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//
// btDeformableLagrangianForce.h
// BulletSoftBody
//
// Created by Xuchen Han on 7/1/19.
//
#ifndef BT_DEFORMABLE_LAGRANGIAN_FORCE_H
#define BT_DEFORMABLE_LAGRANGIAN_FORCE_H
#include "btSoftBody.h"
#include <unordered_map>
enum btDeformableLagrangianForceType
{
BT_GRAVITY_FORCE = 1,
BT_MASSSPRING_FORCE = 2
};
class btDeformableLagrangianForce
{
public:
// using TVStack = btAlignedObjectArray<btVector3>;
typedef btAlignedObjectArray<btVector3> TVStack;
btAlignedObjectArray<btSoftBody *> m_softBodies;
const std::unordered_map<btSoftBody::Node *, size_t>* m_indices;
btDeformableLagrangianForce()
{
}
virtual ~btDeformableLagrangianForce(){}
virtual void addScaledImplicitForce(btScalar scale, TVStack& force) = 0;
virtual void addScaledForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0;
virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0;
virtual btDeformableLagrangianForceType getForceType() = 0;
virtual void reinitialize(bool nodeUpdated)
{
}
virtual int getNumNodes()
{
int numNodes = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
numNodes += m_softBodies[i]->m_nodes.size();
}
return numNodes;
}
virtual void addSoftBody(btSoftBody* psb)
{
m_softBodies.push_back(psb);
}
virtual void setIndices(const std::unordered_map<btSoftBody::Node *, size_t>* indices)
{
m_indices = indices;
}
};
#endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */
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