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-rw-r--r--thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h132
1 files changed, 48 insertions, 84 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h
index 912119e7c3..9f9d5bf0a3 100644
--- a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h
+++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h
@@ -24,34 +24,33 @@ public:
// True if the friction is static
// False if the friction is dynamic
bool m_static;
-
- // normal of the contact
- btVector3 m_normal;
-
- btDeformableContactConstraint(const btVector3& normal): m_static(false), m_normal(normal)
- {
- }
-
- btDeformableContactConstraint(bool isStatic, const btVector3& normal): m_static(isStatic), m_normal(normal)
- {
- }
-
- btDeformableContactConstraint(const btDeformableContactConstraint& other)
- : m_static(other.m_static)
- , m_normal(other.m_normal)
- {
-
- }
- btDeformableContactConstraint(){}
-
+ 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() = 0;
-
- // solve the position error by applying an inelastic impulse that changes only the position (not velocity)
- virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0;
+ virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal) = 0;
// get the velocity of the object A in the contact
virtual btVector3 getVa() const = 0;
@@ -65,9 +64,6 @@ public:
// apply impulse to the soft body node and/or face involved
virtual void applyImpulse(const btVector3& impulse) = 0;
- // apply position based impulse to the soft body node and/or face involved
- virtual void applySplitImpulse(const btVector3& impulse) = 0;
-
// scale the penetration depth by erp
virtual void setPenetrationScale(btScalar scale) = 0;
};
@@ -77,29 +73,21 @@ public:
class btDeformableStaticConstraint : public btDeformableContactConstraint
{
public:
- const btSoftBody::Node* m_node;
-
- btDeformableStaticConstraint(){}
+ btSoftBody::Node* m_node;
- btDeformableStaticConstraint(const btSoftBody::Node* node): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0))
+ 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()
- {
- return 0;
- }
-
- virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
+ virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal)
{
return 0;
}
@@ -120,7 +108,6 @@ public:
}
virtual void applyImpulse(const btVector3& impulse){}
- virtual void applySplitImpulse(const btVector3& impulse){}
virtual void setPenetrationScale(btScalar scale){}
};
@@ -130,19 +117,15 @@ class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint
{
public:
const btSoftBody::DeformableNodeRigidAnchor* m_anchor;
-
- btDeformableNodeAnchorConstraint(){}
- btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c);
+
+ btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c, const btContactSolverInfo& infoGlobal);
btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other);
+ btDeformableNodeAnchorConstraint(){}
virtual ~btDeformableNodeAnchorConstraint()
{
}
- virtual btScalar solveConstraint();
- virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
- {
- // todo xuchenhan@
- return 0;
- }
+ 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
@@ -152,10 +135,7 @@ public:
return btVector3(0,0,0);
}
virtual void applyImpulse(const btVector3& impulse);
- virtual void applySplitImpulse(const btVector3& impulse)
- {
- // todo xuchenhan@
- };
+
virtual void setPenetrationScale(btScalar scale){}
};
@@ -169,10 +149,10 @@ public:
btVector3 m_total_tangent_dv;
btScalar m_penetration;
const btSoftBody::DeformableRigidContact* m_contact;
-
- btDeformableRigidContactConstraint(){}
- btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c);
+
+ btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal);
btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other);
+ btDeformableRigidContactConstraint(){}
virtual ~btDeformableRigidContactConstraint()
{
}
@@ -180,9 +160,7 @@ public:
// object A is the rigid/multi body, and object B is the deformable node/face
virtual btVector3 getVa() const;
- virtual btScalar solveConstraint();
-
- virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal);
+ virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
virtual void setPenetrationScale(btScalar scale)
{
@@ -196,12 +174,11 @@ class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactCo
{
public:
// the deformable node in contact
- const btSoftBody::Node* m_node;
-
- btDeformableNodeRigidContactConstraint(){}
- btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact);
+ btSoftBody::Node* m_node;
+
+ btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact, const btContactSolverInfo& infoGlobal);
btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other);
-
+ btDeformableNodeRigidContactConstraint(){}
virtual ~btDeformableNodeRigidContactConstraint()
{
}
@@ -219,7 +196,6 @@ public:
}
virtual void applyImpulse(const btVector3& impulse);
- virtual void applySplitImpulse(const btVector3& impulse);
};
//
@@ -228,10 +204,10 @@ class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactCo
{
public:
const btSoftBody::Face* m_face;
- btDeformableFaceRigidContactConstraint(){}
- btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact);
+ bool m_useStrainLimiting;
+ btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact, const btContactSolverInfo& infoGlobal, bool useStrainLimiting);
btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other);
-
+ btDeformableFaceRigidContactConstraint(): m_useStrainLimiting(false) {}
virtual ~btDeformableFaceRigidContactConstraint()
{
}
@@ -249,7 +225,6 @@ public:
}
virtual void applyImpulse(const btVector3& impulse);
- virtual void applySplitImpulse(const btVector3& impulse);
};
//
@@ -263,19 +238,11 @@ public:
btVector3 m_total_normal_dv;
btVector3 m_total_tangent_dv;
- btDeformableFaceNodeContactConstraint(){}
-
- btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact);
-
+ btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact, const btContactSolverInfo& infoGlobal);
+ btDeformableFaceNodeContactConstraint(){}
virtual ~btDeformableFaceNodeContactConstraint(){}
- virtual btScalar solveConstraint();
-
- virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal)
- {
- // todo: xuchenhan@
- return 0;
- }
+ virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
// get the velocity of the object A in the contact
virtual btVector3 getVa() const;
@@ -293,10 +260,7 @@ public:
}
virtual void applyImpulse(const btVector3& impulse);
- virtual void applySplitImpulse(const btVector3& impulse)
- {
- // todo xuchenhan@
- }
+
virtual void setPenetrationScale(btScalar scale){}
};
#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */
generated by cgit v1.2.3 (git 2.25.1) at 2025-11-04 01:24:15 +0000