btReducedDeformableBodySolver.h

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#ifndef BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
#define BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
 
#include "BulletSoftBody/btDeformableBodySolver.h"
#include "btReducedDeformableContactConstraint.h"
 
class btReducedDeformableBody;
 
class btReducedDeformableBodySolver : public btDeformableBodySolver
{
 protected:
  bool m_ascendOrder;
  btScalar m_dampingAlpha;
  btScalar m_dampingBeta;
 
  btVector3 m_gravity;
 
  void predictReduceDeformableMotion(btScalar solverdt);
 
  void applyExplicitForce(btScalar solverdt);
 
 public:
  btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableStaticConstraint> > m_staticConstraints;
  btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
  btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
  
  btReducedDeformableBodySolver();
  ~btReducedDeformableBodySolver() {}
 
  virtual void setGravity(const btVector3& gravity);
 
  virtual SolverTypes getSolverType() const
  {
    return REDUCED_DEFORMABLE_SOLVER;
  }
 
  // resize/clear data structures
        virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& bodies, btScalar dt);
 
  virtual void predictMotion(btScalar solverdt);
 
  virtual void applyTransforms(btScalar timeStep);
 
  // set up contact constraints
        virtual void setConstraints(const btContactSolverInfo& infoGlobal);
 
  // solve all constraints (fixed and contact)
  virtual btScalar solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
 
  // apply all the delta velocities
  virtual void deformableBodyInternalWriteBack();
 
  // virtual void setProjection() {}
 
  // virtual void setLagrangeMultiplier() {}
 
  // virtual void setupDeformableSolve(bool implicit);
 
};
 
#endif // BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H