2022-03-17 23:20:34 +01:00
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#ifndef BT_SOFT_BODY_DEFAULT_SOLVER_H
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#define BT_SOFT_BODY_DEFAULT_SOLVER_H
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2022-03-15 13:29:32 +01:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://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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2022-03-17 23:20:34 +01:00
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2022-03-15 13:29:32 +01:00
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#include "BulletSoftBody/btSoftBodySolvers.h"
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#include "btSoftBodySolverVertexBuffer.h"
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struct btCollisionObjectWrapper;
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class btDefaultSoftBodySolver : public btSoftBodySolver
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{
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protected:
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/** Variable to define whether we need to update solver constants on the next iteration */
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bool m_updateSolverConstants;
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btAlignedObjectArray<btSoftBody *> m_softBodySet;
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public:
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btDefaultSoftBodySolver();
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virtual ~btDefaultSoftBodySolver();
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virtual SolverTypes getSolverType() const
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{
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return DEFAULT_SOLVER;
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}
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virtual bool checkInitialized();
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virtual void updateSoftBodies();
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virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false);
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virtual void copyBackToSoftBodies(bool bMove = true);
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virtual void solveConstraints(btScalar solverdt);
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virtual void predictMotion(btScalar solverdt);
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virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer);
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virtual void processCollision(btSoftBody *, const btCollisionObjectWrapper *);
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virtual void processCollision(btSoftBody *, btSoftBody *);
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};
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#endif // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H
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