Bullet Collision Detection & Physics Library
btDefaultSoftBodySolver.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_SOFT_BODY_DEFAULT_SOLVER_H
17#define BT_SOFT_BODY_DEFAULT_SOLVER_H
18
19
23
25{
26protected:
29
31
32
33public:
35
37
38 virtual SolverTypes getSolverType() const
39 {
40 return DEFAULT_SOLVER;
41 }
42
43 virtual bool checkInitialized();
44
45 virtual void updateSoftBodies( );
46
47 virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies,bool forceUpdate=false );
48
49 virtual void copyBackToSoftBodies(bool bMove = true);
50
51 virtual void solveConstraints( float solverdt );
52
53 virtual void predictMotion( float solverdt );
54
55 virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer );
56
58
59 virtual void processCollision( btSoftBody*, btSoftBody* );
60
61};
62
63#endif // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H
virtual void solveConstraints(float solverdt)
Solve constraints for a set of soft bodies.
virtual void updateSoftBodies()
Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes.
btAlignedObjectArray< btSoftBody * > m_softBodySet
virtual void processCollision(btSoftBody *, const btCollisionObjectWrapper *)
virtual void predictMotion(float solverdt)
Predict motion of soft bodies into next timestep.
virtual void optimize(btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate=false)
Optimize soft bodies in this solver.
virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer)
virtual SolverTypes getSolverType() const
Return the type of the solver.
bool m_updateSolverConstants
Variable to define whether we need to update solver constants on the next iteration.
virtual void copyBackToSoftBodies(bool bMove=true)
Copy necessary data back to the original soft body source objects.
virtual bool checkInitialized()
Ensure that this solver is initialized.
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:72