Also split soft body solver in two

include/bounce/softbody/softbody.h

@@ -143,6 +143,7 @@ public:
 private:
 	friend class b3SoftBodyNode;
 	friend class b3SoftBodySolver;
+	friend class b3SoftBodyForceSolver;
 
 	// Compute mass of each node.
 	void ComputeMass();

include/bounce/softbody/softbody_contact_solver.h

@@ -84,10 +84,11 @@ struct b3SoftBodyContactSolverDef
 {
 	b3StackAllocator* allocator;
 
-	b3DenseVec3* positions;
-	b3DenseVec3* velocities;
+	b3Vec3* positions;
+	b3Vec3* velocities;
 
-	u32 bodyContactCapacity;
+	u32 bodyContactCount;
+	b3NodeBodyContact** bodyContacts;
 };
 
 inline float32 b3MixFriction(float32 u1, float32 u2)
@@ -101,8 +102,6 @@ public:
 	b3SoftBodyContactSolver(const b3SoftBodyContactSolverDef& def);
 	~b3SoftBodyContactSolver();
 
-	void Add(b3NodeBodyContact* c);
-
 	void InitializeBodyContactConstraints();
 
 	void WarmStart();
@@ -115,10 +114,9 @@ public:
 protected:
 	b3StackAllocator* m_allocator;
 
-	b3DenseVec3* m_positions;
-	b3DenseVec3* m_velocities;
+	b3Vec3* m_positions;
+	b3Vec3* m_velocities;
 
-	u32 m_bodyContactCapacity;
 	u32 m_bodyContactCount;
 	b3NodeBodyContact** m_bodyContacts;
 	

include/bounce/softbody/softbody_force_solver.h

@@ -0,0 +1,53 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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 B3_SOFT_BODY_FORCE_SOLVER_H
+#define B3_SOFT_BODY_FORCE_SOLVER_H
+
+#include <bounce/common/math/mat22.h>
+#include <bounce/common/math/mat33.h>
+
+class b3StackAllocator;
+
+class b3SoftBody;
+class b3SoftBodyMesh;
+
+struct b3SoftBodyNode;
+struct b3SoftBodyElement;
+
+struct b3SoftBodyForceSolverDef
+{
+	b3SoftBody* body;
+};
+
+class b3SoftBodyForceSolver
+{
+public:
+	b3SoftBodyForceSolver(const b3SoftBodyForceSolverDef& def);
+	~b3SoftBodyForceSolver();
+
+	void Solve(float32 dt, const b3Vec3& gravity);
+private:
+	b3SoftBody* m_body;
+	b3StackAllocator* m_allocator;
+	const b3SoftBodyMesh* m_mesh;
+	b3SoftBodyNode* m_nodes;
+	b3SoftBodyElement* m_elements;
+};
+
+#endif

include/bounce/softbody/softbody_node.h

@@ -118,6 +118,7 @@ public:
 private:
 	friend class b3SoftBody;
 	friend class b3SoftBodySolver;
+	friend class b3SoftBodyForceSolver;
 	friend class b3SoftBodyContactSolver;
 
 	b3SoftBodyNode() { }

include/bounce/softbody/softbody_solver.h

@@ -43,6 +43,8 @@ public:
 	b3SoftBodySolver(const b3SoftBodySolverDef& def);
 	~b3SoftBodySolver();
 
+	void Add(b3NodeBodyContact* c);
+
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 private:
 	b3SoftBody* m_body;
@@ -50,6 +52,9 @@ private:
 	const b3SoftBodyMesh* m_mesh;
 	b3SoftBodyNode* m_nodes;
 	b3SoftBodyElement* m_elements;
+	u32 m_bodyContactCapacity;
+	u32 m_bodyContactCount;
+	b3NodeBodyContact** m_bodyContacts;
 };
 
 #endif