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101 lines
4.3 KiB
C++
101 lines
4.3 KiB
C++
/*
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Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CONTACT_PROJECTION_H
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#define BT_CONTACT_PROJECTION_H
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#include "btCGProjection.h"
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#include "btSoftBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
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#include "btDeformableContactConstraint.h"
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#include "LinearMath/btHashMap.h"
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#include "LinearMath/btReducedVector.h"
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#include "LinearMath/btModifiedGramSchmidt.h"
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#include <vector>
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struct LagrangeMultiplier
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{
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int m_num_constraints; // Number of constraints
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int m_num_nodes; // Number of nodes in these constraints
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btScalar m_weights[3]; // weights of the nodes involved, same size as m_num_nodes
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btVector3 m_dirs[3]; // Constraint directions, same size of m_num_constraints;
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int m_indices[3]; // indices of the nodes involved, same size as m_num_nodes;
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};
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class btDeformableContactProjection
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{
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public:
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typedef btAlignedObjectArray<btVector3> TVStack;
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btAlignedObjectArray<btSoftBody *>& m_softBodies;
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// all constraints involving face
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btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints;
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#ifndef USE_MGS
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// map from node index to projection directions
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btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict;
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#else
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btAlignedObjectArray<btReducedVector> m_projections;
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#endif
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btAlignedObjectArray<LagrangeMultiplier> m_lagrangeMultipliers;
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// map from node index to static constraint
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btAlignedObjectArray<btAlignedObjectArray<btDeformableStaticConstraint> > m_staticConstraints;
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// map from node index to node rigid constraint
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btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
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// map from node index to face rigid constraint
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btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
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// map from node index to deformable constraint
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btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceNodeContactConstraint> > m_deformableConstraints;
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// map from node index to node anchor constraint
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btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeAnchorConstraint> > m_nodeAnchorConstraints;
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bool m_useStrainLimiting;
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btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies)
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: m_softBodies(softBodies)
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{
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}
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virtual ~btDeformableContactProjection()
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{
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}
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// apply the constraints to the rhs of the linear solve
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virtual void project(TVStack& x);
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// add friction force to the rhs of the linear solve
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virtual void applyDynamicFriction(TVStack& f);
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// update and solve the constraints
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virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal);
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// Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict.
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virtual void setConstraints(const btContactSolverInfo& infoGlobal);
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// Set up projections for each vertex by adding the projection direction to
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virtual void setProjection();
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virtual void reinitialize(bool nodeUpdated);
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virtual void splitImpulseSetup(const btContactSolverInfo& infoGlobal);
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virtual void setLagrangeMultiplier();
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void checkConstraints(const TVStack& x);
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};
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#endif /* btDeformableContactProjection_h */
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