dali-physics/third-party/bullet3/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h

   1 #ifndef BT_REDUCED_SOFT_BODY_HELPERS_H
   2 #define BT_REDUCED_SOFT_BODY_HELPERS_H
   3
   4 #include "btReducedDeformableBody.h"
   5 #include <string>
   6
   7 struct btReducedDeformableBodyHelpers
   8 {
   9         // create a reduced deformable object
  10         static btReducedDeformableBody* createReducedDeformableObject(btSoftBodyWorldInfo& worldInfo, const std::string& file_path, const std::string& vtk_file, const int num_modes, bool rigid_only);
  11         // read in geometry info from Vtk file
  12   static btReducedDeformableBody* createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);
  13         // read in all reduced files
  14         static void readReducedDeformableInfoFromFiles(btReducedDeformableBody* rsb, const char* file_path);
  15         // read in a binary vector
  16         static void readBinaryVec(btReducedDeformableBody::tDenseArray& vec, const unsigned int n_size, const char* file);
  17         // read in a binary matrix
  18         static void readBinaryMat(btReducedDeformableBody::tDenseMatrix& mat, const unsigned int n_modes, const unsigned int n_full, const char* file);
  19
  20         // calculate the local inertia tensor for a box shape reduced deformable object
  21         static void calculateLocalInertia(btVector3& inertia, const btScalar mass, const btVector3& half_extents, const btVector3& margin);
  22 };
  23
  24
  25 #endif // BT_REDUCED_SOFT_BODY_HELPERS_H