From 29e07dfa4e42b871ee30e398b1c35d1aea68cd57 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?R=C3=A9mi=20Verschelde?= <rverschelde@gmail.com>
Date: Wed, 8 Jan 2020 18:05:43 +0100
Subject: bullet: Sync with upstream 2.89

This allows distro unbundling again for distros that ship Bullet 2.89+.
---
 thirdparty/bullet/BulletSoftBody/btCGProjection.h | 106 ++++++++++++++++++++++
 1 file changed, 106 insertions(+)
 create mode 100644 thirdparty/bullet/BulletSoftBody/btCGProjection.h

(limited to 'thirdparty/bullet/BulletSoftBody/btCGProjection.h')

diff --git a/thirdparty/bullet/BulletSoftBody/btCGProjection.h b/thirdparty/bullet/BulletSoftBody/btCGProjection.h
new file mode 100644
index 0000000000..d047e6d3d9
--- /dev/null
+++ b/thirdparty/bullet/BulletSoftBody/btCGProjection.h
@@ -0,0 +1,106 @@
+/*
+ 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_CG_PROJECTION_H
+#define BT_CG_PROJECTION_H
+
+#include "btSoftBody.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
+
+struct DeformableContactConstraint
+{
+    const btSoftBody::Node* m_node;
+    btAlignedObjectArray<const btSoftBody::RContact*> m_contact;
+    btAlignedObjectArray<btVector3> m_total_normal_dv;
+    btAlignedObjectArray<btVector3> m_total_tangent_dv;
+    btAlignedObjectArray<bool> m_static;
+    btAlignedObjectArray<bool> m_can_be_dynamic;
+    
+    DeformableContactConstraint(const btSoftBody::RContact& rcontact): m_node(rcontact.m_node)
+    {
+        append(rcontact);
+    }
+    
+    DeformableContactConstraint(): m_node(NULL)
+    {
+        m_contact.push_back(NULL);
+    }
+    
+    void append(const btSoftBody::RContact& rcontact)
+    {
+        m_contact.push_back(&rcontact);
+        m_total_normal_dv.push_back(btVector3(0,0,0));
+        m_total_tangent_dv.push_back(btVector3(0,0,0));
+        m_static.push_back(false);
+        m_can_be_dynamic.push_back(true);
+    }
+
+    void replace(const btSoftBody::RContact& rcontact)
+    {
+        m_contact.clear();
+        m_total_normal_dv.clear();
+        m_total_tangent_dv.clear();
+        m_static.clear();
+        m_can_be_dynamic.clear();
+        append(rcontact);
+    }
+    
+    ~DeformableContactConstraint()
+    {
+    }
+};
+
+class btCGProjection
+{
+public:
+    typedef btAlignedObjectArray<btVector3> TVStack;
+    typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
+    typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
+    btAlignedObjectArray<btSoftBody *>& m_softBodies;
+    const btScalar& m_dt;
+    // map from node indices to node pointers
+    const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
+    
+    btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
+    : m_softBodies(softBodies)
+    , m_dt(dt)
+    {
+    }
+    
+    virtual ~btCGProjection()
+    {
+    }
+    
+    // apply the constraints
+    virtual void project(TVStack& x) = 0;
+    
+    virtual void setConstraints() = 0;
+    
+    // update the constraints
+    virtual btScalar update() = 0;
+    
+    virtual void reinitialize(bool nodeUpdated)
+    {
+    }
+    
+    virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes)
+    {
+        m_nodes = nodes;
+    }
+};
+
+
+#endif /* btCGProjection_h */
-- 
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