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factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody

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This commit is contained in:
Xuchen Han
2019-07-25 13:51:44 -07:00
parent 233a381e7c
commit ec403f790d
18 changed files with 150 additions and 204 deletions
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39
src/BulletSoftBody/btDeformableLagrangianForce.h
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@@ -10,16 +10,20 @@
#include "btSoftBody.h"
#include <unordered_map>
enum btDeformableLagrangianForceType
{
BT_GRAVITY_FORCE = 1,
BT_MASSSPRING_FORCE = 2
};
class btDeformableLagrangianForce
{
public:
using TVStack = btAlignedObjectArray<btVector3>;
const btAlignedObjectArray<btSoftBody *>& m_softBodies;
std::unordered_map<btSoftBody::Node *, size_t> m_indices;
btAlignedObjectArray<btSoftBody *> m_softBodies;
const std::unordered_map<btSoftBody::Node *, size_t>* m_indices;
btDeformableLagrangianForce(const btAlignedObjectArray<btSoftBody *>& softBodies)
: m_softBodies(softBodies)
btDeformableLagrangianForce()
{
}
@@ -31,23 +35,10 @@ public:
virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0;
virtual btDeformableLagrangianForceType getForceType() = 0;
virtual void reinitialize(bool nodeUpdated)
{
if (nodeUpdated)
updateId();
}
virtual void updateId()
{
size_t index = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
m_indices[&(psb->m_nodes[j])] = index++;
}
}
}
virtual int getNumNodes()
@@ -59,5 +50,15 @@ public:
}
return numNodes;
}
virtual void addSoftBody(btSoftBody* psb)
{
m_softBodies.push_back(psb);
}
virtual void setIndices(const std::unordered_map<btSoftBody::Node *, size_t>* indices)
{
m_indices = indices;
}
};
#endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */