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// btCGProjection.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/4/19.
//
#ifndef BT_CG_PROJECTION_H
#define BT_CG_PROJECTION_H
#include "btSoftBody.h"
#include <unordered_map>
class btDeformableRigidDynamicsWorld;
struct Constraint
{
const btSoftBody::RContact* m_contact;
btVector3 m_direction;
btScalar m_value;
Constraint(const btSoftBody::RContact& rcontact)
: m_contact(&rcontact)
, m_direction(rcontact.m_cti.m_normal)
, m_value(0)
{
}
Constraint(const btVector3 dir)
: m_contact(nullptr)
, m_direction(dir)
, m_value(0)
{}
Constraint()
: m_contact(nullptr)
{
}
};
struct Friction
{
btVector3 m_dv;
btVector3 m_direction;
Friction()
{
m_dv.setZero();
m_direction.setZero();
}
};
class btCGProjection
{
public:
// static const int dim = 3;
using TVStack = btAlignedObjectArray<btVector3>;
using TVArrayStack = btAlignedObjectArray<btAlignedObjectArray<btVector3> >;
using TArrayStack = btAlignedObjectArray<btAlignedObjectArray<btScalar> >;
btAlignedObjectArray<btSoftBody *> m_softBodies;
btDeformableRigidDynamicsWorld* m_world;
std::unordered_map<btSoftBody::Node *, size_t> m_indices;
const btScalar& m_dt;
std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<Constraint> > m_constraints;
std::unordered_map<btSoftBody::Node *, Friction > m_frictions;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
: m_softBodies(softBodies)
, m_dt(dt)
{
}
virtual ~btCGProjection()
{
}
// apply the constraints
virtual void operator()(TVStack& x) = 0;
virtual void setConstraintDirections() = 0;
// update the constraints
virtual void update(const TVStack& dv, const TVStack& backup_v) = 0;
virtual void reinitialize(bool nodeUpdated)
{
if (nodeUpdated)
updateId();
m_constraints.clear();
m_frictions.clear();
}
void updateId()
{
size_t index = 0;
m_indices.clear();
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
m_indices[&(psb->m_nodes[j])] = index++;
}
}
}
void setSoftBodies(btAlignedObjectArray<btSoftBody* > softBodies)
{
m_softBodies.copyFromArray(softBodies);
}
virtual void setWorld(btDeformableRigidDynamicsWorld* world)
{
m_world = world;
}
};
#endif /* btCGProjection_h */
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