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106 lines
3.3 KiB
C++
106 lines
3.3 KiB
C++
/*
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Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CG_PROJECTION_H
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#define BT_CG_PROJECTION_H
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#include "btSoftBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
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struct DeformableContactConstraint
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{
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const btSoftBody::Node* m_node;
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btAlignedObjectArray<const btSoftBody::RContact*> m_contact;
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btAlignedObjectArray<btVector3> m_total_normal_dv;
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btAlignedObjectArray<btVector3> m_total_tangent_dv;
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btAlignedObjectArray<bool> m_static;
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btAlignedObjectArray<bool> m_can_be_dynamic;
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DeformableContactConstraint(const btSoftBody::RContact& rcontact): m_node(rcontact.m_node)
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{
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append(rcontact);
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}
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DeformableContactConstraint(): m_node(NULL)
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{
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m_contact.push_back(NULL);
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}
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void append(const btSoftBody::RContact& rcontact)
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{
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m_contact.push_back(&rcontact);
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m_total_normal_dv.push_back(btVector3(0,0,0));
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m_total_tangent_dv.push_back(btVector3(0,0,0));
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m_static.push_back(false);
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m_can_be_dynamic.push_back(true);
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}
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void replace(const btSoftBody::RContact& rcontact)
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{
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m_contact.clear();
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m_total_normal_dv.clear();
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m_total_tangent_dv.clear();
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m_static.clear();
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m_can_be_dynamic.clear();
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append(rcontact);
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}
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~DeformableContactConstraint()
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{
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}
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};
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class btCGProjection
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{
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public:
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typedef btAlignedObjectArray<btVector3> TVStack;
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typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
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typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
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btAlignedObjectArray<btSoftBody *>& m_softBodies;
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const btScalar& m_dt;
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// map from node indices to node pointers
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const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
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btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
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: m_softBodies(softBodies)
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, m_dt(dt)
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{
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}
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virtual ~btCGProjection()
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{
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}
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// apply the constraints
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virtual void project(TVStack& x) = 0;
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virtual void setConstraints() = 0;
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// update the constraints
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virtual btScalar update() = 0;
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virtual void reinitialize(bool nodeUpdated)
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{
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}
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virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes)
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{
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m_nodes = nodes;
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}
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};
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#endif /* btCGProjection_h */
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