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Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h | 90 |
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 */ |