diff options
Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btCGProjection.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btCGProjection.h | 146 |
1 files changed, 72 insertions, 74 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btCGProjection.h b/thirdparty/bullet/BulletSoftBody/btCGProjection.h index d047e6d3d9..e05970664c 100644 --- a/thirdparty/bullet/BulletSoftBody/btCGProjection.h +++ b/thirdparty/bullet/BulletSoftBody/btCGProjection.h @@ -22,85 +22,83 @@ struct DeformableContactConstraint { - const btSoftBody::Node* m_node; - btAlignedObjectArray<const btSoftBody::RContact*> m_contact; - btAlignedObjectArray<btVector3> m_total_normal_dv; - btAlignedObjectArray<btVector3> m_total_tangent_dv; - btAlignedObjectArray<bool> m_static; - btAlignedObjectArray<bool> m_can_be_dynamic; - - DeformableContactConstraint(const btSoftBody::RContact& rcontact): m_node(rcontact.m_node) - { - append(rcontact); - } - - DeformableContactConstraint(): m_node(NULL) - { - m_contact.push_back(NULL); - } - - void append(const btSoftBody::RContact& rcontact) - { - m_contact.push_back(&rcontact); - m_total_normal_dv.push_back(btVector3(0,0,0)); - m_total_tangent_dv.push_back(btVector3(0,0,0)); - m_static.push_back(false); - m_can_be_dynamic.push_back(true); - } - - void replace(const btSoftBody::RContact& rcontact) - { - m_contact.clear(); - m_total_normal_dv.clear(); - m_total_tangent_dv.clear(); - m_static.clear(); - m_can_be_dynamic.clear(); - append(rcontact); - } - - ~DeformableContactConstraint() - { - } + const btSoftBody::Node* m_node; + btAlignedObjectArray<const btSoftBody::RContact*> m_contact; + btAlignedObjectArray<btVector3> m_total_normal_dv; + btAlignedObjectArray<btVector3> m_total_tangent_dv; + btAlignedObjectArray<bool> m_static; + btAlignedObjectArray<bool> m_can_be_dynamic; + + DeformableContactConstraint(const btSoftBody::RContact& rcontact) : m_node(rcontact.m_node) + { + append(rcontact); + } + + DeformableContactConstraint() : m_node(NULL) + { + m_contact.push_back(NULL); + } + + void append(const btSoftBody::RContact& rcontact) + { + m_contact.push_back(&rcontact); + m_total_normal_dv.push_back(btVector3(0, 0, 0)); + m_total_tangent_dv.push_back(btVector3(0, 0, 0)); + m_static.push_back(false); + m_can_be_dynamic.push_back(true); + } + + void replace(const btSoftBody::RContact& rcontact) + { + m_contact.clear(); + m_total_normal_dv.clear(); + m_total_tangent_dv.clear(); + m_static.clear(); + m_can_be_dynamic.clear(); + append(rcontact); + } + + ~DeformableContactConstraint() + { + } }; class btCGProjection { public: - typedef btAlignedObjectArray<btVector3> TVStack; - typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack; - typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack; - btAlignedObjectArray<btSoftBody *>& m_softBodies; - const btScalar& m_dt; - // map from node indices to node pointers - const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; - - btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt) - : m_softBodies(softBodies) - , m_dt(dt) - { - } - - virtual ~btCGProjection() - { - } - - // apply the constraints - virtual void project(TVStack& x) = 0; - - virtual void setConstraints() = 0; - - // update the constraints - virtual btScalar update() = 0; - - virtual void reinitialize(bool nodeUpdated) - { - } - - virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes) - { - m_nodes = nodes; - } -}; + typedef btAlignedObjectArray<btVector3> TVStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack; + btAlignedObjectArray<btSoftBody*>& m_softBodies; + const btScalar& m_dt; + // map from node indices to node pointers + const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; + + btCGProjection(btAlignedObjectArray<btSoftBody*>& softBodies, const btScalar& dt) + : m_softBodies(softBodies), m_dt(dt) + { + } + virtual ~btCGProjection() + { + } + + // apply the constraints + virtual void project(TVStack& x) = 0; + + virtual void setConstraints() = 0; + + // update the constraints + virtual btScalar update() = 0; + + virtual void reinitialize(bool nodeUpdated) + { + } + + virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes) + { + m_nodes = nodes; + } +}; #endif /* btCGProjection_h */ |