1 files changed, 69 insertions, 5 deletions

diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h
index ae674d6e8..68354f199 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.h
+++ b/src/BulletSoftBody/btDeformableBodySolver.h
@@ -24,8 +24,8 @@
 #include "btConjugateResidual.h"
 #include "btConjugateGradient.h"
 struct btCollisionObjectWrapper;
-class btDeformableBackwardEulerObjective;
-class btDeformableMultiBodyDynamicsWorld;
+// class btDeformableBackwardEulerObjective;
+// class btDeformableMultiBodyDynamicsWorld;
 
 class btDeformableBodySolver : public btSoftBodySolver
 {
@@ -46,6 +46,7 @@ protected:
 	int m_maxNewtonIterations;                                     // max number of newton iterations
 	btScalar m_newtonTolerance;                                    // stop newton iterations if f(x) < m_newtonTolerance
 	bool m_lineSearch;                                             // If true, use newton's method with line search under implicit scheme
+	bool m_reducedSolver;																					 // flag for reduced soft body solver
 public:
 	// handles data related to objective function
 	btDeformableBackwardEulerObjective* m_objective;
@@ -68,11 +69,18 @@ public:
 	// solve the momentum equation
 	virtual void solveDeformableConstraints(btScalar solverdt);
 
+	// set gravity (get from deformable world)
+	virtual void setGravity(const btVector3& gravity)
+	{
+		// for full deformable object, we don't store gravity in the solver
+		// this function is overriden in the reduced deformable object
+	}
+
 	// resize/clear data structures
-	void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt);
+	virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt);
 
 	// set up contact constraints
-	void setConstraints(const btContactSolverInfo& infoGlobal);
+	virtual void setConstraints(const btContactSolverInfo& infoGlobal);
 
 	// add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion
 	virtual void predictMotion(btScalar solverdt);
@@ -85,7 +93,7 @@ public:
 	void backupVelocity();
 
 	// set m_dv and m_backupVelocity to desired value to prepare for momentum solve
-	void setupDeformableSolve(bool implicit);
+	virtual void setupDeformableSolve(bool implicit);
 
 	// set the current velocity to that backed up in m_backupVelocity
 	void revertVelocity();
@@ -150,6 +158,62 @@ public:
 	// used in line search
 	btScalar kineticEnergy();
 
+	// add explicit force to the velocity in the objective class
+	virtual void applyExplicitForce();
+
+	// execute position/velocity update and apply anchor constraints in the integrateTransforms from the Dynamics world
+	virtual void applyTransforms(btScalar timeStep);
+
+	virtual void setStrainLimiting(bool opt)
+	{
+		m_objective->m_projection.m_useStrainLimiting = opt;
+	}
+
+	virtual void setPreconditioner(int opt)
+	{
+		switch (opt)
+		{
+			case btDeformableBackwardEulerObjective::Mass_preconditioner:
+				m_objective->m_preconditioner = m_objective->m_massPreconditioner;
+				break;
+
+			case btDeformableBackwardEulerObjective::KKT_preconditioner:
+				m_objective->m_preconditioner = m_objective->m_KKTPreconditioner;
+				break;
+			
+			default:
+				btAssert(false);
+				break;
+		}
+	}
+
+	virtual btAlignedObjectArray<btDeformableLagrangianForce*>* getLagrangianForceArray()
+	{
+		return &(m_objective->m_lf);
+	}
+
+	virtual const btAlignedObjectArray<btSoftBody::Node*>* getIndices()
+	{
+		return m_objective->getIndices();
+	}
+
+	virtual void setProjection()
+	{
+		m_objective->m_projection.setProjection();
+	}
+
+	virtual void setLagrangeMultiplier()
+	{
+		m_objective->m_projection.setLagrangeMultiplier();
+	}
+
+	virtual bool isReducedSolver()
+	{
+		return m_reducedSolver;
+	}
+	
+	virtual void deformableBodyInternalWriteBack() {}
+
 	// unused functions
 	virtual void optimize(btAlignedObjectArray<btSoftBody*>& softBodies, bool forceUpdate = false) {}
 	virtual void solveConstraints(btScalar dt) {}