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Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h | 284 |
1 files changed, 0 insertions, 284 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h deleted file mode 100644 index 1e2c9f5bce..0000000000 --- a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h +++ /dev/null @@ -1,284 +0,0 @@ -/* - 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_DEFORMABLE_CONTACT_CONSTRAINT_H -#define BT_DEFORMABLE_CONTACT_CONSTRAINT_H -#include "btSoftBody.h" - -// btDeformableContactConstraint is an abstract class specifying the method that each type of contact constraint needs to implement -class btDeformableContactConstraint -{ -public: - // True if the friction is static - // False if the friction is dynamic - bool m_static; - const btContactSolverInfo* m_infoGlobal; - - // normal of the contact - btVector3 m_normal; - - btDeformableContactConstraint(const btVector3& normal, const btContactSolverInfo& infoGlobal) : m_static(false), m_normal(normal), m_infoGlobal(&infoGlobal) - { - } - - btDeformableContactConstraint(bool isStatic, const btVector3& normal, const btContactSolverInfo& infoGlobal) : m_static(isStatic), m_normal(normal), m_infoGlobal(&infoGlobal) - { - } - - btDeformableContactConstraint() {} - - btDeformableContactConstraint(const btDeformableContactConstraint& other) - : m_static(other.m_static), m_normal(other.m_normal), m_infoGlobal(other.m_infoGlobal) - { - } - - virtual ~btDeformableContactConstraint() {} - - // solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence - // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact - virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal) = 0; - - // get the velocity of the object A in the contact - virtual btVector3 getVa() const = 0; - - // get the velocity of the object B in the contact - virtual btVector3 getVb() const = 0; - - // get the velocity change of the soft body node in the constraint - virtual btVector3 getDv(const btSoftBody::Node*) const = 0; - - // apply impulse to the soft body node and/or face involved - virtual void applyImpulse(const btVector3& impulse) = 0; - - // scale the penetration depth by erp - virtual void setPenetrationScale(btScalar scale) = 0; -}; - -// -// Constraint that a certain node in the deformable objects cannot move -class btDeformableStaticConstraint : public btDeformableContactConstraint -{ -public: - btSoftBody::Node* m_node; - - btDeformableStaticConstraint(btSoftBody::Node* node, const btContactSolverInfo& infoGlobal) : m_node(node), btDeformableContactConstraint(false, btVector3(0, 0, 0), infoGlobal) - { - } - btDeformableStaticConstraint() {} - btDeformableStaticConstraint(const btDeformableStaticConstraint& other) - : m_node(other.m_node), btDeformableContactConstraint(other) - { - } - - virtual ~btDeformableStaticConstraint() {} - - virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal) - { - return 0; - } - - virtual btVector3 getVa() const - { - return btVector3(0, 0, 0); - } - - virtual btVector3 getVb() const - { - return btVector3(0, 0, 0); - } - - virtual btVector3 getDv(const btSoftBody::Node* n) const - { - return btVector3(0, 0, 0); - } - - virtual void applyImpulse(const btVector3& impulse) {} - virtual void setPenetrationScale(btScalar scale) {} -}; - -// -// Anchor Constraint between rigid and deformable node -class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint -{ -public: - const btSoftBody::DeformableNodeRigidAnchor* m_anchor; - - btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c, const btContactSolverInfo& infoGlobal); - btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other); - btDeformableNodeAnchorConstraint() {} - virtual ~btDeformableNodeAnchorConstraint() - { - } - virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); - - // object A is the rigid/multi body, and object B is the deformable node/face - virtual btVector3 getVa() const; - // get the velocity of the deformable node in contact - virtual btVector3 getVb() const; - virtual btVector3 getDv(const btSoftBody::Node* n) const - { - return btVector3(0, 0, 0); - } - virtual void applyImpulse(const btVector3& impulse); - - virtual void setPenetrationScale(btScalar scale) {} -}; - -// -// Constraint between rigid/multi body and deformable objects -class btDeformableRigidContactConstraint : public btDeformableContactConstraint -{ -public: - btVector3 m_total_normal_dv; - btVector3 m_total_tangent_dv; - btScalar m_penetration; - btScalar m_total_split_impulse; - bool m_binding; - const btSoftBody::DeformableRigidContact* m_contact; - - btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal); - btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other); - btDeformableRigidContactConstraint() {} - virtual ~btDeformableRigidContactConstraint() - { - } - - // object A is the rigid/multi body, and object B is the deformable node/face - virtual btVector3 getVa() const; - - // get the split impulse velocity of the deformable face at the contact point - virtual btVector3 getSplitVb() const = 0; - - // get the split impulse velocity of the rigid/multibdoy at the contaft - virtual btVector3 getSplitVa() const; - - virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); - - virtual void setPenetrationScale(btScalar scale) - { - m_penetration *= scale; - } - - btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); - - virtual void applySplitImpulse(const btVector3& impulse) = 0; -}; - -// -// Constraint between rigid/multi body and deformable objects nodes -class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactConstraint -{ -public: - // the deformable node in contact - btSoftBody::Node* m_node; - - btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal); - btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other); - btDeformableNodeRigidContactConstraint() {} - virtual ~btDeformableNodeRigidContactConstraint() - { - } - - // get the velocity of the deformable node in contact - virtual btVector3 getVb() const; - - // get the split impulse velocity of the deformable face at the contact point - virtual btVector3 getSplitVb() const; - - // get the velocity change of the input soft body node in the constraint - virtual btVector3 getDv(const btSoftBody::Node*) const; - - // cast the contact to the desired type - const btSoftBody::DeformableNodeRigidContact* getContact() const - { - return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact); - } - - virtual void applyImpulse(const btVector3& impulse); - - virtual void applySplitImpulse(const btVector3& impulse); -}; - -// -// Constraint between rigid/multi body and deformable objects faces -class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint -{ -public: - btSoftBody::Face* m_face; - bool m_useStrainLimiting; - btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting); - btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other); - btDeformableFaceRigidContactConstraint() : m_useStrainLimiting(false) {} - virtual ~btDeformableFaceRigidContactConstraint() - { - } - - // get the velocity of the deformable face at the contact point - virtual btVector3 getVb() const; - - // get the split impulse velocity of the deformable face at the contact point - virtual btVector3 getSplitVb() const; - - // get the velocity change of the input soft body node in the constraint - virtual btVector3 getDv(const btSoftBody::Node*) const; - - // cast the contact to the desired type - const btSoftBody::DeformableFaceRigidContact* getContact() const - { - return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact); - } - - virtual void applyImpulse(const btVector3& impulse); - - virtual void applySplitImpulse(const btVector3& impulse); -}; - -// -// Constraint between deformable objects faces and deformable objects nodes -class btDeformableFaceNodeContactConstraint : public btDeformableContactConstraint -{ -public: - btSoftBody::Node* m_node; - btSoftBody::Face* m_face; - const btSoftBody::DeformableFaceNodeContact* m_contact; - btVector3 m_total_normal_dv; - btVector3 m_total_tangent_dv; - - btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal); - btDeformableFaceNodeContactConstraint() {} - virtual ~btDeformableFaceNodeContactConstraint() {} - - virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); - - // get the velocity of the object A in the contact - virtual btVector3 getVa() const; - - // get the velocity of the object B in the contact - virtual btVector3 getVb() const; - - // get the velocity change of the input soft body node in the constraint - virtual btVector3 getDv(const btSoftBody::Node*) const; - - // cast the contact to the desired type - const btSoftBody::DeformableFaceNodeContact* getContact() const - { - return static_cast<const btSoftBody::DeformableFaceNodeContact*>(m_contact); - } - - virtual void applyImpulse(const btVector3& impulse); - - virtual void setPenetrationScale(btScalar scale) {} -}; -#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */ |