diff options
Diffstat (limited to 'src/BulletSoftBody/btSoftBody.h')
| -rw-r--r-- | src/BulletSoftBody/btSoftBody.h | 31 |
1 files changed, 23 insertions, 8 deletions
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index d5b01faf3..f91640acb 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -298,7 +298,7 @@ public: }; struct RenderFace { - RenderNode* m_n[3]; // Node pointers + RenderNode* m_n[3]; // Node pointers }; /* Face */ @@ -407,6 +407,7 @@ public: btScalar m_friction; // Friction btScalar m_imf; // inverse mass of the face at contact point btScalar m_c0; // scale of the impulse matrix; + const btCollisionObject* m_colObj; // Collision object to collide with. }; /* SContact */ @@ -786,7 +787,7 @@ public: typedef btAlignedObjectArray<Cluster*> tClusterArray; typedef btAlignedObjectArray<Note> tNoteArray; typedef btAlignedObjectArray<Node> tNodeArray; - typedef btAlignedObjectArray< RenderNode> tRenderNodeArray; + typedef btAlignedObjectArray<RenderNode> tRenderNodeArray; typedef btAlignedObjectArray<btDbvtNode*> tLeafArray; typedef btAlignedObjectArray<Link> tLinkArray; typedef btAlignedObjectArray<Face> tFaceArray; @@ -798,6 +799,7 @@ public: typedef btAlignedObjectArray<Material*> tMaterialArray; typedef btAlignedObjectArray<Joint*> tJointArray; typedef btAlignedObjectArray<btSoftBody*> tSoftBodyArray; + typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > tDenseMatrix; // // Fields @@ -813,7 +815,7 @@ public: tRenderNodeArray m_renderNodes; // Render Nodes tLinkArray m_links; // Links tFaceArray m_faces; // Faces - tRenderFaceArray m_renderFaces; // Faces + tRenderFaceArray m_renderFaces; // Faces tTetraArray m_tetras; // Tetras btAlignedObjectArray<TetraScratch> m_tetraScratches; btAlignedObjectArray<TetraScratch> m_tetraScratchesTn; @@ -823,6 +825,7 @@ public: btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts; btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts; btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts; + btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContactsCCD; tSContactArray m_scontacts; // Soft contacts tJointArray m_joints; // Joints tMaterialArray m_materials; // Materials @@ -855,6 +858,8 @@ public: btScalar m_restLengthScale; + bool m_reducedModel; // Reduced deformable model flag + // // Api // @@ -1001,15 +1006,15 @@ public: /* Get best fit rigid transform */ btTransform getRigidTransform(); /* Transform to given pose */ - void transformTo(const btTransform& trs); + virtual void transformTo(const btTransform& trs); /* Transform */ - void transform(const btTransform& trs); + virtual void transform(const btTransform& trs); /* Translate */ - void translate(const btVector3& trs); + virtual void translate(const btVector3& trs); /* Rotate */ - void rotate(const btQuaternion& rot); + virtual void rotate(const btQuaternion& rot); /* Scale */ - void scale(const btVector3& scl); + virtual void scale(const btVector3& scl); /* Get link resting lengths scale */ btScalar getRestLengthScale(); /* Scale resting length of all springs */ @@ -1051,6 +1056,9 @@ public: Material* mat = 0); /* Randomize constraints to reduce solver bias */ void randomizeConstraints(); + + void updateState(const btAlignedObjectArray<btVector3>& qs, const btAlignedObjectArray<btVector3>& vs); + /* Release clusters */ void releaseCluster(int index); void releaseClusters(); @@ -1096,6 +1104,13 @@ public: void setZeroVelocity(); bool wantsSleeping(); + virtual btMatrix3x3 getImpulseFactor(int n_node) + { + btMatrix3x3 tmp; + tmp.setIdentity(); + return tmp; + } + // // Functionality to deal with new accelerated solvers. // |