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Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h | 99 |
1 files changed, 0 insertions, 99 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h deleted file mode 100644 index 4964eaf990..0000000000 --- a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h +++ /dev/null @@ -1,99 +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_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 "LinearMath/btReducedVector.h" -#include "LinearMath/btModifiedGramSchmidt.h" -#include <vector> - -struct LagrangeMultiplier -{ - int m_num_constraints; // Number of constraints - int m_num_nodes; // Number of nodes in these constraints - btScalar m_weights[3]; // weights of the nodes involved, same size as m_num_nodes - btVector3 m_dirs[3]; // Constraint directions, same size of m_num_constraints; - int m_indices[3]; // indices of the nodes involved, same size as m_num_nodes; -}; - -class btDeformableContactProjection -{ -public: - typedef btAlignedObjectArray<btVector3> TVStack; - btAlignedObjectArray<btSoftBody*>& m_softBodies; - - // all constraints involving face - btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints; -#ifndef USE_MGS - // map from node index to projection directions - btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict; -#else - btAlignedObjectArray<btReducedVector> m_projections; -#endif - - btAlignedObjectArray<LagrangeMultiplier> m_lagrangeMultipliers; - - // 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; - - bool m_useStrainLimiting; - - 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, const btContactSolverInfo& infoGlobal); - - // Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict. - virtual void setConstraints(const btContactSolverInfo& infoGlobal); - - // Set up projections for each vertex by adding the projection direction to - virtual void setProjection(); - - virtual void reinitialize(bool nodeUpdated); - - btScalar solveSplitImpulse(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal); - - virtual void setLagrangeMultiplier(); - - void checkConstraints(const TVStack& x); -}; -#endif /* btDeformableContactProjection_h */ |