61 lines
2.1 KiB
C++
61 lines
2.1 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://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_SOFT_BODY_DEFAULT_SOLVER_H
|
|
#define BT_SOFT_BODY_DEFAULT_SOLVER_H
|
|
|
|
#include "BulletSoftBody/btSoftBodySolvers.h"
|
|
#include "btSoftBodySolverVertexBuffer.h"
|
|
struct btCollisionObjectWrapper;
|
|
|
|
class btDefaultSoftBodySolver : public btSoftBodySolver
|
|
{
|
|
protected:
|
|
/** Variable to define whether we need to update solver constants on the next iteration */
|
|
bool m_updateSolverConstants;
|
|
|
|
btAlignedObjectArray<btSoftBody *> m_softBodySet;
|
|
|
|
public:
|
|
btDefaultSoftBodySolver();
|
|
|
|
virtual ~btDefaultSoftBodySolver();
|
|
|
|
virtual SolverTypes getSolverType() const
|
|
{
|
|
return DEFAULT_SOLVER;
|
|
}
|
|
|
|
virtual bool checkInitialized();
|
|
|
|
virtual void updateSoftBodies();
|
|
|
|
virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false);
|
|
|
|
virtual void copyBackToSoftBodies(bool bMove = true);
|
|
|
|
virtual void solveConstraints(btScalar solverdt);
|
|
|
|
virtual void predictMotion(btScalar solverdt);
|
|
|
|
virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer);
|
|
|
|
virtual void processCollision(btSoftBody *, const btCollisionObjectWrapper *);
|
|
|
|
virtual void processCollision(btSoftBody *, btSoftBody *);
|
|
};
|
|
|
|
#endif // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H
|