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#include "../btDeformableContactConstraint.h"
#include "btReducedDeformableBody.h"
// ================= static constraints ===================
class btReducedDeformableStaticConstraint : public btDeformableStaticConstraint
{
public:
btReducedDeformableBody* m_rsb;
btScalar m_dt;
btVector3 m_ri;
btVector3 m_targetPos;
btVector3 m_impulseDirection;
btMatrix3x3 m_impulseFactorMatrix;
btScalar m_impulseFactor;
btScalar m_rhs;
btScalar m_appliedImpulse;
btScalar m_erp;
btReducedDeformableStaticConstraint(btReducedDeformableBody* rsb,
btSoftBody::Node* node,
const btVector3& ri,
const btVector3& x0,
const btVector3& dir,
const btContactSolverInfo& infoGlobal,
btScalar dt);
// btReducedDeformableStaticConstraint(const btReducedDeformableStaticConstraint& other);
btReducedDeformableStaticConstraint() {}
virtual ~btReducedDeformableStaticConstraint() {}
virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
// this calls reduced deformable body's applyFullSpaceImpulse
virtual void applyImpulse(const btVector3& impulse);
btVector3 getDeltaVa() const;
// virtual void applySplitImpulse(const btVector3& impulse) {}
};
// ================= base contact constraints ===================
class btReducedDeformableRigidContactConstraint : public btDeformableRigidContactConstraint
{
public:
bool m_collideStatic; // flag for collision with static object
bool m_collideMultibody; // flag for collision with multibody
int m_nodeQueryIndex;
int m_solverBodyId; // for debugging
btReducedDeformableBody* m_rsb;
btSolverBody* m_solverBody;
btScalar m_dt;
btScalar m_appliedNormalImpulse;
btScalar m_appliedTangentImpulse;
btScalar m_appliedTangentImpulse2;
btScalar m_normalImpulseFactor;
btScalar m_tangentImpulseFactor;
btScalar m_tangentImpulseFactor2;
btScalar m_tangentImpulseFactorInv;
btScalar m_tangentImpulseFactorInv2;
btScalar m_rhs;
btScalar m_rhs_tangent;
btScalar m_rhs_tangent2;
btScalar m_cfm;
btScalar m_cfm_friction;
btScalar m_erp;
btScalar m_erp_friction;
btScalar m_friction;
btVector3 m_contactNormalA; // surface normal for rigid body (opposite direction as impulse)
btVector3 m_contactNormalB; // surface normal for reduced deformable body (opposite direction as impulse)
btVector3 m_contactTangent; // tangential direction of the relative velocity
btVector3 m_contactTangent2; // 2nd tangential direction of the relative velocity
btVector3 m_relPosA; // relative position of the contact point for A (rigid)
btVector3 m_relPosB; // relative position of the contact point for B
btMatrix3x3 m_impulseFactor; // total impulse matrix
btVector3 m_bufferVelocityA; // velocity at the beginning of the iteration
btVector3 m_bufferVelocityB;
btVector3 m_linearComponentNormal; // linear components for the solver body
btVector3 m_angularComponentNormal; // angular components for the solver body
// since 2nd contact direction only applies to multibody, these components will never be used
btVector3 m_linearComponentTangent;
btVector3 m_angularComponentTangent;
btReducedDeformableRigidContactConstraint(btReducedDeformableBody* rsb,
const btSoftBody::DeformableRigidContact& c,
const btContactSolverInfo& infoGlobal,
btScalar dt);
// btReducedDeformableRigidContactConstraint(const btReducedDeformableRigidContactConstraint& other);
btReducedDeformableRigidContactConstraint() {}
virtual ~btReducedDeformableRigidContactConstraint() {}
void setSolverBody(const int bodyId, btSolverBody& solver_body);
virtual void warmStarting() {}
virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
void calculateTangentialImpulse(btScalar& deltaImpulse_tangent,
btScalar& appliedImpulse,
const btScalar rhs_tangent,
const btScalar tangentImpulseFactorInv,
const btVector3& tangent,
const btScalar lower_limit,
const btScalar upper_limit,
const btVector3& deltaV_rel);
virtual void applyImpulse(const btVector3& impulse) {}
virtual void applySplitImpulse(const btVector3& impulse) {} // TODO: may need later
virtual btVector3 getVa() const;
virtual btVector3 getDeltaVa() const = 0;
virtual btVector3 getDeltaVb() const = 0;
};
// ================= node vs rigid constraints ===================
class btReducedDeformableNodeRigidContactConstraint : public btReducedDeformableRigidContactConstraint
{
public:
btSoftBody::Node* m_node;
btReducedDeformableNodeRigidContactConstraint(btReducedDeformableBody* rsb,
const btSoftBody::DeformableNodeRigidContact& contact,
const btContactSolverInfo& infoGlobal,
btScalar dt);
// btReducedDeformableNodeRigidContactConstraint(const btReducedDeformableNodeRigidContactConstraint& other);
btReducedDeformableNodeRigidContactConstraint() {}
virtual ~btReducedDeformableNodeRigidContactConstraint() {}
virtual void warmStarting();
// get the velocity of the deformable node in contact
virtual btVector3 getVb() const;
// get the velocity change of the rigid body
virtual btVector3 getDeltaVa() const;
// get velocity change of the node in contat
virtual btVector3 getDeltaVb() const;
// get the split impulse velocity of the deformable face at the contact point
virtual btVector3 getSplitVb() const;
// get the velocity change of the input soft body node in the constraint
virtual btVector3 getDv(const btSoftBody::Node*) const;
// cast the contact to the desired type
const btSoftBody::DeformableNodeRigidContact* getContact() const
{
return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact);
}
// this calls reduced deformable body's applyFullSpaceImpulse
virtual void applyImpulse(const btVector3& impulse);
};
// ================= face vs rigid constraints ===================
class btReducedDeformableFaceRigidContactConstraint : public btReducedDeformableRigidContactConstraint
{
public:
btSoftBody::Face* m_face;
bool m_useStrainLimiting;
btReducedDeformableFaceRigidContactConstraint(btReducedDeformableBody* rsb,
const btSoftBody::DeformableFaceRigidContact& contact,
const btContactSolverInfo& infoGlobal,
btScalar dt,
bool useStrainLimiting);
// btReducedDeformableFaceRigidContactConstraint(const btReducedDeformableFaceRigidContactConstraint& other);
btReducedDeformableFaceRigidContactConstraint() {}
virtual ~btReducedDeformableFaceRigidContactConstraint() {}
// get the velocity of the deformable face at the contact point
virtual btVector3 getVb() const;
// get the split impulse velocity of the deformable face at the contact point
virtual btVector3 getSplitVb() const;
// get the velocity change of the input soft body node in the constraint
virtual btVector3 getDv(const btSoftBody::Node*) const;
// cast the contact to the desired type
const btSoftBody::DeformableFaceRigidContact* getContact() const
{
return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact);
}
// this calls reduced deformable body's applyFullSpaceImpulse
virtual void applyImpulse(const btVector3& impulse);
};
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