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

   1 #include "../btDeformableContactConstraint.h"
   2 #include "btReducedDeformableBody.h"
   3
   4 // ================= static constraints ===================
   5 class btReducedDeformableStaticConstraint : public btDeformableStaticConstraint
   6 {
   7  public:
   8   btReducedDeformableBody* m_rsb;
   9   btScalar m_dt;
  10   btVector3 m_ri;
  11   btVector3 m_targetPos;
  12   btVector3 m_impulseDirection;
  13   btMatrix3x3 m_impulseFactorMatrix;
  14   btScalar m_impulseFactor;
  15   btScalar m_rhs;
  16   btScalar m_appliedImpulse;
  17   btScalar m_erp;
  18
  19   btReducedDeformableStaticConstraint(btReducedDeformableBody* rsb,
  20                                       btSoftBody::Node* node,
  21                                       const btVector3& ri,
  22                                       const btVector3& x0,
  23                                       const btVector3& dir,
  24                                       const btContactSolverInfo& infoGlobal,
  25                                       btScalar dt);
  26         // btReducedDeformableStaticConstraint(const btReducedDeformableStaticConstraint& other);
  27   btReducedDeformableStaticConstraint() {}
  28   virtual ~btReducedDeformableStaticConstraint() {}
  29
  30   virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
  31
  32   // this calls reduced deformable body's applyFullSpaceImpulse
  33   virtual void applyImpulse(const btVector3& impulse);
  34
  35   btVector3 getDeltaVa() const;
  36
  37   // virtual void applySplitImpulse(const btVector3& impulse) {}
  38 };
  39
  40 // ================= base contact constraints ===================
  41 class btReducedDeformableRigidContactConstraint : public btDeformableRigidContactConstraint
  42 {
  43  public:
  44   bool m_collideStatic;     // flag for collision with static object
  45   bool m_collideMultibody;  // flag for collision with multibody
  46
  47   int m_nodeQueryIndex;
  48   int m_solverBodyId;       // for debugging
  49
  50   btReducedDeformableBody* m_rsb;
  51   btSolverBody* m_solverBody;
  52   btScalar m_dt;
  53
  54   btScalar m_appliedNormalImpulse;
  55   btScalar m_appliedTangentImpulse;
  56   btScalar m_appliedTangentImpulse2;
  57   btScalar m_normalImpulseFactor;
  58   btScalar m_tangentImpulseFactor;
  59   btScalar m_tangentImpulseFactor2;
  60   btScalar m_tangentImpulseFactorInv;
  61   btScalar m_tangentImpulseFactorInv2;
  62   btScalar m_rhs;
  63   btScalar m_rhs_tangent;
  64   btScalar m_rhs_tangent2;
  65
  66   btScalar m_cfm;
  67   btScalar m_cfm_friction;
  68   btScalar m_erp;
  69   btScalar m_erp_friction;
  70   btScalar m_friction;
  71
  72   btVector3 m_contactNormalA;     // surface normal for rigid body (opposite direction as impulse)
  73   btVector3 m_contactNormalB;     // surface normal for reduced deformable body (opposite direction as impulse)
  74   btVector3 m_contactTangent;     // tangential direction of the relative velocity
  75   btVector3 m_contactTangent2;    // 2nd tangential direction of the relative velocity
  76   btVector3 m_relPosA;            // relative position of the contact point for A (rigid)
  77   btVector3 m_relPosB;            // relative position of the contact point for B
  78   btMatrix3x3 m_impulseFactor;    // total impulse matrix
  79
  80   btVector3 m_bufferVelocityA;    // velocity at the beginning of the iteration
  81   btVector3 m_bufferVelocityB;
  82   btVector3 m_linearComponentNormal;    // linear components for the solver body
  83   btVector3 m_angularComponentNormal;   // angular components for the solver body
  84   // since 2nd contact direction only applies to multibody, these components will never be used
  85   btVector3 m_linearComponentTangent;
  86   btVector3 m_angularComponentTangent;
  87
  88   btReducedDeformableRigidContactConstraint(btReducedDeformableBody* rsb,
  89                                             const btSoftBody::DeformableRigidContact& c,
  90                                             const btContactSolverInfo& infoGlobal,
  91                                             btScalar dt);
  92         // btReducedDeformableRigidContactConstraint(const btReducedDeformableRigidContactConstraint& other);
  93   btReducedDeformableRigidContactConstraint() {}
  94   virtual ~btReducedDeformableRigidContactConstraint() {}
  95
  96   void setSolverBody(const int bodyId, btSolverBody& solver_body);
  97
  98   virtual void warmStarting() {}
  99
 100   virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
 101
 102   void calculateTangentialImpulse(btScalar& deltaImpulse_tangent,
 103                                   btScalar& appliedImpulse,
 104                                   const btScalar rhs_tangent,
 105                                   const btScalar tangentImpulseFactorInv,
 106                                   const btVector3& tangent,
 107                                   const btScalar lower_limit,
 108                                   const btScalar upper_limit,
 109                                   const btVector3& deltaV_rel);
 110
 111   virtual void applyImpulse(const btVector3& impulse) {}
 112
 113   virtual void applySplitImpulse(const btVector3& impulse) {} // TODO: may need later
 114
 115   virtual btVector3 getVa() const;
 116   virtual btVector3 getDeltaVa() const = 0;
 117   virtual btVector3 getDeltaVb() const = 0;
 118 };
 119
 120 // ================= node vs rigid constraints ===================
 121 class btReducedDeformableNodeRigidContactConstraint : public btReducedDeformableRigidContactConstraint
 122 {
 123  public:
 124   btSoftBody::Node* m_node;
 125
 126   btReducedDeformableNodeRigidContactConstraint(btReducedDeformableBody* rsb,
 127                                                 const btSoftBody::DeformableNodeRigidContact& contact,
 128                                                 const btContactSolverInfo& infoGlobal,
 129                                                 btScalar dt);
 130         // btReducedDeformableNodeRigidContactConstraint(const btReducedDeformableNodeRigidContactConstraint& other);
 131   btReducedDeformableNodeRigidContactConstraint() {}
 132   virtual ~btReducedDeformableNodeRigidContactConstraint() {}
 133
 134   virtual void warmStarting();
 135
 136   // get the velocity of the deformable node in contact
 137         virtual btVector3 getVb() const;
 138
 139   // get the velocity change of the rigid body
 140   virtual btVector3 getDeltaVa() const;
 141
 142   // get velocity change of the node in contat
 143   virtual btVector3 getDeltaVb() const;
 144
 145         // get the split impulse velocity of the deformable face at the contact point
 146         virtual btVector3 getSplitVb() const;
 147
 148         // get the velocity change of the input soft body node in the constraint
 149         virtual btVector3 getDv(const btSoftBody::Node*) const;
 150
 151         // cast the contact to the desired type
 152         const btSoftBody::DeformableNodeRigidContact* getContact() const
 153         {
 154                 return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact);
 155         }
 156
 157   // this calls reduced deformable body's applyFullSpaceImpulse
 158   virtual void applyImpulse(const btVector3& impulse);
 159 };
 160
 161 // ================= face vs rigid constraints ===================
 162 class btReducedDeformableFaceRigidContactConstraint : public btReducedDeformableRigidContactConstraint
 163 {
 164  public:
 165   btSoftBody::Face* m_face;
 166         bool m_useStrainLimiting;
 167
 168   btReducedDeformableFaceRigidContactConstraint(btReducedDeformableBody* rsb,
 169                                                 const btSoftBody::DeformableFaceRigidContact& contact,
 170                                                 const btContactSolverInfo& infoGlobal,
 171                                                 btScalar dt,
 172                                                 bool useStrainLimiting);
 173         // btReducedDeformableFaceRigidContactConstraint(const btReducedDeformableFaceRigidContactConstraint& other);
 174   btReducedDeformableFaceRigidContactConstraint() {}
 175   virtual ~btReducedDeformableFaceRigidContactConstraint() {}
 176
 177   // get the velocity of the deformable face at the contact point
 178         virtual btVector3 getVb() const;
 179
 180         // get the split impulse velocity of the deformable face at the contact point
 181         virtual btVector3 getSplitVb() const;
 182
 183         // get the velocity change of the input soft body node in the constraint
 184         virtual btVector3 getDv(const btSoftBody::Node*) const;
 185
 186         // cast the contact to the desired type
 187         const btSoftBody::DeformableFaceRigidContact* getContact() const
 188         {
 189                 return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact);
 190         }
 191
 192   // this calls reduced deformable body's applyFullSpaceImpulse
 193   virtual void applyImpulse(const btVector3& impulse);
 194 };