64 lines
3.9 KiB
C++
64 lines
3.9 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_MULTIBODY_CONSTRAINT_SOLVER_H
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#define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H
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#include "btDeformableBodySolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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class btDeformableBodySolver;
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// btDeformableMultiBodyConstraintSolver extendsn btMultiBodyConstraintSolver to solve for the contact among rigid/multibody and deformable bodies. Notice that the following constraints
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// 1. rigid/multibody against rigid/multibody
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// 2. rigid/multibody against deforamble
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// 3. deformable against deformable
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// 4. deformable self collision
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// 5. joint constraints
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// are all coupled in this solve.
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ATTRIBUTE_ALIGNED16(class)
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btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver
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{
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btDeformableBodySolver* m_deformableSolver;
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protected:
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// override the iterations method to include deformable/multibody contact
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// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
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// write the velocity of the the solver body to the underlying rigid body
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void solverBodyWriteBack(const btContactSolverInfo& infoGlobal);
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// write the velocity of the underlying rigid body to the the the solver body
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void writeToSolverBody(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
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// let each deformable body knows which solver body is in constact
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void pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
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virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
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virtual btScalar solveDeformableGroupIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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void setDeformableSolver(btDeformableBodySolver * deformableSolver)
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{
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m_deformableSolver = deformableSolver;
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}
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virtual void solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
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};
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#endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */
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