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Diffstat (limited to 'src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h')
| -rw-r--r-- | src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h | 194 |
1 files changed, 0 insertions, 194 deletions
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h deleted file mode 100644 index 10d0938c5..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h +++ /dev/null @@ -1,194 +0,0 @@ -#include "../btDeformableContactConstraint.h" -#include "btReducedDeformableBody.h" - -// ================= static constraints =================== -class btReducedDeformableStaticConstraint : public btDeformableStaticConstraint -{ - public: - btReducedDeformableBody* m_rsb; - btScalar m_dt; - btVector3 m_ri; - btVector3 m_targetPos; - btVector3 m_impulseDirection; - btMatrix3x3 m_impulseFactorMatrix; - btScalar m_impulseFactor; - btScalar m_rhs; - btScalar m_appliedImpulse; - btScalar m_erp; - - btReducedDeformableStaticConstraint(btReducedDeformableBody* rsb, - btSoftBody::Node* node, - const btVector3& ri, - const btVector3& x0, - const btVector3& dir, - const btContactSolverInfo& infoGlobal, - btScalar dt); - // btReducedDeformableStaticConstraint(const btReducedDeformableStaticConstraint& other); - btReducedDeformableStaticConstraint() {} - virtual ~btReducedDeformableStaticConstraint() {} - - virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); - - // this calls reduced deformable body's applyFullSpaceImpulse - virtual void applyImpulse(const btVector3& impulse); - - btVector3 getDeltaVa() const; - - // virtual void applySplitImpulse(const btVector3& impulse) {} -}; - -// ================= base contact constraints =================== -class btReducedDeformableRigidContactConstraint : public btDeformableRigidContactConstraint -{ - public: - bool m_collideStatic; // flag for collision with static object - bool m_collideMultibody; // flag for collision with multibody - - int m_nodeQueryIndex; - int m_solverBodyId; // for debugging - - btReducedDeformableBody* m_rsb; - btSolverBody* m_solverBody; - btScalar m_dt; - - btScalar m_appliedNormalImpulse; - btScalar m_appliedTangentImpulse; - btScalar m_appliedTangentImpulse2; - btScalar m_normalImpulseFactor; - btScalar m_tangentImpulseFactor; - btScalar m_tangentImpulseFactor2; - btScalar m_tangentImpulseFactorInv; - btScalar m_tangentImpulseFactorInv2; - btScalar m_rhs; - btScalar m_rhs_tangent; - btScalar m_rhs_tangent2; - - btScalar m_cfm; - btScalar m_cfm_friction; - btScalar m_erp; - btScalar m_erp_friction; - btScalar m_friction; - - btVector3 m_contactNormalA; // surface normal for rigid body (opposite direction as impulse) - btVector3 m_contactNormalB; // surface normal for reduced deformable body (opposite direction as impulse) - btVector3 m_contactTangent; // tangential direction of the relative velocity - btVector3 m_contactTangent2; // 2nd tangential direction of the relative velocity - btVector3 m_relPosA; // relative position of the contact point for A (rigid) - btVector3 m_relPosB; // relative position of the contact point for B - btMatrix3x3 m_impulseFactor; // total impulse matrix - - btVector3 m_bufferVelocityA; // velocity at the beginning of the iteration - btVector3 m_bufferVelocityB; - btVector3 m_linearComponentNormal; // linear components for the solver body - btVector3 m_angularComponentNormal; // angular components for the solver body - // since 2nd contact direction only applies to multibody, these components will never be used - btVector3 m_linearComponentTangent; - btVector3 m_angularComponentTangent; - - btReducedDeformableRigidContactConstraint(btReducedDeformableBody* rsb, - const btSoftBody::DeformableRigidContact& c, - const btContactSolverInfo& infoGlobal, - btScalar dt); - // btReducedDeformableRigidContactConstraint(const btReducedDeformableRigidContactConstraint& other); - btReducedDeformableRigidContactConstraint() {} - virtual ~btReducedDeformableRigidContactConstraint() {} - - void setSolverBody(const int bodyId, btSolverBody& solver_body); - - virtual void warmStarting() {} - - virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal); - - void calculateTangentialImpulse(btScalar& deltaImpulse_tangent, - btScalar& appliedImpulse, - const btScalar rhs_tangent, - const btScalar tangentImpulseFactorInv, - const btVector3& tangent, - const btScalar lower_limit, - const btScalar upper_limit, - const btVector3& deltaV_rel); - - virtual void applyImpulse(const btVector3& impulse) {} - - virtual void applySplitImpulse(const btVector3& impulse) {} // TODO: may need later - - virtual btVector3 getVa() const; - virtual btVector3 getDeltaVa() const = 0; - virtual btVector3 getDeltaVb() const = 0; -}; - -// ================= node vs rigid constraints =================== -class btReducedDeformableNodeRigidContactConstraint : public btReducedDeformableRigidContactConstraint -{ - public: - btSoftBody::Node* m_node; - - btReducedDeformableNodeRigidContactConstraint(btReducedDeformableBody* rsb, - const btSoftBody::DeformableNodeRigidContact& contact, - const btContactSolverInfo& infoGlobal, - btScalar dt); - // btReducedDeformableNodeRigidContactConstraint(const btReducedDeformableNodeRigidContactConstraint& other); - btReducedDeformableNodeRigidContactConstraint() {} - virtual ~btReducedDeformableNodeRigidContactConstraint() {} - - virtual void warmStarting(); - - // get the velocity of the deformable node in contact - virtual btVector3 getVb() const; - - // get the velocity change of the rigid body - virtual btVector3 getDeltaVa() const; - - // get velocity change of the node in contat - virtual btVector3 getDeltaVb() const; - - // get the split impulse velocity of the deformable face at the contact point - virtual btVector3 getSplitVb() const; - - // get the velocity change of the input soft body node in the constraint - virtual btVector3 getDv(const btSoftBody::Node*) const; - - // cast the contact to the desired type - const btSoftBody::DeformableNodeRigidContact* getContact() const - { - return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact); - } - - // this calls reduced deformable body's applyFullSpaceImpulse - virtual void applyImpulse(const btVector3& impulse); -}; - -// ================= face vs rigid constraints =================== -class btReducedDeformableFaceRigidContactConstraint : public btReducedDeformableRigidContactConstraint -{ - public: - btSoftBody::Face* m_face; - bool m_useStrainLimiting; - - btReducedDeformableFaceRigidContactConstraint(btReducedDeformableBody* rsb, - const btSoftBody::DeformableFaceRigidContact& contact, - const btContactSolverInfo& infoGlobal, - btScalar dt, - bool useStrainLimiting); - // btReducedDeformableFaceRigidContactConstraint(const btReducedDeformableFaceRigidContactConstraint& other); - btReducedDeformableFaceRigidContactConstraint() {} - virtual ~btReducedDeformableFaceRigidContactConstraint() {} - - // get the velocity of the deformable face at the contact point - virtual btVector3 getVb() const; - - // get the split impulse velocity of the deformable face at the contact point - virtual btVector3 getSplitVb() const; - - // get the velocity change of the input soft body node in the constraint - virtual btVector3 getDv(const btSoftBody::Node*) const; - - // cast the contact to the desired type - const btSoftBody::DeformableFaceRigidContact* getContact() const - { - return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact); - } - - // this calls reduced deformable body's applyFullSpaceImpulse - virtual void applyImpulse(const btVector3& impulse); -};
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