1 files changed, 151 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletSoftBody/btDefaultSoftBodySolver.cpp b/thirdparty/bullet/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
new file mode 100644
index 0000000000..9c20403074
--- /dev/null
+++ b/thirdparty/bullet/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
@@ -0,0 +1,151 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+
+#include "btDefaultSoftBodySolver.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include "BulletSoftBody/btSoftBody.h"
+
+
+btDefaultSoftBodySolver::btDefaultSoftBodySolver()
+{
+	// Initial we will clearly need to update solver constants
+	// For now this is global for the cloths linked with this solver - we should probably make this body specific 
+	// for performance in future once we understand more clearly when constants need to be updated
+	m_updateSolverConstants = true;
+}
+
+btDefaultSoftBodySolver::~btDefaultSoftBodySolver()
+{
+}
+
+// In this case the data is already in the soft bodies so there is no need for us to do anything
+void btDefaultSoftBodySolver::copyBackToSoftBodies(bool bMove)
+{
+
+}
+
+void btDefaultSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate)
+{
+	m_softBodySet.copyFromArray( softBodies );
+}
+
+void btDefaultSoftBodySolver::updateSoftBodies( )
+{
+	for ( int i=0; i < m_softBodySet.size(); i++)
+	{
+		btSoftBody*	psb=(btSoftBody*)m_softBodySet[i];
+		if (psb->isActive())
+		{
+			psb->integrateMotion();	
+		}
+	}
+} // updateSoftBodies
+
+bool btDefaultSoftBodySolver::checkInitialized()
+{
+	return true;
+}
+
+void btDefaultSoftBodySolver::solveConstraints( float solverdt )
+{
+	// Solve constraints for non-solver softbodies
+	for(int i=0; i < m_softBodySet.size(); ++i)
+	{
+		btSoftBody*	psb = static_cast<btSoftBody*>(m_softBodySet[i]);
+		if (psb->isActive())
+		{
+			psb->solveConstraints();
+		}
+	}	
+} // btDefaultSoftBodySolver::solveConstraints
+
+
+void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer )
+{
+	// Currently only support CPU output buffers
+	// TODO: check for DX11 buffers. Take all offsets into the same DX11 buffer
+	// and use them together on a single kernel call if possible by setting up a
+	// per-cloth target buffer array for the copy kernel.
+
+	if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER )
+	{
+		const btAlignedObjectArray<btSoftBody::Node> &clothVertices( softBody->m_nodes );
+		int numVertices = clothVertices.size();
+
+		const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer);						
+		float *basePointer = cpuVertexBuffer->getBasePointer();						
+
+		if( vertexBuffer->hasVertexPositions() )
+		{
+			const int vertexOffset = cpuVertexBuffer->getVertexOffset();
+			const int vertexStride = cpuVertexBuffer->getVertexStride();
+			float *vertexPointer = basePointer + vertexOffset;
+
+			for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex )
+			{
+				btVector3 position = clothVertices[vertexIndex].m_x;
+				*(vertexPointer + 0) = (float)position.getX();
+				*(vertexPointer + 1) = (float)position.getY();
+				*(vertexPointer + 2) = (float)position.getZ();
+				vertexPointer += vertexStride;
+			}
+		}
+		if( vertexBuffer->hasNormals() )
+		{
+			const int normalOffset = cpuVertexBuffer->getNormalOffset();
+			const int normalStride = cpuVertexBuffer->getNormalStride();
+			float *normalPointer = basePointer + normalOffset;
+
+			for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex )
+			{
+				btVector3 normal = clothVertices[vertexIndex].m_n;
+				*(normalPointer + 0) = (float)normal.getX();
+				*(normalPointer + 1) = (float)normal.getY();
+				*(normalPointer + 2) = (float)normal.getZ();
+				normalPointer += normalStride;
+			}
+		}
+	}
+} // btDefaultSoftBodySolver::copySoftBodyToVertexBuffer
+
+void btDefaultSoftBodySolver::processCollision( btSoftBody* softBody, btSoftBody* otherSoftBody)
+{
+	softBody->defaultCollisionHandler( otherSoftBody);
+}
+
+// For the default solver just leave the soft body to do its collision processing
+void btDefaultSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObjectWrap )
+{
+	softBody->defaultCollisionHandler( collisionObjectWrap );
+} // btDefaultSoftBodySolver::processCollision
+
+
+void btDefaultSoftBodySolver::predictMotion( float timeStep )
+{
+	for ( int i=0; i < m_softBodySet.size(); ++i)
+	{
+		btSoftBody*	psb = m_softBodySet[i];
+
+		if (psb->isActive())
+		{
+			psb->predictMotion(timeStep);		
+		}
+	}
+}
+