302 lines
10 KiB
C++
302 lines
10 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_DEFORMABLE_CONTACT_CONSTRAINT_H
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#define BT_DEFORMABLE_CONTACT_CONSTRAINT_H
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#include "btSoftBody.h"
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// btDeformableContactConstraint is an abstract class specifying the method that each type of contact constraint needs to implement
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class btDeformableContactConstraint
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{
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public:
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// True if the friction is static
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// False if the friction is dynamic
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bool m_static;
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// normal of the contact
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btVector3 m_normal;
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btDeformableContactConstraint(const btVector3& normal): m_static(false), m_normal(normal)
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{
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}
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btDeformableContactConstraint(bool isStatic, const btVector3& normal): m_static(isStatic), m_normal(normal)
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{
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}
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btDeformableContactConstraint(const btDeformableContactConstraint& other)
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: m_static(other.m_static)
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, m_normal(other.m_normal)
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{
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}
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btDeformableContactConstraint(){}
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virtual ~btDeformableContactConstraint(){}
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// solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence
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// the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact
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virtual btScalar solveConstraint() = 0;
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// solve the position error by applying an inelastic impulse that changes only the position (not velocity)
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virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0;
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// get the velocity of the object A in the contact
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virtual btVector3 getVa() const = 0;
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// get the velocity of the object B in the contact
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virtual btVector3 getVb() const = 0;
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// get the velocity change of the soft body node in the constraint
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virtual btVector3 getDv(const btSoftBody::Node*) const = 0;
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// apply impulse to the soft body node and/or face involved
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virtual void applyImpulse(const btVector3& impulse) = 0;
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// apply position based impulse to the soft body node and/or face involved
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virtual void applySplitImpulse(const btVector3& impulse) = 0;
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// scale the penetration depth by erp
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virtual void setPenetrationScale(btScalar scale) = 0;
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};
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//
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// Constraint that a certain node in the deformable objects cannot move
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class btDeformableStaticConstraint : public btDeformableContactConstraint
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{
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public:
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const btSoftBody::Node* m_node;
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btDeformableStaticConstraint(){}
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btDeformableStaticConstraint(const btSoftBody::Node* node): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0))
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{
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}
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btDeformableStaticConstraint(const btDeformableStaticConstraint& other)
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: m_node(other.m_node)
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, btDeformableContactConstraint(other)
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{
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}
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virtual ~btDeformableStaticConstraint(){}
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virtual btScalar solveConstraint()
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{
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return 0;
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}
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virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
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{
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return 0;
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}
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virtual btVector3 getVa() const
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{
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return btVector3(0,0,0);
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}
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virtual btVector3 getVb() const
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{
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return btVector3(0,0,0);
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}
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virtual btVector3 getDv(const btSoftBody::Node* n) const
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{
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return btVector3(0,0,0);
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}
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virtual void applyImpulse(const btVector3& impulse){}
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virtual void applySplitImpulse(const btVector3& impulse){}
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virtual void setPenetrationScale(btScalar scale){}
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};
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//
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// Anchor Constraint between rigid and deformable node
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class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint
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{
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public:
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const btSoftBody::DeformableNodeRigidAnchor* m_anchor;
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btDeformableNodeAnchorConstraint(){}
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btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c);
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btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other);
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virtual ~btDeformableNodeAnchorConstraint()
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{
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}
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virtual btScalar solveConstraint();
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virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
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{
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// todo xuchenhan@
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return 0;
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}
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// object A is the rigid/multi body, and object B is the deformable node/face
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virtual btVector3 getVa() const;
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// get the velocity of the deformable node in contact
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virtual btVector3 getVb() const;
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virtual btVector3 getDv(const btSoftBody::Node* n) const
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{
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return btVector3(0,0,0);
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}
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virtual void applyImpulse(const btVector3& impulse);
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virtual void applySplitImpulse(const btVector3& impulse)
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{
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// todo xuchenhan@
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};
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virtual void setPenetrationScale(btScalar scale){}
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};
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//
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// Constraint between rigid/multi body and deformable objects
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class btDeformableRigidContactConstraint : public btDeformableContactConstraint
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{
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public:
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btVector3 m_total_normal_dv;
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btVector3 m_total_tangent_dv;
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btScalar m_penetration;
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const btSoftBody::DeformableRigidContact* m_contact;
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btDeformableRigidContactConstraint(){}
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btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c);
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btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other);
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virtual ~btDeformableRigidContactConstraint()
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{
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}
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// object A is the rigid/multi body, and object B is the deformable node/face
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virtual btVector3 getVa() const;
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virtual btScalar solveConstraint();
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virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);
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virtual void setPenetrationScale(btScalar scale)
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{
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m_penetration *= scale;
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}
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};
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//
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// Constraint between rigid/multi body and deformable objects nodes
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class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactConstraint
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{
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public:
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// the deformable node in contact
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const btSoftBody::Node* m_node;
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btDeformableNodeRigidContactConstraint(){}
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btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact);
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btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other);
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virtual ~btDeformableNodeRigidContactConstraint()
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{
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}
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// get the velocity of the deformable node in contact
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virtual btVector3 getVb() const;
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// get the velocity change of the input soft body node in the constraint
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virtual btVector3 getDv(const btSoftBody::Node*) const;
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// cast the contact to the desired type
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const btSoftBody::DeformableNodeRigidContact* getContact() const
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{
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return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact);
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}
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virtual void applyImpulse(const btVector3& impulse);
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virtual void applySplitImpulse(const btVector3& impulse);
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};
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//
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// Constraint between rigid/multi body and deformable objects faces
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class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint
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{
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public:
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const btSoftBody::Face* m_face;
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btDeformableFaceRigidContactConstraint(){}
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btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact);
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btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other);
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virtual ~btDeformableFaceRigidContactConstraint()
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{
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}
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// get the velocity of the deformable face at the contact point
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virtual btVector3 getVb() const;
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// get the velocity change of the input soft body node in the constraint
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virtual btVector3 getDv(const btSoftBody::Node*) const;
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// cast the contact to the desired type
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const btSoftBody::DeformableFaceRigidContact* getContact() const
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{
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return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact);
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}
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virtual void applyImpulse(const btVector3& impulse);
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virtual void applySplitImpulse(const btVector3& impulse);
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};
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//
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// Constraint between deformable objects faces and deformable objects nodes
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class btDeformableFaceNodeContactConstraint : public btDeformableContactConstraint
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{
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public:
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btSoftBody::Node* m_node;
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btSoftBody::Face* m_face;
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const btSoftBody::DeformableFaceNodeContact* m_contact;
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btVector3 m_total_normal_dv;
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btVector3 m_total_tangent_dv;
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btDeformableFaceNodeContactConstraint(){}
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btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact);
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virtual ~btDeformableFaceNodeContactConstraint(){}
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virtual btScalar solveConstraint();
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virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
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{
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// todo: xuchenhan@
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return 0;
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}
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// get the velocity of the object A in the contact
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virtual btVector3 getVa() const;
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// get the velocity of the object B in the contact
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virtual btVector3 getVb() const;
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// get the velocity change of the input soft body node in the constraint
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virtual btVector3 getDv(const btSoftBody::Node*) const;
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// cast the contact to the desired type
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const btSoftBody::DeformableFaceNodeContact* getContact() const
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{
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return static_cast<const btSoftBody::DeformableFaceNodeContact*>(m_contact);
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}
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virtual void applyImpulse(const btVector3& impulse);
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virtual void applySplitImpulse(const btVector3& impulse)
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{
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// todo xuchenhan@
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}
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virtual void setPenetrationScale(btScalar scale){}
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};
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#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */
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