61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
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#ifndef BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
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#define BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
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#include "BulletSoftBody/btDeformableBodySolver.h"
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#include "btReducedDeformableContactConstraint.h"
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class btReducedDeformableBody;
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class btReducedDeformableBodySolver : public btDeformableBodySolver
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{
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protected:
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bool m_ascendOrder;
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btScalar m_dampingAlpha;
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btScalar m_dampingBeta;
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btVector3 m_gravity;
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void predictReduceDeformableMotion(btScalar solverdt);
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void applyExplicitForce(btScalar solverdt);
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public:
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btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableStaticConstraint> > m_staticConstraints;
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btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
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btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
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btReducedDeformableBodySolver();
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~btReducedDeformableBodySolver() {}
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virtual void setGravity(const btVector3& gravity);
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virtual SolverTypes getSolverType() const
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{
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return REDUCED_DEFORMABLE_SOLVER;
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}
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// resize/clear data structures
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virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& bodies, btScalar dt);
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virtual void predictMotion(btScalar solverdt);
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virtual void applyTransforms(btScalar timeStep);
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// set up contact constraints
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virtual void setConstraints(const btContactSolverInfo& infoGlobal);
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// solve all constraints (fixed and contact)
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virtual btScalar solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
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// apply all the delta velocities
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virtual void deformableBodyInternalWriteBack();
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// virtual void setProjection() {}
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// virtual void setLagrangeMultiplier() {}
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// virtual void setupDeformableSolve(bool implicit);
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};
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#endif // BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
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