155 lines
4.9 KiB
C++
155 lines
4.9 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2016 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_CG_PROJECTION_H
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#define BT_CG_PROJECTION_H
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#include "btSoftBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
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class btDeformableRigidDynamicsWorld;
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struct DeformableContactConstraint
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{
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btAlignedObjectArray<const btSoftBody::RContact*> m_contact;
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btAlignedObjectArray<btVector3> m_direction;
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btAlignedObjectArray<btScalar> m_value;
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// the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve
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btAlignedObjectArray<btScalar> m_accumulated_normal_impulse;
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DeformableContactConstraint(const btSoftBody::RContact& rcontact)
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{
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append(rcontact);
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}
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DeformableContactConstraint(const btVector3 dir)
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{
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m_contact.push_back(NULL);
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m_direction.push_back(dir);
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m_value.push_back(0);
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m_accumulated_normal_impulse.push_back(0);
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}
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DeformableContactConstraint()
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{
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m_contact.push_back(NULL);
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m_direction.push_back(btVector3(0,0,0));
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m_value.push_back(0);
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m_accumulated_normal_impulse.push_back(0);
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}
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void append(const btSoftBody::RContact& rcontact)
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{
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m_contact.push_back(&rcontact);
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m_direction.push_back(rcontact.m_cti.m_normal);
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m_value.push_back(0);
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m_accumulated_normal_impulse.push_back(0);
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}
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~DeformableContactConstraint()
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{
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}
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};
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struct DeformableFrictionConstraint
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{
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btAlignedObjectArray<bool> m_static; // whether the friction is static
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btAlignedObjectArray<btScalar> m_impulse; // the impulse magnitude the node feels
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btAlignedObjectArray<btScalar> m_dv; // the dv magnitude of the node
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btAlignedObjectArray<btVector3> m_direction; // the direction of the friction for the node
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btAlignedObjectArray<bool> m_static_prev;
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btAlignedObjectArray<btScalar> m_impulse_prev;
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btAlignedObjectArray<btScalar> m_dv_prev;
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btAlignedObjectArray<btVector3> m_direction_prev;
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btAlignedObjectArray<bool> m_released; // whether the contact is released
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// the total impulse the node applied to the rb in the tangential direction in the cg solve
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btAlignedObjectArray<btVector3> m_accumulated_tangent_impulse;
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DeformableFrictionConstraint()
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{
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append();
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}
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void append()
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{
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m_static.push_back(false);
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m_static_prev.push_back(false);
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m_direction_prev.push_back(btVector3(0,0,0));
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m_direction.push_back(btVector3(0,0,0));
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m_impulse.push_back(0);
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m_impulse_prev.push_back(0);
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m_dv.push_back(0);
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m_dv_prev.push_back(0);
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m_accumulated_tangent_impulse.push_back(btVector3(0,0,0));
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m_released.push_back(false);
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}
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};
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class btCGProjection
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{
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public:
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typedef btAlignedObjectArray<btVector3> TVStack;
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typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
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typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
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btAlignedObjectArray<btSoftBody *> m_softBodies;
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btDeformableRigidDynamicsWorld* m_world;
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const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
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const btScalar& m_dt;
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btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt, const btAlignedObjectArray<btSoftBody::Node*>* nodes)
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: m_softBodies(softBodies)
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, m_dt(dt)
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, m_nodes(nodes)
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{
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}
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virtual ~btCGProjection()
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{
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}
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// apply the constraints
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virtual void project(TVStack& x) = 0;
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virtual void setConstraints() = 0;
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// update the constraints
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virtual void update() = 0;
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virtual void reinitialize(bool nodeUpdated)
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{
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}
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void setSoftBodies(btAlignedObjectArray<btSoftBody* > softBodies)
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{
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m_softBodies.copyFromArray(softBodies);
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}
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virtual void setWorld(btDeformableRigidDynamicsWorld* world)
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{
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m_world = world;
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}
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};
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#endif /* btCGProjection_h */
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