62 lines
3.7 KiB
C++
62 lines
3.7 KiB
C++
|
/*
|
||
|
|
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, 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 */
|