76 lines
2.5 KiB
C++
76 lines
2.5 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_LAGRANGIAN_FORCE_H
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#define BT_DEFORMABLE_LAGRANGIAN_FORCE_H
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#include "btSoftBody.h"
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#include <LinearMath/btHashMap.h>
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enum btDeformableLagrangianForceType
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{
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BT_GRAVITY_FORCE = 1,
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BT_MASSSPRING_FORCE = 2,
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BT_COROTATED_FORCE = 3
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};
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class btDeformableLagrangianForce
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{
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public:
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// using TVStack = btAlignedObjectArray<btVector3>;
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typedef btAlignedObjectArray<btVector3> TVStack;
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btAlignedObjectArray<btSoftBody *> m_softBodies;
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const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
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btDeformableLagrangianForce()
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{
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}
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virtual ~btDeformableLagrangianForce(){}
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virtual void addScaledImplicitForce(btScalar scale, TVStack& force) = 0;
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virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0;
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virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0;
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virtual btDeformableLagrangianForceType getForceType() = 0;
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virtual void reinitialize(bool nodeUpdated)
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{
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}
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virtual int getNumNodes()
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{
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int numNodes = 0;
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for (int i = 0; i < m_softBodies.size(); ++i)
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{
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numNodes += m_softBodies[i]->m_nodes.size();
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}
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return numNodes;
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}
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virtual void addSoftBody(btSoftBody* psb)
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{
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m_softBodies.push_back(psb);
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}
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virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes)
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{
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m_nodes = nodes;
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}
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};
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#endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */
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