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

Bullet Collision Detection & Physics Library

btCGProjection.h
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1 /*
2 Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
3
4 Bullet Continuous Collision Detection and Physics Library
5 Copyright (c) 2019 Google Inc. http://bulletphysics.org
6 This software is provided 'as-is', without any express or implied warranty.
7 In no event will the authors be held liable for any damages arising from the use of this software.
8 Permission is granted to anyone to use this software for any purpose,
9 including commercial applications, and to alter it and redistribute it freely,
10 subject to the following restrictions:
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_CG_PROJECTION_H
17 #define BT_CG_PROJECTION_H
18
19 #include "btSoftBody.h"
20 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
21 #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
22
23 struct DeformableContactConstraint
24 {
25 const btSoftBody::Node* m_node;
26 btAlignedObjectArray<const btSoftBody::RContact*> m_contact;
27 btAlignedObjectArray<btVector3> m_total_normal_dv;
28 btAlignedObjectArray<btVector3> m_total_tangent_dv;
29 btAlignedObjectArray<bool> m_static;
30 btAlignedObjectArray<bool> m_can_be_dynamic;
31
32 DeformableContactConstraint(const btSoftBody::RContact& rcontact) : m_node(rcontact.m_node)
33 {
34 append(rcontact);
35 }
36
37 DeformableContactConstraint() : m_node(NULL)
38 {
39 m_contact.push_back(NULL);
40 }
41
42 void append(const btSoftBody::RContact& rcontact)
43 {
44 m_contact.push_back(&rcontact);
45 m_total_normal_dv.push_back(btVector3(0, 0, 0));
46 m_total_tangent_dv.push_back(btVector3(0, 0, 0));
47 m_static.push_back(false);
48 m_can_be_dynamic.push_back(true);
49 }
50
51 void replace(const btSoftBody::RContact& rcontact)
52 {
53 m_contact.clear();
54 m_total_normal_dv.clear();
55 m_total_tangent_dv.clear();
56 m_static.clear();
57 m_can_be_dynamic.clear();
58 append(rcontact);
59 }
60
61 ~DeformableContactConstraint()
62 {
63 }
64 };
65
66 class btCGProjection
67 {
68 public:
69 typedef btAlignedObjectArray<btVector3> TVStack;
70 typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
71 typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
72 btAlignedObjectArray<btSoftBody*>& m_softBodies;
73 const btScalar& m_dt;
74 // map from node indices to node pointers
75 const btAlignedObjectArray<btSoftBody::Node*>* m_nodes;
76
77 btCGProjection(btAlignedObjectArray<btSoftBody*>& softBodies, const btScalar& dt)
78 : m_softBodies(softBodies), m_dt(dt)
79 {
80 }
81
82 virtual ~btCGProjection()
83 {
84 }
85
86 // apply the constraints
87 virtual void project(TVStack& x) = 0;
88
89 virtual void setConstraints() = 0;
90
91 // update the constraints
92 virtual btScalar update() = 0;
93
94 virtual void reinitialize(bool nodeUpdated)
95 {
96 }
97
98 virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes)
99 {
100 m_nodes = nodes;
101 }
102 };
103
104 #endif /* btCGProjection_h */
btMultiBodyConstraint.h
btMultiBodyLinkCollider.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSoftBody.h
btAlignedObjectArray< const btSoftBody::RContact * >
btAlignedObjectArray::clear
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
Definition: btAlignedObjectArray.h:176
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btCGProjection
Definition: btCGProjection.h:67
btCGProjection::setConstraints
virtual void setConstraints()=0
btCGProjection::m_dt
const btScalar & m_dt
Definition: btCGProjection.h:73
btCGProjection::m_nodes
const btAlignedObjectArray< btSoftBody::Node * > * m_nodes
Definition: btCGProjection.h:75
btCGProjection::m_softBodies
btAlignedObjectArray< btSoftBody * > & m_softBodies
Definition: btCGProjection.h:72
btCGProjection::TVArrayStack
btAlignedObjectArray< btAlignedObjectArray< btVector3 > > TVArrayStack
Definition: btCGProjection.h:70
btCGProjection::reinitialize
virtual void reinitialize(bool nodeUpdated)
Definition: btCGProjection.h:94
btCGProjection::~btCGProjection
virtual ~btCGProjection()
Definition: btCGProjection.h:82
btCGProjection::TVStack
btAlignedObjectArray< btVector3 > TVStack
Definition: btCGProjection.h:69
btCGProjection::update
virtual btScalar update()=0
btCGProjection::btCGProjection
btCGProjection(btAlignedObjectArray< btSoftBody * > &softBodies, const btScalar &dt)
Definition: btCGProjection.h:77
btCGProjection::TArrayStack
btAlignedObjectArray< btAlignedObjectArray< btScalar > > TArrayStack
Definition: btCGProjection.h:71
btCGProjection::setIndices
virtual void setIndices(const btAlignedObjectArray< btSoftBody::Node * > *nodes)
Definition: btCGProjection.h:98
btCGProjection::project
virtual void project(TVStack &x)=0
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
DeformableContactConstraint
Definition: btCGProjection.h:24
DeformableContactConstraint::m_static
btAlignedObjectArray< bool > m_static
Definition: btCGProjection.h:29
DeformableContactConstraint::m_can_be_dynamic
btAlignedObjectArray< bool > m_can_be_dynamic
Definition: btCGProjection.h:30
DeformableContactConstraint::DeformableContactConstraint
DeformableContactConstraint(const btSoftBody::RContact &rcontact)
Definition: btCGProjection.h:32
DeformableContactConstraint::m_total_normal_dv
btAlignedObjectArray< btVector3 > m_total_normal_dv
Definition: btCGProjection.h:27
DeformableContactConstraint::replace
void replace(const btSoftBody::RContact &rcontact)
Definition: btCGProjection.h:51
DeformableContactConstraint::~DeformableContactConstraint
~DeformableContactConstraint()
Definition: btCGProjection.h:61
DeformableContactConstraint::DeformableContactConstraint
DeformableContactConstraint()
Definition: btCGProjection.h:37
DeformableContactConstraint::m_contact
btAlignedObjectArray< const btSoftBody::RContact * > m_contact
Definition: btCGProjection.h:26
DeformableContactConstraint::append
void append(const btSoftBody::RContact &rcontact)
Definition: btCGProjection.h:42
DeformableContactConstraint::m_total_tangent_dv
btAlignedObjectArray< btVector3 > m_total_tangent_dv
Definition: btCGProjection.h:28
DeformableContactConstraint::m_node
const btSoftBody::Node * m_node
Definition: btCGProjection.h:25
btSoftBody::Node
Definition: btSoftBody.h:268
btSoftBody::RContact
Definition: btSoftBody.h:342