mirror of
https://github.com/godotengine/godot.git
synced 2024-12-27 11:24:59 +08:00
100 lines
4.2 KiB
C++
100 lines
4.2 KiB
C++
/*
|
|
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
|
|
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2019 Google Inc. http://bulletphysics.org
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_CONTACT_PROJECTION_H
|
|
#define BT_CONTACT_PROJECTION_H
|
|
#include "btCGProjection.h"
|
|
#include "btSoftBody.h"
|
|
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
|
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
|
|
#include "btDeformableContactConstraint.h"
|
|
#include "LinearMath/btHashMap.h"
|
|
#include "LinearMath/btReducedVector.h"
|
|
#include "LinearMath/btModifiedGramSchmidt.h"
|
|
#include <vector>
|
|
|
|
struct LagrangeMultiplier
|
|
{
|
|
int m_num_constraints; // Number of constraints
|
|
int m_num_nodes; // Number of nodes in these constraints
|
|
btScalar m_weights[3]; // weights of the nodes involved, same size as m_num_nodes
|
|
btVector3 m_dirs[3]; // Constraint directions, same size of m_num_constraints;
|
|
int m_indices[3]; // indices of the nodes involved, same size as m_num_nodes;
|
|
};
|
|
|
|
class btDeformableContactProjection
|
|
{
|
|
public:
|
|
typedef btAlignedObjectArray<btVector3> TVStack;
|
|
btAlignedObjectArray<btSoftBody*>& m_softBodies;
|
|
|
|
// all constraints involving face
|
|
btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints;
|
|
#ifndef USE_MGS
|
|
// map from node index to projection directions
|
|
btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict;
|
|
#else
|
|
btAlignedObjectArray<btReducedVector> m_projections;
|
|
#endif
|
|
|
|
btAlignedObjectArray<LagrangeMultiplier> m_lagrangeMultipliers;
|
|
|
|
// map from node index to static constraint
|
|
btAlignedObjectArray<btAlignedObjectArray<btDeformableStaticConstraint> > m_staticConstraints;
|
|
// map from node index to node rigid constraint
|
|
btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
|
|
// map from node index to face rigid constraint
|
|
btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
|
|
// map from node index to deformable constraint
|
|
btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceNodeContactConstraint> > m_deformableConstraints;
|
|
// map from node index to node anchor constraint
|
|
btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeAnchorConstraint> > m_nodeAnchorConstraints;
|
|
|
|
bool m_useStrainLimiting;
|
|
|
|
btDeformableContactProjection(btAlignedObjectArray<btSoftBody*>& softBodies)
|
|
: m_softBodies(softBodies)
|
|
{
|
|
}
|
|
|
|
virtual ~btDeformableContactProjection()
|
|
{
|
|
}
|
|
|
|
// apply the constraints to the rhs of the linear solve
|
|
virtual void project(TVStack& x);
|
|
|
|
// add friction force to the rhs of the linear solve
|
|
virtual void applyDynamicFriction(TVStack& f);
|
|
|
|
// update and solve the constraints
|
|
virtual btScalar update(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
|
|
|
|
// Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict.
|
|
virtual void setConstraints(const btContactSolverInfo& infoGlobal);
|
|
|
|
// Set up projections for each vertex by adding the projection direction to
|
|
virtual void setProjection();
|
|
|
|
virtual void reinitialize(bool nodeUpdated);
|
|
|
|
btScalar solveSplitImpulse(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
|
|
|
|
virtual void setLagrangeMultiplier();
|
|
|
|
void checkConstraints(const TVStack& x);
|
|
};
|
|
#endif /* btDeformableContactProjection_h */
|