Bullet Collision Detection & Physics Library
btSoftBodySolvers.h
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_SOFT_BODY_SOLVERS_H
17 #define BT_SOFT_BODY_SOLVERS_H
18 
20 
21 class btSoftBodyTriangleData;
22 class btSoftBodyLinkData;
23 class btSoftBodyVertexData;
25 class btCollisionObject;
26 class btSoftBody;
27 
29 {
30 public:
32  {
39  };
40 
41 protected:
44  // Simulation timescale
45  float m_timeScale;
46 
47 public:
49  m_timeScale(1)
50  {
53  }
54 
56  {
57  }
58 
62  virtual SolverTypes getSolverType() const = 0;
63 
65  virtual bool checkInitialized() = 0;
66 
68  virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false) = 0;
69 
71  virtual void copyBackToSoftBodies(bool bMove = true) = 0;
72 
74  virtual void predictMotion(float solverdt) = 0;
75 
77  virtual void solveConstraints(float solverdt) = 0;
78 
80  virtual void updateSoftBodies() = 0;
81 
83  virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *) = 0;
84 
86  virtual void processCollision(btSoftBody *, btSoftBody *) = 0;
87 
89  virtual void setNumberOfPositionIterations(int iterations)
90  {
91  m_numberOfPositionIterations = iterations;
92  }
93 
96  {
98  }
99 
101  virtual void setNumberOfVelocityIterations(int iterations)
102  {
103  m_numberOfVelocityIterations = iterations;
104  }
105 
108  {
110  }
111 
113  float getTimeScale()
114  {
115  return m_timeScale;
116  }
117 
118 #if 0
119 
122  virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ) = 0;
123 #endif
124 };
125 
131 {
132 protected:
133 public:
135  {
136  }
137 
139  {
140  }
141 
143  virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) = 0;
144 };
145 
146 #endif // #ifndef BT_SOFT_BODY_SOLVERS_H
virtual int getNumberOfVelocityIterations()
Get the number of velocity constraint solver iterations this solver uses.
virtual bool checkInitialized()=0
Ensure that this solver is initialized.
virtual void setNumberOfPositionIterations(int iterations)
Set the number of velocity constraint solver iterations this solver uses.
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer)=0
Output current computed vertex data to the vertex buffers for all cloths in the solver.
virtual void copyBackToSoftBodies(bool bMove=true)=0
Copy necessary data back to the original soft body source objects.
virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *)=0
Process a collision between one of the world&#39;s soft bodies and another collision object.
virtual void predictMotion(float solverdt)=0
Predict motion of soft bodies into next timestep.
virtual void solveConstraints(float solverdt)=0
Solve constraints for a set of soft bodies.
virtual SolverTypes getSolverType() const =0
Return the type of the solver.
virtual ~btSoftBodySolver()
virtual void optimize(btAlignedObjectArray< btSoftBody *> &softBodies, bool forceUpdate=false)=0
Optimize soft bodies in this solver.
btCollisionObject can be used to manage collision detection objects.
virtual void updateSoftBodies()=0
Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes...
Class to manage movement of data from a solver to a given target.
float getTimeScale()
Return the timescale that the simulation is using.
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:70
virtual void setNumberOfVelocityIterations(int iterations)
Set the number of velocity constraint solver iterations this solver uses.
virtual int getNumberOfPositionIterations()
Get the number of velocity constraint solver iterations this solver uses.