149 lines
4.4 KiB
C++
149 lines
4.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SOFT_BODY_SOLVERS_H
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#define BT_SOFT_BODY_SOLVERS_H
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#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
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class btSoftBodyTriangleData;
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class btSoftBodyLinkData;
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class btSoftBodyVertexData;
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class btVertexBufferDescriptor;
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class btCollisionObject;
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class btSoftBody;
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class btSoftBodySolver
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{
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public:
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enum SolverTypes
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{
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DEFAULT_SOLVER,
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CPU_SOLVER,
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CL_SOLVER,
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CL_SIMD_SOLVER,
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DX_SOLVER,
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DX_SIMD_SOLVER,
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DEFORMABLE_SOLVER,
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REDUCED_DEFORMABLE_SOLVER
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};
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protected:
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int m_numberOfPositionIterations;
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int m_numberOfVelocityIterations;
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// Simulation timescale
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float m_timeScale;
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public:
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btSoftBodySolver() : m_numberOfPositionIterations(10),
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m_timeScale(1)
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{
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m_numberOfVelocityIterations = 0;
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m_numberOfPositionIterations = 5;
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}
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virtual ~btSoftBodySolver()
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{
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}
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/**
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* Return the type of the solver.
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*/
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virtual SolverTypes getSolverType() const = 0;
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/** Ensure that this solver is initialized. */
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virtual bool checkInitialized() = 0;
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/** Optimize soft bodies in this solver. */
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virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false) = 0;
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/** Copy necessary data back to the original soft body source objects. */
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virtual void copyBackToSoftBodies(bool bMove = true) = 0;
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/** Predict motion of soft bodies into next timestep */
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virtual void predictMotion(btScalar solverdt) = 0;
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/** Solve constraints for a set of soft bodies */
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virtual void solveConstraints(btScalar solverdt) = 0;
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/** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */
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virtual void updateSoftBodies() = 0;
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/** Process a collision between one of the world's soft bodies and another collision object */
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virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *) = 0;
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/** Process a collision between two soft bodies */
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virtual void processCollision(btSoftBody *, btSoftBody *) = 0;
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/** Set the number of velocity constraint solver iterations this solver uses. */
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virtual void setNumberOfPositionIterations(int iterations)
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{
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m_numberOfPositionIterations = iterations;
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}
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/** Get the number of velocity constraint solver iterations this solver uses. */
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virtual int getNumberOfPositionIterations()
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{
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return m_numberOfPositionIterations;
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}
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/** Set the number of velocity constraint solver iterations this solver uses. */
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virtual void setNumberOfVelocityIterations(int iterations)
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{
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m_numberOfVelocityIterations = iterations;
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}
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/** Get the number of velocity constraint solver iterations this solver uses. */
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virtual int getNumberOfVelocityIterations()
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{
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return m_numberOfVelocityIterations;
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}
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/** Return the timescale that the simulation is using */
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float getTimeScale()
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{
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return m_timeScale;
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}
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#if 0
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/**
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* Add a collision object to be used by the indicated softbody.
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*/
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virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ) = 0;
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#endif
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};
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/**
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* Class to manage movement of data from a solver to a given target.
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* This version is abstract. Subclasses will have custom pairings for different combinations.
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*/
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class btSoftBodySolverOutput
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{
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protected:
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public:
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btSoftBodySolverOutput()
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{
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}
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virtual ~btSoftBodySolverOutput()
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{
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}
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/** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
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virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) = 0;
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};
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#endif // #ifndef BT_SOFT_BODY_SOLVERS_H
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