79 lines
2.6 KiB
C++
79 lines
2.6 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_PRECONDITIONER_H
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#define BT_PRECONDITIONER_H
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class Preconditioner
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{
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public:
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typedef btAlignedObjectArray<btVector3> TVStack;
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virtual void operator()(const TVStack& x, TVStack& b) = 0;
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virtual void reinitialize(bool nodeUpdated) = 0;
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virtual ~Preconditioner(){}
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};
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class DefaultPreconditioner : public Preconditioner
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{
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public:
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virtual void operator()(const TVStack& x, TVStack& b)
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{
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btAssert(b.size() == x.size());
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for (int i = 0; i < b.size(); ++i)
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b[i] = x[i];
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}
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virtual void reinitialize(bool nodeUpdated)
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{
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}
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virtual ~DefaultPreconditioner(){}
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};
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class MassPreconditioner : public Preconditioner
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{
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btAlignedObjectArray<btScalar> m_inv_mass;
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const btAlignedObjectArray<btSoftBody *>& m_softBodies;
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public:
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MassPreconditioner(const btAlignedObjectArray<btSoftBody *>& softBodies)
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: m_softBodies(softBodies)
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{
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}
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virtual void reinitialize(bool nodeUpdated)
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{
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if (nodeUpdated)
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{
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m_inv_mass.clear();
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for (int i = 0; i < m_softBodies.size(); ++i)
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{
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btSoftBody* psb = m_softBodies[i];
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for (int j = 0; j < psb->m_nodes.size(); ++j)
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m_inv_mass.push_back(psb->m_nodes[j].m_im);
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}
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}
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}
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virtual void operator()(const TVStack& x, TVStack& b)
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{
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btAssert(b.size() == x.size());
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btAssert(m_inv_mass.size() == x.size());
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for (int i = 0; i < b.size(); ++i)
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{
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b[i] = x[i] * m_inv_mass[i];
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}
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}
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};
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#endif /* BT_PRECONDITIONER_H */
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