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

Bullet Collision Detection & Physics Library

btDefaultSoftBodySolver.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_SOFT_BODY_DEFAULT_SOLVER_H
17#define BT_SOFT_BODY_DEFAULT_SOLVER_H
18
19#include "BulletSoftBody/btSoftBodySolvers.h"
20#include "btSoftBodySolverVertexBuffer.h"
21struct btCollisionObjectWrapper;
22
23 class btDefaultSoftBodySolver : public btSoftBodySolver
24{
25protected:
27 bool m_updateSolverConstants;
28
29 btAlignedObjectArray<btSoftBody *> m_softBodySet;
30
31public:
32 btDefaultSoftBodySolver();
33
34 virtual ~btDefaultSoftBodySolver();
35
36 virtual SolverTypes getSolverType() const
37 {
38 return DEFAULT_SOLVER;
39 }
40
41 virtual bool checkInitialized();
42
43 virtual void updateSoftBodies();
44
45 virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false);
46
47 virtual void copyBackToSoftBodies(bool bMove = true);
48
49 virtual void solveConstraints(btScalar solverdt);
50
51 virtual void predictMotion(btScalar solverdt);
52
53 virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer);
54
55 virtual void processCollision(btSoftBody *, const btCollisionObjectWrapper *);
56
57 virtual void processCollision(btSoftBody *, btSoftBody *);
58};
59
60#endif // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSoftBodySolverVertexBuffer.h
btSoftBodySolvers.h
btAlignedObjectArray< btSoftBody * >
btDefaultSoftBodySolver
Definition: btDefaultSoftBodySolver.h:24
btDefaultSoftBodySolver::~btDefaultSoftBodySolver
virtual ~btDefaultSoftBodySolver()
Definition: btDefaultSoftBodySolver.cpp:32
btDefaultSoftBodySolver::btDefaultSoftBodySolver
btDefaultSoftBodySolver()
Definition: btDefaultSoftBodySolver.cpp:24
btDefaultSoftBodySolver::updateSoftBodies
virtual void updateSoftBodies()
Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes.
Definition: btDefaultSoftBodySolver.cpp:46
btDefaultSoftBodySolver::predictMotion
virtual void predictMotion(btScalar solverdt)
Predict motion of soft bodies into next timestep.
Definition: btDefaultSoftBodySolver.cpp:135
btDefaultSoftBodySolver::m_softBodySet
btAlignedObjectArray< btSoftBody * > m_softBodySet
Definition: btDefaultSoftBodySolver.h:29
btDefaultSoftBodySolver::processCollision
virtual void processCollision(btSoftBody *, const btCollisionObjectWrapper *)
Definition: btDefaultSoftBodySolver.cpp:130
btDefaultSoftBodySolver::optimize
virtual void optimize(btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate=false)
Optimize soft bodies in this solver.
Definition: btDefaultSoftBodySolver.cpp:41
btDefaultSoftBodySolver::copySoftBodyToVertexBuffer
virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer)
Definition: btDefaultSoftBodySolver.cpp:76
btDefaultSoftBodySolver::solveConstraints
virtual void solveConstraints(btScalar solverdt)
Solve constraints for a set of soft bodies.
Definition: btDefaultSoftBodySolver.cpp:63
btDefaultSoftBodySolver::getSolverType
virtual SolverTypes getSolverType() const
Return the type of the solver.
Definition: btDefaultSoftBodySolver.h:36
btDefaultSoftBodySolver::m_updateSolverConstants
bool m_updateSolverConstants
Variable to define whether we need to update solver constants on the next iteration.
Definition: btDefaultSoftBodySolver.h:27
btDefaultSoftBodySolver::copyBackToSoftBodies
virtual void copyBackToSoftBodies(bool bMove=true)
Copy necessary data back to the original soft body source objects.
Definition: btDefaultSoftBodySolver.cpp:37
btDefaultSoftBodySolver::checkInitialized
virtual bool checkInitialized()
Ensure that this solver is initialized.
Definition: btDefaultSoftBodySolver.cpp:58
btSoftBodySolver
Definition: btSoftBodySolvers.h:29
btSoftBodySolver::SolverTypes
SolverTypes
Definition: btSoftBodySolvers.h:32
btSoftBodySolver::DEFAULT_SOLVER
@ DEFAULT_SOLVER
Definition: btSoftBodySolvers.h:33
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:75
btVertexBufferDescriptor
Definition: btSoftBodySolverVertexBuffer.h:20
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18