blob: 398662e1fa848058649abede7d975cc0054eeaca (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
|
//
// btDeformableGravityForce.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/21/19.
//
#ifndef BT_DEFORMABLE_GRAVITY_FORCE_H
#define BT_DEFORMABLE_GRAVITY_FORCE_H
#include "btDeformableLagrangianForce.h"
class btDeformableGravityForce : public btDeformableLagrangianForce
{
public:
using TVStack = btDeformableLagrangianForce::TVStack;
btVector3 m_gravity;
btDeformableGravityForce(const btVector3& g) : m_gravity(g)
{
}
virtual void addScaledImplicitForce(btScalar scale, TVStack& force)
{
// addScaledGravityForce(scale, force);
}
virtual void addScaledExplicitForce(btScalar scale, TVStack& force)
{
addScaledGravityForce(scale, force);
}
virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
{
}
virtual void addScaledGravityForce(btScalar scale, TVStack& force)
{
int numNodes = getNumNodes();
btAssert(numNodes <= force.size())
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
btSoftBody::Node& n = psb->m_nodes[j];
size_t id = m_indices->at(&n);
btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im;
btVector3 scaled_force = scale * m_gravity * mass;
force[id] += scaled_force;
}
}
}
virtual btDeformableLagrangianForceType getForceType()
{
return BT_GRAVITY_FORCE;
}
};
#endif /* BT_DEFORMABLE_GRAVITY_FORCE_H */
|
