diff options
Diffstat (limited to 'src/BulletSoftBody/btSoftBody.h')
| -rw-r--r-- | src/BulletSoftBody/btSoftBody.h | 24 |
1 files changed, 21 insertions, 3 deletions
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 9b35b799d..f2934c94a 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -26,7 +26,8 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" #include "btSparseSDF.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h" - +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" //#ifdef BT_USE_DOUBLE_PRECISION //#define btRigidBodyData btRigidBodyDoubleData //#define btRigidBodyDataName "btRigidBodyDoubleData" @@ -159,6 +160,7 @@ public: RVSmask = 0x000f, ///Rigid versus soft mask SDF_RS = 0x0001, ///SDF based rigid vs soft CL_RS = 0x0002, ///Cluster vs convex rigid vs soft + SDF_RD = 0x0003, ///DF based rigid vs deformable SVSmask = 0x0030, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling @@ -257,6 +259,7 @@ public: btScalar m_area; // Area btDbvtNode* m_leaf; // Leaf data int m_battach : 1; // Attached + int index; }; /* Link */ ATTRIBUTE_ALIGNED16(struct) @@ -300,6 +303,13 @@ public: btScalar m_c2; // ima*dt btScalar m_c3; // Friction btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; }; /* SContact */ struct SContact @@ -704,6 +714,7 @@ public: btDbvt m_fdbvt; // Faces tree btDbvt m_cdbvt; // Clusters tree tClusterArray m_clusters; // Clusters + btScalar m_dampingCoefficient; // Damping Coefficient btAlignedObjectArray<bool> m_clusterConnectivity; //cluster connectivity, for self-collision @@ -735,6 +746,11 @@ public: { return m_worldInfo; } + + void setDampingCoefficient(btScalar damping_coeff) + { + m_dampingCoefficient = damping_coeff; + } ///@todo: avoid internal softbody shape hack and move collision code to collision library virtual void setCollisionShape(btCollisionShape* collisionShape) @@ -991,7 +1007,8 @@ public: btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const; void initializeFaceTree(); btVector3 evaluateCom() const; - bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; + bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); void updatePose(); @@ -1005,6 +1022,7 @@ public: void solveClusters(btScalar sor); void applyClusters(bool drift); void dampClusters(); + void setSpringStiffness(btScalar k); void applyForces(); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); @@ -1015,7 +1033,7 @@ public: static vsolver_t getSolver(eVSolver::_ solver); virtual int calculateSerializeBufferSize() const; - + ///fills the dataBuffer and returns the struct name (and 0 on failure) virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; |