1 files changed, 50 insertions, 0 deletions
diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h
new file mode 100644
index 000000000..64d448b5e
--- /dev/null
+++ b/src/BulletSoftBody/btDeformableContactProjection.h
@@ -0,0 +1,50 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://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_CONTACT_PROJECTION_H
+#define BT_CONTACT_PROJECTION_H
+#include "btCGProjection.h"
+#include "btSoftBody.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
+#include "LinearMath/btHashMap.h"
+class btDeformableContactProjection : public btCGProjection
+{
+public:
+    // map from node index to constraints
+    btHashMap<btHashInt, btAlignedObjectArray<DeformableContactConstraint> > m_constraints;
+    btHashMap<btHashInt, btAlignedObjectArray<DeformableFrictionConstraint> >m_frictions;
+    
+    btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
+    : btCGProjection(softBodies, dt)
+    {
+    }
+    
+    virtual ~btDeformableContactProjection()
+    {
+    }
+    
+    // apply the constraints to the rhs
+    virtual void project(TVStack& x);
+    
+    // apply constraints to x in Ax=b
+    virtual void enforceConstraint(TVStack& x);
+    
+    // update the constraints
+    virtual void update();
+    
+    virtual void setConstraints();
+    
+    virtual void reinitialize(bool nodeUpdated);
+};
+#endif /* btDeformableContactProjection_h */