bullet: Sync with upstream 2.89

This allows distro unbundling again for distros that ship Bullet 2.89+.

1 files changed, 90 insertions, 0 deletions

diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h
new file mode 100644
index 0000000000..3c4490765e
--- /dev/null
+++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h
@@ -0,0 +1,90 @@
+/*
+ Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
+ 
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 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.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#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 "btDeformableContactConstraint.h"
+#include "LinearMath/btHashMap.h"
+#include <vector>
+class btDeformableContactProjection
+{
+public:
+    typedef btAlignedObjectArray<btVector3> TVStack;
+    btAlignedObjectArray<btSoftBody *>& m_softBodies;
+    
+//    // map from node index to static constraint
+//    btHashMap<btHashInt, btDeformableStaticConstraint> m_staticConstraints;
+//    // map from node index to node rigid constraint
+//    btHashMap<btHashInt, btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
+//    // map from node index to face rigid constraint
+//    btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> > m_faceRigidConstraints;
+//    // map from node index to deformable constraint
+//    btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceNodeContactConstraint*> > m_deformableConstraints;
+//    // map from node index to node anchor constraint
+//    btHashMap<btHashInt, btDeformableNodeAnchorConstraint> m_nodeAnchorConstraints;
+	
+    // all constraints involving face
+    btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints;
+    
+    // map from node index to projection directions
+    btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict;
+	
+	// map from node index to static constraint
+	btAlignedObjectArray<btAlignedObjectArray<btDeformableStaticConstraint> > m_staticConstraints;
+	// map from node index to node rigid constraint
+	btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
+	// map from node index to face rigid constraint
+	btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
+	// map from node index to deformable constraint
+	btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceNodeContactConstraint> > m_deformableConstraints;
+	// map from node index to node anchor constraint
+	btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeAnchorConstraint> > m_nodeAnchorConstraints;
+    
+    btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies)
+    : m_softBodies(softBodies)
+    {
+    }
+    
+    virtual ~btDeformableContactProjection()
+    {
+    }
+    
+    // apply the constraints to the rhs of the linear solve
+    virtual void project(TVStack& x);
+    
+    // add friction force to the rhs of the linear solve
+    virtual void applyDynamicFriction(TVStack& f);
+    
+    // update and solve the constraints
+    virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies);
+    
+    // solve the position error using split impulse
+    virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);
+    
+    // Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict.
+    virtual void setConstraints();
+    
+    // Set up projections for each vertex by adding the projection direction to
+    virtual void setProjection();
+    
+    virtual void reinitialize(bool nodeUpdated);
+    
+    virtual void splitImpulseSetup(const btContactSolverInfo& infoGlobal);
+};
+#endif /* btDeformableContactProjection_h */