diff options
Diffstat (limited to 'src/BulletSoftBody/btSoftBody.h')
| -rw-r--r-- | src/BulletSoftBody/btSoftBody.h | 20 |
1 files changed, 15 insertions, 5 deletions
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 043f27db0..f91640acb 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -799,6 +799,7 @@ public: typedef btAlignedObjectArray<Material*> tMaterialArray; typedef btAlignedObjectArray<Joint*> tJointArray; typedef btAlignedObjectArray<btSoftBody*> tSoftBodyArray; + typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > tDenseMatrix; // // Fields @@ -857,6 +858,8 @@ public: btScalar m_restLengthScale; + bool m_reducedModel; // Reduced deformable model flag + // // Api // @@ -1003,15 +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 */ @@ -1101,6 +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. // |