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#ifndef BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
#define BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
#include "BulletSoftBody/btDeformableBodySolver.h"
#include "btReducedDeformableContactConstraint.h"
class btReducedDeformableBody;
class btReducedDeformableBodySolver : public btDeformableBodySolver
{
protected:
bool m_ascendOrder;
btScalar m_dampingAlpha;
btScalar m_dampingBeta;
btVector3 m_gravity;
void predictReduceDeformableMotion(btScalar solverdt);
void applyExplicitForce(btScalar solverdt);
public:
btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableStaticConstraint> > m_staticConstraints;
btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
btReducedDeformableBodySolver();
~btReducedDeformableBodySolver() {}
virtual void setGravity(const btVector3& gravity);
virtual SolverTypes getSolverType() const
{
return REDUCED_DEFORMABLE_SOLVER;
}
// resize/clear data structures
virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& bodies, btScalar dt);
virtual void predictMotion(btScalar solverdt);
virtual void applyTransforms(btScalar timeStep);
// set up contact constraints
virtual void setConstraints(const btContactSolverInfo& infoGlobal);
// solve all constraints (fixed and contact)
virtual btScalar solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
// apply all the delta velocities
virtual void deformableBodyInternalWriteBack();
// virtual void setProjection() {}
// virtual void setLagrangeMultiplier() {}
// virtual void setupDeformableSolve(bool implicit);
};
#endif // BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
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