btSoftBodySolvers.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:
 
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
 
#ifndef BT_SOFT_BODY_SOLVERS_H
#define BT_SOFT_BODY_SOLVERS_H
 
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
 
class btSoftBodyTriangleData;
class btSoftBodyLinkData;
class btSoftBodyVertexData;
class btVertexBufferDescriptor;
class btCollisionObject;
class btSoftBody;
 
class btSoftBodySolver
{
public:
        enum SolverTypes
        {
                DEFAULT_SOLVER,
                CPU_SOLVER,
                CL_SOLVER,
                CL_SIMD_SOLVER,
                DX_SOLVER,
                DX_SIMD_SOLVER,
                DEFORMABLE_SOLVER,
                REDUCED_DEFORMABLE_SOLVER
        };
 
protected:
        int m_numberOfPositionIterations;
        int m_numberOfVelocityIterations;
        // Simulation timescale
        float m_timeScale;
 
public:
        btSoftBodySolver() : m_numberOfPositionIterations(10),
                                                 m_timeScale(1)
        {
                m_numberOfVelocityIterations = 0;
                m_numberOfPositionIterations = 5;
        }
 
        virtual ~btSoftBodySolver()
        {
        }
 
        virtual SolverTypes getSolverType() const = 0;
 
        virtual bool checkInitialized() = 0;
 
        virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false) = 0;
 
        virtual void copyBackToSoftBodies(bool bMove = true) = 0;
 
        virtual void predictMotion(btScalar solverdt) = 0;
 
        virtual void solveConstraints(btScalar solverdt) = 0;
 
        virtual void updateSoftBodies() = 0;
 
        virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *) = 0;
 
        virtual void processCollision(btSoftBody *, btSoftBody *) = 0;
 
        virtual void setNumberOfPositionIterations(int iterations)
        {
                m_numberOfPositionIterations = iterations;
        }
 
        virtual int getNumberOfPositionIterations()
        {
                return m_numberOfPositionIterations;
        }
 
        virtual void setNumberOfVelocityIterations(int iterations)
        {
                m_numberOfVelocityIterations = iterations;
        }
 
        virtual int getNumberOfVelocityIterations()
        {
                return m_numberOfVelocityIterations;
        }
 
        float getTimeScale()
        {
                return m_timeScale;
        }
 
#if 0
        virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ) = 0;
#endif
};
 
class btSoftBodySolverOutput
{
protected:
public:
        btSoftBodySolverOutput()
        {
        }
 
        virtual ~btSoftBodySolverOutput()
        {
        }
 
        virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) = 0;
};
 
#endif  // #ifndef BT_SOFT_BODY_SOLVERS_H