0f / s + 1.0e-9f;
-
-		b3Vec3 v = b3Cross(R.x, A.x) + b3Cross(R.y, A.y) + b3Cross(R.z, A.z);
-
-		b3Vec3 omega = inv_s * v;
-
-		float32 w = b3Length(omega);
-
-		if (w < 1.0e-9f)
-		{
-			break;
-		}
-
-		b3Quat omega_q(omega / w, w);
-
-		q = omega_q * q;
-		q.Normalize();
-	}
-
-	out = b3QuatMat33(q);
-}
-
-// 
-static void b3SolveMPCG(b3DenseVec3& x,
-	const b3SparseMat33View& A, const b3DenseVec3& b,
-	const b3DenseVec3& z, const b3DiagMat33& S, u32 maxIterations = 20)
-{
-	B3_PROFILE("Soft Body Solve MPCG");
-
-	// Jacobi preconditioner
-	// P = diag(A) 
-	b3DiagMat33 P(A.rowCount);
-	b3DiagMat33 invP(A.rowCount);
-	for (u32 i = 0; i < A.rowCount; ++i)
-	{
-		b3Mat33 a = A(i, i);
-
-		// Sylvester Criterion to ensure PD-ness
-		B3_ASSERT(b3Det(a.x, a.y, a.z) > 0.0f);
-
-		B3_ASSERT(a.x.x > 0.0f);
-		float32 xx = 1.0f / a.x.x;
-
-		B3_ASSERT(a.y.y > 0.0f);
-		float32 yy = 1.0f / a.y.y;
-
-		B3_ASSERT(a.z.z > 0.0f);
-		float32 zz = 1.0f / a.z.z;
-
-		P[i] = b3Diagonal(a.x.x, a.y.y, a.z.z);
-		invP[i] = b3Diagonal(xx, yy, zz);
-	}
-
-	x = z;
-
-	float32 delta_0 = b3Dot(S * b, P * (S * b));
-
-	b3DenseVec3 r = S * (b - A * x);
-	b3DenseVec3 c = S * (invP * r);
-
-	float32 delta_new = b3Dot(r, c);
-
-	u32 iteration = 0;
-	for (;;)
-	{
-		if (iteration == maxIterations)
-		{
-			break;
-		}
-
-		if (delta_new <= B3_EPSILON * B3_EPSILON * delta_0)
-		{
-			break;
-		}
-
-		b3DenseVec3 q = S * (A * c);
-
-		float32 alpha = delta_new / b3Dot(c, q);
-
-		x = x + alpha * c;
-		r = r - alpha * q;
-
-		b3DenseVec3 s = invP * r;
-
-		float32 delta_old = delta_new;
-
-		delta_new = b3Dot(r, s);
-
-		float32 beta = delta_new / delta_old;
-
-		c = S * (s + beta * c);
-
-		++iteration;
-	}
-
-	b3_softBodySolverIterations = iteration;
-}
-
-static B3_FORCE_INLINE void b3Mul(float32* C, float32* A, u32 AM, u32 AN, float32* B, u32 BM, u32 BN)
-{
-	B3_ASSERT(AN == BM);
-
-	for (u32 i = 0; i < AM; ++i)
-	{
-		for (u32 j = 0; j < BN; ++j)
-		{
-			C[i + AM * j] = 0.0f;
-
-			for (u32 k = 0; k < AN; ++k)
-			{
-				C[i + AM * j] += A[i + AM * k] * B[k + BM * j];
-			}
-		}
-	}
-}
-
-static B3_FORCE_INLINE float32 b3Length(float32* a, u32 an)
-{
-	float32 result = 0.0f;
-	for (u32 i = 0; i < an; ++i)
-	{
-		result += a[i] * a[i];
-	}
-	return b3Sqrt(result);
+	m_bodyContacts[m_bodyContactCount++] = c;
 }
 
 void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
 {
-	float32 h = dt;
-	float32 inv_h = 1.0f / h;
+	{
+		// Solve internal dynamics
+		b3SoftBodyForceSolverDef forceSolverDef;
+		forceSolverDef.body = m_body;
 
-	b3SparseMat33 M(m_mesh->vertexCount);
-	b3SparseMat33 C(m_mesh->vertexCount);
-	b3DenseVec3 x(m_mesh->vertexCount);
-	b3DenseVec3 p(m_mesh->vertexCount);
-	b3DenseVec3 v(m_mesh->vertexCount);
-	b3DenseVec3 fe(m_mesh->vertexCount);
-	b3DenseVec3 z(m_mesh->vertexCount);
-	b3DiagMat33 S(m_mesh->vertexCount);
+		b3SoftBodyForceSolver forceSolver(forceSolverDef);
+
+		forceSolver.Solve(dt, gravity);
+	}
+
+	// Copy node state to state buffer
+	b3Vec3* positions = (b3Vec3*)m_allocator->Allocate(m_mesh->vertexCount * sizeof(b3Vec3));
+	b3Vec3* velocities = (b3Vec3*)m_allocator->Allocate(m_mesh->vertexCount * sizeof(b3Vec3));
 
 	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
 	{
-		b3SoftBodyNode* n = m_nodes + i;
-
-		M(i, i) = b3Diagonal(n->m_mass);
-		
-		// Rayleigh damping 
-		// C = alpha * M + beta * K
-		// Here the stiffness coefficient beta is zero
-		C(i, i) = b3Diagonal(n->m_massDamping * n->m_mass);
-		
-		x[i] = m_mesh->vertices[i];
-		p[i] = n->m_position;
-		v[i] = n->m_velocity;
-		fe[i] = n->m_force;
-		z[i] = n->m_velocity;
-
-		// Apply gravity
-		if (n->m_type == e_dynamicSoftBodyNode)
-		{
-			fe[i] += n->m_mass * gravity;
-			S[i].SetIdentity();
-		}
-		else
-		{
-			S[i].SetZero();
-		}
+		positions[i] = m_nodes[i].m_position;
+		velocities[i] = m_nodes[i].m_velocity;
 	}
 
-	// Element assembly
-	b3SparseMat33 K(m_mesh->vertexCount);
-
-	b3DenseVec3 f0(m_mesh->vertexCount);
-	f0.SetZero();
-
-	b3DenseVec3 f_plastic(m_mesh->vertexCount);
-	f_plastic.SetZero();
-
-	for (u32 ei = 0; ei < m_mesh->tetrahedronCount; ++ei)
 	{
-		b3SoftBodyMeshTetrahedron* mt = m_mesh->tetrahedrons + ei;
-		b3SoftBodyElement* e = m_elements + ei;
+		// Solve constraints
+		b3SoftBodyContactSolverDef contactSolverDef;
+		contactSolverDef.allocator = m_allocator;
+		contactSolverDef.positions = positions;
+		contactSolverDef.velocities = velocities;
+		contactSolverDef.bodyContactCount = m_bodyContactCount;
+		contactSolverDef.bodyContacts = m_bodyContacts;
 
-		b3Mat33* Ke = e->K;
+		b3SoftBodyContactSolver contactSolver(contactSolverDef);
 
-		float32* Be = e->B;
-		float32* Pe = e->P;
-		float32* epsilon_plastic = e->epsilon_plastic;
-
-		u32 v1 = mt->v1;
-		u32 v2 = mt->v2;
-		u32 v3 = mt->v3;
-		u32 v4 = mt->v4;
-
-		b3Vec3 p1 = p[v1];
-		b3Vec3 p2 = p[v2];
-		b3Vec3 p3 = p[v3];
-		b3Vec3 p4 = p[v4];
-
-		b3Mat33 R;
-		if (b3_enableStiffnessWarping)
 		{
-			b3Vec3 e1 = p2 - p1;
-			b3Vec3 e2 = p3 - p1;
-			b3Vec3 e3 = p4 - p1;
-
-			b3Mat33 E(e1, e2, e3);
-
-			b3Mat33 A = E * e->invE;
-
-			b3ExtractRotation(R, e->q, A);
-		}
-		else
-		{
-			R.SetIdentity();
+			// Inititalize constraints
+			contactSolver.InitializeBodyContactConstraints();
 		}
 
-		b3Mat33 RT = b3Transpose(R);
-
-		u32 vs[4] = { v1, v2, v3, v4 };
-
-		for (u32 i = 0; i < 4; ++i)
 		{
-			u32 vi = vs[i];
+			// Warm-start velocity constraint solver
+			contactSolver.WarmStart();
+		}
 
-			for (u32 j = 0; j < 4; ++j)
+		{
+			// Solve velocity constraints
+			for (u32 i = 0; i < velocityIterations; ++i)
 			{
-				u32 vj = vs[j];
-
-				K(vi, vj) += R * Ke[i + 4 * j] * RT;
+				contactSolver.SolveBodyContactVelocityConstraints();
 			}
 		}
 
-		// Elasticity
-		b3Vec3 x1 = x[v1];
-		b3Vec3 x2 = x[v2];
-		b3Vec3 x3 = x[v3];
-		b3Vec3 x4 = x[v4];
-
-		b3Vec3 xs[4] = { x1, x2, x3, x4 };
-
-		b3Vec3 f0s[4];
-
-		for (u32 i = 0; i < 4; ++i)
 		{
-			f0s[i].SetZero();
+			// Cache impulses for warm-starting
+			contactSolver.StoreImpulses();
+		}
 
-			for (u32 j = 0; j < 4; ++j)
+		// Integrate velocities
+		float32 h = dt;
+		for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+		{
+			positions[i] += h * velocities[i];
+		}
+
+		// Solve position constraints
+		{
+			bool positionSolved = false;
+			for (u32 i = 0; i < positionIterations; ++i)
 			{
-				f0s[i] += R * Ke[i + 4 * j] * xs[j];
+				bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
+
+				if (bodyContactsSolved)
+				{
+					positionSolved = true;
+					break;
+				}
 			}
 		}
 
-		f0[v1] += f0s[0];
-		f0[v2] += f0s[1];
-		f0[v3] += f0s[2];
-		f0[v4] += f0s[3];
-
-		// Plasticity
-		b3Vec3 ps[4] = { p1, p2, p3, p4 };
-
-		b3Vec3 RT_x_x0[4];
-		for (u32 i = 0; i < 4; ++i)
+		// Synchronize bodies
+		for (u32 i = 0; i < m_mesh->vertexCount; ++i)
 		{
-			RT_x_x0[i] = RT * ps[i] - xs[i];
-		}
+			b3SoftBodyNode* n = m_nodes + i;
 
-		// 6 x 1
-		float32 epsilon_total[6];
-		b3Mul(epsilon_total, Be, 6, 12, &RT_x_x0[0].x, 12, 1);
+			b3NodeBodyContact* c = &n->m_bodyContact;
 
-		// 6 x 1
-		float32 epsilon_elastic[6];
-		for (u32 i = 0; i < 6; ++i)
-		{
-			epsilon_elastic[i] = epsilon_total[i] - epsilon_plastic[i];
-		}
-
-		float32 len_epsilon_elastic = b3Length(epsilon_elastic, 6);
-		if (len_epsilon_elastic > m_body->m_c_yield)
-		{
-			float32 amount = h * b3Min(m_body->m_c_creep, inv_h);
-			for (u32 i = 0; i < 6; ++i)
+			if (c->active == false)
 			{
-				epsilon_plastic[i] += amount * epsilon_elastic[i];
+				continue;
 			}
+
+			b3Body* body = c->s2->GetBody();
+
+			body->SynchronizeTransform();
+
+			body->m_worldInvI = b3RotateToFrame(body->m_invI, body->m_xf.rotation);
+
+			body->SynchronizeShapes();
 		}
-
-		float32 len_epsilon_plastic = b3Length(epsilon_plastic, 6);
-		if (len_epsilon_plastic > m_body->m_c_max)
-		{
-			float32 scale = m_body->m_c_max / len_epsilon_plastic;
-			for (u32 i = 0; i < 6; ++i)
-			{
-				epsilon_plastic[i] *= scale;
-			}
-		}
-
-		b3Vec3 fs_plastic[4];
-		b3Mul(&fs_plastic[0].x, Pe, 12, 6, epsilon_plastic, 6, 1);
-		for (u32 i = 0; i < 4; ++i)
-		{
-			fs_plastic[i] = R * fs_plastic[i];
-		}
-
-		f_plastic[v1] += fs_plastic[0];
-		f_plastic[v2] += fs_plastic[1];
-		f_plastic[v3] += fs_plastic[2];
-		f_plastic[v4] += fs_plastic[3];
-	}
-
-	f0 = -f0;
-
-	b3SparseMat33 A = M + h * C + h * h * K;
-	
-	b3SparseMat33View viewA(A);
-
-	b3DenseVec3 b = M * v - h * (K * p + f0 - (f_plastic + fe));
-
-	// Solve Ax = b
-	b3DenseVec3 sx(m_mesh->vertexCount);
-	b3SolveMPCG(sx, viewA, b, z, S);
-
-	// Solve constraints
-	b3SoftBodyContactSolverDef contactSolverDef;
-	contactSolverDef.allocator = m_allocator;
-	contactSolverDef.positions = &p;
-	contactSolverDef.velocities = &sx;
-	contactSolverDef.bodyContactCapacity = m_mesh->vertexCount;
-
-	b3SoftBodyContactSolver contactSolver(contactSolverDef);
-
-	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
-	{
-		if (m_nodes[i].m_bodyContact.active)
-		{
-			contactSolver.Add(&m_nodes[i].m_bodyContact);
-		}
-	}
-
-	{
-		contactSolver.InitializeBodyContactConstraints();
-	}
-
-	{
-		contactSolver.WarmStart();
-	}
-
-	// Solve velocity constraints
-	{
-		for (u32 i = 0; i < velocityIterations; ++i)
-		{
-			contactSolver.SolveBodyContactVelocityConstraints();
-		}
-	}
-
-	{
-		contactSolver.StoreImpulses();
-	}
-
-	// Integrate velocities
-	p = p + h * sx;
-
-	// Solve position constraints
-	{
-		bool positionSolved = false;
-		for (u32 i = 0; i < positionIterations; ++i)
-		{
-			bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
-
-			if (bodyContactsSolved)
-			{
-				positionSolved = true;
-				break;
-			}
-		}
-	}
-
-	// Synchronize bodies
-	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
-	{
-		b3SoftBodyNode* n = m_nodes + i;
-
-		b3NodeBodyContact* c = &n->m_bodyContact;
-
-		if (c->active == false)
-		{
-			continue;
-		}
-
-		b3Body* body = c->s2->GetBody();
-
-		body->SynchronizeTransform();
-
-		body->m_worldInvI = b3RotateToFrame(body->m_invI, body->m_xf.rotation);
-
-		body->SynchronizeShapes();
 	}
 
 	// Copy state buffers back to the nodes
 	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
 	{
-		b3SoftBodyNode* n = m_nodes + i;
-
-		n->m_position = p[i];
-		n->m_velocity = sx[i];
+		m_nodes[i].m_position = positions[i];
+		m_nodes[i].m_velocity = velocities[i];
 	}
+
+	m_allocator->Free(velocities);
+	m_allocator->Free(positions);
 }
\ No newline at end of file

From 7c1a72c5726b650f01a667f89dc5b468a3429701 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 21 Jun 2019 10:58:04 -0300
Subject: [PATCH 168/198] Add b3GridClothMesh. Set particle friction to global
 cloth friction. Update the tests. Also simplified some code.

---
 examples/testbed/framework/test_entries.cpp   |  4 +-
 ...cloth_capsule.h => cloth_self_collision.h} | 45 +++------
 examples/testbed/tests/pinned_cloth.h         | 22 +----
 examples/testbed/tests/table_cloth.h          | 33 ++-----
 examples/testbed/tests/tension_mapping.h      | 22 +----
 include/bounce/bounce.h                       |  1 +
 include/bounce/cloth/grid_cloth_mesh.h        | 96 +++++++++++++++++++
 include/bounce/collision/shapes/grid_mesh.h   | 63 ++++++------
 include/bounce/softbody/block_softbody_mesh.h |  2 +-
 include/bounce/softbody/softbody.h            |  2 +-
 src/bounce/cloth/cloth.cpp                    |  3 +-
 11 files changed, 161 insertions(+), 132 deletions(-)
 rename examples/testbed/tests/{cloth_capsule.h => cloth_self_collision.h} (75%)
 create mode 100644 include/bounce/cloth/grid_cloth_mesh.h

diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp
index b2b6596..9224561 100644
--- a/examples/testbed/framework/test_entries.cpp
+++ b/examples/testbed/framework/test_entries.cpp
@@ -63,7 +63,7 @@
 #include <testbed/tests/pinned_cloth.h>
 #include <testbed/tests/particle_types.h>
 #include <testbed/tests/tension_mapping.h>
-#include <testbed/tests/cloth_capsule.h>
+#include <testbed/tests/cloth_self_collision.h>
 #include <testbed/tests/rope_test.h>
 #include <testbed/tests/beam.h>
 #include <testbed/tests/pinned_softbody.h>
@@ -116,7 +116,7 @@ TestEntry g_tests[] =
 	{ "Pinned Cloth", &PinnedCloth::Create },
 	{ "Particle Types", &ParticleTypes::Create },
 	{ "Tension Mapping", &TensionMapping::Create },
-	{ "Cloth and Capsule", &ClothCapsule::Create },
+	{ "Cloth Self-Collision", &ClothSelfCollision::Create },
 	{ "Beam", &Beam::Create },
 	{ "Pinned Soft Body", &PinnedSoftBody::Create },
 	{ "Smash Soft Body", &SmashSoftBody::Create },
diff --git a/examples/testbed/tests/cloth_capsule.h b/examples/testbed/tests/cloth_self_collision.h
similarity index 75%
rename from examples/testbed/tests/cloth_capsule.h
rename to examples/testbed/tests/cloth_self_collision.h
index 84a4d0e..dfc088e 100644
--- a/examples/testbed/tests/cloth_capsule.h
+++ b/examples/testbed/tests/cloth_self_collision.h
@@ -16,45 +16,33 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CLOTH_CAPSULE_H
-#define CLOTH_CAPSULE_H
+#ifndef CLOTH_SELF_COLLISION_H
+#define CLOTH_SELF_COLLISION_H
 
-class ClothCapsule : public Test
+class ClothSelfCollision : public Test
 {
 public:
-	ClothCapsule() : m_rectangleGarment(5.0f, 5.0f)
+	ClothSelfCollision()
 	{
-		// Generate 2D mesh
-		m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
-
-		// Create 3D mesh
-		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
-
-		// Rotate and translate the mesh
-		b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
-		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
+		// Translate the mesh
+		for (u32 i = 0; i < m_clothMesh.vertexCount; ++i)
 		{
-			m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
-			m_rectangleClothMesh.vertices[i].y += 5.0f;
+			m_clothMesh.vertices[i].y += 5.0f;
 		}
 
 		// Create cloth
 		b3ClothDef def;
-		def.mesh = &m_rectangleClothMesh;
+		def.mesh = &m_clothMesh;
 		def.density = 1.0f;
 		def.structural = 100000.0f;
-		
+		def.thickness = 0.2f;
+		def.friction = 0.3f;
+
 		m_cloth = new b3Cloth(def);
 
 		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
 		m_cloth->SetWorld(&m_world);
 
-		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
-		{
-			p->SetRadius(0.2f);
-			p->SetFriction(0.2f);
-		}
-
 		{
 			b3BodyDef bd;
 			bd.type = e_staticBody;
@@ -76,7 +64,7 @@ public:
 		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
 	}
 
-	~ClothCapsule()
+	~ClothSelfCollision()
 	{
 		delete m_cloth;
 		delete m_clothDragger;
@@ -141,15 +129,12 @@ public:
 
 	static Test* Create()
 	{
-		return new ClothCapsule();
+		return new ClothSelfCollision();
 	}
 
-	b3RectangleGarment m_rectangleGarment;
-	b3GarmentMesh m_rectangleGarmentMesh;
-	b3GarmentClothMesh m_rectangleClothMesh;
-
+	b3GridClothMesh<10, 10> m_clothMesh;
 	b3Cloth* m_cloth;
 	b3ClothDragger* m_clothDragger; 
-	};
+};
 
 #endif
\ No newline at end of file
diff --git a/examples/testbed/tests/pinned_cloth.h b/examples/testbed/tests/pinned_cloth.h
index 023e662..b6c8543 100644
--- a/examples/testbed/tests/pinned_cloth.h
+++ b/examples/testbed/tests/pinned_cloth.h
@@ -22,24 +22,11 @@
 class PinnedCloth : public Test
 {
 public:
-	PinnedCloth() : m_rectangleGarment(5.0f, 5.0f)
+	PinnedCloth()
 	{
-		// Generate 2D mesh
-		m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
-
-		// Create 3D mesh
-		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
-		
-		// Rotate the mesh
-		b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
-		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
-		{
-			m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
-		}
-
 		// Create cloth
 		b3ClothDef def;
-		def.mesh = &m_rectangleClothMesh;
+		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
 		def.structural = 100000.0f;
 		def.damping = 0.0f;
@@ -142,10 +129,7 @@ public:
 		return new PinnedCloth();
 	}
 
-	b3RectangleGarment m_rectangleGarment;
-	b3GarmentMesh m_rectangleGarmentMesh;
-	b3GarmentClothMesh m_rectangleClothMesh;
-
+	b3GridClothMesh<10, 10> m_clothMesh;
 	b3Cloth* m_cloth;
 	b3ClothDragger* m_clothDragger;
 };
diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index 3040ade..f3329bc 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -22,41 +22,28 @@
 class TableCloth : public Test
 {
 public:
-	TableCloth() : m_rectangleGarment(5.0f, 5.0f)
+	TableCloth()
 	{
-		// Generate 2D mesh
-		m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
-
-		// Create 3D mesh
-		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
-
-		// Rotate the mesh
-		b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
-		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
+		// Translate the mesh
+		for (u32 i = 0; i < m_clothMesh.vertexCount; ++i)
 		{
-			m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
-			m_rectangleClothMesh.vertices[i].y += 5.0f;
+			m_clothMesh.vertices[i].y += 5.0f;
 		}
-		
+
 		// Create cloth
 		b3ClothDef def;
-		def.mesh = &m_rectangleClothMesh;
+		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
-		//def.bending = 10000.0f;
 		def.structural = 10000.0f;
 		def.damping = 0.0f;
+		def.thickness = 0.2f;
+		def.friction = 0.1f;
 
 		m_cloth = new b3Cloth(def);
 
 		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
 		m_cloth->SetWorld(&m_world);
 
-		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
-		{
-			p->SetRadius(0.1f);
-			p->SetFriction(0.2f);
-		}
-
 		{
 			b3BodyDef bd;
 			bd.type = e_staticBody;
@@ -146,9 +133,7 @@ public:
 		return new TableCloth();
 	}
 
-	b3RectangleGarment m_rectangleGarment;
-	b3GarmentMesh m_rectangleGarmentMesh;
-	b3GarmentClothMesh m_rectangleClothMesh;
+	b3GridClothMesh<10, 10> m_clothMesh;
 	
 	b3Cloth* m_cloth;
 	b3ClothDragger* m_clothDragger;
diff --git a/examples/testbed/tests/tension_mapping.h b/examples/testbed/tests/tension_mapping.h
index 3b4f89b..1f074cb 100644
--- a/examples/testbed/tests/tension_mapping.h
+++ b/examples/testbed/tests/tension_mapping.h
@@ -58,24 +58,11 @@ static inline b3Color Color(float32 x, float32 a, float32 b)
 class TensionMapping : public Test
 {
 public:
-	TensionMapping() : m_rectangleGarment(5.0f, 5.0f)
+	TensionMapping()
 	{
-		// Generate 2D mesh
-		m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
-
-		// Create 3D mesh
-		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
-		
-		// Rotate the mesh
-		b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
-		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
-		{
-			m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
-		}
-
 		// Create cloth
 		b3ClothDef def;
-		def.mesh = &m_rectangleClothMesh;
+		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
 		def.structural = 10000.0f;
 
@@ -230,10 +217,7 @@ public:
 		return new TensionMapping();
 	}
 
-	b3RectangleGarment m_rectangleGarment;
-	b3GarmentMesh m_rectangleGarmentMesh;
-	b3GarmentClothMesh m_rectangleClothMesh;
-
+	b3GridClothMesh<10, 10> m_clothMesh;
 	b3Cloth* m_cloth;
 	b3ClothDragger* m_clothDragger; 
 };
diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index e3f4335..d392a9d 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -64,6 +64,7 @@
 #include <bounce/rope/rope.h>
 
 #include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/grid_cloth_mesh.h>
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
diff --git a/include/bounce/cloth/grid_cloth_mesh.h b/include/bounce/cloth/grid_cloth_mesh.h
new file mode 100644
index 0000000..474daeb
--- /dev/null
+++ b/include/bounce/cloth/grid_cloth_mesh.h
@@ -0,0 +1,96 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_GRID_CLOTH_MESH_H
+#define B3_GRID_CLOTH_MESH_H
+
+#include <bounce/cloth/cloth_mesh.h>
+
+// A (H + 1) x (W + 1) grid mesh stored in row-major order.
+// v(i, j) = i + (W + 1) + j
+template<u32 W = 1, u32 H = 1>
+struct b3GridClothMesh : public b3ClothMesh
+{
+	b3Vec3 gridVertices[(H + 1) * (W + 1)];
+	b3ClothMeshTriangle gridTriangles[2 * H * W];
+	b3ClothMeshMesh gridMesh;
+
+	// Set this grid to a W (width) per H (height) dimensioned grid centered at the origin and aligned
+	// with the world x-z axes.
+	b3GridClothMesh()
+	{
+		vertexCount = 0;
+		for (u32 i = 0; i <= H; ++i)
+		{
+			for (u32 j = 0; j <= W; ++j)
+			{
+				gridVertices[vertexCount++].Set(float32(j), 0.0f, float32(i));
+			}
+		}
+
+		B3_ASSERT(vertexCount == (W + 1) * (H + 1));
+		
+		b3Vec3 translation;
+		translation.x = -0.5f * float32(W);
+		translation.y = 0.0f;
+		translation.z = -0.5f * float32(H);
+
+		for (u32 i = 0; i < vertexCount; ++i)
+		{
+			gridVertices[i] += translation;
+		}
+
+		triangleCount = 0;
+		for (u32 i = 0; i < H; ++i)
+		{
+			for (u32 j = 0; j < W; ++j)
+			{
+				u32 v1 = i * (W + 1) + j;
+				u32 v2 = (i + 1) * (W + 1) + j;
+				u32 v3 = (i + 1) * (W + 1) + (j + 1);
+				u32 v4 = i * (W + 1) + (j + 1);
+
+				b3ClothMeshTriangle* t1 = gridTriangles + triangleCount++;
+				t1->v1 = v3;
+				t1->v2 = v2;
+				t1->v3 = v1;
+
+				b3ClothMeshTriangle* t2 = gridTriangles + triangleCount++;
+				t2->v1 = v1;
+				t2->v2 = v4;
+				t2->v3 = v3;
+			}
+		}
+		
+		B3_ASSERT(triangleCount == 2 * H * W);
+
+		gridMesh.startTriangle = 0;
+		gridMesh.triangleCount = triangleCount;
+		gridMesh.startVertex = 0;
+		gridMesh.vertexCount = vertexCount;
+
+		vertices = gridVertices;
+		triangles = gridTriangles;
+		meshCount = 1;
+		meshes = &gridMesh;
+		sewingLineCount = 0;
+		sewingLines = nullptr;
+	}
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/collision/shapes/grid_mesh.h b/include/bounce/collision/shapes/grid_mesh.h
index 358416d..f334569 100644
--- a/include/bounce/collision/shapes/grid_mesh.h
+++ b/include/bounce/collision/shapes/grid_mesh.h
@@ -22,6 +22,7 @@
 #include <bounce/collision/shapes/mesh.h>
 
 // A (H + 1) x (W + 1) grid mesh stored in row-major order.
+// v(i, j) = i * (W + 1) + j
 template<u32 H = 1, u32 W = 1>
 struct b3GridMesh : public b3Mesh
 {
@@ -32,61 +33,53 @@ struct b3GridMesh : public b3Mesh
 	// with the world x-z axes.
 	b3GridMesh()
 	{
-		u32 h = H + 1;
-		u32 w = W + 1;
-
-		b3Vec3 t;
-		t.x = -0.5f * float32(w) + 0.5f;
-		t.y = 0.0f;
-		t.z = -0.5f * float32(h) + 0.5f;
-
-		for (u32 i = 0; i < h; ++i)
+		vertexCount = 0;
+		for (u32 i = 0; i <= H; ++i)
 		{
-			for (u32 j = 0; j < w; ++j)
+			for (u32 j = 0; j <= W; ++j)
 			{
-				u32 v1 = i * w + j;
-
-				b3Vec3 v;
-				v.x = float32(j);
-				v.y = 0.0f;
-				v.z = float32(i);
-
-				v += t;
-
-				gridVertices[v1] = v;
+				gridVertices[vertexCount++].Set(float32(j), 0.0f, float32(i));
 			}
 		}
 
-		u32 triangleIndex = 0;
-		for (u32 i = 0; i < h - 1; ++i)
+		B3_ASSERT(vertexCount == (H + 1) * (W + 1));
+
+		b3Vec3 translation;
+		translation.x = -0.5f * float32(W);
+		translation.y = 0.0f;
+		translation.z = -0.5f * float32(H);
+
+		for (u32 i = 0; i < vertexCount; ++i)
 		{
-			for (u32 j = 0; j < w - 1; ++j)
+			gridVertices[i] += translation;
+		}
+
+		triangleCount = 0;
+		for (u32 i = 0; i < H; ++i)
+		{
+			for (u32 j = 0; j < W; ++j)
 			{
-				u32 v1 = i * w + j;
-				u32 v2 = (i + 1) * w + j;
-				u32 v3 = (i + 1) * w + (j + 1);
-				u32 v4 = i * w + (j + 1);
-
-				b3Triangle* t1 = gridTriangles + triangleIndex;
-				++triangleIndex;
+				u32 v1 = i * (W + 1) + j;
+				u32 v2 = (i + 1) * (W + 1) + j;
+				u32 v3 = (i + 1) * (W + 1) + (j + 1);
+				u32 v4 = i * (W + 1) + (j + 1);
 
+				b3Triangle* t1 = gridTriangles + triangleCount++;
 				t1->v1 = v3;
 				t1->v2 = v2;
 				t1->v3 = v1;
 
-				b3Triangle* t2 = gridTriangles + triangleIndex;
-				++triangleIndex;
-
+				b3Triangle* t2 = gridTriangles + triangleCount++;
 				t2->v1 = v1;
 				t2->v2 = v4;
 				t2->v3 = v3;
 			}
 		}
 
+		B3_ASSERT(triangleCount == 2 * H * W);
+
 		vertices = gridVertices;
-		vertexCount = (H + 1) * (W + 1);
 		triangles = gridTriangles;
-		triangleCount = 2 * H * W;
 	}
 };
 
diff --git a/include/bounce/softbody/block_softbody_mesh.h b/include/bounce/softbody/block_softbody_mesh.h
index 618caaf..19dba1e 100644
--- a/include/bounce/softbody/block_softbody_mesh.h
+++ b/include/bounce/softbody/block_softbody_mesh.h
@@ -36,7 +36,7 @@ struct b3BlockSoftBodyMesh : public b3SoftBodyMesh
 			{
 				for (u32 z = 0; z <= D; ++z)
 				{
-					blockVertices[vertexCount++].Set(x, y, z);
+					blockVertices[vertexCount++].Set(float32(x), float32(y), float32(z));
 				}
 			}
 		}
diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index 08ae969..18508f1 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -141,7 +141,7 @@ public:
 	// Debug draw the body using the associated mesh.
 	void Draw() const;
 private:
-	friend class b3SoftBodyNode;
+	friend struct b3SoftBodyNode;
 	friend class b3SoftBodySolver;
 	friend class b3SoftBodyForceSolver;
 
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 936df66..8cac18f 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -170,8 +170,9 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		b3ParticleDef pd;
 		pd.type = e_dynamicParticle;
 		pd.mass = 1.0f;
-		pd.position = m->vertices[i];
 		pd.radius = def.thickness;
+		pd.friction = def.friction;
+		pd.position = m->vertices[i];
 
 		b3Particle* p = CreateParticle(pd);
 

From 39b27c86d2068b9bb095d457c25b00eed70b3ace Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 22 Jun 2019 19:32:20 -0300
Subject: [PATCH 169/198] Copy mass one loop above

---
 src/bounce/cloth/cloth_force_solver.cpp | 16 ++++++----------
 1 file changed, 6 insertions(+), 10 deletions(-)

diff --git a/src/bounce/cloth/cloth_force_solver.cpp b/src/bounce/cloth/cloth_force_solver.cpp
index 0dd373e..2370c2a 100644
--- a/src/bounce/cloth/cloth_force_solver.cpp
+++ b/src/bounce/cloth/cloth_force_solver.cpp
@@ -214,9 +214,12 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 	b3DenseVec3 sy(m_particleCount);
 	b3DenseVec3 sz(m_particleCount);
 	b3DenseVec3 sx0(m_particleCount);
+	b3SparseSymMat33 M(m_particleCount);
 	b3SparseSymMat33 dfdx(m_particleCount);
 	b3SparseSymMat33 dfdv(m_particleCount);
 	b3DiagMat33 S(m_particleCount);
+	b3DiagMat33 I(m_particleCount);
+	I.SetIdentity();
 
 	m_solverData.x = &sx;
 	m_solverData.v = &sv;
@@ -231,6 +234,8 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 	{
 		b3Particle* p = m_particles[i];
 
+		M(i, i) = b3Diagonal(p->m_mass);
+		
 		sx[i] = p->m_position;
 		sv[i] = p->m_velocity;
 		sf[i] = p->m_force;
@@ -254,12 +259,7 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 	// Solve Ax = b, where
 	// A = M - h * dfdv - h * h * dfdx
 	// b = h * (f0 + h * dfdx * v0 + dfdx * y) 
-	b3SparseSymMat33 M(m_particleCount);
-	for (u32 i = 0; i < m_particleCount; ++i)
-	{
-		M(i, i) = b3Diagonal(m_particles[i]->m_mass);
-	}
-
+	
 	// A
 	b3SparseSymMat33 A = M - h * dfdv - h * h * dfdx;
 
@@ -269,10 +269,6 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 	// b
 	b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
 
-	// I
-	b3DiagMat33 I(m_particleCount);
-	I.SetIdentity();
-
 	// x
 	b3DenseVec3 x(m_particleCount);
 	b3SolveMPCG(x, viewA, b, S, sz, sx0, I);

From 13eab5d00dc82ae2c7c1ef32de79cd3b2d875241 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 23 Jun 2019 10:52:41 -0300
Subject: [PATCH 170/198] Small refactor. Allow cloth particle to collide with
 multiple shapes. This is a more general solution.

---
 include/bounce/cloth/cloth.h                  |  17 +-
 include/bounce/cloth/cloth_collision.h        |  38 +++++
 include/bounce/cloth/cloth_contact_manager.h  |  21 ++-
 include/bounce/cloth/cloth_contact_solver.h   |   2 +-
 .../cloth/cloth_particle_body_contact.h       |  76 +++++++++
 ...ct.h => cloth_particle_triangle_contact.h} |   6 +-
 include/bounce/cloth/cloth_solver.h           |   2 +-
 include/bounce/cloth/cloth_triangle.h         |   2 +-
 include/bounce/cloth/particle.h               |  54 +-----
 include/bounce/dynamics/shapes/shape.h        |   3 +
 src/bounce/cloth/cloth.cpp                    | 130 ++-------------
 src/bounce/cloth/cloth_contact_manager.cpp    | 154 +++++++++++++++++-
 src/bounce/cloth/cloth_contact_solver.cpp     |  34 ++--
 .../cloth/cloth_particle_body_contact.cpp     |  62 +++++++
 ...pp => cloth_particle_triangle_contact.cpp} |   2 +-
 src/bounce/cloth/cloth_solver.cpp             |   2 +-
 src/bounce/cloth/cloth_triangle.cpp           |   1 +
 src/bounce/cloth/particle.cpp                 |  62 +++----
 src/bounce/dynamics/shapes/shape.cpp          |   5 +
 19 files changed, 426 insertions(+), 247 deletions(-)
 create mode 100644 include/bounce/cloth/cloth_collision.h
 create mode 100644 include/bounce/cloth/cloth_particle_body_contact.h
 rename include/bounce/cloth/{cloth_contact.h => cloth_particle_triangle_contact.h} (94%)
 create mode 100644 src/bounce/cloth/cloth_particle_body_contact.cpp
 rename src/bounce/cloth/{cloth_contact.cpp => cloth_particle_triangle_contact.cpp} (98%)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 1f8e365..1b49752 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -26,16 +26,14 @@
 #include <bounce/cloth/cloth_contact_manager.h>
 
 class b3World;
-class b3Shape;
-
-class b3Particle;
-class b3ClothTriangle;
-
-class b3Force;
-struct b3ParticleBodyContact;
 
 struct b3ParticleDef;
+class b3Particle;
+
 struct b3ForceDef;
+class b3Force;
+
+class b3ClothTriangle;
 
 struct b3ClothMesh;
 
@@ -44,8 +42,6 @@ class b3RayCastListener;
 struct b3RayCastInput;
 struct b3RayCastOutput;
 
-struct b3ClothAABBProxy;
-
 struct b3ClothRayCastSingleOutput
 {
 	u32 triangle;
@@ -161,9 +157,6 @@ private:
 	// Compute mass of each particle.
 	void ComputeMass();
 
-	// Update particle-body contacts
-	void UpdateParticleBodyContacts();
-
 	// Solve
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 
diff --git a/include/bounce/cloth/cloth_collision.h b/include/bounce/cloth/cloth_collision.h
new file mode 100644
index 0000000..58335f5
--- /dev/null
+++ b/include/bounce/cloth/cloth_collision.h
@@ -0,0 +1,38 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_CLOTH_COLLISION_H
+#define B3_CLOTH_COLLISION_H
+
+#include <bounce/common/math/vec3.h>
+
+// Cloth primitive type
+enum b3ClothAABBProxyType
+{
+	e_particleProxy,
+	e_triangleProxy
+};
+
+// Cloth primitive broadphase proxy
+struct b3ClothAABBProxy
+{
+	b3ClothAABBProxyType type;
+	void* owner;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/cloth/cloth_contact_manager.h b/include/bounce/cloth/cloth_contact_manager.h
index 8f4517e..eccf419 100644
--- a/include/bounce/cloth/cloth_contact_manager.h
+++ b/include/bounce/cloth/cloth_contact_manager.h
@@ -19,7 +19,8 @@
 #ifndef B3_CLOTH_CONTACT_MANAGER_H
 #define B3_CLOTH_CONTACT_MANAGER_H
 
-#include <bounce/cloth/cloth_contact.h>
+#include <bounce/cloth/cloth_particle_body_contact.h>
+#include <bounce/cloth/cloth_particle_triangle_contact.h>
 #include <bounce/collision/broad_phase.h>
 #include <bounce/common/memory/block_pool.h>
 #include <bounce/common/template/list.h>
@@ -32,21 +33,31 @@ class b3ClothContactManager
 public:
 	b3ClothContactManager();
 
-	// The broad-phase callback.
-	void AddPair(void* data1, void* data2);
-
 	void FindNewContacts();
+	
+	void AddPair(void* data1, void* data2);
+	void FindNewClothContacts();
+
+	void AddPSPair(b3Particle* p1, b3Shape* s2);
+	void FindNewBodyContacts();
 
 	void UpdateContacts();
+	void UpdateClothContacts();
+	void UpdateBodyContacts();
 
 	b3ParticleTriangleContact* CreateParticleTriangleContact();
 	void Destroy(b3ParticleTriangleContact* c);
 
+	b3ParticleBodyContact* CreateParticleBodyContact();
+	void Destroy(b3ParticleBodyContact* c);
+
 	b3BlockPool m_particleTriangleContactBlocks;
-	
+	b3BlockPool m_particleBodyContactBlocks;
+
 	b3Cloth* m_cloth;
 	b3BroadPhase m_broadPhase;
 	b3List2<b3ParticleTriangleContact> m_particleTriangleContactList;
+	b3List2<b3ParticleBodyContact> m_particleBodyContactList;
 };
 
 #endif
\ No newline at end of file
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/cloth_contact_solver.h
index 76f13bc..2b33265 100644
--- a/include/bounce/cloth/cloth_contact_solver.h
+++ b/include/bounce/cloth/cloth_contact_solver.h
@@ -27,7 +27,7 @@ class b3StackAllocator;
 class b3Particle;
 class b3Body;
 
-struct b3ParticleBodyContact;
+class b3ParticleBodyContact;
 class b3ParticleTriangleContact;
 
 struct b3ClothSolverBodyContactVelocityConstraint
diff --git a/include/bounce/cloth/cloth_particle_body_contact.h b/include/bounce/cloth/cloth_particle_body_contact.h
new file mode 100644
index 0000000..c774329
--- /dev/null
+++ b/include/bounce/cloth/cloth_particle_body_contact.h
@@ -0,0 +1,76 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_CLOTH_PARTICLE_BODY_CONTACT_H
+#define B3_CLOTH_PARTICLE_BODY_CONTACT_H
+
+#include <bounce/common/template/list.h>
+#include <bounce/common/math/vec2.h>
+#include <bounce/common/math/vec3.h>
+#include <bounce/common/math/transform.h>
+
+class b3Particle;
+class b3Shape;
+
+// A contact between a particle and a body
+class b3ParticleBodyContact
+{
+public:
+private:
+	friend class b3List2<b3ParticleBodyContact>;
+	friend class b3Cloth;
+	friend class b3Particle;
+	friend class b3ClothContactManager;
+	friend class b3ClothSolver;
+	friend class b3ClothContactSolver;
+	friend struct b3ParticleBodyContactWorldPoint;
+
+	b3ParticleBodyContact() { }
+	~b3ParticleBodyContact() { }
+
+	void Update();
+
+	b3Particle* m_p1;
+	b3Shape* m_s2;
+
+	bool m_active;
+	
+	// Contact constraint
+	b3Vec3 m_normal1;
+	b3Vec3 m_localPoint1;
+	b3Vec3 m_localPoint2;
+	float32 m_normalImpulse;
+
+	// Friction constraint
+	b3Vec3 m_tangent1, m_tangent2;
+	b3Vec2 m_tangentImpulse;
+
+	b3ParticleBodyContact* m_prev;
+	b3ParticleBodyContact* m_next;
+};
+
+struct b3ParticleBodyContactWorldPoint
+{
+	void Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
+
+	b3Vec3 point;
+	b3Vec3 normal;
+	float32 separation;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/cloth/cloth_contact.h b/include/bounce/cloth/cloth_particle_triangle_contact.h
similarity index 94%
rename from include/bounce/cloth/cloth_contact.h
rename to include/bounce/cloth/cloth_particle_triangle_contact.h
index 6e7e291..a5cc347 100644
--- a/include/bounce/cloth/cloth_contact.h
+++ b/include/bounce/cloth/cloth_particle_triangle_contact.h
@@ -16,8 +16,8 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef B3_CLOTH_CONTACT_H
-#define B3_CLOTH_CONTACT_H
+#ifndef B3_CLOTH_PARTICLE_TRIANGLE_CONTACT_H
+#define B3_CLOTH_PARTICLE_TRIANGLE_CONTACT_H
 
 #include <bounce/common/template/list.h>
 
@@ -29,11 +29,11 @@ class b3ParticleTriangleContact
 {
 public:
 private:
+	friend class b3List2<b3ParticleTriangleContact>;
 	friend class b3Cloth;
 	friend class b3Particle;
 	friend class b3ClothTriangle;
 	friend class b3ClothContactManager;
-	friend class b3List2<b3ParticleTriangleContact>;
 	friend class b3ClothContactSolver;
 
 	b3ParticleTriangleContact() { }
diff --git a/include/bounce/cloth/cloth_solver.h b/include/bounce/cloth/cloth_solver.h
index 2edf011..75636f6 100644
--- a/include/bounce/cloth/cloth_solver.h
+++ b/include/bounce/cloth/cloth_solver.h
@@ -26,7 +26,7 @@ class b3StackAllocator;
 
 class b3Particle;
 class b3Force;
-struct b3ParticleBodyContact;
+class b3ParticleBodyContact;
 class b3ParticleTriangleContact;
 
 struct b3ClothSolverDef
diff --git a/include/bounce/cloth/cloth_triangle.h b/include/bounce/cloth/cloth_triangle.h
index ca51ccc..1a1e6db 100644
--- a/include/bounce/cloth/cloth_triangle.h
+++ b/include/bounce/cloth/cloth_triangle.h
@@ -19,7 +19,7 @@
 #ifndef B3_CLOTH_TRIANGLE_H
 #define B3_CLOTH_TRIANGLE_H
 
-#include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_collision.h>
 
 // A cloth triangle
 class b3ClothTriangle
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index 6844e28..225b280 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -19,14 +19,10 @@
 #ifndef B3_PARTICLE_H
 #define B3_PARTICLE_H
 
-#include <bounce/cloth/force.h>
-#include <bounce/common/math/transform.h>
-#include <bounce/common/math/vec2.h>
+#include <bounce/cloth/cloth_collision.h>
 #include <bounce/common/template/list.h>
 
-class b3Shape;
 class b3Cloth;
-class b3Particle;
 
 // Static particle: Can be moved manually.
 // Kinematic particle: Non-zero velocity, can be moved by the solver.
@@ -38,7 +34,7 @@ enum b3ParticleType
 	e_dynamicParticle
 };
 
-//
+// Particle definition
 struct b3ParticleDef
 {
 	b3ParticleDef()
@@ -63,48 +59,6 @@ struct b3ParticleDef
 	void* userData;
 };
 
-// A contact between a particle and a solid
-struct b3ParticleBodyContact
-{
-	b3Particle* p1;
-	b3Shape* s2;
-
-	// Contact constraint
-	b3Vec3 normal1;
-	b3Vec3 localPoint1;
-	b3Vec3 localPoint2;
-	float32 normalImpulse;
-
-	// Friction constraint
-	b3Vec3 t1, t2;
-	b3Vec2 tangentImpulse;
-
-	bool active;
-};
-
-struct b3ParticleBodyContactWorldPoint
-{
-	void Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
-
-	b3Vec3 point;
-	b3Vec3 normal;
-	float32 separation;
-};
-
-// Cloth primitive type
-enum b3ClothAABBProxyType
-{
-	e_particleProxy,
-	e_triangleProxy
-};
-
-// Cloth primitive broadphase proxy
-struct b3ClothAABBProxy
-{
-	b3ClothAABBProxyType type;
-	void* owner;
-};
-
 // A cloth particle.
 class b3Particle
 {
@@ -162,6 +116,7 @@ private:
 	friend class b3ClothSolver;
 	friend class b3ClothForceSolver;
 	friend class b3ClothContactManager;
+	friend class b3ParticleBodyContact;
 	friend class b3ParticleTriangleContact;
 	friend class b3ClothContactSolver;
 	friend class b3Force;
@@ -223,9 +178,6 @@ private:
 	// Parent cloth
 	b3Cloth* m_cloth;
 
-	// Contact
-	b3ParticleBodyContact m_bodyContact;
-
 	// AABB Proxy
 	b3ClothAABBProxy m_aabbProxy;
 
diff --git a/include/bounce/dynamics/shapes/shape.h b/include/bounce/dynamics/shapes/shape.h
index a11619c..b397f58 100644
--- a/include/bounce/dynamics/shapes/shape.h
+++ b/include/bounce/dynamics/shapes/shape.h
@@ -140,6 +140,9 @@ public:
 	// Set the user data associated with this shape.
 	void SetUserData(void* data);
 
+	// Get broadphase AABB
+	const b3AABB3& GetAABB() const;
+
 	// Dump this shape to the log file.
 	void Dump(u32 bodyIndex) const;
 
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 8cac18f..0152bac 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -23,14 +23,6 @@
 #include <bounce/cloth/force.h>
 #include <bounce/cloth/spring_force.h>
 #include <bounce/cloth/cloth_solver.h>
-
-#include <bounce/dynamics/world.h>
-#include <bounce/dynamics/world_listeners.h>
-#include <bounce/dynamics/body.h>
-#include <bounce/dynamics/shapes/shape.h>
-
-#include <bounce/collision/collision.h>
-
 #include <bounce/common/draw.h>
 
 static B3_FORCE_INLINE u32 b3NextIndex(u32 i)
@@ -501,105 +493,6 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
 	return b3RayCast(output, input, v1, v2, v3);
 }
 
-class b3ClothUpdateContactsQueryListener : public b3QueryListener
-{
-public:
-	bool ReportShape(b3Shape* shape)
-	{
-		b3Body* body = shape->GetBody();
-
-		if (body->GetType() != e_staticBody)
-		{
-			return true;
-		}
-
-		b3Transform xf = body->GetTransform();
-
-		b3TestSphereOutput output;
-		if (shape->TestSphere(&output, sphere, xf))
-		{
-			if (output.separation < bestSeparation)
-			{
-				bestShape = shape;
-				bestSeparation = output.separation;
-				bestPoint = output.point;
-				bestNormal = output.normal;
-			}
-		}
-
-		return true;
-	}
-
-	b3Sphere sphere;
-	b3Shape* bestShape;
-	float32 bestSeparation;
-	b3Vec3 bestPoint;
-	b3Vec3 bestNormal;
-};
-
-void b3Cloth::UpdateParticleBodyContacts()
-{
-	B3_PROFILE("Cloth Update Particle Body Contacts");
-
-	// Is there a world attached to this cloth?
-	if (m_world == nullptr)
-	{
-		return;
-	}
-
-	// Create contacts 
-	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
-	{
-		if (p->m_type != e_dynamicParticle)
-		{
-			continue;
-		}
-
-		b3AABB3 aabb = m_contactManager.m_broadPhase.GetAABB(p->m_broadPhaseId);
-
-		b3ClothUpdateContactsQueryListener listener;
-		listener.sphere.vertex = p->m_position;
-		listener.sphere.radius = p->m_radius;
-		listener.bestShape = nullptr;
-		listener.bestSeparation = 0.0f;
-
-		m_world->QueryAABB(&listener, aabb);
-
-		if (listener.bestShape == nullptr)
-		{
-			p->m_bodyContact.active = false;
-			continue;
-		}
-
-		b3Shape* shape = listener.bestShape;
-		b3Body* body = shape->GetBody();
-		float32 separation = listener.bestSeparation;
-		b3Vec3 point = listener.bestPoint;
-		b3Vec3 normal = -listener.bestNormal;
-
-		b3ParticleBodyContact* c = &p->m_bodyContact;
-		
-		b3ParticleBodyContact c0 = *c;
-
-		c->active = true;
-		c->p1 = p;
-		c->s2 = shape;
-		c->normal1 = normal;
-		c->localPoint1.SetZero();
-		c->localPoint2 = body->GetLocalPoint(point);
-		c->t1 = b3Perp(normal);
-		c->t2 = b3Cross(c->t1, normal);
-		c->normalImpulse = 0.0f;
-		c->tangentImpulse.SetZero();
-
-		if (c0.active == true)
-		{
-			c->normalImpulse = c0.normalImpulse;
-			c->tangentImpulse = c0.tangentImpulse;
-		}
-	}
-}
-
 void b3Cloth::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
 {
 	B3_PROFILE("Cloth Solve");
@@ -624,14 +517,6 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u
 		solver.Add(f);
 	}
 
-	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
-	{
-		if (p->m_bodyContact.active)
-		{
-			solver.Add(&p->m_bodyContact);
-		}
-	}
-
 	for (b3ParticleTriangleContact* c = m_contactManager.m_particleTriangleContactList.m_head; c; c = c->m_next)
 	{
 		if (c->m_active)
@@ -640,6 +525,14 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u
 		}
 	}
 
+	for (b3ParticleBodyContact* c = m_contactManager.m_particleBodyContactList.m_head; c; c = c->m_next)
+	{
+		if (c->m_active)
+		{
+			solver.Add(c);
+		}
+	}
+	
 	// Solve	
 	solver.Solve(dt, gravity, velocityIterations, positionIterations);
 }
@@ -648,10 +541,7 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 {
 	B3_PROFILE("Cloth Step");
 
-	// Update particle-body contacts
-	UpdateParticleBodyContacts();
-
-	// Update self-contacts
+	// Update contacts
 	m_contactManager.UpdateContacts();
 
 	// Integrate state, solve constraints. 
@@ -695,7 +585,7 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
 		m_triangles[i].Synchronize(displacement);
 	}
 
-	// Find new self-contacts
+	// Find new contacts
 	m_contactManager.FindNewContacts();
 }
 
diff --git a/src/bounce/cloth/cloth_contact_manager.cpp b/src/bounce/cloth/cloth_contact_manager.cpp
index d41b4a8..86731c9 100644
--- a/src/bounce/cloth/cloth_contact_manager.cpp
+++ b/src/bounce/cloth/cloth_contact_manager.cpp
@@ -21,20 +21,107 @@
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
+#include <bounce/dynamics/world.h>
+#include <bounce/dynamics/world_listeners.h>
+#include <bounce/dynamics/shapes/shape.h>
+#include <bounce/dynamics/body.h>
 
 b3ClothContactManager::b3ClothContactManager() : 
-	m_particleTriangleContactBlocks(sizeof(b3ParticleTriangleContact))
+	m_particleTriangleContactBlocks(sizeof(b3ParticleTriangleContact)),
+	m_particleBodyContactBlocks(sizeof(b3ParticleBodyContact))
 {
 
 }
 
 void b3ClothContactManager::FindNewContacts()
 {
-	B3_PROFILE("Cloth Find New Contacts");
+	FindNewClothContacts();
+	FindNewBodyContacts();
+}
+
+void b3ClothContactManager::FindNewClothContacts()
+{
+	B3_PROFILE("Cloth Find New Cloth Contacts");
 	
 	m_broadPhase.FindPairs(this);
 }
 
+class b3ClothContactManagerFindNewBodyContactsQueryListener : public b3QueryListener
+{
+public:
+	virtual bool ReportShape(b3Shape* s2)
+	{
+		cm->AddPSPair(p1, s2);
+		
+		// Keep looking for overlaps
+		return true;
+	}
+	
+	b3ClothContactManager* cm;
+	b3Particle* p1;
+};
+
+void b3ClothContactManager::FindNewBodyContacts()
+{
+	B3_PROFILE("Cloth Find New Body Contacts");
+
+	// Is there a world attached to this cloth?
+	if (m_cloth->m_world == nullptr)
+	{
+		return;
+	}
+
+	for (b3Particle* p = m_cloth->m_particleList.m_head; p; p = p->m_next)
+	{
+		if (p->m_type != e_dynamicParticle)
+		{
+			continue;
+		}
+
+		b3AABB3 aabb = m_broadPhase.GetAABB(p->m_broadPhaseId);
+
+		b3ClothContactManagerFindNewBodyContactsQueryListener listener;
+		listener.cm = this;
+		listener.p1 = p;
+
+		m_cloth->m_world->QueryAABB(&listener, aabb);
+	}
+}
+
+void b3ClothContactManager::AddPSPair(b3Particle* p1, b3Shape* s2)
+{
+	// Check if there is a contact between the two entities.
+	for (b3ParticleBodyContact* c = m_particleBodyContactList.m_head; c; c = c->m_next)
+	{
+		if (c->m_p1 == p1 && c->m_s2 == s2)
+		{
+			// A contact already exists.
+			return;
+		}
+	}
+
+	bool isntDynamic1 = p1->m_type != e_dynamicParticle;
+	bool isntDynamic2 = s2->GetBody()->GetType() != e_dynamicBody;
+
+	if (isntDynamic1 && isntDynamic2)
+	{
+		// The entities must not collide with each other.
+		return;
+	}
+
+	// Create a new contact.
+	b3ParticleBodyContact* c = CreateParticleBodyContact();
+
+	c->m_p1 = p1;
+	c->m_s2 = s2;
+	c->m_active = false;
+	c->m_normalImpulse = 0.0f;
+	c->m_tangentImpulse.SetZero();
+
+	// Add the contact to the body contact list.
+	m_particleBodyContactList.PushFront(c);
+}
+
 void b3ClothContactManager::AddPair(void* data1, void* data2)
 {
 	b3ClothAABBProxy* proxy1 = (b3ClothAABBProxy*)data1;
@@ -126,9 +213,30 @@ void b3ClothContactManager::Destroy(b3ParticleTriangleContact* c)
 	m_particleTriangleContactBlocks.Free(c);
 }
 
+b3ParticleBodyContact* b3ClothContactManager::CreateParticleBodyContact()
+{
+	void* block = m_particleBodyContactBlocks.Allocate();
+	return new(block) b3ParticleBodyContact();
+}
+
+void b3ClothContactManager::Destroy(b3ParticleBodyContact* c)
+{
+	m_particleBodyContactList.Remove(c);
+
+	c->~b3ParticleBodyContact();
+
+	m_particleBodyContactBlocks.Free(c);
+}
+
 void b3ClothContactManager::UpdateContacts()
 {
-	B3_PROFILE("Cloth Update Contacts");
+	UpdateClothContacts();
+	UpdateBodyContacts();
+}
+
+void b3ClothContactManager::UpdateClothContacts()
+{
+	B3_PROFILE("Cloth Update Cloth Contacts");
 	
 	// Update the state of particle-triangle contacts.
 	b3ParticleTriangleContact* c = m_particleTriangleContactList.m_head;
@@ -162,6 +270,46 @@ void b3ClothContactManager::UpdateContacts()
 		// The contact persists.
 		c->Update();
 
+		c = c->m_next;
+	}
+}
+
+void b3ClothContactManager::UpdateBodyContacts()
+{
+	B3_PROFILE("Cloth Update Body Contacts");
+	
+	// Update the state of particle-body contacts.
+	b3ParticleBodyContact* c = m_particleBodyContactList.m_head;
+	while (c)
+	{
+		bool isntDynamic1 = c->m_p1->m_type != e_dynamicParticle;
+		bool isntDynamic2 = c->m_s2->GetType() != e_dynamicBody;
+
+		// Cease the contact if entities must not collide with each other.
+		if (isntDynamic1 && isntDynamic2)
+		{
+			b3ParticleBodyContact* quack = c;
+			c = c->m_next;
+			Destroy(quack);
+			continue;
+		}
+
+		b3AABB3 aabb1 = m_broadPhase.GetAABB(c->m_p1->m_broadPhaseId);
+		b3AABB3 aabb2 = c->m_s2->GetAABB();
+
+		// Destroy the contact if entities AABBs are not overlapping.
+		bool overlap = b3TestOverlap(aabb1, aabb2);
+		if (overlap == false)
+		{
+			b3ParticleBodyContact* quack = c;
+			c = c->m_next;
+			Destroy(quack);
+			continue;
+		}
+
+		// The contact persists.
+		c->Update();
+
 		c = c->m_next;
 	}
 }
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/cloth_contact_solver.cpp
index d6ef10c..8825734 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/cloth_contact_solver.cpp
@@ -59,35 +59,35 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 		b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
 		b3ClothSolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
 
-		vc->indexA = c->p1->m_solverId;
-		vc->bodyB = c->s2->GetBody();
+		vc->indexA = c->m_p1->m_solverId;
+		vc->bodyB = c->m_s2->GetBody();
 
-		vc->invMassA = c->p1->m_type == e_staticParticle ? 0.0f : c->p1->m_invMass;
+		vc->invMassA = c->m_p1->m_type == e_staticParticle ? 0.0f : c->m_p1->m_invMass;
 		vc->invMassB = vc->bodyB->GetInverseMass();
 
 		vc->invIA.SetZero();
 		vc->invIB = vc->bodyB->GetWorldInverseInertia();
 
-		vc->friction = b3MixFriction(c->p1->m_friction, c->s2->GetFriction());
+		vc->friction = b3MixFriction(c->m_p1->m_friction, c->m_s2->GetFriction());
 
-		pc->indexA = c->p1->m_solverId;
+		pc->indexA = c->m_p1->m_solverId;
 		pc->bodyB = vc->bodyB;
 
-		pc->invMassA = c->p1->m_type == e_staticParticle ? 0.0f : c->p1->m_invMass;
+		pc->invMassA = c->m_p1->m_type == e_staticParticle ? 0.0f : c->m_p1->m_invMass;
 		pc->invMassB = vc->bodyB->m_invMass;
 
 		pc->invIA.SetZero();
 		pc->invIB = vc->bodyB->m_worldInvI;
 
-		pc->radiusA = c->p1->m_radius;
-		pc->radiusB = c->s2->m_radius;
+		pc->radiusA = c->m_p1->m_radius;
+		pc->radiusB = c->m_s2->m_radius;
 
 		pc->localCenterA.SetZero();
 		pc->localCenterB = pc->bodyB->m_sweep.localCenter;
 
-		pc->normalA = c->normal1;
-		pc->localPointA = c->localPoint1;
-		pc->localPointB = c->localPoint2;
+		pc->normalA = c->m_normal1;
+		pc->localPointA = c->m_localPoint1;
+		pc->localPointB = c->m_localPoint2;
 	}
 
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
@@ -126,8 +126,8 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 		wp.Initialize(c, pc->radiusA, xfA, pc->radiusB, xfB);
 
 		vc->normal = wp.normal;
-		vc->tangent1 = c->t1;
-		vc->tangent2 = c->t2;
+		vc->tangent1 = c->m_tangent1;
+		vc->tangent2 = c->m_tangent2;
 		vc->point = wp.point;
 
 		b3Vec3 point = vc->point;
@@ -138,8 +138,8 @@ void b3ClothContactSolver::InitializeBodyContactConstraints()
 		vc->rA = rA;
 		vc->rB = rB;
 
-		vc->normalImpulse = c->normalImpulse;
-		vc->tangentImpulse = c->tangentImpulse;
+		vc->normalImpulse = c->m_normalImpulse;
+		vc->tangentImpulse = c->m_tangentImpulse;
 
 		{
 			b3Vec3 n = vc->normal;
@@ -602,8 +602,8 @@ void b3ClothContactSolver::StoreImpulses()
 		b3ParticleBodyContact* c = m_bodyContacts[i];
 		b3ClothSolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
 
-		c->normalImpulse = vc->normalImpulse;
-		c->tangentImpulse = vc->tangentImpulse;
+		c->m_normalImpulse = vc->normalImpulse;
+		c->m_tangentImpulse = vc->tangentImpulse;
 	}
 
 	for (u32 i = 0; i < m_triangleContactCount; ++i)
diff --git a/src/bounce/cloth/cloth_particle_body_contact.cpp b/src/bounce/cloth/cloth_particle_body_contact.cpp
new file mode 100644
index 0000000..54b3ed5
--- /dev/null
+++ b/src/bounce/cloth/cloth_particle_body_contact.cpp
@@ -0,0 +1,62 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/cloth/cloth_particle_body_contact.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/dynamics/shapes/shape.h>
+#include <bounce/dynamics/body.h>
+
+void b3ParticleBodyContact::Update()
+{
+	b3Sphere sphere;
+	sphere.radius = m_p1->m_radius;
+	sphere.vertex = m_p1->m_position;
+
+	b3Shape* shape = m_s2;
+	b3Body* body = shape->GetBody();
+	b3Transform xf = body->GetTransform();
+
+	b3TestSphereOutput out;
+	if (shape->TestSphere(&out, sphere, xf) == false)
+	{
+		m_active = false;
+		return;
+	}
+
+	m_active = true;
+	m_normal1 = -out.normal;
+	m_localPoint1.SetZero();
+	m_localPoint2 = body->GetLocalPoint(out.point);
+	m_tangent1 = b3Perp(m_normal1);
+	m_tangent2 = b3Cross(m_tangent1, m_normal1);
+}
+
+void b3ParticleBodyContactWorldPoint::Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
+{
+	b3Vec3 nA = c->m_normal1;
+
+	b3Vec3 cA = xfA * c->m_localPoint1;
+	b3Vec3 cB = xfB * c->m_localPoint2;
+
+	b3Vec3 pA = cA + rA * nA;
+	b3Vec3 pB = cB - rB * nA;
+
+	point = 0.5f * (pA + pB);
+	normal = nA;
+	separation = b3Dot(cB - cA, nA) - rA - rB;
+}
diff --git a/src/bounce/cloth/cloth_contact.cpp b/src/bounce/cloth/cloth_particle_triangle_contact.cpp
similarity index 98%
rename from src/bounce/cloth/cloth_contact.cpp
rename to src/bounce/cloth/cloth_particle_triangle_contact.cpp
index be57dad..8be1b1b 100644
--- a/src/bounce/cloth/cloth_contact.cpp
+++ b/src/bounce/cloth/cloth_particle_triangle_contact.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/cloth_contact.h>
+#include <bounce/cloth/cloth_particle_triangle_contact.h>
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 5584b29..9cdc4c8 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -167,7 +167,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 		// Synchronize bodies
 		for (u32 i = 0; i < m_bodyContactCount; ++i)
 		{
-			b3Body* body = m_bodyContacts[i]->s2->GetBody();
+			b3Body* body = m_bodyContacts[i]->m_s2->GetBody();
 
 			body->SynchronizeTransform();
 
diff --git a/src/bounce/cloth/cloth_triangle.cpp b/src/bounce/cloth/cloth_triangle.cpp
index 1fc5477..bd5771a 100644
--- a/src/bounce/cloth/cloth_triangle.cpp
+++ b/src/bounce/cloth/cloth_triangle.cpp
@@ -18,6 +18,7 @@
 
 #include <bounce/cloth/cloth_triangle.h>
 #include <bounce/cloth/cloth.h>
+#include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_mesh.h>
 
 void b3ClothTriangle::Synchronize(const b3Vec3& displacement)
diff --git a/src/bounce/cloth/particle.cpp b/src/bounce/cloth/particle.cpp
index 308188c..c1da933 100644
--- a/src/bounce/cloth/particle.cpp
+++ b/src/bounce/cloth/particle.cpp
@@ -21,21 +21,6 @@
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/cloth_triangle.h>
 
-void b3ParticleBodyContactWorldPoint::Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
-{
-	b3Vec3 nA = c->normal1;
-
-	b3Vec3 cA = b3Mul(xfA, c->localPoint1);
-	b3Vec3 cB = b3Mul(xfB, c->localPoint2);
-
-	b3Vec3 pA = cA + rA * nA;
-	b3Vec3 pB = cB - rB * nA;
-
-	point = 0.5f * (pA + pB);
-	normal = nA;
-	separation = b3Dot(cB - cA, nA) - rA - rB;
-}
-
 b3Particle::b3Particle(const b3ParticleDef& def, b3Cloth* cloth)
 {
 	m_cloth = cloth;
@@ -63,7 +48,6 @@ b3Particle::b3Particle(const b3ParticleDef& def, b3Cloth* cloth)
 	m_userData = nullptr;
 	m_x.SetZero();
 	m_vertex = ~0;
-	m_bodyContact.active = false;
 }
 
 b3Particle::~b3Particle()
@@ -99,22 +83,38 @@ void b3Particle::SynchronizeTriangles()
 
 void b3Particle::DestroyContacts()
 {
-	// Destroy body contacts
-	m_bodyContact.active = false;
-
-	// Destroy triangle contacts
-	b3ParticleTriangleContact* c = m_cloth->m_contactManager.m_particleTriangleContactList.m_head;
-	while (c)
 	{
-		if (c->m_p1 == this)
+		// Destroy body contacts
+		b3ParticleBodyContact* c = m_cloth->m_contactManager.m_particleBodyContactList.m_head;
+		while (c)
 		{
-			b3ParticleTriangleContact* quack = c;
-			c = c->m_next;
-			m_cloth->m_contactManager.Destroy(quack);
-			continue;
-		}
+			if (c->m_p1 == this)
+			{
+				b3ParticleBodyContact* quack = c;
+				c = c->m_next;
+				m_cloth->m_contactManager.Destroy(quack);
+				continue;
+			}
 
-		c = c->m_next;
+			c = c->m_next;
+		}
+	}
+
+	{
+		// Destroy triangle contacts
+		b3ParticleTriangleContact* c = m_cloth->m_contactManager.m_particleTriangleContactList.m_head;
+		while (c)
+		{
+			if (c->m_p1 == this)
+			{
+				b3ParticleTriangleContact* quack = c;
+				c = c->m_next;
+				m_cloth->m_contactManager.Destroy(quack);
+				continue;
+			}
+
+			c = c->m_next;
+		}
 	}
 }
 
@@ -132,13 +132,13 @@ void b3Particle::SetType(b3ParticleType type)
 	{
 		m_velocity.SetZero();
 		m_translation.SetZero();
-		
+
 		Synchronize(b3Vec3_zero);
 		SynchronizeTriangles();
 	}
 
 	DestroyContacts();
-	
+
 	// Move the proxy so new contacts can be created.
 	m_cloth->m_contactManager.m_broadPhase.TouchProxy(m_broadPhaseId);
 }
\ No newline at end of file
diff --git a/src/bounce/dynamics/shapes/shape.cpp b/src/bounce/dynamics/shapes/shape.cpp
index da720b5..077b206 100644
--- a/src/bounce/dynamics/shapes/shape.cpp
+++ b/src/bounce/dynamics/shapes/shape.cpp
@@ -65,6 +65,11 @@ void b3Shape::DestroyContacts()
 	}
 }
 
+const b3AABB3& b3Shape::GetAABB() const
+{
+	return m_body->GetWorld()->m_contactMan.m_broadPhase.GetAABB(m_broadPhaseID);
+}
+
 void b3Shape::Dump(u32 bodyIndex) const
 {
 	switch (m_type)

From 441e8fd63fbd4e1f74c432da24756bc76b862830 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 23 Jun 2019 11:05:53 -0300
Subject: [PATCH 171/198] Update comments

---
 include/bounce/cloth/cloth.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 1b49752..288c724 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -87,7 +87,7 @@ struct b3ClothDef
 };
 
 // A cloth represents a deformable surface as a collection of particles.
-// Particles may be connected with each other.
+// Particles may be connected with each other by springs.
 class b3Cloth
 {
 public:
@@ -101,7 +101,7 @@ public:
 	b3Vec3 GetGravity() const;
 
 	// Attach a world to this cloth. 
-	// The cloth will be able to respond to collisions with the static shapes in the attached world.
+	// The cloth will be able to respond to collisions with the rigid bodies in the attached world.
 	void SetWorld(b3World* world);
 
 	// Get the world attached to this cloth.
@@ -129,7 +129,7 @@ public:
 	// Return the cloth mesh proxy.
 	const b3ClothMesh* GetMesh() const;
 
-	// Return the cloth particle given vertex index.
+	// Return the cloth particle given the vertex index.
 	b3Particle* GetParticle(u32 i);
 
 	// Return the cloth triangle given the triangle index.

From fe6c2a3b0ebd10a8fc205338f394564e3f002723 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 23 Jun 2019 15:28:44 -0300
Subject: [PATCH 172/198] Bugfix

---
 src/bounce/cloth/cloth_contact_manager.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bounce/cloth/cloth_contact_manager.cpp b/src/bounce/cloth/cloth_contact_manager.cpp
index 86731c9..77c09bd 100644
--- a/src/bounce/cloth/cloth_contact_manager.cpp
+++ b/src/bounce/cloth/cloth_contact_manager.cpp
@@ -283,7 +283,7 @@ void b3ClothContactManager::UpdateBodyContacts()
 	while (c)
 	{
 		bool isntDynamic1 = c->m_p1->m_type != e_dynamicParticle;
-		bool isntDynamic2 = c->m_s2->GetType() != e_dynamicBody;
+		bool isntDynamic2 = c->m_s2->GetBody()->GetType() != e_dynamicBody;
 
 		// Cease the contact if entities must not collide with each other.
 		if (isntDynamic1 && isntDynamic2)

From 1876592d225edf097e9e56726c088c602fa8c825 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 23 Jun 2019 15:29:47 -0300
Subject: [PATCH 173/198] Delete world body contacts if world gets detached.

---
 include/bounce/cloth/cloth.h |  5 -----
 src/bounce/cloth/cloth.cpp   | 17 +++++++++++++++++
 2 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 288c724..4e7136c 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -204,11 +204,6 @@ inline b3Vec3 b3Cloth::GetGravity() const
 	return m_gravity;
 }
 
-inline void b3Cloth::SetWorld(b3World* world)
-{
-	m_world = world;
-}
-
 inline const b3World* b3Cloth::GetWorld() const
 {
 	return m_world;
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 0152bac..cdec9be 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -293,6 +293,23 @@ b3Cloth::~b3Cloth()
 	}
 }
 
+void b3Cloth::SetWorld(b3World* world)
+{
+	if (!world && m_world)
+	{
+		// Destroy body contacts
+		b3ParticleBodyContact* c = m_contactManager.m_particleBodyContactList.m_head;
+		while (c)
+		{
+			b3ParticleBodyContact* boom = c;
+			c = c->m_next;
+			m_contactManager.Destroy(boom);
+		}
+	}
+
+	m_world = world;
+}
+
 b3Particle* b3Cloth::CreateParticle(const b3ParticleDef& def)
 {
 	void* mem = m_particleBlocks.Allocate();

From b18dae8f9d40c380753a7d20f29fe1bb9f31bdce Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 24 Jun 2019 10:16:16 -0300
Subject: [PATCH 174/198] Reestructured folders

---
 include/bounce/cloth/cloth_contact_manager.h              | 4 ++--
 .../bounce/cloth/{ => contacts}/cloth_contact_solver.h    | 0
 .../cloth/{ => contacts}/cloth_particle_body_contact.h    | 0
 .../{ => contacts}/cloth_particle_triangle_contact.h      | 0
 include/bounce/{cloth => sparse}/dense_vec3.h             | 0
 include/bounce/{cloth => sparse}/diag_mat33.h             | 2 +-
 include/bounce/{cloth => sparse}/sparse_mat33.h           | 4 ++--
 include/bounce/{cloth => sparse}/sparse_mat33_view.h      | 2 +-
 include/bounce/{cloth => sparse}/sparse_sym_mat33.h       | 2 +-
 include/bounce/{cloth => sparse}/sparse_sym_mat33_view.h  | 4 ++--
 src/bounce/cloth/cloth_force_solver.cpp                   | 8 ++++----
 src/bounce/cloth/cloth_solver.cpp                         | 2 +-
 src/bounce/cloth/{ => contacts}/cloth_contact_solver.cpp  | 2 +-
 .../cloth/{ => contacts}/cloth_particle_body_contact.cpp  | 2 +-
 .../{ => contacts}/cloth_particle_triangle_contact.cpp    | 4 ++--
 src/bounce/cloth/spring_force.cpp                         | 4 ++--
 src/bounce/softbody/softbody_force_solver.cpp             | 4 ++--
 17 files changed, 22 insertions(+), 22 deletions(-)
 rename include/bounce/cloth/{ => contacts}/cloth_contact_solver.h (100%)
 rename include/bounce/cloth/{ => contacts}/cloth_particle_body_contact.h (100%)
 rename include/bounce/cloth/{ => contacts}/cloth_particle_triangle_contact.h (100%)
 rename include/bounce/{cloth => sparse}/dense_vec3.h (100%)
 rename include/bounce/{cloth => sparse}/diag_mat33.h (98%)
 rename include/bounce/{cloth => sparse}/sparse_mat33.h (98%)
 rename include/bounce/{cloth => sparse}/sparse_mat33_view.h (98%)
 rename include/bounce/{cloth => sparse}/sparse_sym_mat33.h (99%)
 rename include/bounce/{cloth => sparse}/sparse_sym_mat33_view.h (96%)
 rename src/bounce/cloth/{ => contacts}/cloth_contact_solver.cpp (99%)
 rename src/bounce/cloth/{ => contacts}/cloth_particle_body_contact.cpp (96%)
 rename src/bounce/cloth/{ => contacts}/cloth_particle_triangle_contact.cpp (96%)

diff --git a/include/bounce/cloth/cloth_contact_manager.h b/include/bounce/cloth/cloth_contact_manager.h
index eccf419..c1e8bd7 100644
--- a/include/bounce/cloth/cloth_contact_manager.h
+++ b/include/bounce/cloth/cloth_contact_manager.h
@@ -19,8 +19,8 @@
 #ifndef B3_CLOTH_CONTACT_MANAGER_H
 #define B3_CLOTH_CONTACT_MANAGER_H
 
-#include <bounce/cloth/cloth_particle_body_contact.h>
-#include <bounce/cloth/cloth_particle_triangle_contact.h>
+#include <bounce/cloth/contacts/cloth_particle_body_contact.h>
+#include <bounce/cloth/contacts/cloth_particle_triangle_contact.h>
 #include <bounce/collision/broad_phase.h>
 #include <bounce/common/memory/block_pool.h>
 #include <bounce/common/template/list.h>
diff --git a/include/bounce/cloth/cloth_contact_solver.h b/include/bounce/cloth/contacts/cloth_contact_solver.h
similarity index 100%
rename from include/bounce/cloth/cloth_contact_solver.h
rename to include/bounce/cloth/contacts/cloth_contact_solver.h
diff --git a/include/bounce/cloth/cloth_particle_body_contact.h b/include/bounce/cloth/contacts/cloth_particle_body_contact.h
similarity index 100%
rename from include/bounce/cloth/cloth_particle_body_contact.h
rename to include/bounce/cloth/contacts/cloth_particle_body_contact.h
diff --git a/include/bounce/cloth/cloth_particle_triangle_contact.h b/include/bounce/cloth/contacts/cloth_particle_triangle_contact.h
similarity index 100%
rename from include/bounce/cloth/cloth_particle_triangle_contact.h
rename to include/bounce/cloth/contacts/cloth_particle_triangle_contact.h
diff --git a/include/bounce/cloth/dense_vec3.h b/include/bounce/sparse/dense_vec3.h
similarity index 100%
rename from include/bounce/cloth/dense_vec3.h
rename to include/bounce/sparse/dense_vec3.h
diff --git a/include/bounce/cloth/diag_mat33.h b/include/bounce/sparse/diag_mat33.h
similarity index 98%
rename from include/bounce/cloth/diag_mat33.h
rename to include/bounce/sparse/diag_mat33.h
index b08065e..f7a1486 100644
--- a/include/bounce/cloth/diag_mat33.h
+++ b/include/bounce/sparse/diag_mat33.h
@@ -20,7 +20,7 @@
 #define B3_DIAG_MAT_33_H
 
 #include <bounce/common/math/mat33.h>
-#include <bounce/cloth/dense_vec3.h>
+#include <bounce/sparse/dense_vec3.h>
 
 // Diagonal matrix storing only the diagonal elements of the 
 // original matrix.
diff --git a/include/bounce/cloth/sparse_mat33.h b/include/bounce/sparse/sparse_mat33.h
similarity index 98%
rename from include/bounce/cloth/sparse_mat33.h
rename to include/bounce/sparse/sparse_mat33.h
index 273b7ad..7bebd1a 100644
--- a/include/bounce/cloth/sparse_mat33.h
+++ b/include/bounce/sparse/sparse_mat33.h
@@ -20,8 +20,8 @@
 #define B3_SPARSE_MAT_33_H
 
 #include <bounce/common/math/mat33.h>
-#include <bounce/cloth/diag_mat33.h>
-#include <bounce/cloth/dense_vec3.h>
+#include <bounce/sparse/diag_mat33.h>
+#include <bounce/sparse/dense_vec3.h>
 
 // An element in a sparse matrix.
 struct b3RowValue
diff --git a/include/bounce/cloth/sparse_mat33_view.h b/include/bounce/sparse/sparse_mat33_view.h
similarity index 98%
rename from include/bounce/cloth/sparse_mat33_view.h
rename to include/bounce/sparse/sparse_mat33_view.h
index 414808c..9d92520 100644
--- a/include/bounce/cloth/sparse_mat33_view.h
+++ b/include/bounce/sparse/sparse_mat33_view.h
@@ -19,7 +19,7 @@
 #ifndef B3_SPARSE_MAT_33_VIEW_H
 #define B3_SPARSE_MAT_33_VIEW_H
 
-#include <bounce/cloth/sparse_mat33.h>
+#include <bounce/sparse/sparse_mat33.h>
 
 struct b3ArrayRowValue
 {
diff --git a/include/bounce/cloth/sparse_sym_mat33.h b/include/bounce/sparse/sparse_sym_mat33.h
similarity index 99%
rename from include/bounce/cloth/sparse_sym_mat33.h
rename to include/bounce/sparse/sparse_sym_mat33.h
index c8af4a2..e4d4b3e 100644
--- a/include/bounce/cloth/sparse_sym_mat33.h
+++ b/include/bounce/sparse/sparse_sym_mat33.h
@@ -19,7 +19,7 @@
 #ifndef B3_SPARSE_SYM_MAT_33_H
 #define B3_SPARSE_SYM_MAT_33_H
 
-#include <bounce/cloth/sparse_mat33.h>
+#include <bounce/sparse/sparse_mat33.h>
 
 // A sparse symmetric matrix.
 // Each row is a list of non-zero elements in the row.
diff --git a/include/bounce/cloth/sparse_sym_mat33_view.h b/include/bounce/sparse/sparse_sym_mat33_view.h
similarity index 96%
rename from include/bounce/cloth/sparse_sym_mat33_view.h
rename to include/bounce/sparse/sparse_sym_mat33_view.h
index 269d4dc..7d944d6 100644
--- a/include/bounce/cloth/sparse_sym_mat33_view.h
+++ b/include/bounce/sparse/sparse_sym_mat33_view.h
@@ -19,8 +19,8 @@
 #ifndef B3_SPARSE_SYM_MAT_33_VIEW_H
 #define B3_SPARSE_SYM_MAT_33_VIEW_H
 
-#include <bounce/cloth/sparse_mat33_view.h>
-#include <bounce/cloth/sparse_sym_mat33.h>
+#include <bounce/sparse/sparse_mat33_view.h>
+#include <bounce/sparse/sparse_sym_mat33.h>
 
 // A read-only sparse symmetric matrix.
 struct b3SparseSymMat33View
diff --git a/src/bounce/cloth/cloth_force_solver.cpp b/src/bounce/cloth/cloth_force_solver.cpp
index 2370c2a..e530d54 100644
--- a/src/bounce/cloth/cloth_force_solver.cpp
+++ b/src/bounce/cloth/cloth_force_solver.cpp
@@ -19,10 +19,10 @@
 #include <bounce/cloth/cloth_force_solver.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/force.h>
-#include <bounce/cloth/dense_vec3.h>
-#include <bounce/cloth/diag_mat33.h>
-#include <bounce/cloth/sparse_sym_mat33.h>
-#include <bounce/cloth/sparse_sym_mat33_view.h>
+#include <bounce/sparse/dense_vec3.h>
+#include <bounce/sparse/diag_mat33.h>
+#include <bounce/sparse/sparse_sym_mat33.h>
+#include <bounce/sparse/sparse_sym_mat33_view.h>
 #include <bounce/common/memory/stack_allocator.h>
 
 // Here, we solve Ax = b using the Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 9cdc4c8..6bf66ab 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -18,7 +18,7 @@
 
 #include <bounce/cloth/cloth_solver.h>
 #include <bounce/cloth/cloth_force_solver.h>
-#include <bounce/cloth/cloth_contact_solver.h>
+#include <bounce/cloth/contacts/cloth_contact_solver.h>
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/dynamics/shapes/shape.h>
diff --git a/src/bounce/cloth/cloth_contact_solver.cpp b/src/bounce/cloth/contacts/cloth_contact_solver.cpp
similarity index 99%
rename from src/bounce/cloth/cloth_contact_solver.cpp
rename to src/bounce/cloth/contacts/cloth_contact_solver.cpp
index 8825734..ae715c6 100644
--- a/src/bounce/cloth/cloth_contact_solver.cpp
+++ b/src/bounce/cloth/contacts/cloth_contact_solver.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/cloth_contact_solver.h>
+#include <bounce/cloth/contacts/cloth_contact_solver.h>
 #include <bounce/cloth/cloth_contact_manager.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
diff --git a/src/bounce/cloth/cloth_particle_body_contact.cpp b/src/bounce/cloth/contacts/cloth_particle_body_contact.cpp
similarity index 96%
rename from src/bounce/cloth/cloth_particle_body_contact.cpp
rename to src/bounce/cloth/contacts/cloth_particle_body_contact.cpp
index 54b3ed5..fb580f9 100644
--- a/src/bounce/cloth/cloth_particle_body_contact.cpp
+++ b/src/bounce/cloth/contacts/cloth_particle_body_contact.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/cloth_particle_body_contact.h>
+#include <bounce/cloth/contacts/cloth_particle_body_contact.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/dynamics/body.h>
diff --git a/src/bounce/cloth/cloth_particle_triangle_contact.cpp b/src/bounce/cloth/contacts/cloth_particle_triangle_contact.cpp
similarity index 96%
rename from src/bounce/cloth/cloth_particle_triangle_contact.cpp
rename to src/bounce/cloth/contacts/cloth_particle_triangle_contact.cpp
index 8be1b1b..64d4073 100644
--- a/src/bounce/cloth/cloth_particle_triangle_contact.cpp
+++ b/src/bounce/cloth/contacts/cloth_particle_triangle_contact.cpp
@@ -16,13 +16,13 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/cloth_particle_triangle_contact.h>
+#include <bounce/cloth/contacts/cloth_particle_triangle_contact.h>
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
 #include <bounce/common/geometry.h>
 
-// 
+// Solve constrained Barycentric coordinates for point Q
 static void b3Solve3(float32 out[3],
 	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
 	const b3Vec3& Q)
diff --git a/src/bounce/cloth/spring_force.cpp b/src/bounce/cloth/spring_force.cpp
index e2d0265..1f687ae 100644
--- a/src/bounce/cloth/spring_force.cpp
+++ b/src/bounce/cloth/spring_force.cpp
@@ -19,8 +19,8 @@
 #include <bounce/cloth/spring_force.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_force_solver.h>
-#include <bounce/cloth/dense_vec3.h>
-#include <bounce/cloth/sparse_sym_mat33.h>
+#include <bounce/sparse/dense_vec3.h>
+#include <bounce/sparse/sparse_sym_mat33.h>
 
 void b3SpringForceDef::Initialize(b3Particle* particle1, b3Particle* particle2, float32 structuralStiffness, float32 dampingStiffness)
 {
diff --git a/src/bounce/softbody/softbody_force_solver.cpp b/src/bounce/softbody/softbody_force_solver.cpp
index e35307d..3d7adbf 100644
--- a/src/bounce/softbody/softbody_force_solver.cpp
+++ b/src/bounce/softbody/softbody_force_solver.cpp
@@ -20,8 +20,8 @@
 #include <bounce/softbody/softbody_mesh.h>
 #include <bounce/softbody/softbody_node.h>
 #include <bounce/softbody/softbody.h>
-#include <bounce/cloth/sparse_mat33.h>
-#include <bounce/cloth/sparse_mat33_view.h>
+#include <bounce/sparse/sparse_mat33.h>
+#include <bounce/sparse/sparse_mat33_view.h>
 
 // This work is based on the paper "Interactive Virtual Materials" written by 
 // Matthias Mueller Fischer

From 5bb247c79bed3391a919065d548af815c1eed459 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 24 Jun 2019 11:15:02 -0300
Subject: [PATCH 175/198] Small refactor

---
 include/bounce/softbody/softbody.h            |  19 +-
 .../softbody/softbody_contact_manager.h       |  48 +++++
 include/bounce/softbody/softbody_node.h       |  40 +----
 .../softbody/softbody_node_body_contact.h     |  78 +++++++++
 src/bounce/cloth/cloth_solver.cpp             |  11 +-
 src/bounce/softbody/softbody.cpp              | 147 ++++------------
 .../softbody/softbody_contact_manager.cpp     | 165 ++++++++++++++++++
 .../softbody/softbody_contact_solver.cpp      |  39 +++--
 src/bounce/softbody/softbody_node.cpp         |  35 ++--
 .../softbody/softbody_node_body_contact.cpp   |  62 +++++++
 src/bounce/softbody/softbody_solver.cpp       |  10 +-
 11 files changed, 443 insertions(+), 211 deletions(-)
 create mode 100644 include/bounce/softbody/softbody_contact_manager.h
 create mode 100644 include/bounce/softbody/softbody_node_body_contact.h
 create mode 100644 src/bounce/softbody/softbody_contact_manager.cpp
 create mode 100644 src/bounce/softbody/softbody_node_body_contact.cpp

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index 18508f1..fc28e27 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -19,11 +19,9 @@
 #ifndef B3_SOFT_BODY_H
 #define B3_SOFT_BODY_H
 
-#include <bounce/common/math/transform.h>
+#include <bounce/softbody/softbody_contact_manager.h>
 #include <bounce/common/memory/stack_allocator.h>
 
-#include <bounce/collision/broad_phase.h>
-
 class b3World;
 
 struct b3SoftBodyMesh;
@@ -141,16 +139,14 @@ public:
 	// Debug draw the body using the associated mesh.
 	void Draw() const;
 private:
-	friend struct b3SoftBodyNode;
+	friend class b3SoftBodyContactManager;
 	friend class b3SoftBodySolver;
 	friend class b3SoftBodyForceSolver;
+	friend struct b3SoftBodyNode;
 
 	// Compute mass of each node.
 	void ComputeMass();
 
-	// Update contacts.
-	void UpdateContacts();
-
 	// Solve
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 
@@ -190,8 +186,8 @@ private:
 	// Soft body triangles
 	b3SoftBodyTriangle* m_triangles;
 
-	// Broadphase
-	b3BroadPhase m_broadPhase;
+	// Contact manager
+	b3SoftBodyContactManager m_contactManager;
 
 	// Attached world
 	b3World* m_world;
@@ -207,11 +203,6 @@ inline b3Vec3 b3SoftBody::GetGravity() const
 	return m_gravity;
 }
 
-inline void b3SoftBody::SetWorld(b3World* world)
-{
-	m_world = world;
-}
-
 inline const b3World* b3SoftBody::GetWorld() const
 {
 	return m_world;
diff --git a/include/bounce/softbody/softbody_contact_manager.h b/include/bounce/softbody/softbody_contact_manager.h
new file mode 100644
index 0000000..60c1f01
--- /dev/null
+++ b/include/bounce/softbody/softbody_contact_manager.h
@@ -0,0 +1,48 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFTBODY_CONTACT_MANAGER_H
+#define B3_SOFTBODY_CONTACT_MANAGER_H
+
+#include <bounce/softbody/softbody_node_body_contact.h>
+#include <bounce/collision/broad_phase.h>
+#include <bounce/common/memory/block_pool.h>
+#include <bounce/common/template/list.h>
+
+class b3SoftBody;
+
+// Contact delegator for b3SoftBody.
+class b3SoftBodyContactManager
+{
+public:
+	b3SoftBodyContactManager();
+
+	void FindNewBodyContacts();
+	void AddNSPair(b3SoftBodyNode* n1, b3Shape* s2);
+	void UpdateBodyContacts();
+
+	b3NodeBodyContact* CreateNodeBodyContact();
+	void Destroy(b3NodeBodyContact* c);
+
+	b3BlockPool m_nodeBodyContactBlocks;
+	b3SoftBody* m_body;
+	b3BroadPhase m_broadPhase;
+	b3List2<b3NodeBodyContact> m_nodeBodyContactList;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/softbody/softbody_node.h b/include/bounce/softbody/softbody_node.h
index 604e70b..8e53062 100644
--- a/include/bounce/softbody/softbody_node.h
+++ b/include/bounce/softbody/softbody_node.h
@@ -23,37 +23,7 @@
 #include <bounce/common/math/vec3.h>
 #include <bounce/common/math/transform.h>
 
-class b3Shape;
 class b3SoftBody;
-struct b3SoftBodyNode;
-
-// A contact between a node and a body
-struct b3NodeBodyContact
-{
-	b3SoftBodyNode* n1;
-	b3Shape* s2;
-
-	// Contact constraint
-	b3Vec3 normal1;
-	b3Vec3 localPoint1;
-	b3Vec3 localPoint2;
-	float32 normalImpulse;
-
-	// Friction constraint
-	b3Vec3 t1, t2;
-	b3Vec2 tangentImpulse;
-
-	bool active;
-};
-
-struct b3NodeBodyContactWorldPoint
-{
-	void Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
-	
-	b3Vec3 point;
-	b3Vec3 normal;
-	float32 separation;
-};
 
 // Static node: Can be moved manually.
 // Kinematic node: Non-zero velocity, can be moved by the solver.
@@ -117,9 +87,11 @@ public:
 	void ApplyForce(const b3Vec3& force);
 private:
 	friend class b3SoftBody;
+	friend class b3SoftBodyContactManager;
 	friend class b3SoftBodySolver;
 	friend class b3SoftBodyForceSolver;
 	friend class b3SoftBodyContactSolver;
+	friend class b3NodeBodyContact;
 
 	b3SoftBodyNode() { }
 
@@ -128,6 +100,9 @@ private:
 	// Synchronize node
 	void Synchronize(const b3Vec3& displacement);
 
+	// Destroy associated contacts
+	void DestroyContacts();
+
 	// Type
 	b3SoftBodyNodeType m_type;
 
@@ -161,9 +136,6 @@ private:
 	// Soft body mesh vertex index.
 	u32 m_vertex;
 
-	// Node and body contact
-	b3NodeBodyContact m_bodyContact;
-
 	// Broadphase proxy
 	u32 m_broadPhaseId;
 
@@ -187,7 +159,7 @@ inline void b3SoftBodyNode::SetType(b3SoftBodyNodeType type)
 		Synchronize(b3Vec3_zero);
 	}
 
-	m_bodyContact.active = false;
+	DestroyContacts();
 }
 
 inline b3SoftBodyNodeType b3SoftBodyNode::GetType() const
diff --git a/include/bounce/softbody/softbody_node_body_contact.h b/include/bounce/softbody/softbody_node_body_contact.h
new file mode 100644
index 0000000..8a8bb5e
--- /dev/null
+++ b/include/bounce/softbody/softbody_node_body_contact.h
@@ -0,0 +1,78 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SOFT_BODY_NODE_BODY_CONTACT_H
+#define B3_SOFT_BODY_NODE_BODY_CONTACT_H
+
+#include <bounce/common/template/list.h>
+#include <bounce/common/math/vec2.h>
+#include <bounce/common/math/vec3.h>
+#include <bounce/common/math/transform.h>
+
+struct b3SoftBodyNode;
+class b3Shape;
+
+// A contact between a node and a body
+class b3NodeBodyContact
+{
+public:
+private:
+	friend class b3List2<b3NodeBodyContact>;
+	friend class b3SoftBody;
+	friend class b3SoftBodyContactManager;
+	friend struct b3SoftBodyNode;
+	friend class b3SoftBodySolver;
+	friend class b3SoftBodyContactSolver;
+	friend struct b3NodeBodyContactWorldPoint;
+
+	b3NodeBodyContact() { }
+	~b3NodeBodyContact() { }
+	
+	void Update();
+
+	b3SoftBodyNode* m_n1;
+	b3Shape* m_s2;
+
+	// Is the contact active?
+	bool m_active;
+	
+	// Contact constraint
+	b3Vec3 m_normal1;
+	b3Vec3 m_localPoint1;
+	b3Vec3 m_localPoint2;
+	float32 m_normalImpulse;
+
+	// Friction constraint
+	b3Vec3 m_tangent1, m_tangent2;
+	b3Vec2 m_tangentImpulse;
+
+	// List pointers into the soft body
+	b3NodeBodyContact* m_prev;
+	b3NodeBodyContact* m_next;
+};
+
+struct b3NodeBodyContactWorldPoint
+{
+	void Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
+
+	b3Vec3 point;
+	b3Vec3 normal;
+	float32 separation;
+};
+
+#endif 
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 6bf66ab..2cae7b4 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -168,6 +168,11 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 		for (u32 i = 0; i < m_bodyContactCount; ++i)
 		{
 			b3Body* body = m_bodyContacts[i]->m_s2->GetBody();
+			
+			if (body->GetType() == e_staticBody)
+			{
+				continue;
+			}
 
 			body->SynchronizeTransform();
 
@@ -180,10 +185,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 	// Copy state buffers back to the particles
 	for (u32 i = 0; i < m_particleCount; ++i)
 	{
-		b3Particle* p = m_particles[i];
-
-		p->m_position = positions[i];
-		p->m_velocity = velocities[i];
+		m_particles[i]->m_position = positions[i];
+		m_particles[i]->m_velocity = velocities[i];
 	}
 
 	m_allocator->Free(velocities);
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index e0267ce..3f78684 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -19,18 +19,11 @@
 #include <bounce/softbody/softbody.h>
 #include <bounce/softbody/softbody_mesh.h>
 #include <bounce/softbody/softbody_node.h>
-
 #include <bounce/softbody/softbody_solver.h>
-
 #include <bounce/collision/collision.h>
-
-#include <bounce/dynamics/world.h>
-#include <bounce/dynamics/world_listeners.h>
-#include <bounce/dynamics/body.h>
-#include <bounce/dynamics/shapes/shape.h>
-
 #include <bounce/common/draw.h>
 
+// C = A * B
 static B3_FORCE_INLINE void b3Mul(float32* C, float32* A, u32 AM, u32 AN, float32* B, u32 BM, u32 BN)
 {
 	B3_ASSERT(AN == BM);
@@ -49,6 +42,7 @@ static B3_FORCE_INLINE void b3Mul(float32* C, float32* A, u32 AM, u32 AN, float3
 	}
 }
 
+// B = A^T
 static B3_FORCE_INLINE void b3Transpose(float32* B, float32* A, u32 AM, u32 AN)
 {
 	for (u32 i = 0; i < AM; ++i)
@@ -62,7 +56,7 @@ static B3_FORCE_INLINE void b3Transpose(float32* B, float32* A, u32 AM, u32 AN)
 
 // Compute the elasticity matrix given Young modulus and Poisson's ratio
 // This is a 6 x 6 matrix 
-static B3_FORCE_INLINE void b3ComputeD(float32 out[36], 
+static B3_FORCE_INLINE void b3ComputeD(float32 out[36],
 	float32 E, float32 nu)
 {
 	float32 lambda = (nu * E) / ((1 + nu) * (1 - 2 * nu));
@@ -463,6 +457,7 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 	m_c_max = def.c_max;
 	m_gravity.SetZero();
 	m_world = nullptr;
+	m_contactManager.m_body = this;
 
 	const b3SoftBodyMesh* m = m_mesh;
 
@@ -484,12 +479,11 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 		n->m_friction = 0.0f;
 		n->m_userData = nullptr;
 		n->m_vertex = i;
-		n->m_bodyContact.active = false;
 
 		b3AABB3 aabb;
 		aabb.Set(n->m_position, 0.0f);
 
-		n->m_broadPhaseId = m_broadPhase.CreateProxy(aabb, n);
+		n->m_broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, n);
 	}
 
 	// Compute mass
@@ -722,107 +716,6 @@ void b3SoftBody::ComputeMass()
 	}
 }
 
-class b3SoftBodyUpdateContactsQueryListener : public b3QueryListener
-{
-public:
-	bool ReportShape(b3Shape* shape)
-	{
-		b3Body* body = shape->GetBody();
-
-		if (body->GetType() != e_staticBody)
-		{
-			// return true;
-		}
-
-		b3Transform xf = body->GetTransform();
-
-		b3TestSphereOutput output;
-		if (shape->TestSphere(&output, sphere, xf))
-		{
-			if (output.separation < bestSeparation)
-			{
-				bestShape = shape;
-				bestSeparation = output.separation;
-				bestPoint = output.point;
-				bestNormal = output.normal;
-			}
-		}
-
-		return true;
-	}
-
-	b3Sphere sphere;
-	b3Shape* bestShape;
-	float32 bestSeparation;
-	b3Vec3 bestPoint;
-	b3Vec3 bestNormal;
-};
-
-void b3SoftBody::UpdateContacts()
-{
-	B3_PROFILE("Soft Body Update Contacts");
-
-	// Is there a world attached to this soft body?
-	if (m_world == nullptr)
-	{
-		return;
-	}
-
-	// Create contacts 
-	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
-	{
-		b3SoftBodyNode* n = m_nodes + i;
-
-		if (n->m_type != e_dynamicSoftBodyNode)
-		{
-			continue;
-		}
-
-		b3AABB3 aabb = m_broadPhase.GetAABB(n->m_broadPhaseId);
-
-		b3SoftBodyUpdateContactsQueryListener listener;
-		listener.sphere.vertex = n->m_position;
-		listener.sphere.radius = n->m_radius;
-		listener.bestShape = nullptr;
-		listener.bestSeparation = 0.0f;
-
-		m_world->QueryAABB(&listener, aabb);
-
-		if (listener.bestShape == nullptr)
-		{
-			n->m_bodyContact.active = false;
-			continue;
-		}
-
-		b3Shape* shape = listener.bestShape;
-		b3Body* body = shape->GetBody();
-		float32 separation = listener.bestSeparation;
-		b3Vec3 point = listener.bestPoint;
-		b3Vec3 normal = -listener.bestNormal;
-
-		b3NodeBodyContact* c = &n->m_bodyContact;
-
-		b3NodeBodyContact c0 = *c;
-
-		c->active = true;
-		c->n1 = n;
-		c->s2 = shape;
-		c->normal1 = normal;
-		c->localPoint1.SetZero();
-		c->localPoint2 = body->GetLocalPoint(point);
-		c->t1 = b3Perp(normal);
-		c->t2 = b3Cross(c->t1, normal);
-		c->normalImpulse = 0.0f;
-		c->tangentImpulse.SetZero();
-
-		if (c0.active == true)
-		{
-			c->normalImpulse = c0.normalImpulse;
-			c->tangentImpulse = c0.tangentImpulse;
-		}
-	}
-}
-
 void b3SoftBody::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations)
 {
 	B3_PROFILE("Soft Body Solve");
@@ -832,12 +725,12 @@ void b3SoftBody::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations
 
 	b3SoftBodySolver solver(def);
 
-	// Push the active contacts
-	for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+	// Push the body contacts
+	for (b3NodeBodyContact* c = m_contactManager.m_nodeBodyContactList.m_head; c; c = c->m_next)
 	{
-		if (m_nodes[i].m_bodyContact.active)
+		if (c->m_active)
 		{
-			solver.Add(&m_nodes[i].m_bodyContact);
+			solver.Add(c);
 		}
 	}
 
@@ -849,7 +742,7 @@ void b3SoftBody::Step(float32 dt, u32 velocityIterations, u32 positionIterations
 	B3_PROFILE("Soft Body Step");
 
 	// Update contacts
-	UpdateContacts();
+	m_contactManager.UpdateBodyContacts();
 
 	// Integrate state, solve constraints. 
 	if (dt > 0.0f)
@@ -877,6 +770,26 @@ void b3SoftBody::Step(float32 dt, u32 velocityIterations, u32 positionIterations
 
 		n->Synchronize(displacement);
 	}
+
+	// Find new contacts
+	m_contactManager.FindNewBodyContacts();
+}
+
+void b3SoftBody::SetWorld(b3World* world)
+{
+	if (!world && m_world)
+	{
+		// Destroy body contacts
+		b3NodeBodyContact* c = m_contactManager.m_nodeBodyContactList.m_head;
+		while (c)
+		{
+			b3NodeBodyContact* kaboom = c;
+			c = c->m_next;
+			m_contactManager.Destroy(kaboom);
+		}
+	}
+
+	m_world = world;
 }
 
 void b3SoftBody::Draw() const
diff --git a/src/bounce/softbody/softbody_contact_manager.cpp b/src/bounce/softbody/softbody_contact_manager.cpp
new file mode 100644
index 0000000..68bbab4
--- /dev/null
+++ b/src/bounce/softbody/softbody_contact_manager.cpp
@@ -0,0 +1,165 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/softbody/softbody_contact_manager.h>
+#include <bounce/softbody/softbody.h>
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/softbody_node.h>
+#include <bounce/dynamics/world.h>
+#include <bounce/dynamics/world_listeners.h>
+#include <bounce/dynamics/shapes/shape.h>
+#include <bounce/dynamics/body.h>
+
+b3SoftBodyContactManager::b3SoftBodyContactManager() : 
+	m_nodeBodyContactBlocks(sizeof(b3NodeBodyContact))
+{
+
+}
+
+class b3SoftBodyContactManagerFindNewBodyContactsQueryListener : public b3QueryListener
+{
+public:
+	virtual bool ReportShape(b3Shape* s2)
+	{
+		cm->AddNSPair(n1, s2);
+
+		// Keep looking for overlaps
+		return true;
+	}
+
+	b3SoftBodyContactManager* cm;
+	b3SoftBodyNode* n1;
+};
+
+void b3SoftBodyContactManager::FindNewBodyContacts()
+{
+	B3_PROFILE("Soft Body Find New Body Contacts");
+
+	// Is there a world attached to this body?
+	if (m_body->m_world == nullptr)
+	{
+		return;
+	}
+
+	for (u32 i = 0; i < m_body->m_mesh->vertexCount; ++i)
+	{
+		b3SoftBodyNode* n = m_body->m_nodes + i;
+
+		if (n->m_type != e_dynamicSoftBodyNode)
+		{
+			continue;
+		}
+
+		b3AABB3 aabb = m_broadPhase.GetAABB(n->m_broadPhaseId);
+
+		b3SoftBodyContactManagerFindNewBodyContactsQueryListener listener;
+		listener.cm = this;
+		listener.n1 = n;
+
+		m_body->m_world->QueryAABB(&listener, aabb);
+	}
+}
+
+void b3SoftBodyContactManager::AddNSPair(b3SoftBodyNode* n1, b3Shape* s2)
+{
+	// Check if there is a contact between the two entities.
+	for (b3NodeBodyContact* c = m_nodeBodyContactList.m_head; c; c = c->m_next)
+	{
+		if (c->m_n1 == n1 && c->m_s2 == s2)
+		{
+			// A contact already exists.
+			return;
+		}
+	}
+
+	bool isntDynamic1 = n1->m_type != e_dynamicSoftBodyNode;
+	bool isntDynamic2 = s2->GetBody()->GetType() != e_dynamicBody;
+
+	if (isntDynamic1 && isntDynamic2)
+	{
+		// The entities must not collide with each other.
+		return;
+	}
+
+	// Create a new contact.
+	b3NodeBodyContact* c = CreateNodeBodyContact();
+
+	c->m_n1 = n1;
+	c->m_s2 = s2;
+	c->m_active = false;
+	c->m_normalImpulse = 0.0f;
+	c->m_tangentImpulse.SetZero();
+
+	// Add the contact to the body contact list.
+	m_nodeBodyContactList.PushFront(c);
+}
+
+void b3SoftBodyContactManager::UpdateBodyContacts()
+{
+	B3_PROFILE("Soft Body Update Body Contacts");
+
+	// Update the state of node-body contacts.
+	b3NodeBodyContact* c = m_nodeBodyContactList.m_head;
+	while (c)
+	{
+		bool isntDynamic1 = c->m_n1->m_type != e_dynamicSoftBodyNode;
+		bool isntDynamic2 = c->m_s2->GetBody()->GetType() != e_dynamicBody;
+
+		// Cease the contact if entities must not collide with each other.
+		if (isntDynamic1 && isntDynamic2)
+		{
+			b3NodeBodyContact* quack = c;
+			c = c->m_next;
+			Destroy(quack);
+			continue;
+		}
+
+		b3AABB3 aabb1 = m_broadPhase.GetAABB(c->m_n1->m_broadPhaseId);
+		b3AABB3 aabb2 = c->m_s2->GetAABB();
+
+		// Destroy the contact if entities AABBs are not overlapping.
+		bool overlap = b3TestOverlap(aabb1, aabb2);
+		if (overlap == false)
+		{
+			b3NodeBodyContact* quack = c;
+			c = c->m_next;
+			Destroy(quack);
+			continue;
+		}
+
+		// The contact persists.
+		c->Update();
+
+		c = c->m_next;
+	}
+}
+
+b3NodeBodyContact* b3SoftBodyContactManager::CreateNodeBodyContact()
+{
+	void* block = m_nodeBodyContactBlocks.Allocate();
+	return new(block) b3NodeBodyContact();
+}
+
+void b3SoftBodyContactManager::Destroy(b3NodeBodyContact* c)
+{
+	m_nodeBodyContactList.Remove(c);
+
+	c->~b3NodeBodyContact();
+
+	m_nodeBodyContactBlocks.Free(c);
+}
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody_contact_solver.cpp b/src/bounce/softbody/softbody_contact_solver.cpp
index f680d11..bd69ab8 100644
--- a/src/bounce/softbody/softbody_contact_solver.cpp
+++ b/src/bounce/softbody/softbody_contact_solver.cpp
@@ -17,6 +17,7 @@
 */
 
 #include <bounce/softbody/softbody_contact_solver.h>
+#include <bounce/softbody/softbody_node_body_contact.h>
 #include <bounce/softbody/softbody_node.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/dynamics/body.h>
@@ -50,35 +51,35 @@ void b3SoftBodyContactSolver::InitializeBodyContactConstraints()
 		b3SoftBodySolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
 		b3SoftBodySolverBodyContactPositionConstraint* pc = m_bodyPositionConstraints + i;
 
-		vc->indexA = c->n1->m_vertex;
-		vc->bodyB = c->s2->GetBody();
+		vc->indexA = c->m_n1->m_vertex;
+		vc->bodyB = c->m_s2->GetBody();
 
-		vc->invMassA = c->n1->m_type == e_staticSoftBodyNode ? 0.0f : c->n1->m_invMass;
+		vc->invMassA = c->m_n1->m_type == e_staticSoftBodyNode ? 0.0f : c->m_n1->m_invMass;
 		vc->invMassB = vc->bodyB->GetInverseMass();
 
 		vc->invIA.SetZero();
 		vc->invIB = vc->bodyB->GetWorldInverseInertia();
 
-		vc->friction = b3MixFriction(c->n1->m_friction, c->s2->GetFriction());
+		vc->friction = b3MixFriction(c->m_n1->m_friction, c->m_s2->GetFriction());
 
-		pc->indexA = c->n1->m_vertex;
+		pc->indexA = c->m_n1->m_vertex;
 		pc->bodyB = vc->bodyB;
 
-		pc->invMassA = c->n1->m_type == e_staticSoftBodyNode ? 0.0f : c->n1->m_invMass;
+		pc->invMassA = c->m_n1->m_type == e_staticSoftBodyNode ? 0.0f : c->m_n1->m_invMass;
 		pc->invMassB = vc->bodyB->m_invMass;
 
 		pc->invIA.SetZero();
 		pc->invIB = vc->bodyB->m_worldInvI;
 
-		pc->radiusA = c->n1->m_radius;
-		pc->radiusB = c->s2->m_radius;
+		pc->radiusA = c->m_n1->m_radius;
+		pc->radiusB = c->m_s2->m_radius;
 
 		pc->localCenterA.SetZero();
 		pc->localCenterB = pc->bodyB->m_sweep.localCenter;
 
-		pc->normalA = c->normal1;
-		pc->localPointA = c->localPoint1;
-		pc->localPointB = c->localPoint2;
+		pc->normalA = c->m_normal1;
+		pc->localPointA = c->m_localPoint1;
+		pc->localPointB = c->m_localPoint2;
 	}
 
 	for (u32 i = 0; i < m_bodyContactCount; ++i)
@@ -117,8 +118,8 @@ void b3SoftBodyContactSolver::InitializeBodyContactConstraints()
 		wp.Initialize(c, pc->radiusA, xfA, pc->radiusB, xfB);
 
 		vc->normal = wp.normal;
-		vc->tangent1 = c->t1;
-		vc->tangent2 = c->t2;
+		vc->tangent1 = c->m_tangent1;
+		vc->tangent2 = c->m_tangent2;
 		vc->point = wp.point;
 
 		b3Vec3 point = vc->point;
@@ -129,8 +130,8 @@ void b3SoftBodyContactSolver::InitializeBodyContactConstraints()
 		vc->rA = rA;
 		vc->rB = rB;
 
-		vc->normalImpulse = c->normalImpulse;
-		vc->tangentImpulse = c->tangentImpulse;
+		vc->normalImpulse = c->m_normalImpulse;
+		vc->tangentImpulse = c->m_tangentImpulse;
 
 		{
 			b3Vec3 n = vc->normal;
@@ -306,8 +307,8 @@ void b3SoftBodyContactSolver::StoreImpulses()
 		b3NodeBodyContact* c = m_bodyContacts[i];
 		b3SoftBodySolverBodyContactVelocityConstraint* vc = m_bodyVelocityConstraints + i;
 
-		c->normalImpulse = vc->normalImpulse;
-		c->tangentImpulse = vc->tangentImpulse;
+		c->m_normalImpulse = vc->normalImpulse;
+		c->m_tangentImpulse = vc->tangentImpulse;
 	}
 }
 
@@ -315,14 +316,14 @@ struct b3SoftBodySolverBodyContactSolverPoint
 {
 	void Initialize(const b3SoftBodySolverBodyContactPositionConstraint* pc, const b3Transform& xfA, const b3Transform& xfB)
 	{
+		b3Vec3 nA = pc->normalA;
+
 		b3Vec3 cA = xfA * pc->localPointA;
 		b3Vec3 cB = xfB * pc->localPointB;
 
 		float32 rA = pc->radiusA;
 		float32 rB = pc->radiusB;
 
-		b3Vec3 nA = pc->normalA;
-
 		b3Vec3 pA = cA + rA * nA;
 		b3Vec3 pB = cB - rB * nA;
 
diff --git a/src/bounce/softbody/softbody_node.cpp b/src/bounce/softbody/softbody_node.cpp
index 45a8eb0..cd7bb55 100644
--- a/src/bounce/softbody/softbody_node.cpp
+++ b/src/bounce/softbody/softbody_node.cpp
@@ -19,25 +19,28 @@
 #include <bounce/softbody/softbody_node.h>
 #include <bounce/softbody/softbody.h>
 
-void b3NodeBodyContactWorldPoint::Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
-{
-	b3Vec3 nA = c->normal1;
-
-	b3Vec3 cA = xfA * c->localPoint1;
-	b3Vec3 cB = xfB * c->localPoint2;
-
-	b3Vec3 pA = cA + rA * nA;
-	b3Vec3 pB = cB - rB * nA;
-
-	point = 0.5f * (pA + pB);
-	normal = nA;
-	separation = b3Dot(cB - cA, nA) - rA - rB;
-}
-
 void b3SoftBodyNode::Synchronize(const b3Vec3& displacement)
 {
 	b3AABB3 aabb;
 	aabb.Set(m_position, m_radius);
 
-	m_body->m_broadPhase.MoveProxy(m_broadPhaseId, aabb, displacement);
+	m_body->m_contactManager.m_broadPhase.MoveProxy(m_broadPhaseId, aabb, displacement);
+}
+
+void b3SoftBodyNode::DestroyContacts()
+{
+	// Destroy body contacts
+	b3NodeBodyContact* c = m_body->m_contactManager.m_nodeBodyContactList.m_head;
+	while (c)
+	{
+		if (c->m_n1 == this)
+		{
+			b3NodeBodyContact* quack = c;
+			c = c->m_next;
+			m_body->m_contactManager.Destroy(quack);
+			continue;
+		}
+
+		c = c->m_next;
+	}
 }
\ No newline at end of file
diff --git a/src/bounce/softbody/softbody_node_body_contact.cpp b/src/bounce/softbody/softbody_node_body_contact.cpp
new file mode 100644
index 0000000..9cf6401
--- /dev/null
+++ b/src/bounce/softbody/softbody_node_body_contact.cpp
@@ -0,0 +1,62 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/softbody/softbody_node_body_contact.h>
+#include <bounce/softbody/softbody_node.h>
+#include <bounce/dynamics/shapes/shape.h>
+#include <bounce/dynamics/body.h>
+
+void b3NodeBodyContact::Update()
+{
+	b3Sphere sphere;
+	sphere.radius = m_n1->m_radius;
+	sphere.vertex = m_n1->m_position;
+
+	b3Shape* shape = m_s2;
+	b3Body* body = shape->GetBody();
+	b3Transform xf = body->GetTransform();
+
+	b3TestSphereOutput out;
+	if (shape->TestSphere(&out, sphere, xf) == false)
+	{
+		m_active = false;
+		return;
+	}
+
+	m_active = true;
+	m_normal1 = -out.normal;
+	m_localPoint1.SetZero();
+	m_localPoint2 = body->GetLocalPoint(out.point);
+	m_tangent1 = b3Perp(m_normal1);
+	m_tangent2 = b3Cross(m_tangent1, m_normal1);
+}
+
+void b3NodeBodyContactWorldPoint::Initialize(const b3NodeBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
+{
+	b3Vec3 nA = c->m_normal1;
+
+	b3Vec3 cA = xfA * c->m_localPoint1;
+	b3Vec3 cB = xfB * c->m_localPoint2;
+
+	b3Vec3 pA = cA + rA * nA;
+	b3Vec3 pB = cB - rB * nA;
+
+	point = 0.5f * (pA + pB);
+	normal = nA;
+	separation = b3Dot(cB - cA, nA) - rA - rB;
+}
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index 54c369d..c7a25ca 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -126,19 +126,15 @@ void b3SoftBodySolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIter
 		}
 
 		// Synchronize bodies
-		for (u32 i = 0; i < m_mesh->vertexCount; ++i)
+		for (u32 i = 0; i < m_bodyContactCount; ++i)
 		{
-			b3SoftBodyNode* n = m_nodes + i;
+			b3Body* body = m_bodyContacts[i]->m_s2->GetBody();
 
-			b3NodeBodyContact* c = &n->m_bodyContact;
-
-			if (c->active == false)
+			if (body->GetType() == e_staticBody)
 			{
 				continue;
 			}
 
-			b3Body* body = c->s2->GetBody();
-
 			body->SynchronizeTransform();
 
 			body->m_worldInvI = b3RotateToFrame(body->m_invI, body->m_xf.rotation);

From 028d8e101c47c9641a44afc90c9109937a7354d4 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 24 Jun 2019 11:33:05 -0300
Subject: [PATCH 176/198] Reestructured folders and applied a bugfix

---
 .../bounce/softbody/{ => contacts}/softbody_contact_solver.h  | 0
 .../softbody/{ => contacts}/softbody_node_body_contact.h      | 0
 include/bounce/softbody/softbody_contact_manager.h            | 2 +-
 .../softbody/{ => contacts}/softbody_contact_solver.cpp       | 4 ++--
 .../softbody/{ => contacts}/softbody_node_body_contact.cpp    | 2 +-
 src/bounce/softbody/softbody_solver.cpp                       | 4 ++--
 6 files changed, 6 insertions(+), 6 deletions(-)
 rename include/bounce/softbody/{ => contacts}/softbody_contact_solver.h (100%)
 rename include/bounce/softbody/{ => contacts}/softbody_node_body_contact.h (100%)
 rename src/bounce/softbody/{ => contacts}/softbody_contact_solver.cpp (98%)
 rename src/bounce/softbody/{ => contacts}/softbody_node_body_contact.cpp (96%)

diff --git a/include/bounce/softbody/softbody_contact_solver.h b/include/bounce/softbody/contacts/softbody_contact_solver.h
similarity index 100%
rename from include/bounce/softbody/softbody_contact_solver.h
rename to include/bounce/softbody/contacts/softbody_contact_solver.h
diff --git a/include/bounce/softbody/softbody_node_body_contact.h b/include/bounce/softbody/contacts/softbody_node_body_contact.h
similarity index 100%
rename from include/bounce/softbody/softbody_node_body_contact.h
rename to include/bounce/softbody/contacts/softbody_node_body_contact.h
diff --git a/include/bounce/softbody/softbody_contact_manager.h b/include/bounce/softbody/softbody_contact_manager.h
index 60c1f01..5e57310 100644
--- a/include/bounce/softbody/softbody_contact_manager.h
+++ b/include/bounce/softbody/softbody_contact_manager.h
@@ -19,7 +19,7 @@
 #ifndef B3_SOFTBODY_CONTACT_MANAGER_H
 #define B3_SOFTBODY_CONTACT_MANAGER_H
 
-#include <bounce/softbody/softbody_node_body_contact.h>
+#include <bounce/softbody/contacts/softbody_node_body_contact.h>
 #include <bounce/collision/broad_phase.h>
 #include <bounce/common/memory/block_pool.h>
 #include <bounce/common/template/list.h>
diff --git a/src/bounce/softbody/softbody_contact_solver.cpp b/src/bounce/softbody/contacts/softbody_contact_solver.cpp
similarity index 98%
rename from src/bounce/softbody/softbody_contact_solver.cpp
rename to src/bounce/softbody/contacts/softbody_contact_solver.cpp
index bd69ab8..21721c9 100644
--- a/src/bounce/softbody/softbody_contact_solver.cpp
+++ b/src/bounce/softbody/contacts/softbody_contact_solver.cpp
@@ -16,8 +16,8 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/softbody/softbody_contact_solver.h>
-#include <bounce/softbody/softbody_node_body_contact.h>
+#include <bounce/softbody/contacts/softbody_contact_solver.h>
+#include <bounce/softbody/contacts/softbody_node_body_contact.h>
 #include <bounce/softbody/softbody_node.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/dynamics/body.h>
diff --git a/src/bounce/softbody/softbody_node_body_contact.cpp b/src/bounce/softbody/contacts/softbody_node_body_contact.cpp
similarity index 96%
rename from src/bounce/softbody/softbody_node_body_contact.cpp
rename to src/bounce/softbody/contacts/softbody_node_body_contact.cpp
index 9cf6401..483ae3a 100644
--- a/src/bounce/softbody/softbody_node_body_contact.cpp
+++ b/src/bounce/softbody/contacts/softbody_node_body_contact.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/softbody/softbody_node_body_contact.h>
+#include <bounce/softbody/contacts/softbody_node_body_contact.h>
 #include <bounce/softbody/softbody_node.h>
 #include <bounce/dynamics/shapes/shape.h>
 #include <bounce/dynamics/body.h>
diff --git a/src/bounce/softbody/softbody_solver.cpp b/src/bounce/softbody/softbody_solver.cpp
index c7a25ca..42b4ad6 100644
--- a/src/bounce/softbody/softbody_solver.cpp
+++ b/src/bounce/softbody/softbody_solver.cpp
@@ -21,7 +21,7 @@
 #include <bounce/softbody/softbody_node.h>
 #include <bounce/softbody/softbody.h>
 #include <bounce/softbody/softbody_force_solver.h>
-#include <bounce/softbody/softbody_contact_solver.h>
+#include <bounce/softbody/contacts/softbody_contact_solver.h>
 #include <bounce/dynamics/body.h>
 #include <bounce/dynamics/shapes/shape.h>
 
@@ -32,7 +32,7 @@ b3SoftBodySolver::b3SoftBodySolver(const b3SoftBodySolverDef& def)
 	m_mesh = m_body->m_mesh;
 	m_nodes = m_body->m_nodes;
 	m_elements = m_body->m_elements;
-	m_bodyContactCapacity = m_mesh->vertexCount;
+	m_bodyContactCapacity = m_body->m_contactManager.m_nodeBodyContactList.m_count;
 	m_bodyContactCount = 0;
 	m_bodyContacts = (b3NodeBodyContact**)m_allocator->Allocate(m_bodyContactCapacity * sizeof(b3NodeBodyContact*));
 }

From 9189b6dfef0ea68b0c52793015c002b95da9a2fe Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 24 Jun 2019 18:11:19 -0300
Subject: [PATCH 177/198] Scale down the cloth triangles for rendering

---
 examples/testbed/tests/tension_mapping.h | 17 +++++++++++++----
 src/bounce/cloth/cloth.cpp               | 10 +++++++++-
 2 files changed, 22 insertions(+), 5 deletions(-)

diff --git a/examples/testbed/tests/tension_mapping.h b/examples/testbed/tests/tension_mapping.h
index 1f074cb..bb53a8f 100644
--- a/examples/testbed/tests/tension_mapping.h
+++ b/examples/testbed/tests/tension_mapping.h
@@ -126,6 +126,11 @@ public:
 				{
 					tension[v2] -= s->GetActionForce();
 				}
+
+				b3Vec3 p1 = s->GetParticle1()->GetPosition();
+				b3Vec3 p2 = s->GetParticle2()->GetPosition();
+
+				g_draw->DrawSegment(p1, p2, b3Color_black);
 			}
 		}
 
@@ -136,10 +141,14 @@ public:
 			b3Vec3 v1 = m_cloth->GetParticle(t->v1)->GetPosition();
 			b3Vec3 v2 = m_cloth->GetParticle(t->v2)->GetPosition();
 			b3Vec3 v3 = m_cloth->GetParticle(t->v3)->GetPosition();
+			
+			b3Vec3 c = (v1 + v2 + v3) / 3.0f;
 
-			g_draw->DrawSegment(v1, v2, b3Color_black);
-			g_draw->DrawSegment(v2, v3, b3Color_black);
-			g_draw->DrawSegment(v3, v1, b3Color_black);
+			float32 s = 0.9f;
+
+			v1 = s * (v1 - c) + c;
+			v2 = s * (v2 - c) + c;
+			v3 = s * (v3 - c) + c;
 
 			b3Vec3 f1 = tension[t->v1];
 			float32 L1 = b3Length(f1);
@@ -160,7 +169,7 @@ public:
 			g_draw->DrawSolidTriangle(n1, v1, v2, v3, color);
 
 			b3Vec3 n2 = -n1;
-			g_draw->DrawSolidTriangle(n2, v1, v3, v2, color);
+			g_draw->DrawSolidTriangle(n2, v3, v2, v1, color);
 		}
 
 		if (m_clothDragger->IsDragging())
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index cdec9be..abc9d02 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -661,11 +661,19 @@ void b3Cloth::Draw() const
 		b3Vec3 v2 = p2->m_position;
 		b3Vec3 v3 = p3->m_position;
 
+		b3Vec3 c = (v1 + v2 + v3) / 3.0f;
+
+		float32 s = 0.9f;
+
+		v1 = s * (v1 - c) + c;
+		v2 = s * (v2 - c) + c;
+		v3 = s * (v3 - c) + c;
+
 		b3Vec3 n1 = b3Cross(v2 - v1, v3 - v1);
 		n1.Normalize();
 		b3Draw_draw->DrawSolidTriangle(n1, v1, v2, v3, b3Color_blue);
 
 		b3Vec3 n2 = -n1;
-		b3Draw_draw->DrawSolidTriangle(n2, v1, v3, v2, b3Color_blue);
+		b3Draw_draw->DrawSolidTriangle(n2, v3, v2, v1, b3Color_blue);
 	}
 }
\ No newline at end of file

From 52439f3414485f9a18595d062291df274ec0180f Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 24 Jun 2019 18:39:10 -0300
Subject: [PATCH 178/198] Bugfix

---
 src/bounce/cloth/cloth.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index abc9d02..5f2c825 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -519,7 +519,7 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u
 	solverDef.stack = &m_stackAllocator;
 	solverDef.particleCapacity = m_particleList.m_count;
 	solverDef.forceCapacity = m_forceList.m_count;
-	solverDef.bodyContactCapacity = m_particleList.m_count;
+	solverDef.bodyContactCapacity = m_contactManager.m_particleBodyContactList.m_count;
 	solverDef.triangleContactCapacity = m_contactManager.m_particleTriangleContactList.m_count;
 
 	b3ClothSolver solver(solverDef);

From 0733ebd3be330169473598623a3e1ce3bcb10b0f Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Wed, 26 Jun 2019 20:30:33 -0300
Subject: [PATCH 179/198] Added per triangle stretching force and damping. This
 gives more realistics results. Also updated the tests.

Saying goodbye to mass-spring system!
---
 examples/testbed/tests/cloth_self_collision.h |   2 +-
 examples/testbed/tests/pinned_cloth.h         |   3 +-
 examples/testbed/tests/table_cloth.h          |   3 +-
 examples/testbed/tests/tension_mapping.h      |  41 +--
 include/bounce/bounce.h                       |   1 +
 include/bounce/cloth/cloth.h                  |  12 +-
 include/bounce/cloth/cloth_triangle.h         |   9 +
 include/bounce/cloth/force.h                  |   1 +
 include/bounce/cloth/particle.h               |   1 +
 include/bounce/cloth/strech_force.h           | 126 +++++++++
 src/bounce/cloth/cloth.cpp                    | 138 +++++-----
 src/bounce/cloth/cloth_solver.cpp             |   5 +-
 src/bounce/cloth/force.cpp                    |  14 +
 src/bounce/cloth/strech_force.cpp             | 247 ++++++++++++++++++
 14 files changed, 495 insertions(+), 108 deletions(-)
 create mode 100644 include/bounce/cloth/strech_force.h
 create mode 100644 src/bounce/cloth/strech_force.cpp

diff --git a/examples/testbed/tests/cloth_self_collision.h b/examples/testbed/tests/cloth_self_collision.h
index dfc088e..b363025 100644
--- a/examples/testbed/tests/cloth_self_collision.h
+++ b/examples/testbed/tests/cloth_self_collision.h
@@ -34,7 +34,7 @@ public:
 		b3ClothDef def;
 		def.mesh = &m_clothMesh;
 		def.density = 1.0f;
-		def.structural = 100000.0f;
+		def.streching = 100000.0f;
 		def.thickness = 0.2f;
 		def.friction = 0.3f;
 
diff --git a/examples/testbed/tests/pinned_cloth.h b/examples/testbed/tests/pinned_cloth.h
index b6c8543..e856ac5 100644
--- a/examples/testbed/tests/pinned_cloth.h
+++ b/examples/testbed/tests/pinned_cloth.h
@@ -28,8 +28,7 @@ public:
 		b3ClothDef def;
 		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
-		def.structural = 100000.0f;
-		def.damping = 0.0f;
+		def.streching = 100000.0f;
 
 		m_cloth = new b3Cloth(def);
 
diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index f3329bc..b88edf4 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -34,8 +34,7 @@ public:
 		b3ClothDef def;
 		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
-		def.structural = 10000.0f;
-		def.damping = 0.0f;
+		def.streching = 10000.0f;
 		def.thickness = 0.2f;
 		def.friction = 0.1f;
 
diff --git a/examples/testbed/tests/tension_mapping.h b/examples/testbed/tests/tension_mapping.h
index bb53a8f..531512c 100644
--- a/examples/testbed/tests/tension_mapping.h
+++ b/examples/testbed/tests/tension_mapping.h
@@ -64,7 +64,8 @@ public:
 		b3ClothDef def;
 		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
-		def.structural = 10000.0f;
+		def.streching = 10000.0f;
+		def.damping = 100.0f;
 
 		m_cloth = new b3Cloth(def);
 
@@ -110,27 +111,25 @@ public:
 
 		for (b3Force* f = m_cloth->GetForceList().m_head; f; f = f->GetNext())
 		{
-			if (f->GetType() == e_springForce)
+			if (f->GetType() == e_strechForce)
 			{
-				b3SpringForce* s = (b3SpringForce*)f;
+				b3StrechForce* s = (b3StrechForce*)f;
+				
+				b3ClothTriangle* triangle = s->GetTriangle();
+				u32 triangleIndex = triangle->GetTriangle();
+				b3ClothMeshTriangle* mesh_triangle = m_clothMesh.triangles + triangleIndex;
+				
+				u32 v1 = mesh_triangle->v1;
+				u32 v2 = mesh_triangle->v2;
+				u32 v3 = mesh_triangle->v3;
 
-				u32 v1 = s->GetParticle1()->GetVertex();
-				u32 v2 = s->GetParticle2()->GetVertex();
+				b3Vec3 f1 = s->GetActionForce1();
+				b3Vec3 f2 = s->GetActionForce2();
+				b3Vec3 f3 = s->GetActionForce3();
 
-				if (v1 != ~0)
-				{
-					tension[v1] += s->GetActionForce();
-				}
-
-				if (v2 != ~0)
-				{
-					tension[v2] -= s->GetActionForce();
-				}
-
-				b3Vec3 p1 = s->GetParticle1()->GetPosition();
-				b3Vec3 p2 = s->GetParticle2()->GetPosition();
-
-				g_draw->DrawSegment(p1, p2, b3Color_black);
+				tension[v1] += f1;
+				tension[v2] += f2;
+				tension[v3] += f3;
 			}
 		}
 
@@ -142,6 +141,8 @@ public:
 			b3Vec3 v2 = m_cloth->GetParticle(t->v2)->GetPosition();
 			b3Vec3 v3 = m_cloth->GetParticle(t->v3)->GetPosition();
 			
+			g_draw->DrawTriangle(v1, v2, v3, b3Color_black);
+
 			b3Vec3 c = (v1 + v2 + v3) / 3.0f;
 
 			float32 s = 0.9f;
@@ -161,7 +162,7 @@ public:
 
 			float32 L = (L1 + L2 + L3) / 3.0f;
 
-			const float32 kMaxT = 100000.0f;
+			const float32 kMaxT = 10000.0f;
 			b3Color color = Color(L, 0.0f, kMaxT);
 			
 			b3Vec3 n1 = b3Cross(v2 - v1, v3 - v1);
diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index d392a9d..33ca02b 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -68,6 +68,7 @@
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
+#include <bounce/cloth/strech_force.h>
 #include <bounce/cloth/spring_force.h>
 
 #include <bounce/cloth/garment/sewing_pattern.h>
diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 4e7136c..4483df2 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -57,7 +57,8 @@ struct b3ClothDef
 	{
 		mesh = nullptr;
 		density = 0.0f;
-		structural = 0.0f;
+		streching = 0.0f;
+		sewing = 0.0f;
 		bending = 0.0f;
 		damping = 0.0f;
 		thickness = 0.0f;
@@ -70,12 +71,15 @@ struct b3ClothDef
 	// Cloth density in kg/m^2
 	float32 density;
 
-	// Structural stiffness
-	float32 structural;
+	// Streching stiffness
+	float32 streching;
 
 	// Bending stiffness
 	float32 bending;
 
+	// Sewing stiffness
+	float32 sewing;
+	
 	// Damping stiffness
 	float32 damping;
 
@@ -152,6 +156,8 @@ public:
 private:
 	friend class b3Particle;
 	friend class b3ClothTriangle;
+	friend class b3StrechForce;
+	friend class b3SpringForce;
 	friend class b3ClothContactManager;
 
 	// Compute mass of each particle.
diff --git a/include/bounce/cloth/cloth_triangle.h b/include/bounce/cloth/cloth_triangle.h
index 1a1e6db..5a11fe7 100644
--- a/include/bounce/cloth/cloth_triangle.h
+++ b/include/bounce/cloth/cloth_triangle.h
@@ -42,6 +42,7 @@ public:
 private:
 	friend class b3Cloth;
 	friend class b3Particle;
+	friend class b3StrechForce;
 	friend class b3ClothContactManager;
 	friend class b3ParticleTriangleContact;
 	friend class b3ClothSolver;
@@ -70,6 +71,14 @@ private:
 
 	// Broadphase ID
 	u32 m_broadPhaseId;
+
+	// Alpha
+	float32 m_alpha;
+
+	// Strech matrix
+	float32 m_du1, m_dv1;
+	float32 m_du2, m_dv2;
+	float32 m_inv_det;
 };
 
 inline u32 b3ClothTriangle::GetTriangle() const
diff --git a/include/bounce/cloth/force.h b/include/bounce/cloth/force.h
index 392e0ef..5c0b283 100644
--- a/include/bounce/cloth/force.h
+++ b/include/bounce/cloth/force.h
@@ -29,6 +29,7 @@ class b3Particle;
 // Force types
 enum b3ForceType
 {
+	e_strechForce,
 	e_springForce,
 };
 
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index 225b280..71fe08f 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -120,6 +120,7 @@ private:
 	friend class b3ParticleTriangleContact;
 	friend class b3ClothContactSolver;
 	friend class b3Force;
+	friend class b3StrechForce;
 	friend class b3SpringForce;
 
 	b3Particle(const b3ParticleDef& def, b3Cloth* cloth);
diff --git a/include/bounce/cloth/strech_force.h b/include/bounce/cloth/strech_force.h
new file mode 100644
index 0000000..b183c05
--- /dev/null
+++ b/include/bounce/cloth/strech_force.h
@@ -0,0 +1,126 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_STRECH_FORCE_H
+#define B3_STRECH_FORCE_H
+
+#include <bounce/cloth/force.h>
+
+class b3ClothTriangle;
+
+struct b3StrechForceDef : public b3ForceDef
+{
+	b3StrechForceDef()
+	{
+		type = e_strechForce;
+	}
+
+	// Triangle
+	b3ClothTriangle* triangle;
+
+	// Streching stiffness
+	float32 streching;
+
+	// Damping stiffness
+	float32 damping;
+	
+	// Desired strechiness in u direction
+	float32 bu;
+
+	// Desired strechiness in v direction
+	float32 bv;
+};
+
+// Strech force acting on a cloth triangle.
+class b3StrechForce : public b3Force
+{
+public:
+	bool HasParticle(const b3Particle* particle) const;
+
+	b3ClothTriangle* GetTriangle() const;
+
+	float32 GetStrechingStiffness() const;
+
+	float32 GetDampingStiffness() const;
+	
+	b3Vec3 GetActionForce1() const;
+
+	b3Vec3 GetActionForce2() const;
+	
+	b3Vec3 GetActionForce3() const;
+private:
+	friend class b3Force;
+	friend class b3Cloth;
+
+	b3StrechForce(const b3StrechForceDef* def);
+	~b3StrechForce();
+
+	void Apply(const b3ClothForceSolverData* data);
+
+	// Solver shared
+
+	// Triangle
+	b3ClothTriangle* m_triangle;
+
+	// Streching stiffness
+	float32 m_ks;
+
+	// Damping stiffness
+	float32 m_kd;
+	
+	// bu
+	float32 m_bu;
+
+	// bv
+	float32 m_bv;
+
+	// Action forces
+	b3Vec3 m_f1, m_f2, m_f3;
+};
+
+inline b3ClothTriangle* b3StrechForce::GetTriangle() const
+{
+	return m_triangle;
+}
+
+inline float32 b3StrechForce::GetStrechingStiffness() const
+{
+	return m_ks;
+}
+
+inline float32 b3StrechForce::GetDampingStiffness() const
+{
+	return m_kd;
+}
+
+inline b3Vec3 b3StrechForce::GetActionForce1() const
+{
+	return m_f1;
+}
+
+inline b3Vec3 b3StrechForce::GetActionForce2() const
+{
+	return m_f2;
+}
+
+inline b3Vec3 b3StrechForce::GetActionForce3() const
+{
+	return m_f3;
+}
+
+#endif
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 5f2c825..d2a3af6 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -22,6 +22,7 @@
 #include <bounce/cloth/cloth_triangle.h>
 #include <bounce/cloth/force.h>
 #include <bounce/cloth/spring_force.h>
+#include <bounce/cloth/strech_force.h>
 #include <bounce/cloth/cloth_solver.h>
 #include <bounce/common/draw.h>
 
@@ -30,57 +31,6 @@ static B3_FORCE_INLINE u32 b3NextIndex(u32 i)
 	return i + 1 < 3 ? i + 1 : 0;
 }
 
-struct b3UniqueEdge
-{
-	u32 v1, v2;
-};
-
-static u32 b3FindUniqueEdges(b3UniqueEdge* uniqueEdges, const b3ClothMesh* m)
-{
-	u32 uniqueCount = 0;
-
-	for (u32 i = 0; i < m->triangleCount; ++i)
-	{
-		b3ClothMeshTriangle* t1 = m->triangles + i;
-		u32 i1s[3] = { t1->v1, t1->v2, t1->v3 };
-
-		for (u32 j1 = 0; j1 < 3; ++j1)
-		{
-			u32 t1v1 = i1s[j1];
-			u32 t1v2 = i1s[b3NextIndex(j1)];
-
-			bool unique = true;
-
-			for (u32 j = 0; j < uniqueCount; ++j)
-			{
-				b3UniqueEdge* ue = uniqueEdges + j;
-
-				if (ue->v1 == t1v1 && ue->v2 == t1v2)
-				{
-					unique = false;
-					break;
-				}
-
-				if (ue->v2 == t1v1 && ue->v1 == t1v2)
-				{
-					unique = false;
-					break;
-				}
-			}
-
-			if (unique)
-			{
-				b3UniqueEdge ue;
-				ue.v1 = t1v1;
-				ue.v2 = t1v2;
-				uniqueEdges[uniqueCount++] = ue;
-			}
-		}
-	}
-
-	return uniqueCount;
-}
-
 struct b3SharedEdge
 {
 	u32 v1, v2;
@@ -187,17 +137,69 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		triangle->m_friction = def.friction;
 		triangle->m_triangle = i;
 
-		b3Vec3 v1 = m_mesh->vertices[meshTriangle->v1];
-		b3Vec3 v2 = m_mesh->vertices[meshTriangle->v2];
-		b3Vec3 v3 = m_mesh->vertices[meshTriangle->v3];
+		b3Vec3 A = m_mesh->vertices[meshTriangle->v1];
+		b3Vec3 B = m_mesh->vertices[meshTriangle->v2];
+		b3Vec3 C = m_mesh->vertices[meshTriangle->v3];
 
 		b3AABB3 aabb;
-		aabb.Set(v1, v2, v3);
+		aabb.Set(A, B, C);
 		aabb.Extend(triangle->m_radius);
 
 		triangle->m_aabbProxy.type = e_triangleProxy;
 		triangle->m_aabbProxy.owner = triangle;
 		triangle->m_broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &triangle->m_aabbProxy);
+
+		// uv coordinates for triangle
+		
+		// v1
+		b3Vec2 uv1;
+		uv1.SetZero();
+
+		// v2
+		b3Vec3 AB = B - A;
+		
+		b3Vec2 uv2;
+		uv2.x = b3Length(AB);
+		uv2.y = 0.0f;
+
+		// v3
+		b3Vec3 n_AB = b3Normalize(AB);
+		b3Vec3 AC = C - A;
+		float32 len_AC = b3Length(AC);
+
+		b3Vec2 uv3;
+		uv3.x = b3Dot(n_AB, AC);
+		uv3.y = b3Sqrt(len_AC * len_AC - uv3.x * uv3.x);
+
+		// Strech matrix
+		float32 du1 = uv2.x - uv1.x;
+		float32 dv1 = uv2.y - uv1.y;
+		float32 du2 = uv3.x - uv1.x;
+		float32 dv2 = uv3.y - uv1.y;
+		
+		triangle->m_du1 = du1;
+		triangle->m_dv1 = dv1;
+		triangle->m_du2 = du2;
+		triangle->m_dv2 = dv2;
+
+		float32 det = du1 * dv2 - du2 * dv1;
+		B3_ASSERT(det != 0.0f);
+		triangle->m_inv_det = 1.0f / det;
+
+		// Triangle area
+		b3Vec3 v1(du1, dv1, 0.0f);
+		b3Vec3 v2(du2, dv2, 0.0f);
+		triangle->m_alpha = 0.5f * b3Length(b3Cross(v1, v2));
+
+		// Create strech force
+		b3StrechForceDef sfdef;
+		sfdef.triangle = triangle;
+		sfdef.streching = def.streching;
+		sfdef.damping = def.damping;
+		sfdef.bu = 1.0f;
+		sfdef.bv = 1.0f;
+
+		CreateForce(sfdef);
 	}
 
 	// Initialize forces
@@ -206,28 +208,9 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 	// Worst-case edge memory
 	u32 edgeCount = 3 * m->triangleCount;
 
-	b3UniqueEdge* uniqueEdges = (b3UniqueEdge*)allocator->Allocate(edgeCount * sizeof(b3UniqueEdge));
-	u32 uniqueCount = b3FindUniqueEdges(uniqueEdges, m);
-
 	b3SharedEdge* sharedEdges = (b3SharedEdge*)allocator->Allocate(edgeCount * sizeof(b3SharedEdge));
 	u32 sharedCount = b3FindSharedEdges(sharedEdges, m);
 
-	for (u32 i = 0; i < uniqueCount; ++i)
-	{
-		b3UniqueEdge* e = uniqueEdges + i;
-
-		b3Particle* p1 = m_particles[e->v1];
-		b3Particle* p2 = m_particles[e->v2];
-
-		b3SpringForceDef fd;
-		fd.Initialize(p1, p2, def.structural, def.damping);
-
-		if (def.structural > 0.0f)
-		{
-			CreateForce(fd);
-		}
-	}
-
 	// Bending
 	for (u32 i = 0; i < sharedCount; ++i)
 	{
@@ -248,7 +231,6 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 	}
 	
 	allocator->Free(sharedEdges);
-	allocator->Free(uniqueEdges);
 
 	// Sewing
 	for (u32 i = 0; i < m->sewingLineCount; ++i)
@@ -259,9 +241,9 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		b3Particle* p2 = m_particles[line->v2];
 
 		b3SpringForceDef fd;
-		fd.Initialize(p1, p2, def.structural, def.damping);
+		fd.Initialize(p1, p2, def.sewing, def.damping);
 
-		if (def.structural > 0.0f)
+		if (def.sewing > 0.0f)
 		{
 			CreateForce(fd);
 		}
@@ -661,6 +643,8 @@ void b3Cloth::Draw() const
 		b3Vec3 v2 = p2->m_position;
 		b3Vec3 v3 = p3->m_position;
 
+		b3Draw_draw->DrawTriangle(v1, v2, v3, b3Color_black);
+
 		b3Vec3 c = (v1 + v2 + v3) / 3.0f;
 
 		float32 s = 0.9f;
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 2cae7b4..44203a2 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -90,11 +90,10 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 
 		forceSolver.Solve(dt, gravity);
 	}
-
+	
 	// Copy particle state to state buffer
 	b3Vec3* positions = (b3Vec3*)m_allocator->Allocate(m_particleCount * sizeof(b3Vec3));
 	b3Vec3* velocities = (b3Vec3*)m_allocator->Allocate(m_particleCount * sizeof(b3Vec3));
-
 	for (u32 i = 0; i < m_particleCount; ++i)
 	{
 		positions[i] = m_particles[i]->m_position;
@@ -147,8 +146,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterati
 			positions[i] += h * velocities[i];
 		}
 
-		// Solve position constraints
 		{
+			// Solve position constraints
 			bool positionSolved = false;
 			for (u32 i = 0; i < positionIterations; ++i)
 			{
diff --git a/src/bounce/cloth/force.cpp b/src/bounce/cloth/force.cpp
index 4f658df..acc3227 100644
--- a/src/bounce/cloth/force.cpp
+++ b/src/bounce/cloth/force.cpp
@@ -17,6 +17,7 @@
 */
 
 #include <bounce/cloth/force.h>
+#include <bounce/cloth/strech_force.h>
 #include <bounce/cloth/spring_force.h>
 
 b3Force* b3Force::Create(const b3ForceDef* def)
@@ -24,6 +25,12 @@ b3Force* b3Force::Create(const b3ForceDef* def)
 	b3Force* force = NULL;
 	switch (def->type)
 	{
+	case e_strechForce:
+	{
+		void* block = b3Alloc(sizeof(b3StrechForce));
+		force = new (block) b3StrechForce((b3StrechForceDef*)def);
+		break;
+	}
 	case e_springForce:
 	{
 		void* block = b3Alloc(sizeof(b3SpringForce));
@@ -46,6 +53,13 @@ void b3Force::Destroy(b3Force* force)
 	b3ForceType type = force->GetType();
 	switch (type)
 	{
+	case e_strechForce:
+	{
+		b3StrechForce* o = (b3StrechForce*)force;
+		o->~b3StrechForce();
+		b3Free(force);
+		break;
+	}
 	case e_springForce:
 	{
 		b3SpringForce* o = (b3SpringForce*)force;
diff --git a/src/bounce/cloth/strech_force.cpp b/src/bounce/cloth/strech_force.cpp
new file mode 100644
index 0000000..cc4513a
--- /dev/null
+++ b/src/bounce/cloth/strech_force.cpp
@@ -0,0 +1,247 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/cloth/strech_force.h>
+#include <bounce/cloth/cloth_triangle.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/cloth_force_solver.h>
+#include <bounce/sparse/dense_vec3.h>
+#include <bounce/sparse/sparse_sym_mat33.h>
+
+b3StrechForce::b3StrechForce(const b3StrechForceDef* def)
+{
+	m_type = e_strechForce;
+	m_triangle = def->triangle;
+	m_ks = def->streching;
+	m_kd = def->damping;
+	m_bu = def->bu;
+	m_bv = def->bv;
+	m_f1.SetZero();
+	m_f2.SetZero();
+	m_f3.SetZero();
+}
+
+b3StrechForce::~b3StrechForce()
+{
+
+}
+
+bool b3StrechForce::HasParticle(const b3Particle* particle) const
+{
+	b3Cloth* cloth = m_triangle->m_cloth;
+	u32 triangleIndex = m_triangle->m_triangle;
+	b3ClothMeshTriangle* triangle = cloth->m_mesh->triangles + triangleIndex;
+
+	b3Particle* p1 = cloth->m_particles[triangle->v1];
+	b3Particle* p2 = cloth->m_particles[triangle->v2];
+	b3Particle* p3 = cloth->m_particles[triangle->v3];
+
+	return p1 == particle || p2 == particle || p3 == particle;
+}
+
+void b3StrechForce::Apply(const b3ClothForceSolverData* data)
+{
+	b3Cloth* cloth = m_triangle->m_cloth;
+	u32 triangleIndex = m_triangle->m_triangle;
+	b3ClothMeshTriangle* triangle = cloth->m_mesh->triangles + triangleIndex;
+
+	float32 alpha = m_triangle->m_alpha;
+	float32 du1 = m_triangle->m_du1;
+	float32 dv1 = m_triangle->m_dv1;
+	float32 du2 = m_triangle->m_du2;
+	float32 dv2 = m_triangle->m_dv2;
+	float32 inv_det = m_triangle->m_inv_det;
+
+	b3Particle* p1 = cloth->m_particles[triangle->v1];
+	b3Particle* p2 = cloth->m_particles[triangle->v2];
+	b3Particle* p3 = cloth->m_particles[triangle->v3];
+
+	u32 i1 = p1->m_solverId;
+	u32 i2 = p2->m_solverId;
+	u32 i3 = p3->m_solverId;
+
+	b3DenseVec3& x = *data->x;
+	b3DenseVec3& v = *data->v;
+	b3DenseVec3& f = *data->f;
+	b3SparseSymMat33& dfdx = *data->dfdx;
+	b3SparseSymMat33& dfdv = *data->dfdv;
+
+	b3Vec3 x1 = x[i1];
+	b3Vec3 x2 = x[i2];
+	b3Vec3 x3 = x[i3];
+
+	b3Vec3 v1 = v[i1];
+	b3Vec3 v2 = v[i2];
+	b3Vec3 v3 = v[i3];
+	
+	b3Mat33 I; I.SetIdentity();
+
+	b3Vec3 dx1 = x2 - x1;
+	b3Vec3 dx2 = x3 - x1;
+
+	b3Vec3 wu = inv_det * (dv2 * dx1 - dv1 * dx2);
+	float32 len_wu = b3Length(wu);
+	if (len_wu == 0.0f) 
+	{ 
+		return; 
+	}
+	B3_ASSERT(len_wu > 0.0f);
+	float32 inv_len_wu = 1.0f / len_wu;
+	b3Vec3 n_wu = inv_len_wu * wu;
+
+	b3Vec3 wv = inv_det * (-du2 * dx1 + du1 * dx2);
+	float32 len_wv = b3Length(wv);
+	if (len_wv == 0.0f)
+	{
+		return;
+	}
+	B3_ASSERT(len_wv > 0.0f);
+	float32 inv_len_wv = 1.0f / len_wv;
+	b3Vec3 n_wv = inv_len_wv * wv;
+
+	b3Vec3 dwudx;
+	dwudx[0] = inv_det * (dv1 - dv2);
+	dwudx[1] = inv_det * dv2;
+	dwudx[2] = -inv_det * dv1;
+
+	b3Vec3 dwvdx;
+	dwvdx[0] = inv_det * (du2 - du1);
+	dwvdx[1] = -inv_det * du2;
+	dwvdx[2] = inv_det * du1;
+
+	float32 Cu = alpha * (len_wu - m_bu);
+	float32 Cv = alpha * (len_wv - m_bv);
+
+	// This is a small trick to ensure PD-ness of the linear system 
+	Cu = b3Max(Cu, 0.0f);
+	Cv = b3Max(Cv, 0.0f);
+
+	if (Cu == 0.0f && Cv == 0.0f)
+	{
+		return;
+	}
+
+	// Jacobian
+	b3Vec3 dCudx[3];
+	b3Vec3 dCvdx[3];
+	for (u32 i = 0; i < 3; ++i)
+	{
+		dCudx[i] = alpha * dwudx[i] * n_wu;
+		dCvdx[i] = alpha * dwvdx[i] * n_wv;
+	}
+
+	m_f1.SetZero();
+	m_f2.SetZero();
+	m_f3.SetZero();
+
+	if (m_ks > 0.0f)
+	{
+		// Force
+		b3Vec3 fs[3];
+		for (u32 i = 0; i < 3; ++i)
+		{
+			fs[i] = -m_ks * (Cu * dCudx[i] + Cv * dCvdx[i]);
+		}
+
+		m_f1 += fs[0];
+		m_f2 += fs[1];
+		m_f3 += fs[2];
+
+		// Jacobian
+		b3Mat33 J[3][3];
+		for (u32 i = 0; i < 3; ++i)
+		{
+			for (u32 j = 0; j < 3; ++j)
+			{
+				b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu));
+
+				b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv));
+
+				b3Mat33 Jij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + b3Outer(dCvdx[i], dCvdx[j]) + Cu * d2Cuxij + Cv * d2Cvxij);
+
+				J[i][j] = Jij;
+			}
+		}
+
+		dfdx(i1, i1) += J[0][0];
+		dfdx(i1, i2) += J[0][1];
+		dfdx(i1, i3) += J[0][2];
+
+		//dfdx(i2, i1) += J[1][0];
+		dfdx(i2, i2) += J[1][1];
+		dfdx(i2, i3) += J[1][2];
+
+		//dfdx(i3, i1) += J[2][0];
+		//dfdx(i3, i2) += J[2][1];
+		dfdx(i3, i3) += J[2][2];
+	}
+
+	if (m_kd > 0.0f)
+	{
+		float32 dCudt = 0.0f;
+		float32 dCvdt = 0.0f;
+
+		b3Vec3 vs[3] = { v1, v2, v3 };
+		for (u32 i = 0; i < 3; ++i) 
+		{
+			dCudt += b3Dot(dCudx[i], vs[i]);
+			dCvdt += b3Dot(dCvdx[i], vs[i]);
+		}
+
+		// Force
+		b3Vec3 fs[3];
+		for (u32 i = 0; i < 3; ++i)
+		{
+			fs[i] = -m_kd * (dCudt * dCudx[i] + dCvdt * dCvdx[i]);
+		}
+
+		m_f1 += fs[0];
+		m_f2 += fs[1];
+		m_f3 += fs[2];
+
+		// Jacobian
+		b3Mat33 J[3][3];
+		for (u32 i = 0; i < 3; ++i)
+		{
+			for (u32 j = 0; j < 3; ++j)
+			{
+				b3Mat33 Jij = -m_kd * (b3Outer(dCudx[i], dCudx[j]) + b3Outer(dCvdx[i], dCvdx[j]));
+
+				J[i][j] = Jij;
+			}
+		}
+
+		dfdv(i1, i1) += J[0][0];
+		dfdv(i1, i2) += J[0][1];
+		dfdv(i1, i3) += J[0][2];
+
+		//dfdv(i2, i1) += J[1][0];
+		dfdv(i2, i2) += J[1][1];
+		dfdv(i2, i3) += J[1][2];
+
+		//dfdv(i3, i1) += J[2][0];
+		//dfdv(i3, i2) += J[2][1];
+		dfdv(i3, i3) += J[2][2];
+	}
+
+	f[i1] += m_f1;
+	f[i2] += m_f2;
+	f[i3] += m_f3;
+}
\ No newline at end of file

From a47c8e3e754aa5767793f241b2a92e5c92dc95c2 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 27 Jun 2019 03:59:59 -0300
Subject: [PATCH 180/198] Update strech_force.cpp

---
 src/bounce/cloth/strech_force.cpp | 284 +++++++++++++++++++-----------
 1 file changed, 180 insertions(+), 104 deletions(-)

diff --git a/src/bounce/cloth/strech_force.cpp b/src/bounce/cloth/strech_force.cpp
index cc4513a..86d7e40 100644
--- a/src/bounce/cloth/strech_force.cpp
+++ b/src/bounce/cloth/strech_force.cpp
@@ -90,7 +90,7 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 	b3Vec3 v1 = v[i1];
 	b3Vec3 v2 = v[i2];
 	b3Vec3 v3 = v[i3];
-	
+
 	b3Mat33 I; I.SetIdentity();
 
 	b3Vec3 dx1 = x2 - x1;
@@ -98,23 +98,9 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 
 	b3Vec3 wu = inv_det * (dv2 * dx1 - dv1 * dx2);
 	float32 len_wu = b3Length(wu);
-	if (len_wu == 0.0f) 
-	{ 
-		return; 
-	}
-	B3_ASSERT(len_wu > 0.0f);
-	float32 inv_len_wu = 1.0f / len_wu;
-	b3Vec3 n_wu = inv_len_wu * wu;
 
 	b3Vec3 wv = inv_det * (-du2 * dx1 + du1 * dx2);
 	float32 len_wv = b3Length(wv);
-	if (len_wv == 0.0f)
-	{
-		return;
-	}
-	B3_ASSERT(len_wv > 0.0f);
-	float32 inv_len_wv = 1.0f / len_wv;
-	b3Vec3 n_wv = inv_len_wv * wv;
 
 	b3Vec3 dwudx;
 	dwudx[0] = inv_det * (dv1 - dv2);
@@ -126,119 +112,209 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 	dwvdx[1] = -inv_det * du2;
 	dwvdx[2] = inv_det * du1;
 
-	float32 Cu = alpha * (len_wu - m_bu);
-	float32 Cv = alpha * (len_wv - m_bv);
-
-	// This is a small trick to ensure PD-ness of the linear system 
-	Cu = b3Max(Cu, 0.0f);
-	Cv = b3Max(Cv, 0.0f);
-
-	if (Cu == 0.0f && Cv == 0.0f)
-	{
-		return;
-	}
-
-	// Jacobian
-	b3Vec3 dCudx[3];
-	b3Vec3 dCvdx[3];
-	for (u32 i = 0; i < 3; ++i)
-	{
-		dCudx[i] = alpha * dwudx[i] * n_wu;
-		dCvdx[i] = alpha * dwvdx[i] * n_wv;
-	}
-
 	m_f1.SetZero();
 	m_f2.SetZero();
 	m_f3.SetZero();
 
-	if (m_ks > 0.0f)
+	if (len_wu > m_bu)
 	{
-		// Force
-		b3Vec3 fs[3];
-		for (u32 i = 0; i < 3; ++i)
-		{
-			fs[i] = -m_ks * (Cu * dCudx[i] + Cv * dCvdx[i]);
-		}
-
-		m_f1 += fs[0];
-		m_f2 += fs[1];
-		m_f3 += fs[2];
+		float32 inv_len_wu = 1.0f / len_wu;
+		b3Vec3 n_wu = inv_len_wu * wu;
 
 		// Jacobian
-		b3Mat33 J[3][3];
+		b3Vec3 dCudx[3];
 		for (u32 i = 0; i < 3; ++i)
 		{
-			for (u32 j = 0; j < 3; ++j)
-			{
-				b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu));
-
-				b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv));
-
-				b3Mat33 Jij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + b3Outer(dCvdx[i], dCvdx[j]) + Cu * d2Cuxij + Cv * d2Cvxij);
-
-				J[i][j] = Jij;
-			}
+			dCudx[i] = alpha * dwudx[i] * n_wu;
 		}
 
-		dfdx(i1, i1) += J[0][0];
-		dfdx(i1, i2) += J[0][1];
-		dfdx(i1, i3) += J[0][2];
+		if (m_ks > 0.0f)
+		{
+			float32 Cu = alpha * (len_wu - m_bu);
 
-		//dfdx(i2, i1) += J[1][0];
-		dfdx(i2, i2) += J[1][1];
-		dfdx(i2, i3) += J[1][2];
+			// Force
+			b3Vec3 fs[3];
+			for (u32 i = 0; i < 3; ++i)
+			{
+				fs[i] = -m_ks * Cu * dCudx[i];
+			}
 
-		//dfdx(i3, i1) += J[2][0];
-		//dfdx(i3, i2) += J[2][1];
-		dfdx(i3, i3) += J[2][2];
+			m_f1 += fs[0];
+			m_f2 += fs[1];
+			m_f3 += fs[2];
+
+			// Jacobian
+			b3Mat33 J[3][3];
+			for (u32 i = 0; i < 3; ++i)
+			{
+				for (u32 j = 0; j < 3; ++j)
+				{
+					b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu));
+
+					b3Mat33 Jij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + Cu * d2Cuxij);
+
+					J[i][j] = Jij;
+				}
+			}
+
+			dfdx(i1, i1) += J[0][0];
+			dfdx(i1, i2) += J[0][1];
+			dfdx(i1, i3) += J[0][2];
+
+			//dfdx(i2, i1) += J[1][0];
+			dfdx(i2, i2) += J[1][1];
+			dfdx(i2, i3) += J[1][2];
+
+			//dfdx(i3, i1) += J[2][0];
+			//dfdx(i3, i2) += J[2][1];
+			dfdx(i3, i3) += J[2][2];
+		}
+
+		if (m_kd > 0.0f)
+		{
+			b3Vec3 vs[3] = { v1, v2, v3 };
+			float32 dCudt = 0.0f;
+			for (u32 i = 0; i < 3; ++i)
+			{
+				dCudt += b3Dot(dCudx[i], vs[i]);
+			}
+
+			// Force
+			b3Vec3 fs[3];
+			for (u32 i = 0; i < 3; ++i)
+			{
+				fs[i] = -m_kd * dCudt * dCudx[i];
+			}
+
+			m_f1 += fs[0];
+			m_f2 += fs[1];
+			m_f3 += fs[2];
+
+			// Jacobian
+			b3Mat33 J[3][3];
+			for (u32 i = 0; i < 3; ++i)
+			{
+				for (u32 j = 0; j < 3; ++j)
+				{
+					b3Mat33 Jij = -m_kd * b3Outer(dCudx[i], dCudx[j]);
+
+					J[i][j] = Jij;
+				}
+			}
+
+			dfdv(i1, i1) += J[0][0];
+			dfdv(i1, i2) += J[0][1];
+			dfdv(i1, i3) += J[0][2];
+
+			//dfdv(i2, i1) += J[1][0];
+			dfdv(i2, i2) += J[1][1];
+			dfdv(i2, i3) += J[1][2];
+
+			//dfdv(i3, i1) += J[2][0];
+			//dfdv(i3, i2) += J[2][1];
+			dfdv(i3, i3) += J[2][2];
+		}
 	}
 
-	if (m_kd > 0.0f)
+	if (len_wv > m_bv)
 	{
-		float32 dCudt = 0.0f;
-		float32 dCvdt = 0.0f;
-
-		b3Vec3 vs[3] = { v1, v2, v3 };
-		for (u32 i = 0; i < 3; ++i) 
-		{
-			dCudt += b3Dot(dCudx[i], vs[i]);
-			dCvdt += b3Dot(dCvdx[i], vs[i]);
-		}
-
-		// Force
-		b3Vec3 fs[3];
-		for (u32 i = 0; i < 3; ++i)
-		{
-			fs[i] = -m_kd * (dCudt * dCudx[i] + dCvdt * dCvdx[i]);
-		}
-
-		m_f1 += fs[0];
-		m_f2 += fs[1];
-		m_f3 += fs[2];
+		float32 inv_len_wv = 1.0f / len_wv;
+		b3Vec3 n_wv = inv_len_wv * wv;
 
 		// Jacobian
-		b3Mat33 J[3][3];
+		b3Vec3 dCvdx[3];
 		for (u32 i = 0; i < 3; ++i)
 		{
-			for (u32 j = 0; j < 3; ++j)
-			{
-				b3Mat33 Jij = -m_kd * (b3Outer(dCudx[i], dCudx[j]) + b3Outer(dCvdx[i], dCvdx[j]));
-
-				J[i][j] = Jij;
-			}
+			dCvdx[i] = alpha * dwvdx[i] * n_wv;
 		}
 
-		dfdv(i1, i1) += J[0][0];
-		dfdv(i1, i2) += J[0][1];
-		dfdv(i1, i3) += J[0][2];
+		if (m_ks > 0.0f)
+		{
+			float32 Cv = alpha * (len_wv - m_bv);
 
-		//dfdv(i2, i1) += J[1][0];
-		dfdv(i2, i2) += J[1][1];
-		dfdv(i2, i3) += J[1][2];
+			// Force
+			b3Vec3 fs[3];
+			for (u32 i = 0; i < 3; ++i)
+			{
+				fs[i] = -m_ks * Cv * dCvdx[i];
+			}
 
-		//dfdv(i3, i1) += J[2][0];
-		//dfdv(i3, i2) += J[2][1];
-		dfdv(i3, i3) += J[2][2];
+			m_f1 += fs[0];
+			m_f2 += fs[1];
+			m_f3 += fs[2];
+
+			// Jacobian
+			b3Mat33 J[3][3];
+			for (u32 i = 0; i < 3; ++i)
+			{
+				for (u32 j = 0; j < 3; ++j)
+				{
+					b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv));
+
+					b3Mat33 Jij = -m_ks * (b3Outer(dCvdx[i], dCvdx[j]) + Cv * d2Cvxij);
+
+					J[i][j] = Jij;
+				}
+			}
+
+			dfdx(i1, i1) += J[0][0];
+			dfdx(i1, i2) += J[0][1];
+			dfdx(i1, i3) += J[0][2];
+
+			//dfdx(i2, i1) += J[1][0];
+			dfdx(i2, i2) += J[1][1];
+			dfdx(i2, i3) += J[1][2];
+
+			//dfdx(i3, i1) += J[2][0];
+			//dfdx(i3, i2) += J[2][1];
+			dfdx(i3, i3) += J[2][2];
+		}
+
+		if (m_kd > 0.0f)
+		{			
+			b3Vec3 vs[3] = { v1, v2, v3 };
+			
+			float32 dCvdt = 0.0f;
+			for (u32 i = 0; i < 3; ++i)
+			{
+				dCvdt += b3Dot(dCvdx[i], vs[i]);
+			}
+
+			// Force
+			b3Vec3 fs[3];
+			for (u32 i = 0; i < 3; ++i)
+			{
+				fs[i] = -m_kd * dCvdt * dCvdx[i];
+			}
+
+			m_f1 += fs[0];
+			m_f2 += fs[1];
+			m_f3 += fs[2];
+
+			// Jacobian
+			b3Mat33 J[3][3];
+			for (u32 i = 0; i < 3; ++i)
+			{
+				for (u32 j = 0; j < 3; ++j)
+				{
+					b3Mat33 Jij = -m_kd * b3Outer(dCvdx[i], dCvdx[j]);
+
+					J[i][j] = Jij;
+				}
+			}
+
+			dfdv(i1, i1) += J[0][0];
+			dfdv(i1, i2) += J[0][1];
+			dfdv(i1, i3) += J[0][2];
+
+			//dfdv(i2, i1) += J[1][0];
+			dfdv(i2, i2) += J[1][1];
+			dfdv(i2, i3) += J[1][2];
+
+			//dfdv(i3, i1) += J[2][0];
+			//dfdv(i3, i2) += J[2][1];
+			dfdv(i3, i3) += J[2][2];
+		}
 	}
 
 	f[i1] += m_f1;

From 774c0741bd33063fb4e19796a8ab4b73e2695501 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 27 Jun 2019 04:19:56 -0300
Subject: [PATCH 181/198] Update strech_force.cpp

---
 examples/testbed/tests/table_cloth.h |   1 +
 src/bounce/cloth/strech_force.cpp    | 146 ++++++++++++++-------------
 2 files changed, 77 insertions(+), 70 deletions(-)

diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index b88edf4..08adff6 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -35,6 +35,7 @@ public:
 		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
 		def.streching = 10000.0f;
+		def.damping = 100.0f;
 		def.thickness = 0.2f;
 		def.friction = 0.1f;
 
diff --git a/src/bounce/cloth/strech_force.cpp b/src/bounce/cloth/strech_force.cpp
index 86d7e40..d208441 100644
--- a/src/bounce/cloth/strech_force.cpp
+++ b/src/bounce/cloth/strech_force.cpp
@@ -116,7 +116,7 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 	m_f2.SetZero();
 	m_f3.SetZero();
 
-	if (len_wu > m_bu)
+	if (len_wu > 0.0f)
 	{
 		float32 inv_len_wu = 1.0f / len_wu;
 		b3Vec3 n_wu = inv_len_wu * wu;
@@ -130,44 +130,47 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 
 		if (m_ks > 0.0f)
 		{
-			float32 Cu = alpha * (len_wu - m_bu);
-
-			// Force
-			b3Vec3 fs[3];
-			for (u32 i = 0; i < 3; ++i)
+			if (len_wu > m_bu)
 			{
-				fs[i] = -m_ks * Cu * dCudx[i];
-			}
+				float32 Cu = alpha * (len_wu - m_bu);
 
-			m_f1 += fs[0];
-			m_f2 += fs[1];
-			m_f3 += fs[2];
-
-			// Jacobian
-			b3Mat33 J[3][3];
-			for (u32 i = 0; i < 3; ++i)
-			{
-				for (u32 j = 0; j < 3; ++j)
+				// Force
+				b3Vec3 fs[3];
+				for (u32 i = 0; i < 3; ++i)
 				{
-					b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu));
-
-					b3Mat33 Jij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + Cu * d2Cuxij);
-
-					J[i][j] = Jij;
+					fs[i] = -m_ks * Cu * dCudx[i];
 				}
+
+				m_f1 += fs[0];
+				m_f2 += fs[1];
+				m_f3 += fs[2];
+
+				// Jacobian
+				b3Mat33 J[3][3];
+				for (u32 i = 0; i < 3; ++i)
+				{
+					for (u32 j = 0; j < 3; ++j)
+					{
+						b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu));
+
+						b3Mat33 Jij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + Cu * d2Cuxij);
+
+						J[i][j] = Jij;
+					}
+				}
+
+				dfdx(i1, i1) += J[0][0];
+				dfdx(i1, i2) += J[0][1];
+				dfdx(i1, i3) += J[0][2];
+
+				//dfdx(i2, i1) += J[1][0];
+				dfdx(i2, i2) += J[1][1];
+				dfdx(i2, i3) += J[1][2];
+
+				//dfdx(i3, i1) += J[2][0];
+				//dfdx(i3, i2) += J[2][1];
+				dfdx(i3, i3) += J[2][2];
 			}
-
-			dfdx(i1, i1) += J[0][0];
-			dfdx(i1, i2) += J[0][1];
-			dfdx(i1, i3) += J[0][2];
-
-			//dfdx(i2, i1) += J[1][0];
-			dfdx(i2, i2) += J[1][1];
-			dfdx(i2, i3) += J[1][2];
-
-			//dfdx(i3, i1) += J[2][0];
-			//dfdx(i3, i2) += J[2][1];
-			dfdx(i3, i3) += J[2][2];
 		}
 
 		if (m_kd > 0.0f)
@@ -216,7 +219,7 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 		}
 	}
 
-	if (len_wv > m_bv)
+	if (len_wv > 0.0f)
 	{
 		float32 inv_len_wv = 1.0f / len_wv;
 		b3Vec3 n_wv = inv_len_wv * wv;
@@ -230,50 +233,53 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 
 		if (m_ks > 0.0f)
 		{
-			float32 Cv = alpha * (len_wv - m_bv);
-
-			// Force
-			b3Vec3 fs[3];
-			for (u32 i = 0; i < 3; ++i)
+			if (len_wv > m_bv)
 			{
-				fs[i] = -m_ks * Cv * dCvdx[i];
-			}
+				float32 Cv = alpha * (len_wv - m_bv);
 
-			m_f1 += fs[0];
-			m_f2 += fs[1];
-			m_f3 += fs[2];
-
-			// Jacobian
-			b3Mat33 J[3][3];
-			for (u32 i = 0; i < 3; ++i)
-			{
-				for (u32 j = 0; j < 3; ++j)
+				// Force
+				b3Vec3 fs[3];
+				for (u32 i = 0; i < 3; ++i)
 				{
-					b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv));
-
-					b3Mat33 Jij = -m_ks * (b3Outer(dCvdx[i], dCvdx[j]) + Cv * d2Cvxij);
-
-					J[i][j] = Jij;
+					fs[i] = -m_ks * Cv * dCvdx[i];
 				}
+
+				m_f1 += fs[0];
+				m_f2 += fs[1];
+				m_f3 += fs[2];
+
+				// Jacobian
+				b3Mat33 J[3][3];
+				for (u32 i = 0; i < 3; ++i)
+				{
+					for (u32 j = 0; j < 3; ++j)
+					{
+						b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv));
+
+						b3Mat33 Jij = -m_ks * (b3Outer(dCvdx[i], dCvdx[j]) + Cv * d2Cvxij);
+
+						J[i][j] = Jij;
+					}
+				}
+
+				dfdx(i1, i1) += J[0][0];
+				dfdx(i1, i2) += J[0][1];
+				dfdx(i1, i3) += J[0][2];
+
+				//dfdx(i2, i1) += J[1][0];
+				dfdx(i2, i2) += J[1][1];
+				dfdx(i2, i3) += J[1][2];
+
+				//dfdx(i3, i1) += J[2][0];
+				//dfdx(i3, i2) += J[2][1];
+				dfdx(i3, i3) += J[2][2];
 			}
-
-			dfdx(i1, i1) += J[0][0];
-			dfdx(i1, i2) += J[0][1];
-			dfdx(i1, i3) += J[0][2];
-
-			//dfdx(i2, i1) += J[1][0];
-			dfdx(i2, i2) += J[1][1];
-			dfdx(i2, i3) += J[1][2];
-
-			//dfdx(i3, i1) += J[2][0];
-			//dfdx(i3, i2) += J[2][1];
-			dfdx(i3, i3) += J[2][2];
 		}
 
 		if (m_kd > 0.0f)
-		{			
+		{
 			b3Vec3 vs[3] = { v1, v2, v3 };
-			
+
 			float32 dCvdt = 0.0f;
 			for (u32 i = 0; i < 3; ++i)
 			{

From b6d9f56583b1f804a952c1df9ba285a04e577b06 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 27 Jun 2019 16:19:42 -0300
Subject: [PATCH 182/198] Small refactor. Removed b3SparseSymMat33 since it is
 very particular. Pushed experimental b3ShearForce.

---
 examples/testbed/tests/table_cloth.h          |   2 +-
 include/bounce/bounce.h                       |   1 +
 include/bounce/cloth/cloth.h                  |   7 +-
 include/bounce/cloth/cloth_force_solver.h     |   8 +-
 include/bounce/cloth/cloth_triangle.h         |   1 +
 include/bounce/cloth/force.h                  |   1 +
 include/bounce/cloth/particle.h               |   5 +-
 include/bounce/cloth/shear_force.h            | 114 ++++++
 include/bounce/sparse/sparse_sym_mat33.h      | 337 ------------------
 include/bounce/sparse/sparse_sym_mat33_view.h | 132 -------
 src/bounce/cloth/cloth.cpp                    |  18 +-
 src/bounce/cloth/cloth_force_solver.cpp       |  16 +-
 src/bounce/cloth/force.cpp                    |  14 +
 src/bounce/cloth/shear_force.cpp              | 219 ++++++++++++
 src/bounce/cloth/spring_force.cpp             |  14 +-
 src/bounce/cloth/strech_force.cpp             |  30 +-
 16 files changed, 410 insertions(+), 509 deletions(-)
 create mode 100644 include/bounce/cloth/shear_force.h
 delete mode 100644 include/bounce/sparse/sparse_sym_mat33.h
 delete mode 100644 include/bounce/sparse/sparse_sym_mat33_view.h
 create mode 100644 src/bounce/cloth/shear_force.cpp

diff --git a/examples/testbed/tests/table_cloth.h b/examples/testbed/tests/table_cloth.h
index 08adff6..9460ffe 100644
--- a/examples/testbed/tests/table_cloth.h
+++ b/examples/testbed/tests/table_cloth.h
@@ -35,6 +35,7 @@ public:
 		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
 		def.streching = 10000.0f;
+		//def.shearing = 10000.0f;
 		def.damping = 100.0f;
 		def.thickness = 0.2f;
 		def.friction = 0.1f;
@@ -134,7 +135,6 @@ public:
 	}
 
 	b3GridClothMesh<10, 10> m_clothMesh;
-	
 	b3Cloth* m_cloth;
 	b3ClothDragger* m_clothDragger;
 
diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index 33ca02b..1fdc46f 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -69,6 +69,7 @@
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
 #include <bounce/cloth/strech_force.h>
+#include <bounce/cloth/shear_force.h>
 #include <bounce/cloth/spring_force.h>
 
 #include <bounce/cloth/garment/sewing_pattern.h>
diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index 4483df2..b4fda69 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -58,8 +58,9 @@ struct b3ClothDef
 		mesh = nullptr;
 		density = 0.0f;
 		streching = 0.0f;
-		sewing = 0.0f;
+		shearing = 0.0f;
 		bending = 0.0f;
+		sewing = 0.0f;
 		damping = 0.0f;
 		thickness = 0.0f;
 		friction = 0.2f;
@@ -74,6 +75,9 @@ struct b3ClothDef
 	// Streching stiffness
 	float32 streching;
 
+	// Shearing stiffness
+	float32 shearing;
+	
 	// Bending stiffness
 	float32 bending;
 
@@ -156,6 +160,7 @@ public:
 private:
 	friend class b3Particle;
 	friend class b3ClothTriangle;
+	friend class b3ShearForce;
 	friend class b3StrechForce;
 	friend class b3SpringForce;
 	friend class b3ClothContactManager;
diff --git a/include/bounce/cloth/cloth_force_solver.h b/include/bounce/cloth/cloth_force_solver.h
index 763e3cc..d91786c 100644
--- a/include/bounce/cloth/cloth_force_solver.h
+++ b/include/bounce/cloth/cloth_force_solver.h
@@ -29,8 +29,8 @@ class b3Force;
 
 struct b3DenseVec3;
 struct b3DiagMat33;
-struct b3SparseSymMat33;
-struct b3SparseSymMat33View;
+struct b3SparseMat33;
+struct b3SparseMat33View;
 
 struct b3ClothForceSolverDef
 {
@@ -47,8 +47,8 @@ struct b3ClothForceSolverData
 	b3DenseVec3* v;
 	b3DenseVec3* f;
 	b3DenseVec3* y;
-	b3SparseSymMat33* dfdx;
-	b3SparseSymMat33* dfdv;
+	b3SparseMat33* dfdx;
+	b3SparseMat33* dfdv;
 	b3DiagMat33* S;
 	b3DenseVec3* z;
 };
diff --git a/include/bounce/cloth/cloth_triangle.h b/include/bounce/cloth/cloth_triangle.h
index 5a11fe7..03750d5 100644
--- a/include/bounce/cloth/cloth_triangle.h
+++ b/include/bounce/cloth/cloth_triangle.h
@@ -42,6 +42,7 @@ public:
 private:
 	friend class b3Cloth;
 	friend class b3Particle;
+	friend class b3ShearForce;
 	friend class b3StrechForce;
 	friend class b3ClothContactManager;
 	friend class b3ParticleTriangleContact;
diff --git a/include/bounce/cloth/force.h b/include/bounce/cloth/force.h
index 5c0b283..3fb51cd 100644
--- a/include/bounce/cloth/force.h
+++ b/include/bounce/cloth/force.h
@@ -30,6 +30,7 @@ class b3Particle;
 enum b3ForceType
 {
 	e_strechForce,
+	e_shearForce,
 	e_springForce,
 };
 
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index 71fe08f..4de14cb 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -112,15 +112,16 @@ public:
 private:
 	friend class b3List2<b3Particle>;
 	friend class b3Cloth;
-	friend class b3ClothTriangle;
+	friend class b3ClothContactManager;
 	friend class b3ClothSolver;
 	friend class b3ClothForceSolver;
-	friend class b3ClothContactManager;
+	friend class b3ClothTriangle;
 	friend class b3ParticleBodyContact;
 	friend class b3ParticleTriangleContact;
 	friend class b3ClothContactSolver;
 	friend class b3Force;
 	friend class b3StrechForce;
+	friend class b3ShearForce;
 	friend class b3SpringForce;
 
 	b3Particle(const b3ParticleDef& def, b3Cloth* cloth);
diff --git a/include/bounce/cloth/shear_force.h b/include/bounce/cloth/shear_force.h
new file mode 100644
index 0000000..8485795
--- /dev/null
+++ b/include/bounce/cloth/shear_force.h
@@ -0,0 +1,114 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_SHEAR_FORCE_H
+#define B3_SHEAR_FORCE_H
+
+#include <bounce/cloth/force.h>
+
+class b3ClothTriangle;
+
+struct b3ShearForceDef : public b3ForceDef
+{
+	b3ShearForceDef()
+	{
+		type = e_shearForce;
+	}
+
+	// Triangle
+	b3ClothTriangle* triangle;
+
+	// Shearing stiffness
+	float32 shearing;
+
+	// Damping stiffness
+	float32 damping;
+};
+
+// Shear force acting on a cloth triangle.
+class b3ShearForce : public b3Force
+{
+public:
+	bool HasParticle(const b3Particle* particle) const;
+
+	b3ClothTriangle* GetTriangle() const;
+
+	float32 GetShearingStiffness() const;
+
+	float32 GetDampingStiffness() const;
+
+	b3Vec3 GetActionForce1() const;
+
+	b3Vec3 GetActionForce2() const;
+
+	b3Vec3 GetActionForce3() const;
+private:
+	friend class b3Force;
+	friend class b3Cloth;
+
+	b3ShearForce(const b3ShearForceDef* def);
+	~b3ShearForce();
+
+	void Apply(const b3ClothForceSolverData* data);
+
+	// Solver shared
+
+	// Triangle
+	b3ClothTriangle* m_triangle;
+
+	// Shearing stiffness
+	float32 m_ks;
+
+	// Damping stiffness
+	float32 m_kd;
+
+	// Action forces
+	b3Vec3 m_f1, m_f2, m_f3;
+};
+
+inline b3ClothTriangle* b3ShearForce::GetTriangle() const
+{
+	return m_triangle;
+}
+
+inline float32 b3ShearForce::GetShearingStiffness() const
+{
+	return m_ks;
+}
+
+inline float32 b3ShearForce::GetDampingStiffness() const
+{
+	return m_kd;
+}
+
+inline b3Vec3 b3ShearForce::GetActionForce1() const
+{
+	return m_f1;
+}
+
+inline b3Vec3 b3ShearForce::GetActionForce2() const
+{
+	return m_f2;
+}
+
+inline b3Vec3 b3ShearForce::GetActionForce3() const
+{
+	return m_f3;
+}
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/sparse/sparse_sym_mat33.h b/include/bounce/sparse/sparse_sym_mat33.h
deleted file mode 100644
index e4d4b3e..0000000
--- a/include/bounce/sparse/sparse_sym_mat33.h
+++ /dev/null
@@ -1,337 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_SPARSE_SYM_MAT_33_H
-#define B3_SPARSE_SYM_MAT_33_H
-
-#include <bounce/sparse/sparse_mat33.h>
-
-// A sparse symmetric matrix.
-// Each row is a list of non-zero elements in the row.
-// The total matrix capacity is bounded by 
-// M * (M + 1) / 2
-// You must write only the upper triangle elements of the original
-// matrix to this matrix because a_ji = a_ij.
-struct b3SparseSymMat33
-{
-	//
-	b3SparseSymMat33();
-
-	// 
-	b3SparseSymMat33(u32 m);
-
-	//
-	b3SparseSymMat33(const b3SparseSymMat33& _m);
-
-	//
-	~b3SparseSymMat33();
-
-	//
-	b3SparseSymMat33& operator=(const b3SparseSymMat33& _m);
-
-	// 
-	void Copy(const b3SparseSymMat33& _m);
-
-	//
-	void Destroy();
-
-	// 
-	b3Mat33& operator()(u32 i, u32 j);
-
-	// 
-	const b3Mat33& operator()(u32 i, u32 j) const;
-
-	// 
-	void operator+=(const b3SparseSymMat33& m);
-
-	// 
-	void operator-=(const b3SparseSymMat33& m);
-
-	u32 rowCount;
-	b3RowValueList* rows; 
-};
-
-inline b3SparseSymMat33::b3SparseSymMat33()
-{
-	rowCount = 0;
-	rows = nullptr;
-}
-
-inline b3SparseSymMat33::b3SparseSymMat33(u32 m)
-{
-	rowCount = m;
-	rows = (b3RowValueList*)b3Alloc(rowCount * sizeof(b3RowValueList));
-	for (u32 i = 0; i < rowCount; ++i)
-	{
-		new (rows + i)b3RowValueList();
-	}
-}
-
-inline b3SparseSymMat33::b3SparseSymMat33(const b3SparseSymMat33& m)
-{
-	rowCount = m.rowCount;
-	rows = (b3RowValueList*)b3Alloc(rowCount * sizeof(b3RowValueList));
-	for (u32 i = 0; i < rowCount; ++i)
-	{
-		new (rows + i)b3RowValueList();
-	}
-
-	Copy(m);
-}
-
-inline b3SparseSymMat33::~b3SparseSymMat33()
-{
-	Destroy();
-}
-
-inline void b3SparseSymMat33::Destroy()
-{
-	for (u32 i = 0; i < rowCount; ++i)
-	{
-		b3RowValueList* vs = rows + i;
-
-		b3RowValue* v = vs->head;
-		while (v)
-		{
-			b3RowValue* v0 = v->next;
-			b3Free(v);
-			v = v0;
-		}
-
-		vs->~b3RowValueList();
-	}
-
-	b3Free(rows);
-}
-
-inline b3SparseSymMat33& b3SparseSymMat33::operator=(const b3SparseSymMat33& _m)
-{
-	if (_m.rows == rows)
-	{
-		return *this;
-	}
-
-	Destroy();
-
-	rowCount = _m.rowCount;
-	rows = (b3RowValueList*)b3Alloc(rowCount * sizeof(b3RowValueList));
-	for (u32 i = 0; i < rowCount; ++i)
-	{
-		new (rows + i)b3RowValueList();
-	}
-
-	Copy(_m);
-
-	return *this;
-}
-
-inline void b3SparseSymMat33::Copy(const b3SparseSymMat33& _m)
-{
-	B3_ASSERT(rowCount == _m.rowCount);
-
-	for (u32 i = 0; i < rowCount; ++i)
-	{
-		b3RowValueList* vs1 = _m.rows + i;
-		b3RowValueList* vs2 = rows + i;
-
-		B3_ASSERT(vs2->count == 0);
-
-		for (b3RowValue* v1 = vs1->head; v1; v1 = v1->next)
-		{
-			b3RowValue* v2 = (b3RowValue*)b3Alloc(sizeof(b3RowValue));
-
-			v2->column = v1->column;
-			v2->value = v1->value;
-
-			vs2->PushFront(v2);
-		}
-	}
-}
-
-inline const b3Mat33& b3SparseSymMat33::operator()(u32 i, u32 j) const
-{
-	B3_ASSERT(i < rowCount);
-	B3_ASSERT(j < rowCount);
-
-	if (i > j)
-	{
-		b3Swap(i, j);
-	}
-
-	b3RowValueList* vs = rows + i;
-	for (b3RowValue* v = vs->head; v; v = v->next)
-	{
-		if (v->column == j)
-		{
-			return v->value;
-		}
-	}
-
-	return b3Mat33_zero;
-}
-
-inline b3Mat33& b3SparseSymMat33::operator()(u32 i, u32 j)
-{	
-	B3_ASSERT(i < rowCount);
-	B3_ASSERT(j < rowCount);
-
-	if (i > j)
-	{
-		b3Swap(i, j);
-	}
-
-	b3RowValueList* vs = rows + i;
-	for (b3RowValue* v = vs->head; v; v = v->next)
-	{
-		if (v->column == j)
-		{
-			return v->value;
-		}
-	}
-
-	b3RowValue* v = (b3RowValue*)b3Alloc(sizeof(b3RowValue));
-	v->column = j;
-	v->value.SetZero();
-
-	vs->PushFront(v);
-
-	return v->value;
-}
-
-inline void b3SparseSymMat33::operator+=(const b3SparseSymMat33& m)
-{
-	B3_ASSERT(rowCount == m.rowCount);
-
-	for (u32 i = 0; i < m.rowCount; ++i)
-	{
-		b3RowValueList* mvs = m.rows + i;
-
-		for (b3RowValue* v = mvs->head; v; v = v->next)
-		{
-			u32 j = v->column;
-
-			(*this)(i, j) += v->value;
-		}
-	}
-}
-
-inline void b3SparseSymMat33::operator-=(const b3SparseSymMat33& m)
-{
-	B3_ASSERT(rowCount == m.rowCount);
-
-	for (u32 i = 0; i < m.rowCount; ++i)
-	{
-		b3RowValueList* mvs = m.rows + i;
-
-		for (b3RowValue* v = mvs->head; v; v = v->next)
-		{
-			u32 j = v->column;
-
-			(*this)(i, j) -= v->value;
-		}
-	}
-}
-
-inline void b3Add(b3SparseSymMat33& out, const b3SparseSymMat33& a, const b3SparseSymMat33& b)
-{
-	out = a;
-	out += b;
-}
-
-inline void b3Sub(b3SparseSymMat33& out, const b3SparseSymMat33& a, const b3SparseSymMat33& b)
-{
-	out = a;
-	out -= b;
-}
-
-inline void b3Mul(b3DenseVec3& out, const b3SparseSymMat33& A, const b3DenseVec3& v)
-{
-	B3_ASSERT(A.rowCount == out.n);
-
-	out.SetZero();
-
-	for (u32 i = 0; i < A.rowCount; ++i)
-	{
-		b3RowValueList* vs = A.rows + i;
-
-		for (b3RowValue* vA = vs->head; vA; vA = vA->next)
-		{
-			u32 j = vA->column;
-			b3Mat33 a = vA->value;
-
-			out[i] += a * v[j];
-
-			if (i != j)
-			{
-				// a_ij == a_ji
-				out[j] += a * v[i];
-			}
-		}
-	}
-}
-
-inline void b3Mul(b3SparseSymMat33& out, float32 s, const b3SparseSymMat33& B)
-{
-	B3_ASSERT(out.rowCount == B.rowCount);
-
-	if (s == 0.0f)
-	{
-		return;
-	}
-
-	out = B;
-
-	for (u32 i = 0; i < out.rowCount; ++i)
-	{
-		b3RowValueList* vs = out.rows + i;
-		for (b3RowValue* v = vs->head; v; v = v->next)
-		{
-			v->value = s * v->value;
-		}
-	}
-}
-
-inline b3SparseSymMat33 operator+(const b3SparseSymMat33& A, const b3SparseSymMat33& B)
-{
-	b3SparseSymMat33 result(A.rowCount);
-	b3Add(result, A, B);
-	return result;
-}
-
-inline b3SparseSymMat33 operator-(const b3SparseSymMat33& A, const b3SparseSymMat33& B)
-{
-	b3SparseSymMat33 result(A.rowCount);
-	b3Sub(result, A, B);
-	return result;
-}
-
-inline b3SparseSymMat33 operator*(float32 A, const b3SparseSymMat33& B)
-{
-	b3SparseSymMat33 result(B.rowCount);
-	b3Mul(result, A, B);
-	return result;
-}
-
-inline b3DenseVec3 operator*(const b3SparseSymMat33& A, const b3DenseVec3& v)
-{
-	b3DenseVec3 result(v.n);
-	b3Mul(result, A, v);
-	return result;
-}
-
-#endif
diff --git a/include/bounce/sparse/sparse_sym_mat33_view.h b/include/bounce/sparse/sparse_sym_mat33_view.h
deleted file mode 100644
index 7d944d6..0000000
--- a/include/bounce/sparse/sparse_sym_mat33_view.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
-* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked as such, and must not be
-* misrepresented as being the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef B3_SPARSE_SYM_MAT_33_VIEW_H
-#define B3_SPARSE_SYM_MAT_33_VIEW_H
-
-#include <bounce/sparse/sparse_mat33_view.h>
-#include <bounce/sparse/sparse_sym_mat33.h>
-
-// A read-only sparse symmetric matrix.
-struct b3SparseSymMat33View
-{
-	//
-	b3SparseSymMat33View(const b3SparseSymMat33& _m);
-
-	//
-	~b3SparseSymMat33View();
-
-	//
-	const b3Mat33& operator()(u32 i, u32 j) const;
-	
-	u32 rowCount;
-	b3RowValueArray* rows;
-};
-
-inline b3SparseSymMat33View::b3SparseSymMat33View(const b3SparseSymMat33& _m)
-{
-	rowCount = _m.rowCount;
-	rows = (b3RowValueArray*)b3Alloc(rowCount * sizeof(b3RowValueArray));
-	for (u32 i = 0; i < _m.rowCount; ++i)
-	{
-		b3RowValueList* rowList = _m.rows + i;
-		b3RowValueArray* rowArray = rows + i;
-
-		rowArray->count = rowList->count;
-		rowArray->values = (b3ArrayRowValue*)b3Alloc(rowArray->count * sizeof(b3ArrayRowValue));
-
-		u32 valueIndex = 0;
-		for (b3RowValue* v = rowList->head; v; v = v->next)
-		{
-			rowArray->values[valueIndex].column = v->column;
-			rowArray->values[valueIndex].value = v->value;
-			++valueIndex;
-		}
-	}
-}
-
-inline b3SparseSymMat33View::~b3SparseSymMat33View()
-{
-	for (u32 i = 0; i < rowCount; ++i)
-	{
-		b3RowValueArray* rowArray = rows + i;
-		b3Free(rowArray->values);
-	}
-	b3Free(rows);
-}
-
-inline const b3Mat33& b3SparseSymMat33View::operator()(u32 i, u32 j) const
-{
-	B3_ASSERT(i < rowCount);
-	B3_ASSERT(j < rowCount);
-
-	if (i > j)
-	{
-		b3Swap(i, j);
-	}
-
-	b3RowValueArray* vs = rows + i;
-
-	for (u32 c = 0; c < vs->count; ++c)
-	{
-		b3ArrayRowValue* rv = vs->values + c;
-		
-		if (rv->column == j)
-		{
-			return rv->value;
-		}
-	}
-
-	return b3Mat33_zero;
-}
-
-inline void b3Mul(b3DenseVec3& out, const b3SparseSymMat33View& A, const b3DenseVec3& v)
-{
-	B3_ASSERT(A.rowCount == out.n);
-
-	out.SetZero();
-
-	for (u32 i = 0; i < A.rowCount; ++i)
-	{
-		b3RowValueArray* rowArray = A.rows + i;
-
-		for (u32 c = 0; c < rowArray->count; ++c)
-		{
-			b3ArrayRowValue* rv = rowArray->values + c;
-
-			u32 j = rv->column;
-			b3Mat33 a = rv->value;
-
-			out[i] += a * v[j];
-
-			if (i != j)
-			{
-				out[j] += a * v[i];
-			}
-		}
-	}
-}
-
-inline b3DenseVec3 operator*(const b3SparseSymMat33View& A, const b3DenseVec3& v)
-{
-	b3DenseVec3 result(v.n);
-	b3Mul(result, A, v);
-	return result;
-}
-
-#endif
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index d2a3af6..2e442ab 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -21,8 +21,9 @@
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
 #include <bounce/cloth/force.h>
-#include <bounce/cloth/spring_force.h>
 #include <bounce/cloth/strech_force.h>
+#include <bounce/cloth/shear_force.h>
+#include <bounce/cloth/spring_force.h>
 #include <bounce/cloth/cloth_solver.h>
 #include <bounce/common/draw.h>
 
@@ -199,7 +200,20 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		sfdef.bu = 1.0f;
 		sfdef.bv = 1.0f;
 
-		CreateForce(sfdef);
+		if (def.streching > 0.0f)
+		{
+			CreateForce(sfdef);
+		}
+
+		b3ShearForceDef shdef;
+		shdef.triangle = triangle;
+		shdef.shearing = def.shearing;
+		shdef.damping = def.damping;
+
+		if (def.shearing > 0.0f)
+		{
+			CreateForce(shdef);
+		}
 	}
 
 	// Initialize forces
diff --git a/src/bounce/cloth/cloth_force_solver.cpp b/src/bounce/cloth/cloth_force_solver.cpp
index e530d54..8da4703 100644
--- a/src/bounce/cloth/cloth_force_solver.cpp
+++ b/src/bounce/cloth/cloth_force_solver.cpp
@@ -21,8 +21,8 @@
 #include <bounce/cloth/force.h>
 #include <bounce/sparse/dense_vec3.h>
 #include <bounce/sparse/diag_mat33.h>
-#include <bounce/sparse/sparse_sym_mat33.h>
-#include <bounce/sparse/sparse_sym_mat33_view.h>
+#include <bounce/sparse/sparse_mat33.h>
+#include <bounce/sparse/sparse_mat33_view.h>
 #include <bounce/common/memory/stack_allocator.h>
 
 // Here, we solve Ax = b using the Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
@@ -128,7 +128,7 @@ void b3ClothForceSolver::ApplyConstraints()
 
 // Solve Ax = b
 static void b3SolveMPCG(b3DenseVec3& x,
-	const b3SparseSymMat33View& A, const b3DenseVec3& b,
+	const b3SparseMat33View& A, const b3DenseVec3& b,
 	const b3DiagMat33& S, const b3DenseVec3& z,
 	const b3DenseVec3& y, const b3DiagMat33& I, u32 maxIterations = 20)
 {
@@ -214,9 +214,9 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 	b3DenseVec3 sy(m_particleCount);
 	b3DenseVec3 sz(m_particleCount);
 	b3DenseVec3 sx0(m_particleCount);
-	b3SparseSymMat33 M(m_particleCount);
-	b3SparseSymMat33 dfdx(m_particleCount);
-	b3SparseSymMat33 dfdv(m_particleCount);
+	b3SparseMat33 M(m_particleCount);
+	b3SparseMat33 dfdx(m_particleCount);
+	b3SparseMat33 dfdv(m_particleCount);
 	b3DiagMat33 S(m_particleCount);
 	b3DiagMat33 I(m_particleCount);
 	I.SetIdentity();
@@ -261,10 +261,10 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 	// b = h * (f0 + h * dfdx * v0 + dfdx * y) 
 	
 	// A
-	b3SparseSymMat33 A = M - h * dfdv - h * h * dfdx;
+	b3SparseMat33 A = M - h * dfdv - h * h * dfdx;
 
 	// View for A
-	b3SparseSymMat33View viewA(A);
+	b3SparseMat33View viewA(A);
 
 	// b
 	b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
diff --git a/src/bounce/cloth/force.cpp b/src/bounce/cloth/force.cpp
index acc3227..4de3bf5 100644
--- a/src/bounce/cloth/force.cpp
+++ b/src/bounce/cloth/force.cpp
@@ -18,6 +18,7 @@
 
 #include <bounce/cloth/force.h>
 #include <bounce/cloth/strech_force.h>
+#include <bounce/cloth/shear_force.h>
 #include <bounce/cloth/spring_force.h>
 
 b3Force* b3Force::Create(const b3ForceDef* def)
@@ -31,6 +32,12 @@ b3Force* b3Force::Create(const b3ForceDef* def)
 		force = new (block) b3StrechForce((b3StrechForceDef*)def);
 		break;
 	}
+	case e_shearForce:
+	{
+		void* block = b3Alloc(sizeof(b3ShearForce));
+		force = new (block) b3ShearForce((b3ShearForceDef*)def);
+		break;
+	}
 	case e_springForce:
 	{
 		void* block = b3Alloc(sizeof(b3SpringForce));
@@ -60,6 +67,13 @@ void b3Force::Destroy(b3Force* force)
 		b3Free(force);
 		break;
 	}
+	case e_shearForce:
+	{
+		b3ShearForce* o = (b3ShearForce*)force;
+		o->~b3ShearForce();
+		b3Free(force);
+		break;
+	}
 	case e_springForce:
 	{
 		b3SpringForce* o = (b3SpringForce*)force;
diff --git a/src/bounce/cloth/shear_force.cpp b/src/bounce/cloth/shear_force.cpp
new file mode 100644
index 0000000..b79b549
--- /dev/null
+++ b/src/bounce/cloth/shear_force.cpp
@@ -0,0 +1,219 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/cloth/shear_force.h>
+#include <bounce/cloth/cloth_triangle.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/cloth_force_solver.h>
+#include <bounce/sparse/dense_vec3.h>
+#include <bounce/sparse/sparse_mat33.h>
+
+b3ShearForce::b3ShearForce(const b3ShearForceDef* def)
+{
+	m_type = e_shearForce;
+	m_triangle = def->triangle;
+	m_ks = def->shearing;
+	m_kd = def->damping;
+	m_f1.SetZero();
+	m_f2.SetZero();
+	m_f3.SetZero();
+}
+
+b3ShearForce::~b3ShearForce()
+{
+
+}
+
+bool b3ShearForce::HasParticle(const b3Particle* particle) const
+{
+	b3Cloth* cloth = m_triangle->m_cloth;
+	u32 triangleIndex = m_triangle->m_triangle;
+	b3ClothMeshTriangle* triangle = cloth->m_mesh->triangles + triangleIndex;
+
+	b3Particle* p1 = cloth->m_particles[triangle->v1];
+	b3Particle* p2 = cloth->m_particles[triangle->v2];
+	b3Particle* p3 = cloth->m_particles[triangle->v3];
+
+	return p1 == particle || p2 == particle || p3 == particle;
+}
+
+void b3ShearForce::Apply(const b3ClothForceSolverData* data)
+{
+	b3Cloth* cloth = m_triangle->m_cloth;
+	u32 triangleIndex = m_triangle->m_triangle;
+	b3ClothMeshTriangle* triangle = cloth->m_mesh->triangles + triangleIndex;
+
+	float32 alpha = m_triangle->m_alpha;
+	float32 du1 = m_triangle->m_du1;
+	float32 dv1 = m_triangle->m_dv1;
+	float32 du2 = m_triangle->m_du2;
+	float32 dv2 = m_triangle->m_dv2;
+	float32 inv_det = m_triangle->m_inv_det;
+
+	b3Particle* p1 = cloth->m_particles[triangle->v1];
+	b3Particle* p2 = cloth->m_particles[triangle->v2];
+	b3Particle* p3 = cloth->m_particles[triangle->v3];
+
+	u32 i1 = p1->m_solverId;
+	u32 i2 = p2->m_solverId;
+	u32 i3 = p3->m_solverId;
+
+	b3DenseVec3& x = *data->x;
+	b3DenseVec3& v = *data->v;
+	b3DenseVec3& f = *data->f;
+	b3SparseMat33& dfdx = *data->dfdx;
+	b3SparseMat33& dfdv = *data->dfdv;
+
+	b3Vec3 x1 = x[i1];
+	b3Vec3 x2 = x[i2];
+	b3Vec3 x3 = x[i3];
+
+	b3Vec3 v1 = v[i1];
+	b3Vec3 v2 = v[i2];
+	b3Vec3 v3 = v[i3];
+
+	b3Mat33 I; I.SetIdentity();
+
+	b3Vec3 dx1 = x2 - x1;
+	b3Vec3 dx2 = x3 - x1;
+
+	b3Vec3 wu = inv_det * (dv2 * dx1 - dv1 * dx2);
+	b3Vec3 wv = inv_det * (-du2 * dx1 + du1 * dx2);
+
+	b3Vec3 dwudx;
+	dwudx[0] = inv_det * (dv1 - dv2);
+	dwudx[1] = inv_det * dv2;
+	dwudx[2] = -inv_det * dv1;
+
+	b3Vec3 dwvdx;
+	dwvdx[0] = inv_det * (du2 - du1);
+	dwvdx[1] = -inv_det * du2;
+	dwvdx[2] = inv_det * du1;
+
+	m_f1.SetZero();
+	m_f2.SetZero();
+	m_f3.SetZero();
+
+	// Jacobian
+	b3Vec3 dCdx[3];
+	for (u32 i = 0; i < 3; ++i)
+	{
+		dCdx[i] = alpha * (dwudx[i] * wv + dwvdx[i] * wu);
+	}
+
+	if (m_ks > 0.0f)
+	{
+		float32 C = alpha * b3Dot(wu, wv);
+
+		// Force
+		b3Vec3 fs[3];
+		for (u32 i = 0; i < 3; ++i)
+		{
+			fs[i] = -m_ks * C * dCdx[i];
+		}
+
+		m_f1 += fs[0];
+		m_f2 += fs[1];
+		m_f3 += fs[2];
+
+		// Jacobian
+		b3Mat33 d2Cxij;
+		for (u32 i = 0; i < 3; ++i)
+		{
+			for (u32 j = 0; j < 3; ++j)
+			{
+				d2Cxij(i, j) = alpha * (dwudx[i] * dwvdx[j] + dwudx[j] * dwvdx[i]);
+			}
+		}
+
+		b3Mat33 J[3][3];
+		for (u32 i = 0; i < 3; ++i)
+		{
+			for (u32 j = 0; j < 3; ++j)
+			{
+				b3Mat33 Jij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + (C * d2Cxij(i, j) * I));
+
+				J[i][j] = Jij;
+			}
+		}
+
+		dfdx(i1, i1) += J[0][0];
+		dfdx(i1, i2) += J[0][1];
+		dfdx(i1, i3) += J[0][2];
+
+		dfdx(i2, i1) += J[1][0];
+		dfdx(i2, i2) += J[1][1];
+		dfdx(i2, i3) += J[1][2];
+
+		dfdx(i3, i1) += J[2][0];
+		dfdx(i3, i2) += J[2][1];
+		dfdx(i3, i3) += J[2][2];
+	}
+
+	if (m_kd > 0.0f)
+	{
+		b3Vec3 vs[3] = { v1, v2, v3 };
+
+		float32 dCdt = 0.0f;
+		for (u32 i = 0; i < 3; ++i) 
+		{
+			dCdt += b3Dot(dCdx[i], vs[i]);
+		}
+
+		// Force
+		b3Vec3 fs[3];
+		for (u32 i = 0; i < 3; ++i)
+		{
+			fs[i] = -m_kd * dCdt * dCdx[i];
+		}
+
+		m_f1 += fs[0];
+		m_f2 += fs[1];
+		m_f3 += fs[2];
+
+		// Jacobian
+		b3Mat33 J[3][3];
+		for (u32 i = 0; i < 3; ++i)
+		{
+			for (u32 j = 0; j < 3; ++j)
+			{
+				b3Mat33 Jij = -m_kd * b3Outer(dCdx[i], dCdx[j]);
+
+				J[i][j] = Jij;
+			}
+		}
+
+		dfdv(i1, i1) += J[0][0];
+		dfdv(i1, i2) += J[0][1];
+		dfdv(i1, i3) += J[0][2];
+
+		dfdv(i2, i1) += J[1][0];
+		dfdv(i2, i2) += J[1][1];
+		dfdv(i2, i3) += J[1][2];
+
+		dfdv(i3, i1) += J[2][0];
+		dfdv(i3, i2) += J[2][1];
+		dfdv(i3, i3) += J[2][2];
+	}
+	
+	f[i1] += m_f1;
+	f[i2] += m_f2;
+	f[i3] += m_f3;
+}
\ No newline at end of file
diff --git a/src/bounce/cloth/spring_force.cpp b/src/bounce/cloth/spring_force.cpp
index 1f687ae..8248c6d 100644
--- a/src/bounce/cloth/spring_force.cpp
+++ b/src/bounce/cloth/spring_force.cpp
@@ -20,7 +20,7 @@
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_force_solver.h>
 #include <bounce/sparse/dense_vec3.h>
-#include <bounce/sparse/sparse_sym_mat33.h>
+#include <bounce/sparse/sparse_mat33.h>
 
 void b3SpringForceDef::Initialize(b3Particle* particle1, b3Particle* particle2, float32 structuralStiffness, float32 dampingStiffness)
 {
@@ -55,8 +55,8 @@ void b3SpringForce::Apply(const b3ClothForceSolverData* data)
 	b3DenseVec3& x = *data->x;
 	b3DenseVec3& v = *data->v;
 	b3DenseVec3& f = *data->f;
-	b3SparseSymMat33& dfdx = *data->dfdx;
-	b3SparseSymMat33& dfdv = *data->dfdv;
+	b3SparseMat33& dfdx = *data->dfdx;
+	b3SparseMat33& dfdv = *data->dfdv;
 
 	u32 i1 = m_p1->m_solverId;
 	u32 i2 = m_p2->m_solverId;
@@ -87,12 +87,12 @@ void b3SpringForce::Apply(const b3ClothForceSolverData* data)
 			// Jacobian
 			b3Mat33 Jx11 = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx)));
 			b3Mat33 Jx12 = -Jx11;
-			//b3Mat33 Jx21 = Jx12;
+			b3Mat33 Jx21 = Jx12;
 			b3Mat33 Jx22 = Jx11;
 
 			dfdx(i1, i1) += Jx11;
 			dfdx(i1, i2) += Jx12;
-			//dfdx(i2, i1) += Jx21;
+			dfdx(i2, i1) += Jx21;
 			dfdx(i2, i2) += Jx22;
 		}
 	}
@@ -106,12 +106,12 @@ void b3SpringForce::Apply(const b3ClothForceSolverData* data)
 		
 		b3Mat33 Jv11 = -m_kd * I;
 		b3Mat33 Jv12 = -Jv11;
-		//b3Mat33 Jv21 = Jv12;
+		b3Mat33 Jv21 = Jv12;
 		b3Mat33 Jv22 = Jv11;
 
 		dfdv(i1, i1) += Jv11;
 		dfdv(i1, i2) += Jv12;
-		//dfdv(i2, i1) += Jv21;
+		dfdv(i2, i1) += Jv21;
 		dfdv(i2, i2) += Jv22;
 	}
 
diff --git a/src/bounce/cloth/strech_force.cpp b/src/bounce/cloth/strech_force.cpp
index d208441..e918809 100644
--- a/src/bounce/cloth/strech_force.cpp
+++ b/src/bounce/cloth/strech_force.cpp
@@ -23,7 +23,7 @@
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/cloth_force_solver.h>
 #include <bounce/sparse/dense_vec3.h>
-#include <bounce/sparse/sparse_sym_mat33.h>
+#include <bounce/sparse/sparse_mat33.h>
 
 b3StrechForce::b3StrechForce(const b3StrechForceDef* def)
 {
@@ -80,8 +80,8 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 	b3DenseVec3& x = *data->x;
 	b3DenseVec3& v = *data->v;
 	b3DenseVec3& f = *data->f;
-	b3SparseSymMat33& dfdx = *data->dfdx;
-	b3SparseSymMat33& dfdv = *data->dfdv;
+	b3SparseMat33& dfdx = *data->dfdx;
+	b3SparseMat33& dfdv = *data->dfdv;
 
 	b3Vec3 x1 = x[i1];
 	b3Vec3 x2 = x[i2];
@@ -163,12 +163,12 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 				dfdx(i1, i2) += J[0][1];
 				dfdx(i1, i3) += J[0][2];
 
-				//dfdx(i2, i1) += J[1][0];
+				dfdx(i2, i1) += J[1][0];
 				dfdx(i2, i2) += J[1][1];
 				dfdx(i2, i3) += J[1][2];
 
-				//dfdx(i3, i1) += J[2][0];
-				//dfdx(i3, i2) += J[2][1];
+				dfdx(i3, i1) += J[2][0];
+				dfdx(i3, i2) += J[2][1];
 				dfdx(i3, i3) += J[2][2];
 			}
 		}
@@ -209,12 +209,12 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 			dfdv(i1, i2) += J[0][1];
 			dfdv(i1, i3) += J[0][2];
 
-			//dfdv(i2, i1) += J[1][0];
+			dfdv(i2, i1) += J[1][0];
 			dfdv(i2, i2) += J[1][1];
 			dfdv(i2, i3) += J[1][2];
 
-			//dfdv(i3, i1) += J[2][0];
-			//dfdv(i3, i2) += J[2][1];
+			dfdv(i3, i1) += J[2][0];
+			dfdv(i3, i2) += J[2][1];
 			dfdv(i3, i3) += J[2][2];
 		}
 	}
@@ -266,12 +266,12 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 				dfdx(i1, i2) += J[0][1];
 				dfdx(i1, i3) += J[0][2];
 
-				//dfdx(i2, i1) += J[1][0];
+				dfdx(i2, i1) += J[1][0];
 				dfdx(i2, i2) += J[1][1];
 				dfdx(i2, i3) += J[1][2];
 
-				//dfdx(i3, i1) += J[2][0];
-				//dfdx(i3, i2) += J[2][1];
+				dfdx(i3, i1) += J[2][0];
+				dfdx(i3, i2) += J[2][1];
 				dfdx(i3, i3) += J[2][2];
 			}
 		}
@@ -313,12 +313,12 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 			dfdv(i1, i2) += J[0][1];
 			dfdv(i1, i3) += J[0][2];
 
-			//dfdv(i2, i1) += J[1][0];
+			dfdv(i2, i1) += J[1][0];
 			dfdv(i2, i2) += J[1][1];
 			dfdv(i2, i3) += J[1][2];
 
-			//dfdv(i3, i1) += J[2][0];
-			//dfdv(i3, i2) += J[2][1];
+			dfdv(i3, i1) += J[2][0];
+			dfdv(i3, i2) += J[2][1];
 			dfdv(i3, i3) += J[2][2];
 		}
 	}

From 51d45ae3725182dbbcfc07b653e7da797919cf6a Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 27 Jun 2019 17:03:24 -0300
Subject: [PATCH 183/198] Optimization

---
 src/bounce/cloth/cloth_force_solver.cpp |  2 +-
 src/bounce/cloth/shear_force.cpp        | 13 +++----------
 2 files changed, 4 insertions(+), 11 deletions(-)

diff --git a/src/bounce/cloth/cloth_force_solver.cpp b/src/bounce/cloth/cloth_force_solver.cpp
index 8da4703..2fb3953 100644
--- a/src/bounce/cloth/cloth_force_solver.cpp
+++ b/src/bounce/cloth/cloth_force_solver.cpp
@@ -261,7 +261,7 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 	// b = h * (f0 + h * dfdx * v0 + dfdx * y) 
 	
 	// A
-	b3SparseMat33 A = M - h * dfdv - h * h * dfdx;
+	b3SparseMat33 A = M - h * dfdv - (h * h) * dfdx;
 
 	// View for A
 	b3SparseMat33View viewA(A);
diff --git a/src/bounce/cloth/shear_force.cpp b/src/bounce/cloth/shear_force.cpp
index b79b549..fd0d506 100644
--- a/src/bounce/cloth/shear_force.cpp
+++ b/src/bounce/cloth/shear_force.cpp
@@ -134,21 +134,14 @@ void b3ShearForce::Apply(const b3ClothForceSolverData* data)
 		m_f3 += fs[2];
 
 		// Jacobian
-		b3Mat33 d2Cxij;
-		for (u32 i = 0; i < 3; ++i)
-		{
-			for (u32 j = 0; j < 3; ++j)
-			{
-				d2Cxij(i, j) = alpha * (dwudx[i] * dwvdx[j] + dwudx[j] * dwvdx[i]);
-			}
-		}
-
 		b3Mat33 J[3][3];
 		for (u32 i = 0; i < 3; ++i)
 		{
 			for (u32 j = 0; j < 3; ++j)
 			{
-				b3Mat33 Jij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + (C * d2Cxij(i, j) * I));
+				b3Mat33 d2Cxij = alpha * (dwudx[i] * dwvdx[j] + dwudx[j] * dwvdx[i]) * I;
+
+				b3Mat33 Jij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cxij);
 
 				J[i][j] = Jij;
 			}

From 4bb367b27a6832cdaec6b2a5296d24fa5f0ebd82 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 27 Jun 2019 19:18:28 -0300
Subject: [PATCH 184/198] Tossed out a term that makes the system non PD

---
 src/bounce/cloth/shear_force.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/bounce/cloth/shear_force.cpp b/src/bounce/cloth/shear_force.cpp
index fd0d506..a6c28a7 100644
--- a/src/bounce/cloth/shear_force.cpp
+++ b/src/bounce/cloth/shear_force.cpp
@@ -139,9 +139,9 @@ void b3ShearForce::Apply(const b3ClothForceSolverData* data)
 		{
 			for (u32 j = 0; j < 3; ++j)
 			{
-				b3Mat33 d2Cxij = alpha * (dwudx[i] * dwvdx[j] + dwudx[j] * dwvdx[i]) * I;
-
-				b3Mat33 Jij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cxij);
+				//b3Mat33 d2Cxij = alpha * (dwudx[i] * dwvdx[j] + dwudx[j] * dwvdx[i]) * I;
+				//b3Mat33 Jij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cxij);
+				b3Mat33 Jij = -m_ks * b3Outer(dCdx[i], dCdx[j]);
 
 				J[i][j] = Jij;
 			}

From cc5d062ca5352b14ce4f4f0c5884b2d2cc4a1440 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Thu, 27 Jun 2019 19:36:45 -0300
Subject: [PATCH 185/198] Enable shearing in test

---
 examples/testbed/tests/tension_mapping.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/examples/testbed/tests/tension_mapping.h b/examples/testbed/tests/tension_mapping.h
index 531512c..c328fd5 100644
--- a/examples/testbed/tests/tension_mapping.h
+++ b/examples/testbed/tests/tension_mapping.h
@@ -65,6 +65,7 @@ public:
 		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
 		def.streching = 10000.0f;
+		def.shearing = 5000.0f;
 		def.damping = 100.0f;
 
 		m_cloth = new b3Cloth(def);

From 774805e2646d0ec173c46bd429f9a8b78404531f Mon Sep 17 00:00:00 2001
From: Irlan Robson <irlanrobson@users.noreply.github.com>
Date: Thu, 27 Jun 2019 19:41:47 -0300
Subject: [PATCH 186/198] Update readme.md

---
 readme.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/readme.md b/readme.md
index d07e26c..3e25bfa 100644
--- a/readme.md
+++ b/readme.md
@@ -126,6 +126,7 @@ Below are the external dependencies for testbed. If you don't care about testbed
 
 * Cloth
 * Vertex contact, friction
+* Strech, shear, spring force types
 * Linear time solver
 * Unconditional simulation stability
 * Ray-casting 

From 15d5a3b303bde760e5ff6ced0ba1f212c3b33d9b Mon Sep 17 00:00:00 2001
From: Irlan Robson <irlanrobson@users.noreply.github.com>
Date: Thu, 27 Jun 2019 20:22:55 -0300
Subject: [PATCH 187/198] Update readme.md

---
 readme.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/readme.md b/readme.md
index 3e25bfa..5e3717e 100644
--- a/readme.md
+++ b/readme.md
@@ -135,6 +135,7 @@ Below are the external dependencies for testbed. If you don't care about testbed
 
 * Soft body
 * Vertex contact, friction
+* Elasticity, plasticity
 * Linear time solver
 * Unconditional simulation stability
 * Ray-casting 

From 55c4f190b183b4a6bead4f51295fb30694c2cfd1 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 28 Jun 2019 14:53:09 -0300
Subject: [PATCH 188/198] Improved the code that computes the (u, v)
 coordinates for a triangle vertices.

---
 src/bounce/cloth/cloth.cpp | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 2e442ab..69a673c 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -150,27 +150,30 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		triangle->m_aabbProxy.owner = triangle;
 		triangle->m_broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &triangle->m_aabbProxy);
 
-		// uv coordinates for triangle
-		
+		b3Vec3 AB = B - A;
+		b3Vec3 AC = C - A;
+
 		// v1
 		b3Vec2 uv1;
 		uv1.SetZero();
 
 		// v2
-		b3Vec3 AB = B - A;
-		
 		b3Vec2 uv2;
 		uv2.x = b3Length(AB);
 		uv2.y = 0.0f;
 
 		// v3
-		b3Vec3 n_AB = b3Normalize(AB);
-		b3Vec3 AC = C - A;
-		float32 len_AC = b3Length(AC);
+		B3_ASSERT(uv2.x > 0.0f);
+		b3Vec3 n_AB = AB / uv2.x;
+
+		// A  = b * h / 2
+		// h = (A * 2) / b
+		float32 A2 = b3Length(b3Cross(AB, AC));
+		B3_ASSERT(A2 > 0.0f);
 
 		b3Vec2 uv3;
 		uv3.x = b3Dot(n_AB, AC);
-		uv3.y = b3Sqrt(len_AC * len_AC - uv3.x * uv3.x);
+		uv3.y = A2 / uv2.x;
 
 		// Strech matrix
 		float32 du1 = uv2.x - uv1.x;

From 0e4b1c4d1ef43b3f5c0493204964093c2736327a Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 28 Jun 2019 15:19:22 -0300
Subject: [PATCH 189/198] Reuse triangle area since we use the triangle plane
 as the (u, v) plane

---
 src/bounce/cloth/cloth.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 69a673c..cacc89c 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -190,10 +190,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		B3_ASSERT(det != 0.0f);
 		triangle->m_inv_det = 1.0f / det;
 
-		// Triangle area
-		b3Vec3 v1(du1, dv1, 0.0f);
-		b3Vec3 v2(du2, dv2, 0.0f);
-		triangle->m_alpha = 0.5f * b3Length(b3Cross(v1, v2));
+		// Area
+		triangle->m_alpha = 0.5f * A2;
 
 		// Create strech force
 		b3StrechForceDef sfdef;

From bc050769a5cd231c0f973ccad507a210b3f8145a Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 28 Jun 2019 15:30:13 -0300
Subject: [PATCH 190/198] Update cloth.cpp

---
 src/bounce/cloth/cloth.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index cacc89c..270ff15 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -172,7 +172,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		B3_ASSERT(A2 > 0.0f);
 
 		b3Vec2 uv3;
-		uv3.x = b3Dot(n_AB, AC);
+		uv3.x = b3Dot(AC, n_AB);
 		uv3.y = A2 / uv2.x;
 
 		// Strech matrix

From dddfba5b2159b1641ec2243ece7cefa54393f413 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Fri, 28 Jun 2019 21:12:58 -0300
Subject: [PATCH 191/198] Make code clearer

---
 src/bounce/cloth/cloth.cpp | 32 +++++++++++++++-----------------
 1 file changed, 15 insertions(+), 17 deletions(-)

diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 270ff15..e45cd81 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -153,33 +153,31 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
 		b3Vec3 AB = B - A;
 		b3Vec3 AC = C - A;
 
-		// v1
-		b3Vec2 uv1;
-		uv1.SetZero();
+		// uv1
+		float32 u1 = 0.0f;
+		float32 v1 = 0.0f;
 
-		// v2
-		b3Vec2 uv2;
-		uv2.x = b3Length(AB);
-		uv2.y = 0.0f;
+		// uv2
+		float32 u2 = b3Length(AB);
+		float32 v2 = 0.0f;
 
-		// v3
-		B3_ASSERT(uv2.x > 0.0f);
-		b3Vec3 n_AB = AB / uv2.x;
+		// uv3
+		B3_ASSERT(u2 > 0.0f);
+		b3Vec3 n_AB = AB / u2;
 
 		// A  = b * h / 2
 		// h = (A * 2) / b
 		float32 A2 = b3Length(b3Cross(AB, AC));
 		B3_ASSERT(A2 > 0.0f);
 
-		b3Vec2 uv3;
-		uv3.x = b3Dot(AC, n_AB);
-		uv3.y = A2 / uv2.x;
+		float32 u3 = b3Dot(AC, n_AB);
+		float32 v3 = A2 / u2;
 
 		// Strech matrix
-		float32 du1 = uv2.x - uv1.x;
-		float32 dv1 = uv2.y - uv1.y;
-		float32 du2 = uv3.x - uv1.x;
-		float32 dv2 = uv3.y - uv1.y;
+		float32 du1 = u2 - u1;
+		float32 dv1 = v2 - v1;
+		float32 du2 = u3 - u1;
+		float32 dv2 = v3 - v1;
 		
 		triangle->m_du1 = du1;
 		triangle->m_dv1 = dv1;

From 0393933ecfd01767fe4d1cf4c57f24efac316c6e Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sat, 29 Jun 2019 14:51:35 -0300
Subject: [PATCH 192/198] Put forces into a folder. Added soft b3MouseForce

---
 examples/testbed/framework/cloth_dragger.cpp  |  95 ++++----
 examples/testbed/framework/cloth_dragger.h    |  49 +++-
 include/bounce/bounce.h                       |   8 +-
 include/bounce/cloth/cloth.h                  |   1 +
 include/bounce/cloth/cloth_triangle.h         |   1 +
 include/bounce/cloth/{ => forces}/force.h     |   1 +
 include/bounce/cloth/forces/mouse_force.h     | 140 +++++++++++
 .../bounce/cloth/{ => forces}/shear_force.h   |   2 +-
 .../bounce/cloth/{ => forces}/spring_force.h  |   2 +-
 .../bounce/cloth/{ => forces}/strech_force.h  |   2 +-
 include/bounce/cloth/particle.h               |   1 +
 src/bounce/cloth/cloth.cpp                    |   7 +-
 src/bounce/cloth/cloth_force_solver.cpp       |   2 +-
 src/bounce/cloth/{ => forces}/force.cpp       |  22 +-
 src/bounce/cloth/forces/mouse_force.cpp       | 228 ++++++++++++++++++
 src/bounce/cloth/{ => forces}/shear_force.cpp |   2 +-
 .../cloth/{ => forces}/spring_force.cpp       |   2 +-
 .../cloth/{ => forces}/strech_force.cpp       |   2 +-
 18 files changed, 485 insertions(+), 82 deletions(-)
 rename include/bounce/cloth/{ => forces}/force.h (98%)
 create mode 100644 include/bounce/cloth/forces/mouse_force.h
 rename include/bounce/cloth/{ => forces}/shear_force.h (98%)
 rename include/bounce/cloth/{ => forces}/spring_force.h (98%)
 rename include/bounce/cloth/{ => forces}/strech_force.h (98%)
 rename src/bounce/cloth/{ => forces}/force.cpp (80%)
 create mode 100644 src/bounce/cloth/forces/mouse_force.cpp
 rename src/bounce/cloth/{ => forces}/shear_force.cpp (99%)
 rename src/bounce/cloth/{ => forces}/spring_force.cpp (98%)
 rename src/bounce/cloth/{ => forces}/strech_force.cpp (99%)

diff --git a/examples/testbed/framework/cloth_dragger.cpp b/examples/testbed/framework/cloth_dragger.cpp
index fb208c2..40467c9 100644
--- a/examples/testbed/framework/cloth_dragger.cpp
+++ b/examples/testbed/framework/cloth_dragger.cpp
@@ -20,10 +20,12 @@
 
 b3ClothDragger::b3ClothDragger(b3Ray3* ray, b3Cloth* cloth)
 {
-	m_spring = false;
+	m_staticDrag = true;
 	m_ray = ray;
 	m_cloth = cloth;
 	m_triangle = nullptr;
+	m_km = 10000.0f;
+	m_kd = 0.0f;
 }
 
 b3ClothDragger::~b3ClothDragger()
@@ -42,7 +44,8 @@ bool b3ClothDragger::StartDragging()
 	}
 
 	m_mesh = m_cloth->GetMesh();
-	m_triangle = m_mesh->triangles + rayOut.triangle;
+	m_triangleIndex = rayOut.triangle;
+	m_triangle = m_mesh->triangles + m_triangleIndex;
 	m_x = rayOut.fraction;
 
 	b3Particle* p1 = m_cloth->GetParticle(m_triangle->v1);
@@ -68,42 +71,7 @@ bool b3ClothDragger::StartDragging()
 		m_u = m_v = 0.0f;
 	}
 
-	if (m_spring)
-	{
-		b3ParticleDef pd;
-		pd.type = e_staticParticle;
-		pd.position = B;
-
-		m_particle = m_cloth->CreateParticle(pd);
-
-		{
-			b3SpringForceDef sfd;
-			sfd.p1 = m_particle;
-			sfd.p2 = p1;
-			sfd.restLength = 0.0f;
-			sfd.structural = 10000.0f;
-			m_s1 = (b3SpringForce*)m_cloth->CreateForce(sfd);
-		}
-
-		{
-			b3SpringForceDef sfd;
-			sfd.p1 = m_particle;
-			sfd.p2 = p2;
-			sfd.restLength = 0.0f;
-			sfd.structural = 10000.0f;
-			m_s2 = (b3SpringForce*)m_cloth->CreateForce(sfd);
-		}
-
-		{
-			b3SpringForceDef sfd;
-			sfd.p1 = m_particle;
-			sfd.p2 = p3;
-			sfd.restLength = 0.0f;
-			sfd.structural = 10000.0f;
-			m_s3 = (b3SpringForce*)m_cloth->CreateForce(sfd);
-		}
-	}
-	else
+	if (m_staticDrag)
 	{
 		m_t1 = p1->GetType();
 		p1->SetType(e_staticParticle);
@@ -114,6 +82,27 @@ bool b3ClothDragger::StartDragging()
 		m_t3 = p3->GetType();
 		p3->SetType(e_staticParticle);
 	}
+	else
+	{
+		b3ParticleDef pd;
+		pd.type = e_staticParticle;
+		pd.position = GetPointA();
+
+		m_particle = m_cloth->CreateParticle(pd);
+
+		b3ClothTriangle* triangle = m_cloth->GetTriangle(m_triangleIndex);
+
+		b3MouseForceDef def;
+		def.particle = m_particle;
+		def.triangle = triangle;
+		def.w2 = m_u;
+		def.w3 = m_v;
+		def.w4 = (1.0f - m_u - m_v);
+		def.mouse = m_km;
+		def.damping = m_kd;
+
+		m_mf = (b3MouseForce*)m_cloth->CreateForce(def);
+	}
 
 	return true;
 }
@@ -127,11 +116,7 @@ void b3ClothDragger::Drag()
 
 	b3Vec3 dx = B - A;
 
-	if (m_spring)
-	{
-		m_particle->SetPosition(B);
-	}
-	else
+	if (m_staticDrag)
 	{
 		b3Particle* p1 = m_cloth->GetParticle(m_triangle->v1);
 		p1->ApplyTranslation(dx);
@@ -142,11 +127,15 @@ void b3ClothDragger::Drag()
 		b3Particle* p3 = m_cloth->GetParticle(m_triangle->v3);
 		p3->ApplyTranslation(dx);
 	}
+	else
+	{
+		m_particle->SetPosition(B);
+	}
 }
 
-void b3ClothDragger::SetSpring(bool bit)
+void b3ClothDragger::SetStaticDrag(bool bit)
 {
-	if (bit == m_spring)
+	if (bit == m_staticDrag)
 	{
 		return;
 	}
@@ -156,26 +145,24 @@ void b3ClothDragger::SetSpring(bool bit)
 		StopDragging();
 	}
 
-	m_spring = bit;
+	m_staticDrag = bit;
 }
 
 void b3ClothDragger::StopDragging()
 {
 	B3_ASSERT(IsDragging() == true);
 
-	if (m_spring)
-	{
-		m_cloth->DestroyForce(m_s1);
-		m_cloth->DestroyForce(m_s2);
-		m_cloth->DestroyForce(m_s3);
-		m_cloth->DestroyParticle(m_particle);
-	}
-	else
+	if (m_staticDrag)
 	{
 		m_cloth->GetParticle(m_triangle->v1)->SetType(m_t1);
 		m_cloth->GetParticle(m_triangle->v2)->SetType(m_t2);
 		m_cloth->GetParticle(m_triangle->v3)->SetType(m_t3);
 	}
+	else
+	{
+		m_cloth->DestroyForce(m_mf);
+		m_cloth->DestroyParticle(m_particle);
+	}
 
 	m_triangle = nullptr;
 }
diff --git a/examples/testbed/framework/cloth_dragger.h b/examples/testbed/framework/cloth_dragger.h
index 6bbb797..9661570 100644
--- a/examples/testbed/framework/cloth_dragger.h
+++ b/examples/testbed/framework/cloth_dragger.h
@@ -23,7 +23,8 @@
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
-#include <bounce/cloth/spring_force.h>
+#include <bounce/cloth/cloth_triangle.h>
+#include <bounce/cloth/forces/mouse_force.h>
 
 // A cloth triangle dragger.
 class b3ClothDragger
@@ -32,10 +33,18 @@ public:
 	b3ClothDragger(b3Ray3* ray, b3Cloth* cloth);
 	~b3ClothDragger();
 
-	void SetSpring(bool bit);
+	void SetStaticDrag(bool bit);
 
-	bool GetSpring() const;
+	bool GetStaticDrag() const;
 
+	void SetMouseStiffness(float32 k);
+
+	float32 GetMouseStiffness();
+
+	void SetMouseDamping(float32 k);
+
+	float32 GetMouseDamping();
+	
 	bool IsDragging() const;
 
 	bool StartDragging();
@@ -53,22 +62,42 @@ private:
 
 	b3Cloth* m_cloth;
 	const b3ClothMesh* m_mesh;
+	u32 m_triangleIndex;
 	b3ClothMeshTriangle* m_triangle;
 	float32 m_u, m_v;
 
-	bool m_spring;
-
+	float32 m_km;
+	float32 m_kd;
 	b3Particle* m_particle;
-	b3SpringForce* m_s1;
-	b3SpringForce* m_s2;
-	b3SpringForce* m_s3;
+	b3MouseForce* m_mf;
 
+	bool m_staticDrag;
 	b3ParticleType m_t1, m_t2, m_t3;
 };
 
-inline bool b3ClothDragger::GetSpring() const
+inline bool b3ClothDragger::GetStaticDrag() const
 {
-	return m_spring;
+	return m_staticDrag;
+}
+
+inline void b3ClothDragger::SetMouseStiffness(float32 k)
+{
+	m_km = k;
+}
+
+inline float32 b3ClothDragger::GetMouseStiffness()
+{
+	return m_km;
+}
+
+inline void b3ClothDragger::SetMouseDamping(float32 k)
+{
+	m_kd = k;
+}
+
+inline float32 b3ClothDragger::GetMouseDamping()
+{
+	return m_kd;
 }
 
 inline bool b3ClothDragger::IsDragging() const
diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index 1fdc46f..58e0faa 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -68,9 +68,11 @@
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
-#include <bounce/cloth/strech_force.h>
-#include <bounce/cloth/shear_force.h>
-#include <bounce/cloth/spring_force.h>
+
+#include <bounce/cloth/forces/strech_force.h>
+#include <bounce/cloth/forces/shear_force.h>
+#include <bounce/cloth/forces/spring_force.h>
+#include <bounce/cloth/forces/mouse_force.h>
 
 #include <bounce/cloth/garment/sewing_pattern.h>
 #include <bounce/cloth/garment/garment.h>
diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index b4fda69..9419b23 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -163,6 +163,7 @@ private:
 	friend class b3ShearForce;
 	friend class b3StrechForce;
 	friend class b3SpringForce;
+	friend class b3MouseForce;
 	friend class b3ClothContactManager;
 
 	// Compute mass of each particle.
diff --git a/include/bounce/cloth/cloth_triangle.h b/include/bounce/cloth/cloth_triangle.h
index 03750d5..4b3f4aa 100644
--- a/include/bounce/cloth/cloth_triangle.h
+++ b/include/bounce/cloth/cloth_triangle.h
@@ -44,6 +44,7 @@ private:
 	friend class b3Particle;
 	friend class b3ShearForce;
 	friend class b3StrechForce;
+	friend class b3MouseForce;
 	friend class b3ClothContactManager;
 	friend class b3ParticleTriangleContact;
 	friend class b3ClothSolver;
diff --git a/include/bounce/cloth/force.h b/include/bounce/cloth/forces/force.h
similarity index 98%
rename from include/bounce/cloth/force.h
rename to include/bounce/cloth/forces/force.h
index 3fb51cd..27873f6 100644
--- a/include/bounce/cloth/force.h
+++ b/include/bounce/cloth/forces/force.h
@@ -32,6 +32,7 @@ enum b3ForceType
 	e_strechForce,
 	e_shearForce,
 	e_springForce,
+	e_mouseForce,
 };
 
 struct b3ForceDef
diff --git a/include/bounce/cloth/forces/mouse_force.h b/include/bounce/cloth/forces/mouse_force.h
new file mode 100644
index 0000000..9646359
--- /dev/null
+++ b/include/bounce/cloth/forces/mouse_force.h
@@ -0,0 +1,140 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_MOUSE_FORCE_H
+#define B3_MOUSE_FORCE_H
+
+#include <bounce/cloth/forces/force.h>
+
+class b3ClothTriangle;
+
+struct b3MouseForceDef : public b3ForceDef
+{
+	b3MouseForceDef()
+	{
+		type = e_mouseForce;
+	}
+
+	// Particle
+	b3Particle* particle;
+
+	// Triangle
+	b3ClothTriangle* triangle;
+
+	// Barycentric coordinates on triangle
+	float32 w2, w3, w4;
+
+	// Mouse stiffness
+	float32 mouse;
+
+	// Damping stiffness
+	float32 damping;
+};
+
+// Mouse force acting on a particle and triangle.
+class b3MouseForce : public b3Force
+{
+public:
+	bool HasParticle(const b3Particle* particle) const;
+
+	b3Particle* GetParticle() const;
+	
+	b3ClothTriangle* GetTriangle() const;
+
+	float32 GetMouseStiffness() const;
+
+	float32 GetDampingStiffness() const;
+
+	b3Vec3 GetActionForce1() const;
+
+	b3Vec3 GetActionForce2() const;
+
+	b3Vec3 GetActionForce3() const;
+
+	b3Vec3 GetActionForce4() const;
+private:
+	friend class b3Force;
+	friend class b3Cloth;
+
+	b3MouseForce(const b3MouseForceDef* def);
+	~b3MouseForce();
+
+	void Apply(const b3ClothForceSolverData* data);
+
+	// Solver shared
+
+	// Particle
+	b3Particle* m_particle;
+	
+	// Triangle
+	b3ClothTriangle* m_triangle;
+
+	// Barycentric coordinates
+	float32 m_w2, m_w3, m_w4;
+
+	// Mouse stiffness
+	float32 m_km;
+
+	// Damping stiffness
+	float32 m_kd;
+
+	// Action forces
+	b3Vec3 m_f1, m_f2, m_f3, m_f4;
+};
+
+inline b3Particle* b3MouseForce::GetParticle() const
+{
+	return m_particle;
+}
+
+inline b3ClothTriangle* b3MouseForce::GetTriangle() const
+{
+	return m_triangle;
+}
+
+inline float32 b3MouseForce::GetMouseStiffness() const
+{
+	return m_km;
+}
+
+inline float32 b3MouseForce::GetDampingStiffness() const
+{
+	return m_kd;
+}
+
+inline b3Vec3 b3MouseForce::GetActionForce1() const
+{
+	return m_f1;
+}
+
+inline b3Vec3 b3MouseForce::GetActionForce2() const
+{
+	return m_f2;
+}
+
+inline b3Vec3 b3MouseForce::GetActionForce3() const
+{
+	return m_f3;
+}
+
+inline b3Vec3 b3MouseForce::GetActionForce4() const
+{
+	return m_f4;
+}
+
+#endif
\ No newline at end of file
diff --git a/include/bounce/cloth/shear_force.h b/include/bounce/cloth/forces/shear_force.h
similarity index 98%
rename from include/bounce/cloth/shear_force.h
rename to include/bounce/cloth/forces/shear_force.h
index 8485795..9092100 100644
--- a/include/bounce/cloth/shear_force.h
+++ b/include/bounce/cloth/forces/shear_force.h
@@ -19,7 +19,7 @@
 #ifndef B3_SHEAR_FORCE_H
 #define B3_SHEAR_FORCE_H
 
-#include <bounce/cloth/force.h>
+#include <bounce/cloth/forces/force.h>
 
 class b3ClothTriangle;
 
diff --git a/include/bounce/cloth/spring_force.h b/include/bounce/cloth/forces/spring_force.h
similarity index 98%
rename from include/bounce/cloth/spring_force.h
rename to include/bounce/cloth/forces/spring_force.h
index fa01405..3cd0a41 100644
--- a/include/bounce/cloth/spring_force.h
+++ b/include/bounce/cloth/forces/spring_force.h
@@ -19,7 +19,7 @@
 #ifndef B3_SPRING_FORCE_H
 #define B3_SPRING_FORCE_H
 
-#include <bounce/cloth/force.h>
+#include <bounce/cloth/forces/force.h>
 
 struct b3SpringForceDef : public b3ForceDef
 {
diff --git a/include/bounce/cloth/strech_force.h b/include/bounce/cloth/forces/strech_force.h
similarity index 98%
rename from include/bounce/cloth/strech_force.h
rename to include/bounce/cloth/forces/strech_force.h
index b183c05..7d8dde9 100644
--- a/include/bounce/cloth/strech_force.h
+++ b/include/bounce/cloth/forces/strech_force.h
@@ -19,7 +19,7 @@
 #ifndef B3_STRECH_FORCE_H
 #define B3_STRECH_FORCE_H
 
-#include <bounce/cloth/force.h>
+#include <bounce/cloth/forces/force.h>
 
 class b3ClothTriangle;
 
diff --git a/include/bounce/cloth/particle.h b/include/bounce/cloth/particle.h
index 4de14cb..a4d9aef 100644
--- a/include/bounce/cloth/particle.h
+++ b/include/bounce/cloth/particle.h
@@ -123,6 +123,7 @@ private:
 	friend class b3StrechForce;
 	friend class b3ShearForce;
 	friend class b3SpringForce;
+	friend class b3MouseForce;
 
 	b3Particle(const b3ParticleDef& def, b3Cloth* cloth);
 	~b3Particle();
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index e45cd81..b5f957b 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -20,10 +20,9 @@
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
-#include <bounce/cloth/force.h>
-#include <bounce/cloth/strech_force.h>
-#include <bounce/cloth/shear_force.h>
-#include <bounce/cloth/spring_force.h>
+#include <bounce/cloth/forces/strech_force.h>
+#include <bounce/cloth/forces/shear_force.h>
+#include <bounce/cloth/forces/spring_force.h>
 #include <bounce/cloth/cloth_solver.h>
 #include <bounce/common/draw.h>
 
diff --git a/src/bounce/cloth/cloth_force_solver.cpp b/src/bounce/cloth/cloth_force_solver.cpp
index 2fb3953..c31aaab 100644
--- a/src/bounce/cloth/cloth_force_solver.cpp
+++ b/src/bounce/cloth/cloth_force_solver.cpp
@@ -18,7 +18,7 @@
 
 #include <bounce/cloth/cloth_force_solver.h>
 #include <bounce/cloth/particle.h>
-#include <bounce/cloth/force.h>
+#include <bounce/cloth/forces/force.h>
 #include <bounce/sparse/dense_vec3.h>
 #include <bounce/sparse/diag_mat33.h>
 #include <bounce/sparse/sparse_mat33.h>
diff --git a/src/bounce/cloth/force.cpp b/src/bounce/cloth/forces/force.cpp
similarity index 80%
rename from src/bounce/cloth/force.cpp
rename to src/bounce/cloth/forces/force.cpp
index 4de3bf5..c1368b5 100644
--- a/src/bounce/cloth/force.cpp
+++ b/src/bounce/cloth/forces/force.cpp
@@ -16,10 +16,11 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/force.h>
-#include <bounce/cloth/strech_force.h>
-#include <bounce/cloth/shear_force.h>
-#include <bounce/cloth/spring_force.h>
+#include <bounce/cloth/forces/force.h>
+#include <bounce/cloth/forces/strech_force.h>
+#include <bounce/cloth/forces/shear_force.h>
+#include <bounce/cloth/forces/spring_force.h>
+#include <bounce/cloth/forces/mouse_force.h>
 
 b3Force* b3Force::Create(const b3ForceDef* def)
 {
@@ -44,6 +45,12 @@ b3Force* b3Force::Create(const b3ForceDef* def)
 		force = new (block) b3SpringForce((b3SpringForceDef*)def);
 		break;
 	}
+	case e_mouseForce:
+	{
+		void* block = b3Alloc(sizeof(b3MouseForce));
+		force = new (block) b3MouseForce((b3MouseForceDef*)def);
+		break;
+	}
 	default:
 	{
 		B3_ASSERT(false);
@@ -81,6 +88,13 @@ void b3Force::Destroy(b3Force* force)
 		b3Free(force);
 		break;
 	}
+	case e_mouseForce:
+	{
+		b3MouseForce* o = (b3MouseForce*)force;
+		o->~b3MouseForce();
+		b3Free(force);
+		break;
+	}
 	default:
 	{
 		B3_ASSERT(false);
diff --git a/src/bounce/cloth/forces/mouse_force.cpp b/src/bounce/cloth/forces/mouse_force.cpp
new file mode 100644
index 0000000..c15b01b
--- /dev/null
+++ b/src/bounce/cloth/forces/mouse_force.cpp
@@ -0,0 +1,228 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <bounce/cloth/forces/mouse_force.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_triangle.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/cloth_force_solver.h>
+#include <bounce/sparse/dense_vec3.h>
+#include <bounce/sparse/sparse_mat33.h>
+
+b3MouseForce::b3MouseForce(const b3MouseForceDef* def)
+{
+	m_type = e_mouseForce;
+	m_particle = def->particle;
+	m_triangle = def->triangle;
+	m_w2 = def->w2;
+	m_w3 = def->w3;
+	m_w4 = def->w4;
+	m_km = def->mouse;
+	m_kd = def->damping;
+	m_f1.SetZero();
+	m_f2.SetZero();
+	m_f3.SetZero();
+	m_f4.SetZero();
+}
+
+b3MouseForce::~b3MouseForce()
+{
+
+}
+
+bool b3MouseForce::HasParticle(const b3Particle* particle) const
+{
+	b3Cloth* cloth = m_triangle->m_cloth;
+	u32 triangleIndex = m_triangle->m_triangle;
+	b3ClothMeshTriangle* triangle = cloth->m_mesh->triangles + triangleIndex;
+
+	b3Particle* p1 = cloth->m_particles[triangle->v1];
+	b3Particle* p2 = cloth->m_particles[triangle->v2];
+	b3Particle* p3 = cloth->m_particles[triangle->v3];
+
+	return m_particle == particle || p1 == particle || p2 == particle || p3 == particle;
+}
+
+void b3MouseForce::Apply(const b3ClothForceSolverData* data)
+{
+	b3Cloth* cloth = m_triangle->m_cloth;
+	u32 triangleIndex = m_triangle->m_triangle;
+	b3ClothMeshTriangle* triangle = cloth->m_mesh->triangles + triangleIndex;
+
+	b3Particle* p1 = m_particle;
+	b3Particle* p2 = cloth->m_particles[triangle->v1];
+	b3Particle* p3 = cloth->m_particles[triangle->v2];
+	b3Particle* p4 = cloth->m_particles[triangle->v3];
+
+	u32 i1 = p1->m_solverId;
+	u32 i2 = p2->m_solverId;
+	u32 i3 = p3->m_solverId;
+	u32 i4 = p4->m_solverId;
+
+	b3DenseVec3& x = *data->x;
+	b3DenseVec3& v = *data->v;
+	b3DenseVec3& f = *data->f;
+	b3SparseMat33& dfdx = *data->dfdx;
+	b3SparseMat33& dfdv = *data->dfdv;
+
+	b3Vec3 x1 = x[i1];
+	b3Vec3 x2 = x[i2];
+	b3Vec3 x3 = x[i3];
+	b3Vec3 x4 = x[i4];
+
+	b3Vec3 v1 = v[i1];
+	b3Vec3 v2 = v[i2];
+	b3Vec3 v3 = v[i3];
+	b3Vec3 v4 = v[i4];
+
+	b3Mat33 I; I.SetIdentity();
+
+	m_f1.SetZero();
+	m_f2.SetZero();
+	m_f3.SetZero();
+	m_f4.SetZero();
+
+	b3Vec3 c2 = m_w2 * x2 + m_w3 * x3 + m_w4 * x4;
+
+	b3Vec3 d = x1 - c2;
+	float32 len = b3Length(d);
+
+	if (len > 0.0f)
+	{
+		b3Vec3 n = d / len;
+
+		// Jacobian
+		b3Vec3 dCdx[4];
+		dCdx[0] = n;
+		dCdx[1] = -m_w2 * n;
+		dCdx[2] = -m_w3 * n;
+		dCdx[3] = -m_w4 * n;
+
+		if (m_km > 0.0f)
+		{
+			float32 C = len;
+
+			// Force
+			b3Vec3 fs[4];
+			for (u32 i = 0; i < 4; ++i)
+			{
+				fs[i] = -m_km * C * dCdx[i];
+			}
+
+			m_f1 += fs[0];
+			m_f2 += fs[1];
+			m_f3 += fs[2];
+			m_f4 += fs[3];
+
+			// Jacobian
+			b3Mat33 J[4][4];
+			for (u32 i = 0; i < 4; ++i)
+			{
+				for (u32 j = 0; j < 4; ++j)
+				{
+					//b3Mat33 d2Cvxij;
+					//b3Mat33 Jij = -m_km * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cvxij);
+					b3Mat33 Jij = -m_km * b3Outer(dCdx[i], dCdx[j]);
+
+					J[i][j] = Jij;
+				}
+			}
+
+			dfdx(i1, i1) += J[0][0];
+			dfdx(i1, i2) += J[0][1];
+			dfdx(i1, i3) += J[0][2];
+			dfdx(i1, i4) += J[0][3];
+
+			dfdx(i2, i1) += J[1][0];
+			dfdx(i2, i2) += J[1][1];
+			dfdx(i2, i3) += J[1][2];
+			dfdx(i2, i4) += J[1][3];
+
+			dfdx(i3, i1) += J[2][0];
+			dfdx(i3, i2) += J[2][1];
+			dfdx(i3, i3) += J[2][2];
+			dfdx(i3, i4) += J[2][3];
+
+			dfdx(i4, i1) += J[3][0];
+			dfdx(i4, i2) += J[3][1];
+			dfdx(i4, i3) += J[3][2];
+			dfdx(i4, i4) += J[3][3];
+		}
+		
+		if (m_kd > 0.0f)
+		{
+			b3Vec3 vs[4] = { v1, v2, v3, v4 };
+
+			float32 dCdt = 0.0f;
+			for (u32 i = 0; i < 4; ++i)
+			{
+				dCdt += b3Dot(dCdx[i], vs[i]);
+			}
+
+			// Force
+			b3Vec3 fs[4];
+			for (u32 i = 0; i < 4; ++i)
+			{
+				fs[i] = -m_kd * dCdt * dCdx[i];
+			}
+
+			m_f1 += fs[0];
+			m_f2 += fs[1];
+			m_f3 += fs[2];
+			m_f4 += fs[3];
+
+			// Jacobian
+			b3Mat33 J[4][4];
+			for (u32 i = 0; i < 4; ++i)
+			{
+				for (u32 j = 0; j < 4; ++j)
+				{
+					b3Mat33 Jij = -m_kd * b3Outer(dCdx[i], dCdx[j]);
+
+					J[i][j] = Jij;
+				}
+			}
+
+			dfdv(i1, i1) += J[0][0];
+			dfdv(i1, i2) += J[0][1];
+			dfdv(i1, i3) += J[0][2];
+			dfdv(i1, i4) += J[0][3];
+
+			dfdv(i2, i1) += J[1][0];
+			dfdv(i2, i2) += J[1][1];
+			dfdv(i2, i3) += J[1][2];
+			dfdv(i2, i4) += J[1][3];
+
+			dfdv(i3, i1) += J[2][0];
+			dfdv(i3, i2) += J[2][1];
+			dfdv(i3, i3) += J[2][2];
+			dfdv(i3, i4) += J[2][3];
+
+			dfdv(i4, i1) += J[3][0];
+			dfdv(i4, i2) += J[3][1];
+			dfdv(i4, i3) += J[3][2];
+			dfdv(i4, i4) += J[3][3];
+		}
+	}
+
+	f[i1] += m_f1;
+	f[i2] += m_f2;
+	f[i3] += m_f3;
+	f[i4] += m_f4;
+}
\ No newline at end of file
diff --git a/src/bounce/cloth/shear_force.cpp b/src/bounce/cloth/forces/shear_force.cpp
similarity index 99%
rename from src/bounce/cloth/shear_force.cpp
rename to src/bounce/cloth/forces/shear_force.cpp
index a6c28a7..a94f835 100644
--- a/src/bounce/cloth/shear_force.cpp
+++ b/src/bounce/cloth/forces/shear_force.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/shear_force.h>
+#include <bounce/cloth/forces/shear_force.h>
 #include <bounce/cloth/cloth_triangle.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth.h>
diff --git a/src/bounce/cloth/spring_force.cpp b/src/bounce/cloth/forces/spring_force.cpp
similarity index 98%
rename from src/bounce/cloth/spring_force.cpp
rename to src/bounce/cloth/forces/spring_force.cpp
index 8248c6d..4c365a1 100644
--- a/src/bounce/cloth/spring_force.cpp
+++ b/src/bounce/cloth/forces/spring_force.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/spring_force.h>
+#include <bounce/cloth/forces/spring_force.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_force_solver.h>
 #include <bounce/sparse/dense_vec3.h>
diff --git a/src/bounce/cloth/strech_force.cpp b/src/bounce/cloth/forces/strech_force.cpp
similarity index 99%
rename from src/bounce/cloth/strech_force.cpp
rename to src/bounce/cloth/forces/strech_force.cpp
index e918809..0b87bdc 100644
--- a/src/bounce/cloth/strech_force.cpp
+++ b/src/bounce/cloth/forces/strech_force.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/strech_force.h>
+#include <bounce/cloth/forces/strech_force.h>
 #include <bounce/cloth/cloth_triangle.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth.h>

From ab6ef6d685e572c6c424a06f75d5b02965bf1420 Mon Sep 17 00:00:00 2001
From: Irlan Robson <irlanrobson@users.noreply.github.com>
Date: Sat, 29 Jun 2019 18:59:15 -0300
Subject: [PATCH 193/198] Update readme.md

---
 readme.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/readme.md b/readme.md
index 5e3717e..c90f4ab 100644
--- a/readme.md
+++ b/readme.md
@@ -126,7 +126,7 @@ Below are the external dependencies for testbed. If you don't care about testbed
 
 * Cloth
 * Vertex contact, friction
-* Strech, shear, spring force types
+* Strech, shear, spring, mouse force types
 * Linear time solver
 * Unconditional simulation stability
 * Ray-casting 

From d6e2105aa23bc25f2e497c92a7ca0dcb0eb05ba7 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 7 Jul 2019 09:33:20 -0300
Subject: [PATCH 194/198] Small refactor

---
 include/bounce/bounce.h                       |  1 +
 include/bounce/cloth/cloth_mesh.h             | 13 -------
 include/bounce/cloth/forces/strech_force.h    |  4 +--
 include/bounce/cloth/garment_cloth_mesh.h     | 36 +++++++++++++++++++
 ...{cloth_mesh.cpp => garment_cloth_mesh.cpp} |  2 +-
 5 files changed, 40 insertions(+), 16 deletions(-)
 create mode 100644 include/bounce/cloth/garment_cloth_mesh.h
 rename src/bounce/cloth/{cloth_mesh.cpp => garment_cloth_mesh.cpp} (98%)

diff --git a/include/bounce/bounce.h b/include/bounce/bounce.h
index 58e0faa..3826bb5 100644
--- a/include/bounce/bounce.h
+++ b/include/bounce/bounce.h
@@ -65,6 +65,7 @@
 
 #include <bounce/cloth/cloth_mesh.h>
 #include <bounce/cloth/grid_cloth_mesh.h>
+#include <bounce/cloth/garment_cloth_mesh.h>
 #include <bounce/cloth/cloth.h>
 #include <bounce/cloth/particle.h>
 #include <bounce/cloth/cloth_triangle.h>
diff --git a/include/bounce/cloth/cloth_mesh.h b/include/bounce/cloth/cloth_mesh.h
index 391f88e..98c9205 100644
--- a/include/bounce/cloth/cloth_mesh.h
+++ b/include/bounce/cloth/cloth_mesh.h
@@ -19,7 +19,6 @@
 #ifndef B3_CLOTH_MESH_H
 #define B3_CLOTH_MESH_H
 
-#include <bounce/common/math/vec2.h>
 #include <bounce/common/math/vec3.h>
 
 struct b3ClothMeshTriangle
@@ -53,16 +52,4 @@ struct b3ClothMesh
 	b3ClothMeshSewingLine* sewingLines;
 };
 
-struct b3GarmentMesh;
-
-// Convenience structure.
-struct b3GarmentClothMesh : public b3ClothMesh
-{
-	b3GarmentClothMesh();
-	~b3GarmentClothMesh();
-
-	// Set this mesh from a 2D garment mesh.
-	void Set(const b3GarmentMesh* garment);
-};
-
 #endif
\ No newline at end of file
diff --git a/include/bounce/cloth/forces/strech_force.h b/include/bounce/cloth/forces/strech_force.h
index 7d8dde9..ecbb5a2 100644
--- a/include/bounce/cloth/forces/strech_force.h
+++ b/include/bounce/cloth/forces/strech_force.h
@@ -83,10 +83,10 @@ private:
 	// Damping stiffness
 	float32 m_kd;
 	
-	// bu
+	// Desired strechiness in u direction
 	float32 m_bu;
 
-	// bv
+	// Desired strechiness in v direction
 	float32 m_bv;
 
 	// Action forces
diff --git a/include/bounce/cloth/garment_cloth_mesh.h b/include/bounce/cloth/garment_cloth_mesh.h
new file mode 100644
index 0000000..b33d810
--- /dev/null
+++ b/include/bounce/cloth/garment_cloth_mesh.h
@@ -0,0 +1,36 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_GARMENT_CLOTH_MESH_H
+#define B3_GARMENT_CLOTH_MESH_H
+
+#include <bounce/cloth/cloth_mesh.h>
+
+struct b3GarmentMesh;
+
+// Convenience structure.
+struct b3GarmentClothMesh : public b3ClothMesh
+{
+	b3GarmentClothMesh();
+	~b3GarmentClothMesh();
+
+	// Set this mesh from a 2D garment mesh.
+	void Set(const b3GarmentMesh* garment);
+};
+
+#endif
\ No newline at end of file
diff --git a/src/bounce/cloth/cloth_mesh.cpp b/src/bounce/cloth/garment_cloth_mesh.cpp
similarity index 98%
rename from src/bounce/cloth/cloth_mesh.cpp
rename to src/bounce/cloth/garment_cloth_mesh.cpp
index 59b106e..5f09f49 100644
--- a/src/bounce/cloth/cloth_mesh.cpp
+++ b/src/bounce/cloth/garment_cloth_mesh.cpp
@@ -16,7 +16,7 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/garment_cloth_mesh.h>
 #include <bounce/cloth/garment/garment.h>
 #include <bounce/cloth/garment/garment_mesh.h>
 #include <bounce/cloth/garment/sewing_pattern.h>

From b73b760515f57937754c99e1767903c03302cea4 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 7 Jul 2019 09:42:34 -0300
Subject: [PATCH 195/198] Update comment

---
 include/bounce/cloth/garment_cloth_mesh.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/include/bounce/cloth/garment_cloth_mesh.h b/include/bounce/cloth/garment_cloth_mesh.h
index b33d810..c608077 100644
--- a/include/bounce/cloth/garment_cloth_mesh.h
+++ b/include/bounce/cloth/garment_cloth_mesh.h
@@ -23,7 +23,8 @@
 
 struct b3GarmentMesh;
 
-// Convenience structure.
+// This mesh structure represents a cloth mesh that can be set from 2D a garment mesh.
+// The mesh is set in the xy plane (z = 0).
 struct b3GarmentClothMesh : public b3ClothMesh
 {
 	b3GarmentClothMesh();

From 2982bc2bd35a01fa3429b7470c1aa6e684993237 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 7 Jul 2019 10:00:00 -0300
Subject: [PATCH 196/198] Store material parameters inside elements

---
 include/bounce/softbody/softbody.h            | 26 ++++++++-----------
 src/bounce/softbody/softbody.cpp              | 19 +++++++++-----
 src/bounce/softbody/softbody_force_solver.cpp |  8 +++---
 3 files changed, 28 insertions(+), 25 deletions(-)

diff --git a/include/bounce/softbody/softbody.h b/include/bounce/softbody/softbody.h
index fc28e27..f3394c7 100644
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@@ -43,6 +43,13 @@ struct b3SoftBodyRayCastSingleOutput
 // Soft body tetrahedron element
 struct b3SoftBodyElement
 {
+	float32 E;
+	float32 nu;
+
+	float32 c_yield;
+	float32 c_creep;
+	float32 c_max;
+
 	b3Mat33 K[16]; // 12 x 12
 	b3Mat33 invE;
 	b3Quat q;
@@ -60,6 +67,7 @@ struct b3SoftBodyTriangle
 
 // Soft body definition
 // This requires defining a soft body mesh which is typically bound to a render mesh
+// and some uniform material parameters.
 struct b3SoftBodyDef
 {
 	b3SoftBodyDef()
@@ -130,6 +138,9 @@ public:
 	// Return the node associated with the given vertex.
 	b3SoftBodyNode* GetVertexNode(u32 i);
 
+	// Return the element associated with the given tetrahedron.
+	b3SoftBodyElement* GetTetrahedronElement(u32 i);
+
 	// Return the kinetic (or dynamic) energy in this system.
 	float32 GetEnergy() const;
 
@@ -162,21 +173,6 @@ private:
 	// Soft body density
 	float32 m_density;
 
-	// Material Young's modulus
-	float32 m_E;
-
-	// Material poisson ratio
-	float32 m_nu;
-
-	// Material yield
-	float32 m_c_yield;
-
-	// Material creep rate
-	float32 m_c_creep;
-
-	// Material maximum plastic strain
-	float32 m_c_max;
-
 	// Soft body nodes
 	b3SoftBodyNode* m_nodes;
 
diff --git a/src/bounce/softbody/softbody.cpp b/src/bounce/softbody/softbody.cpp
index 3f78684..1571dc3 100644
--- a/src/bounce/softbody/softbody.cpp
+++ b/src/bounce/softbody/softbody.cpp
@@ -450,11 +450,6 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 
 	m_mesh = def.mesh;
 	m_density = def.density;
-	m_E = def.E;
-	m_nu = def.nu;
-	m_c_yield = def.c_yield;
-	m_c_creep = def.c_creep;
-	m_c_max = def.c_max;
 	m_gravity.SetZero();
 	m_world = nullptr;
 	m_contactManager.m_body = this;
@@ -495,6 +490,12 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 	{
 		b3SoftBodyMeshTetrahedron* mt = m->tetrahedrons + ei;
 		b3SoftBodyElement* e = m_elements + ei;
+		
+		e->E = def.E;
+		e->nu = def.nu;
+		e->c_yield = def.c_yield;
+		e->c_creep = def.c_creep;
+		e->c_max = def.c_max;
 
 		u32 v1 = mt->v1;
 		u32 v2 = mt->v2;
@@ -520,7 +521,7 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
 
 		// 6 x 6
 		float32 D[36];
-		b3ComputeD(D, m_E, m_nu);
+		b3ComputeD(D, e->E, e->nu);
 
 		// 6 x 12
 		float32* B = e->B;
@@ -658,6 +659,12 @@ b3SoftBodyNode* b3SoftBody::GetVertexNode(u32 i)
 	return m_nodes + i;
 }
 
+b3SoftBodyElement* b3SoftBody::GetTetrahedronElement(u32 i)
+{
+	B3_ASSERT(i < m_mesh->tetrahedronCount);
+	return m_elements + i;
+}
+
 float32 b3SoftBody::GetEnergy() const
 {
 	float32 E = 0.0f;
diff --git a/src/bounce/softbody/softbody_force_solver.cpp b/src/bounce/softbody/softbody_force_solver.cpp
index 3d7adbf..a9eade5 100644
--- a/src/bounce/softbody/softbody_force_solver.cpp
+++ b/src/bounce/softbody/softbody_force_solver.cpp
@@ -345,9 +345,9 @@ void b3SoftBodyForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 		}
 
 		float32 len_epsilon_elastic = b3Length(epsilon_elastic, 6);
-		if (len_epsilon_elastic > m_body->m_c_yield)
+		if (len_epsilon_elastic > e->c_yield)
 		{
-			float32 amount = h * b3Min(m_body->m_c_creep, inv_h);
+			float32 amount = h * b3Min(e->c_creep, inv_h);
 			for (u32 i = 0; i < 6; ++i)
 			{
 				epsilon_plastic[i] += amount * epsilon_elastic[i];
@@ -355,9 +355,9 @@ void b3SoftBodyForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 		}
 
 		float32 len_epsilon_plastic = b3Length(epsilon_plastic, 6);
-		if (len_epsilon_plastic > m_body->m_c_max)
+		if (len_epsilon_plastic > e->c_max)
 		{
-			float32 scale = m_body->m_c_max / len_epsilon_plastic;
+			float32 scale = e->c_max / len_epsilon_plastic;
 			for (u32 i = 0; i < 6; ++i)
 			{
 				epsilon_plastic[i] *= scale;

From e9714885e45b6bc642ad30c096d4877e3640819c Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Sun, 7 Jul 2019 23:09:13 -0300
Subject: [PATCH 197/198] Simplification

---
 include/bounce/cloth/cloth_force_solver.h | 12 ----
 src/bounce/cloth/cloth_force_solver.cpp   | 78 ++---------------------
 2 files changed, 6 insertions(+), 84 deletions(-)

diff --git a/include/bounce/cloth/cloth_force_solver.h b/include/bounce/cloth/cloth_force_solver.h
index d91786c..2762c7f 100644
--- a/include/bounce/cloth/cloth_force_solver.h
+++ b/include/bounce/cloth/cloth_force_solver.h
@@ -53,15 +53,6 @@ struct b3ClothForceSolverData
 	b3DenseVec3* z;
 };
 
-struct b3AccelerationConstraint
-{
-	u32 i1;
-	u32 ndof;
-	b3Vec3 p, q, z;
-
-	void Apply(const b3ClothForceSolverData* data);
-};
-
 class b3ClothForceSolver
 {
 public:
@@ -71,7 +62,6 @@ public:
 	void Solve(float32 dt, const b3Vec3& gravity);
 private:
 	void ApplyForces();
-	void ApplyConstraints();
 
 	b3StackAllocator* m_allocator;
 
@@ -81,8 +71,6 @@ private:
 	u32 m_forceCount;
 	b3Force** m_forces;
 
-	b3AccelerationConstraint* m_constraints;
-
 	b3ClothForceSolverData m_solverData;
 };
 
diff --git a/src/bounce/cloth/cloth_force_solver.cpp b/src/bounce/cloth/cloth_force_solver.cpp
index c31aaab..f801174 100644
--- a/src/bounce/cloth/cloth_force_solver.cpp
+++ b/src/bounce/cloth/cloth_force_solver.cpp
@@ -43,13 +43,10 @@ b3ClothForceSolver::b3ClothForceSolver(const b3ClothForceSolverDef& def)
 
 	m_forceCount = def.forceCount;
 	m_forces = def.forces;
-
-	m_constraints = (b3AccelerationConstraint*)m_allocator->Allocate(m_particleCount * sizeof(b3AccelerationConstraint));
 }
 
 b3ClothForceSolver::~b3ClothForceSolver()
 {
-	m_allocator->Free(m_constraints);
 }
 
 void b3ClothForceSolver::ApplyForces()
@@ -60,72 +57,6 @@ void b3ClothForceSolver::ApplyForces()
 	}
 }
 
-void b3AccelerationConstraint::Apply(const b3ClothForceSolverData* data)
-{
-	b3DiagMat33& sS = *data->S;
-	b3DenseVec3& sz = *data->z;
-
-	sz[i1] = z;
-
-	b3Mat33 I; I.SetIdentity();
-
-	switch (ndof)
-	{
-	case 3:
-	{
-		sS[i1] = I;
-		break;
-	}
-	case 2:
-	{
-		sS[i1] = I - b3Outer(p, p);
-		break;
-	}
-	case 1:
-	{
-		sS[i1] = I - b3Outer(p, p) - b3Outer(q, q);
-		break;
-	}
-	case 0:
-	{
-		sS[i1].SetZero();
-		break;
-	}
-	default:
-	{
-		B3_ASSERT(false);
-		break;
-	}
-	}
-}
-
-void b3ClothForceSolver::ApplyConstraints()
-{
-	for (u32 i = 0; i < m_particleCount; ++i)
-	{
-		b3Particle* p = m_particles[i];
-		b3AccelerationConstraint* c = m_constraints + i;
-
-		c->i1 = i;
-
-		if (p->m_type != e_dynamicParticle)
-		{
-			c->ndof = 0;
-			c->z.SetZero();
-		}
-		else
-		{
-			c->ndof = 3;
-			c->z.SetZero();
-		}
-	}
-
-	for (u32 i = 0; i < m_particleCount; ++i)
-	{
-		m_constraints[i].Apply(&m_solverData);
-	}
-}
-
 // Solve Ax = b
 static void b3SolveMPCG(b3DenseVec3& x,
 	const b3SparseMat33View& A, const b3DenseVec3& b,
@@ -239,11 +170,17 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 		sx[i] = p->m_position;
 		sv[i] = p->m_velocity;
 		sf[i] = p->m_force;
+		sz[i].SetZero();
 
 		if (p->m_type == e_dynamicParticle)
 		{
 			// Apply weight
 			sf[i] += p->m_mass * gravity;
+			S[i].SetIdentity();
+		}
+		else
+		{
+			S[i].SetZero();
 		}
 
 		sy[i] = p->m_translation;
@@ -253,9 +190,6 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
 	// Apply internal forces
 	ApplyForces();
 
-	// Apply constraints
-	ApplyConstraints();
-
 	// Solve Ax = b, where
 	// A = M - h * dfdv - h * h * dfdx
 	// b = h * (f0 + h * dfdx * v0 + dfdx * y) 

From f87e2a6378e2af7525d9777362b61558914d08b4 Mon Sep 17 00:00:00 2001
From: Irlan <irlanrobson@users.noreply.github.com>
Date: Mon, 8 Jul 2019 10:58:39 -0300
Subject: [PATCH 198/198] Properly variable name and comment

---
 src/bounce/cloth/forces/mouse_force.cpp  |  82 +++++++++---------
 src/bounce/cloth/forces/shear_force.cpp  |  54 ++++++------
 src/bounce/cloth/forces/spring_force.cpp |  44 +++++-----
 src/bounce/cloth/forces/strech_force.cpp | 104 +++++++++++------------
 4 files changed, 142 insertions(+), 142 deletions(-)

diff --git a/src/bounce/cloth/forces/mouse_force.cpp b/src/bounce/cloth/forces/mouse_force.cpp
index c15b01b..51810b7 100644
--- a/src/bounce/cloth/forces/mouse_force.cpp
+++ b/src/bounce/cloth/forces/mouse_force.cpp
@@ -130,39 +130,39 @@ void b3MouseForce::Apply(const b3ClothForceSolverData* data)
 			m_f3 += fs[2];
 			m_f4 += fs[3];
 
-			// Jacobian
-			b3Mat33 J[4][4];
+			// Force derivative
+			b3Mat33 K[4][4];
 			for (u32 i = 0; i < 4; ++i)
 			{
 				for (u32 j = 0; j < 4; ++j)
 				{
 					//b3Mat33 d2Cvxij;
-					//b3Mat33 Jij = -m_km * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cvxij);
-					b3Mat33 Jij = -m_km * b3Outer(dCdx[i], dCdx[j]);
+					//b3Mat33 Kij = -m_km * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cvxij);
+					b3Mat33 Kij = -m_km * b3Outer(dCdx[i], dCdx[j]);
 
-					J[i][j] = Jij;
+					K[i][j] = Kij;
 				}
 			}
 
-			dfdx(i1, i1) += J[0][0];
-			dfdx(i1, i2) += J[0][1];
-			dfdx(i1, i3) += J[0][2];
-			dfdx(i1, i4) += J[0][3];
+			dfdx(i1, i1) += K[0][0];
+			dfdx(i1, i2) += K[0][1];
+			dfdx(i1, i3) += K[0][2];
+			dfdx(i1, i4) += K[0][3];
 
-			dfdx(i2, i1) += J[1][0];
-			dfdx(i2, i2) += J[1][1];
-			dfdx(i2, i3) += J[1][2];
-			dfdx(i2, i4) += J[1][3];
+			dfdx(i2, i1) += K[1][0];
+			dfdx(i2, i2) += K[1][1];
+			dfdx(i2, i3) += K[1][2];
+			dfdx(i2, i4) += K[1][3];
 
-			dfdx(i3, i1) += J[2][0];
-			dfdx(i3, i2) += J[2][1];
-			dfdx(i3, i3) += J[2][2];
-			dfdx(i3, i4) += J[2][3];
+			dfdx(i3, i1) += K[2][0];
+			dfdx(i3, i2) += K[2][1];
+			dfdx(i3, i3) += K[2][2];
+			dfdx(i3, i4) += K[2][3];
 
-			dfdx(i4, i1) += J[3][0];
-			dfdx(i4, i2) += J[3][1];
-			dfdx(i4, i3) += J[3][2];
-			dfdx(i4, i4) += J[3][3];
+			dfdx(i4, i1) += K[3][0];
+			dfdx(i4, i2) += K[3][1];
+			dfdx(i4, i3) += K[3][2];
+			dfdx(i4, i4) += K[3][3];
 		}
 		
 		if (m_kd > 0.0f)
@@ -187,37 +187,37 @@ void b3MouseForce::Apply(const b3ClothForceSolverData* data)
 			m_f3 += fs[2];
 			m_f4 += fs[3];
 
-			// Jacobian
-			b3Mat33 J[4][4];
+			// Force derivative
+			b3Mat33 K[4][4];
 			for (u32 i = 0; i < 4; ++i)
 			{
 				for (u32 j = 0; j < 4; ++j)
 				{
-					b3Mat33 Jij = -m_kd * b3Outer(dCdx[i], dCdx[j]);
+					b3Mat33 Kij = -m_kd * b3Outer(dCdx[i], dCdx[j]);
 
-					J[i][j] = Jij;
+					K[i][j] = Kij;
 				}
 			}
 
-			dfdv(i1, i1) += J[0][0];
-			dfdv(i1, i2) += J[0][1];
-			dfdv(i1, i3) += J[0][2];
-			dfdv(i1, i4) += J[0][3];
+			dfdv(i1, i1) += K[0][0];
+			dfdv(i1, i2) += K[0][1];
+			dfdv(i1, i3) += K[0][2];
+			dfdv(i1, i4) += K[0][3];
 
-			dfdv(i2, i1) += J[1][0];
-			dfdv(i2, i2) += J[1][1];
-			dfdv(i2, i3) += J[1][2];
-			dfdv(i2, i4) += J[1][3];
+			dfdv(i2, i1) += K[1][0];
+			dfdv(i2, i2) += K[1][1];
+			dfdv(i2, i3) += K[1][2];
+			dfdv(i2, i4) += K[1][3];
 
-			dfdv(i3, i1) += J[2][0];
-			dfdv(i3, i2) += J[2][1];
-			dfdv(i3, i3) += J[2][2];
-			dfdv(i3, i4) += J[2][3];
+			dfdv(i3, i1) += K[2][0];
+			dfdv(i3, i2) += K[2][1];
+			dfdv(i3, i3) += K[2][2];
+			dfdv(i3, i4) += K[2][3];
 
-			dfdv(i4, i1) += J[3][0];
-			dfdv(i4, i2) += J[3][1];
-			dfdv(i4, i3) += J[3][2];
-			dfdv(i4, i4) += J[3][3];
+			dfdv(i4, i1) += K[3][0];
+			dfdv(i4, i2) += K[3][1];
+			dfdv(i4, i3) += K[3][2];
+			dfdv(i4, i4) += K[3][3];
 		}
 	}
 
diff --git a/src/bounce/cloth/forces/shear_force.cpp b/src/bounce/cloth/forces/shear_force.cpp
index a94f835..07a35f4 100644
--- a/src/bounce/cloth/forces/shear_force.cpp
+++ b/src/bounce/cloth/forces/shear_force.cpp
@@ -133,31 +133,31 @@ void b3ShearForce::Apply(const b3ClothForceSolverData* data)
 		m_f2 += fs[1];
 		m_f3 += fs[2];
 
-		// Jacobian
-		b3Mat33 J[3][3];
+		// Force derivative
+		b3Mat33 K[3][3];
 		for (u32 i = 0; i < 3; ++i)
 		{
 			for (u32 j = 0; j < 3; ++j)
 			{
 				//b3Mat33 d2Cxij = alpha * (dwudx[i] * dwvdx[j] + dwudx[j] * dwvdx[i]) * I;
-				//b3Mat33 Jij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cxij);
-				b3Mat33 Jij = -m_ks * b3Outer(dCdx[i], dCdx[j]);
+				//b3Mat33 Kij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cxij);
+				b3Mat33 Kij = -m_ks * b3Outer(dCdx[i], dCdx[j]);
 
-				J[i][j] = Jij;
+				K[i][j] = Kij;
 			}
 		}
 
-		dfdx(i1, i1) += J[0][0];
-		dfdx(i1, i2) += J[0][1];
-		dfdx(i1, i3) += J[0][2];
+		dfdx(i1, i1) += K[0][0];
+		dfdx(i1, i2) += K[0][1];
+		dfdx(i1, i3) += K[0][2];
 
-		dfdx(i2, i1) += J[1][0];
-		dfdx(i2, i2) += J[1][1];
-		dfdx(i2, i3) += J[1][2];
+		dfdx(i2, i1) += K[1][0];
+		dfdx(i2, i2) += K[1][1];
+		dfdx(i2, i3) += K[1][2];
 
-		dfdx(i3, i1) += J[2][0];
-		dfdx(i3, i2) += J[2][1];
-		dfdx(i3, i3) += J[2][2];
+		dfdx(i3, i1) += K[2][0];
+		dfdx(i3, i2) += K[2][1];
+		dfdx(i3, i3) += K[2][2];
 	}
 
 	if (m_kd > 0.0f)
@@ -181,29 +181,29 @@ void b3ShearForce::Apply(const b3ClothForceSolverData* data)
 		m_f2 += fs[1];
 		m_f3 += fs[2];
 
-		// Jacobian
-		b3Mat33 J[3][3];
+		// Force derivative
+		b3Mat33 K[3][3];
 		for (u32 i = 0; i < 3; ++i)
 		{
 			for (u32 j = 0; j < 3; ++j)
 			{
-				b3Mat33 Jij = -m_kd * b3Outer(dCdx[i], dCdx[j]);
+				b3Mat33 Kij = -m_kd * b3Outer(dCdx[i], dCdx[j]);
 
-				J[i][j] = Jij;
+				K[i][j] = Kij;
 			}
 		}
 
-		dfdv(i1, i1) += J[0][0];
-		dfdv(i1, i2) += J[0][1];
-		dfdv(i1, i3) += J[0][2];
+		dfdv(i1, i1) += K[0][0];
+		dfdv(i1, i2) += K[0][1];
+		dfdv(i1, i3) += K[0][2];
 
-		dfdv(i2, i1) += J[1][0];
-		dfdv(i2, i2) += J[1][1];
-		dfdv(i2, i3) += J[1][2];
+		dfdv(i2, i1) += K[1][0];
+		dfdv(i2, i2) += K[1][1];
+		dfdv(i2, i3) += K[1][2];
 
-		dfdv(i3, i1) += J[2][0];
-		dfdv(i3, i2) += J[2][1];
-		dfdv(i3, i3) += J[2][2];
+		dfdv(i3, i1) += K[2][0];
+		dfdv(i3, i2) += K[2][1];
+		dfdv(i3, i3) += K[2][2];
 	}
 	
 	f[i1] += m_f1;
diff --git a/src/bounce/cloth/forces/spring_force.cpp b/src/bounce/cloth/forces/spring_force.cpp
index 4c365a1..a037254 100644
--- a/src/bounce/cloth/forces/spring_force.cpp
+++ b/src/bounce/cloth/forces/spring_force.cpp
@@ -79,40 +79,40 @@ void b3SpringForce::Apply(const b3ClothForceSolverData* data)
 
 		if (L > m_L0)
 		{
-			// Apply tension
-			b3Vec3 n = dx / L;
-
-			m_f += -m_ks * (L - m_L0) * n;
-
 			// Jacobian
-			b3Mat33 Jx11 = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx)));
-			b3Mat33 Jx12 = -Jx11;
-			b3Mat33 Jx21 = Jx12;
-			b3Mat33 Jx22 = Jx11;
+			b3Vec3 dCdx = dx / L;
 
-			dfdx(i1, i1) += Jx11;
-			dfdx(i1, i2) += Jx12;
-			dfdx(i2, i1) += Jx21;
-			dfdx(i2, i2) += Jx22;
+			m_f += -m_ks * (L - m_L0) * dCdx;
+
+			// Force derivative
+			b3Mat33 K11 = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx)));
+			b3Mat33 K12 = -K11;
+			b3Mat33 K21 = K12;
+			b3Mat33 K22 = K11;
+
+			dfdx(i1, i1) += K11;
+			dfdx(i1, i2) += K12;
+			dfdx(i2, i1) += K21;
+			dfdx(i2, i2) += K22;
 		}
 	}
 
 	if (m_kd > 0.0f)
 	{
-		// Apply damping
+		// C * J
 		b3Vec3 dv = v1 - v2;
 
 		m_f += -m_kd * dv;
 		
-		b3Mat33 Jv11 = -m_kd * I;
-		b3Mat33 Jv12 = -Jv11;
-		b3Mat33 Jv21 = Jv12;
-		b3Mat33 Jv22 = Jv11;
+		b3Mat33 K11 = -m_kd * I;
+		b3Mat33 K12 = -K11;
+		b3Mat33 K21 = K12;
+		b3Mat33 K22 = K11;
 
-		dfdv(i1, i1) += Jv11;
-		dfdv(i1, i2) += Jv12;
-		dfdv(i2, i1) += Jv21;
-		dfdv(i2, i2) += Jv22;
+		dfdv(i1, i1) += K11;
+		dfdv(i1, i2) += K12;
+		dfdv(i2, i1) += K21;
+		dfdv(i2, i2) += K22;
 	}
 
 	f[i1] += m_f;
diff --git a/src/bounce/cloth/forces/strech_force.cpp b/src/bounce/cloth/forces/strech_force.cpp
index 0b87bdc..65dec70 100644
--- a/src/bounce/cloth/forces/strech_force.cpp
+++ b/src/bounce/cloth/forces/strech_force.cpp
@@ -145,31 +145,31 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 				m_f2 += fs[1];
 				m_f3 += fs[2];
 
-				// Jacobian
-				b3Mat33 J[3][3];
+				// Force derivative
+				b3Mat33 K[3][3];
 				for (u32 i = 0; i < 3; ++i)
 				{
 					for (u32 j = 0; j < 3; ++j)
 					{
 						b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu));
 
-						b3Mat33 Jij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + Cu * d2Cuxij);
+						b3Mat33 Kij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + Cu * d2Cuxij);
 
-						J[i][j] = Jij;
+						K[i][j] = Kij;
 					}
 				}
 
-				dfdx(i1, i1) += J[0][0];
-				dfdx(i1, i2) += J[0][1];
-				dfdx(i1, i3) += J[0][2];
+				dfdx(i1, i1) += K[0][0];
+				dfdx(i1, i2) += K[0][1];
+				dfdx(i1, i3) += K[0][2];
 
-				dfdx(i2, i1) += J[1][0];
-				dfdx(i2, i2) += J[1][1];
-				dfdx(i2, i3) += J[1][2];
+				dfdx(i2, i1) += K[1][0];
+				dfdx(i2, i2) += K[1][1];
+				dfdx(i2, i3) += K[1][2];
 
-				dfdx(i3, i1) += J[2][0];
-				dfdx(i3, i2) += J[2][1];
-				dfdx(i3, i3) += J[2][2];
+				dfdx(i3, i1) += K[2][0];
+				dfdx(i3, i2) += K[2][1];
+				dfdx(i3, i3) += K[2][2];
 			}
 		}
 
@@ -193,29 +193,29 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 			m_f2 += fs[1];
 			m_f3 += fs[2];
 
-			// Jacobian
-			b3Mat33 J[3][3];
+			// Force derivative
+			b3Mat33 K[3][3];
 			for (u32 i = 0; i < 3; ++i)
 			{
 				for (u32 j = 0; j < 3; ++j)
 				{
-					b3Mat33 Jij = -m_kd * b3Outer(dCudx[i], dCudx[j]);
+					b3Mat33 Kij = -m_kd * b3Outer(dCudx[i], dCudx[j]);
 
-					J[i][j] = Jij;
+					K[i][j] = Kij;
 				}
 			}
 
-			dfdv(i1, i1) += J[0][0];
-			dfdv(i1, i2) += J[0][1];
-			dfdv(i1, i3) += J[0][2];
+			dfdv(i1, i1) += K[0][0];
+			dfdv(i1, i2) += K[0][1];
+			dfdv(i1, i3) += K[0][2];
 
-			dfdv(i2, i1) += J[1][0];
-			dfdv(i2, i2) += J[1][1];
-			dfdv(i2, i3) += J[1][2];
+			dfdv(i2, i1) += K[1][0];
+			dfdv(i2, i2) += K[1][1];
+			dfdv(i2, i3) += K[1][2];
 
-			dfdv(i3, i1) += J[2][0];
-			dfdv(i3, i2) += J[2][1];
-			dfdv(i3, i3) += J[2][2];
+			dfdv(i3, i1) += K[2][0];
+			dfdv(i3, i2) += K[2][1];
+			dfdv(i3, i3) += K[2][2];
 		}
 	}
 
@@ -248,31 +248,31 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 				m_f2 += fs[1];
 				m_f3 += fs[2];
 
-				// Jacobian
-				b3Mat33 J[3][3];
+				// Force derivative
+				b3Mat33 K[3][3];
 				for (u32 i = 0; i < 3; ++i)
 				{
 					for (u32 j = 0; j < 3; ++j)
 					{
 						b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv));
 
-						b3Mat33 Jij = -m_ks * (b3Outer(dCvdx[i], dCvdx[j]) + Cv * d2Cvxij);
+						b3Mat33 Kij = -m_ks * (b3Outer(dCvdx[i], dCvdx[j]) + Cv * d2Cvxij);
 
-						J[i][j] = Jij;
+						K[i][j] = Kij;
 					}
 				}
 
-				dfdx(i1, i1) += J[0][0];
-				dfdx(i1, i2) += J[0][1];
-				dfdx(i1, i3) += J[0][2];
+				dfdx(i1, i1) += K[0][0];
+				dfdx(i1, i2) += K[0][1];
+				dfdx(i1, i3) += K[0][2];
 
-				dfdx(i2, i1) += J[1][0];
-				dfdx(i2, i2) += J[1][1];
-				dfdx(i2, i3) += J[1][2];
+				dfdx(i2, i1) += K[1][0];
+				dfdx(i2, i2) += K[1][1];
+				dfdx(i2, i3) += K[1][2];
 
-				dfdx(i3, i1) += J[2][0];
-				dfdx(i3, i2) += J[2][1];
-				dfdx(i3, i3) += J[2][2];
+				dfdx(i3, i1) += K[2][0];
+				dfdx(i3, i2) += K[2][1];
+				dfdx(i3, i3) += K[2][2];
 			}
 		}
 
@@ -297,29 +297,29 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
 			m_f2 += fs[1];
 			m_f3 += fs[2];
 
-			// Jacobian
-			b3Mat33 J[3][3];
+			// Force derivative
+			b3Mat33 K[3][3];
 			for (u32 i = 0; i < 3; ++i)
 			{
 				for (u32 j = 0; j < 3; ++j)
 				{
-					b3Mat33 Jij = -m_kd * b3Outer(dCvdx[i], dCvdx[j]);
+					b3Mat33 Kij = -m_kd * b3Outer(dCvdx[i], dCvdx[j]);
 
-					J[i][j] = Jij;
+					K[i][j] = Kij;
 				}
 			}
 
-			dfdv(i1, i1) += J[0][0];
-			dfdv(i1, i2) += J[0][1];
-			dfdv(i1, i3) += J[0][2];
+			dfdv(i1, i1) += K[0][0];
+			dfdv(i1, i2) += K[0][1];
+			dfdv(i1, i3) += K[0][2];
 
-			dfdv(i2, i1) += J[1][0];
-			dfdv(i2, i2) += J[1][1];
-			dfdv(i2, i3) += J[1][2];
+			dfdv(i2, i1) += K[1][0];
+			dfdv(i2, i2) += K[1][1];
+			dfdv(i2, i3) += K[1][2];
 
-			dfdv(i3, i1) += J[2][0];
-			dfdv(i3, i2) += J[2][1];
-			dfdv(i3, i3) += J[2][2];
+			dfdv(i3, i1) += K[2][0];
+			dfdv(i3, i2) += K[2][1];
+			dfdv(i3, i3) += K[2][2];
 		}
 	}