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142 lines
4.9 KiB
C++
142 lines
4.9 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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_SOFT_BODY_SOLVERS_H
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#define BT_SOFT_BODY_SOLVERS_H
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#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
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class btSoftBodyTriangleData;
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class btSoftBodyLinkData;
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class btSoftBodyVertexData;
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class btVertexBufferDescriptor;
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class btCollisionObject;
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class btSoftBody;
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class btSoftBodySolver
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{
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protected:
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int m_numberOfPositionIterations;
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int m_numberOfVelocityIterations;
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// Simulation timescale
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float m_timeScale;
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public:
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btSoftBodySolver() :
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m_numberOfPositionIterations( 10 ),
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m_timeScale( 1 )
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{
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m_numberOfVelocityIterations = 0;
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m_numberOfPositionIterations = 5;
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}
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virtual ~btSoftBodySolver()
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{
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}
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#if 0
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/** Acceleration for all cloths in the solver. Can be used to efficiently apply gravity. */
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virtual void setPerClothAcceleration( int clothIdentifier, Vectormath::Aos::Vector3 acceleration ) = 0;
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/** A wind velocity applied normal to the cloth for all cloths in the solver. */
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virtual void setPerClothWindVelocity( int clothIdentifier, Vectormath::Aos::Vector3 windVelocity ) = 0;
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/** Set the density of the medium a given cloth is situated in. This could be air or possibly water. */
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virtual void setPerClothMediumDensity( int clothIdentifier, float mediumDensity ) = 0;
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/** A damping factor specific to each cloth applied for all cloths. */
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virtual void setPerClothDampingFactor( int clothIdentifier, float dampingFactor ) = 0;
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/** A damping factor specific to each cloth applied for all cloths. */
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virtual void setPerClothVelocityCorrectionCoefficient( int clothIdentifier, float velocityCorrectionCoefficient ) = 0;
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/** Lift parameter for wind action on cloth. */
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virtual void setPerClothLiftFactor( int clothIdentifier, float liftFactor ) = 0;
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/** Drag parameter for wind action on cloth. */
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virtual void setPerClothDragFactor( int clothIdentifier, float dragFactor ) = 0;
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/**
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* Add a velocity to all soft bodies in the solver - useful for doing world-wide velocities such as a change due to gravity
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* Only add a velocity to nodes with a non-zero inverse mass.
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*/
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virtual void addVelocity( Vectormath::Aos::Vector3 velocity ) = 0;
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#endif
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/** Ensure that this solver is initialized. */
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virtual bool checkInitialized() = 0;
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/** Optimize soft bodies in this solver. */
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virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies ) = 0;
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/** Predict motion of soft bodies into next timestep */
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virtual void predictMotion( float solverdt ) = 0;
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/** Solve constraints for a set of soft bodies */
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virtual void solveConstraints( float solverdt ) = 0;
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/** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */
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virtual void updateSoftBodies() = 0;
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/** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
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virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) = 0;
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/** Set the number of velocity constraint solver iterations this solver uses. */
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virtual void setNumberOfPositionIterations( int iterations )
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{
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m_numberOfPositionIterations = iterations;
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}
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/** Get the number of velocity constraint solver iterations this solver uses. */
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virtual int getNumberOfPositionIterations()
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{
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return m_numberOfPositionIterations;
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}
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/** Set the number of velocity constraint solver iterations this solver uses. */
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virtual void setNumberOfVelocityIterations( int iterations )
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{
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m_numberOfVelocityIterations = iterations;
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}
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/** Get the number of velocity constraint solver iterations this solver uses. */
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virtual int getNumberOfVelocityIterations()
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{
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return m_numberOfVelocityIterations;
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}
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/** Return the timescale that the simulation is using */
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float getTimeScale()
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{
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return m_timeScale;
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}
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#if 0
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/**
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* Add a collision object to be used by the indicated softbody.
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*/
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virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ) = 0;
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#endif
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};
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#endif // #ifndef BT_SOFT_BODY_SOLVERS_H
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