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

   1 #ifndef BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
   2 #define BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
   3
   4 #include "BulletSoftBody/btDeformableBodySolver.h"
   5 #include "btReducedDeformableContactConstraint.h"
   6
   7 class btReducedDeformableBody;
   8
   9 class btReducedDeformableBodySolver : public btDeformableBodySolver
  10 {
  11  protected:
  12   bool m_ascendOrder;
  13   btScalar m_dampingAlpha;
  14   btScalar m_dampingBeta;
  15
  16   btVector3 m_gravity;
  17
  18   void predictReduceDeformableMotion(btScalar solverdt);
  19
  20   void applyExplicitForce(btScalar solverdt);
  21
  22  public:
  23   btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableStaticConstraint> > m_staticConstraints;
  24   btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
  25   btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
  26
  27   btReducedDeformableBodySolver();
  28   ~btReducedDeformableBodySolver() {}
  29
  30   virtual void setGravity(const btVector3& gravity);
  31
  32   virtual SolverTypes getSolverType() const
  33   {
  34     return REDUCED_DEFORMABLE_SOLVER;
  35   }
  36
  37   // resize/clear data structures
  38         virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& bodies, btScalar dt);
  39
  40   virtual void predictMotion(btScalar solverdt);
  41
  42   virtual void applyTransforms(btScalar timeStep);
  43
  44   // set up contact constraints
  45         virtual void setConstraints(const btContactSolverInfo& infoGlobal);
  46
  47   // solve all constraints (fixed and contact)
  48   virtual btScalar solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
  49
  50   // apply all the delta velocities
  51   virtual void deformableBodyInternalWriteBack();
  52
  53   // virtual void setProjection() {}
  54
  55   // virtual void setLagrangeMultiplier() {}
  56
  57   // virtual void setupDeformableSolve(bool implicit);
  58
  59 };
  60
  61 #endif // BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H