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Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btCGProjection.h')
| -rw-r--r-- | extern/bullet2/src/BulletSoftBody/btCGProjection.h | 104 |
1 files changed, 104 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btCGProjection.h b/extern/bullet2/src/BulletSoftBody/btCGProjection.h new file mode 100644 index 00000000000..e05970664c2 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btCGProjection.h @@ -0,0 +1,104 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + 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 BT_CG_PROJECTION_H +#define BT_CG_PROJECTION_H + +#include "btSoftBody.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" + +struct DeformableContactConstraint +{ + const btSoftBody::Node* m_node; + btAlignedObjectArray<const btSoftBody::RContact*> m_contact; + btAlignedObjectArray<btVector3> m_total_normal_dv; + btAlignedObjectArray<btVector3> m_total_tangent_dv; + btAlignedObjectArray<bool> m_static; + btAlignedObjectArray<bool> m_can_be_dynamic; + + DeformableContactConstraint(const btSoftBody::RContact& rcontact) : m_node(rcontact.m_node) + { + append(rcontact); + } + + DeformableContactConstraint() : m_node(NULL) + { + m_contact.push_back(NULL); + } + + void append(const btSoftBody::RContact& rcontact) + { + m_contact.push_back(&rcontact); + m_total_normal_dv.push_back(btVector3(0, 0, 0)); + m_total_tangent_dv.push_back(btVector3(0, 0, 0)); + m_static.push_back(false); + m_can_be_dynamic.push_back(true); + } + + void replace(const btSoftBody::RContact& rcontact) + { + m_contact.clear(); + m_total_normal_dv.clear(); + m_total_tangent_dv.clear(); + m_static.clear(); + m_can_be_dynamic.clear(); + append(rcontact); + } + + ~DeformableContactConstraint() + { + } +}; + +class btCGProjection +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack; + btAlignedObjectArray<btSoftBody*>& m_softBodies; + const btScalar& m_dt; + // map from node indices to node pointers + const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; + + btCGProjection(btAlignedObjectArray<btSoftBody*>& softBodies, const btScalar& dt) + : m_softBodies(softBodies), m_dt(dt) + { + } + + virtual ~btCGProjection() + { + } + + // apply the constraints + virtual void project(TVStack& x) = 0; + + virtual void setConstraints() = 0; + + // update the constraints + virtual btScalar update() = 0; + + virtual void reinitialize(bool nodeUpdated) + { + } + + virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes) + { + m_nodes = nodes; + } +}; + +#endif /* btCGProjection_h */ |