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Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h | 61 |
1 files changed, 0 insertions, 61 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h deleted file mode 100644 index 94aabce838..0000000000 --- a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h +++ /dev/null @@ -1,61 +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_MULTIBODY_CONSTRAINT_SOLVER_H -#define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H - -#include "btDeformableBodySolver.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" - -class btDeformableBodySolver; - -// btDeformableMultiBodyConstraintSolver extendsn btMultiBodyConstraintSolver to solve for the contact among rigid/multibody and deformable bodies. Notice that the following constraints -// 1. rigid/multibody against rigid/multibody -// 2. rigid/multibody against deforamble -// 3. deformable against deformable -// 4. deformable self collision -// 5. joint constraints -// are all coupled in this solve. -ATTRIBUTE_ALIGNED16(class) -btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver -{ - btDeformableBodySolver* m_deformableSolver; - -protected: - // override the iterations method to include deformable/multibody contact - // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - - // write the velocity of the the solver body to the underlying rigid body - void solverBodyWriteBack(const btContactSolverInfo& infoGlobal); - - // write the velocity of the underlying rigid body to the the the solver body - void writeToSolverBody(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); - - virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - - virtual btScalar solveDeformableGroupIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - void setDeformableSolver(btDeformableBodySolver * deformableSolver) - { - m_deformableSolver = deformableSolver; - } - - virtual void solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); -}; - -#endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */ |