Bullet Collision Detection & Physics Library: btSoftBodySolvers.h Source File

Bullet Collision Detection & Physics Library

btSoftBodySolvers.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_SOFT_BODY_SOLVERS_H
17 #define BT_SOFT_BODY_SOLVERS_H
18
19 #include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
20
21 class btSoftBodyTriangleData;
22 class btSoftBodyLinkData;
23 class btSoftBodyVertexData;
24 class btVertexBufferDescriptor;
25 class btCollisionObject;
26 class btSoftBody;
27
28 class btSoftBodySolver
29 {
30 public:
31 enum SolverTypes
32 {
33 DEFAULT_SOLVER,
34 CPU_SOLVER,
35 CL_SOLVER,
36 CL_SIMD_SOLVER,
37 DX_SOLVER,
38 DX_SIMD_SOLVER,
39 DEFORMABLE_SOLVER
40 };
41
42 protected:
43 int m_numberOfPositionIterations;
44 int m_numberOfVelocityIterations;
45 // Simulation timescale
46 float m_timeScale;
47
48 public:
49 btSoftBodySolver() : m_numberOfPositionIterations(10),
50 m_timeScale(1)
51 {
52 m_numberOfVelocityIterations = 0;
53 m_numberOfPositionIterations = 5;
54 }
55
56 virtual ~btSoftBodySolver()
57 {
58 }
59
63 virtual SolverTypes getSolverType() const = 0;
64
66 virtual bool checkInitialized() = 0;
67
69 virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false) = 0;
70
72 virtual void copyBackToSoftBodies(bool bMove = true) = 0;
73
75 virtual void predictMotion(btScalar solverdt) = 0;
76
78 virtual void solveConstraints(btScalar solverdt) = 0;
79
81 virtual void updateSoftBodies() = 0;
82
84 virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *) = 0;
85
87 virtual void processCollision(btSoftBody *, btSoftBody *) = 0;
88
90 virtual void setNumberOfPositionIterations(int iterations)
91 {
92 m_numberOfPositionIterations = iterations;
93 }
94
96 virtual int getNumberOfPositionIterations()
97 {
98 return m_numberOfPositionIterations;
99 }
100
102 virtual void setNumberOfVelocityIterations(int iterations)
103 {
104 m_numberOfVelocityIterations = iterations;
105 }
106
108 virtual int getNumberOfVelocityIterations()
109 {
110 return m_numberOfVelocityIterations;
111 }
112
114 float getTimeScale()
115 {
116 return m_timeScale;
117 }
118
119 #if 0
120
123 virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ) = 0;
124 #endif
125 };
126
131 class btSoftBodySolverOutput
132 {
133 protected:
134 public:
135 btSoftBodySolverOutput()
136 {
137 }
138
139 virtual ~btSoftBodySolverOutput()
140 {
141 }
142
144 virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) = 0;
145 };
146
147 #endif // #ifndef BT_SOFT_BODY_SOLVERS_H
btSoftBodySolverOutput::copySoftBodyToVertexBuffer
virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer)=0
Output current computed vertex data to the vertex buffers for all cloths in the solver.
btSoftBodySolver::copyBackToSoftBodies
virtual void copyBackToSoftBodies(bool bMove=true)=0
Copy necessary data back to the original soft body source objects.
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btSoftBodySolver::setNumberOfPositionIterations
virtual void setNumberOfPositionIterations(int iterations)
Set the number of velocity constraint solver iterations this solver uses.
Definition: btSoftBodySolvers.h:90
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSoftBodySolver::getTimeScale
float getTimeScale()
Return the timescale that the simulation is using.
Definition: btSoftBodySolvers.h:114
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btSoftBodySolverOutput
Class to manage movement of data from a solver to a given target.
Definition: btSoftBodySolvers.h:132
btSoftBodySolver::m_numberOfVelocityIterations
int m_numberOfVelocityIterations
Definition: btSoftBodySolvers.h:44
btSoftBodySolver::DX_SIMD_SOLVER
@ DX_SIMD_SOLVER
Definition: btSoftBodySolvers.h:38
btSoftBodySolver::m_numberOfPositionIterations
int m_numberOfPositionIterations
Definition: btSoftBodySolvers.h:43
btSoftBodySolverOutput::btSoftBodySolverOutput
btSoftBodySolverOutput()
Definition: btSoftBodySolvers.h:135
btSoftBodySolver::processCollision
virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *)=0
Process a collision between one of the world's soft bodies and another collision object.
btSoftBodySolver::CPU_SOLVER
@ CPU_SOLVER
Definition: btSoftBodySolvers.h:34
btSoftBodySolver::DEFORMABLE_SOLVER
@ DEFORMABLE_SOLVER
Definition: btSoftBodySolvers.h:39
btSoftBodySolver::CL_SIMD_SOLVER
@ CL_SIMD_SOLVER
Definition: btSoftBodySolvers.h:36
btTriangleIndexVertexArray.h
btSoftBodySolver::optimize
virtual void optimize(btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate=false)=0
Optimize soft bodies in this solver.
btSoftBodySolver::SolverTypes
SolverTypes
Definition: btSoftBodySolvers.h:32
btSoftBodySolver::processCollision
virtual void processCollision(btSoftBody *, btSoftBody *)=0
Process a collision between two soft bodies.
btVertexBufferDescriptor
Definition: btSoftBodySolverVertexBuffer.h:20
btSoftBodySolver::getSolverType
virtual SolverTypes getSolverType() const =0
Return the type of the solver.
btSoftBodySolver::setNumberOfVelocityIterations
virtual void setNumberOfVelocityIterations(int iterations)
Set the number of velocity constraint solver iterations this solver uses.
Definition: btSoftBodySolvers.h:102
btSoftBodySolver::DX_SOLVER
@ DX_SOLVER
Definition: btSoftBodySolvers.h:37
btSoftBodySolver::DEFAULT_SOLVER
@ DEFAULT_SOLVER
Definition: btSoftBodySolvers.h:33
btAlignedObjectArray< btSoftBody * >
btSoftBodySolver::predictMotion
virtual void predictMotion(btScalar solverdt)=0
Predict motion of soft bodies into next timestep.
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:75
btSoftBodySolver::updateSoftBodies
virtual void updateSoftBodies()=0
Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes.
btSoftBodySolver::~btSoftBodySolver
virtual ~btSoftBodySolver()
Definition: btSoftBodySolvers.h:56
btSoftBodySolver
Definition: btSoftBodySolvers.h:29
btSoftBodySolverOutput::~btSoftBodySolverOutput
virtual ~btSoftBodySolverOutput()
Definition: btSoftBodySolvers.h:139
btSoftBodySolver::solveConstraints
virtual void solveConstraints(btScalar solverdt)=0
Solve constraints for a set of soft bodies.
btSoftBodySolver::getNumberOfPositionIterations
virtual int getNumberOfPositionIterations()
Get the number of velocity constraint solver iterations this solver uses.
Definition: btSoftBodySolvers.h:96
btSoftBodySolver::btSoftBodySolver
btSoftBodySolver()
Definition: btSoftBodySolvers.h:49
btSoftBodySolver::checkInitialized
virtual bool checkInitialized()=0
Ensure that this solver is initialized.
btSoftBodySolver::CL_SOLVER
@ CL_SOLVER
Definition: btSoftBodySolvers.h:35
btSoftBodySolver::m_timeScale
float m_timeScale
Definition: btSoftBodySolvers.h:46
btSoftBodySolver::getNumberOfVelocityIterations
virtual int getNumberOfVelocityIterations()
Get the number of velocity constraint solver iterations this solver uses.
Definition: btSoftBodySolvers.h:108