165 lines
5.3 KiB
C++
165 lines
5.3 KiB
C++
/*
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Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
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#define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
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#include "btSoftMultiBodyDynamicsWorld.h"
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#include "btDeformableLagrangianForce.h"
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#include "btDeformableMassSpringForce.h"
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#include "btDeformableBodySolver.h"
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#include "btDeformableMultiBodyConstraintSolver.h"
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#include "btSoftBodyHelpers.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
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#include <functional>
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typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
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class btDeformableBodySolver;
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class btDeformableLagrangianForce;
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struct MultiBodyInplaceSolverIslandCallback;
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struct DeformableBodyInplaceSolverIslandCallback;
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class btDeformableMultiBodyConstraintSolver;
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typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
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class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
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{
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typedef btAlignedObjectArray<btVector3> TVStack;
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///Solver classes that encapsulate multiple deformable bodies for solving
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btDeformableBodySolver* m_deformableBodySolver;
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btSoftBodyArray m_softBodies;
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int m_drawFlags;
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bool m_drawNodeTree;
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bool m_drawFaceTree;
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bool m_drawClusterTree;
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btSoftBodyWorldInfo m_sbi;
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btScalar m_internalTime;
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int m_contact_iterations;
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bool m_implicit;
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bool m_lineSearch;
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bool m_selfCollision;
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DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback;
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typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
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btSolverCallback m_solverCallback;
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protected:
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virtual void internalSingleStepSimulation(btScalar timeStep);
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virtual void integrateTransforms(btScalar timeStep);
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void positionCorrection(btScalar timeStep);
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void solveConstraints(btScalar timeStep);
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void updateActivationState(btScalar timeStep);
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void clearGravity();
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public:
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btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0);
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virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
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virtual void debugDrawWorld();
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void setSolverCallback(btSolverCallback cb)
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{
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m_solverCallback = cb;
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}
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virtual ~btDeformableMultiBodyDynamicsWorld()
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{
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}
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virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld()
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{
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return (btMultiBodyDynamicsWorld*)(this);
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}
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virtual const btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() const
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{
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return (const btMultiBodyDynamicsWorld*)(this);
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}
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virtual btDynamicsWorldType getWorldType() const
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{
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return BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD;
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}
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virtual void predictUnconstraintMotion(btScalar timeStep);
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virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
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btSoftBodyArray& getSoftBodyArray()
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{
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return m_softBodies;
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}
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const btSoftBodyArray& getSoftBodyArray() const
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{
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return m_softBodies;
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}
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btSoftBodyWorldInfo& getWorldInfo()
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{
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return m_sbi;
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}
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const btSoftBodyWorldInfo& getWorldInfo() const
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{
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return m_sbi;
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}
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void reinitialize(btScalar timeStep);
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void applyRigidBodyGravity(btScalar timeStep);
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void beforeSolverCallbacks(btScalar timeStep);
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void afterSolverCallbacks(btScalar timeStep);
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void addForce(btSoftBody* psb, btDeformableLagrangianForce* force);
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void removeSoftBody(btSoftBody* body);
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void removeCollisionObject(btCollisionObject* collisionObject);
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int getDrawFlags() const { return (m_drawFlags); }
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void setDrawFlags(int f) { m_drawFlags = f; }
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void setupConstraints();
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void solveMultiBodyConstraints();
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void solveContactConstraints();
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void sortConstraints();
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void softBodySelfCollision();
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void setImplicit(bool implicit)
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{
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m_implicit = implicit;
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}
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void setLineSearch(bool lineSearch)
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{
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m_lineSearch = lineSearch;
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}
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};
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#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
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