deformable code refactor

src/BulletSoftBody/btDeformableContactProjection.h

@@ -0,0 +1,43 @@
+//
+//  btDeformableContactProjection.h
+//  BulletSoftBody
+//
+//  Created by Xuchen Han on 7/4/19.
+//
+
+#ifndef BT_CONTACT_PROJECTION_H
+#define BT_CONTACT_PROJECTION_H
+#include "btCGProjection.h"
+#include "btSoftBody.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
+#include <iostream>
+class btDeformableContactProjection : public btCGProjection
+{
+public:
+    std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<DeformableContactConstraint> > m_constraints;
+    std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<DeformableFrictionConstraint> > m_frictions;
+    
+    btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
+    : btCGProjection(softBodies, dt)
+    {
+    }
+    
+    virtual ~btDeformableContactProjection()
+    {
+    }
+    
+    // apply the constraints to the rhs
+    virtual void project(TVStack& x);
+    
+    // apply constraints to x in Ax=b
+    virtual void enforceConstraint(TVStack& x);
+    
+    // update the constraints
+    virtual void update();
+    
+    virtual void setConstraints();
+    
+    virtual void reinitialize(bool nodeUpdated);
+};
+#endif /* btContactProjection_h */