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add initial support for soft body / cloth serialization, and updated SerializeDemo to load soft bodies/cloth.

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Serializes soft body nodes (vertices), links, faces, tetrahedra, materials, anchors with rigid bodies.
Some todo's are serialization of pose, constraints between soft bodies
This commit is contained in:
erwin.coumans
2010-12-01 05:55:08 +00:00
parent c6524b3fb5
commit 032c6bfe2c
18 changed files with 1257 additions and 461 deletions
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159
Demos/SerializeDemo/SerializeDemo.cpp
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@@ -15,6 +15,7 @@ subject to the following restrictions:
#define TEST_SERIALIZATION 1
//#define DESERIALIZE_SOFT_BODIES 1
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#define CREATE_NEW_BULLETFILE 1
@@ -48,6 +49,12 @@ subject to the following restrictions:
#include <stdio.h> //printf debugging
#ifdef DESERIALIZE_SOFT_BODIES
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#endif
void SerializeDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
@@ -89,10 +96,17 @@ void SerializeDemo::displayCallback(void) {
void SerializeDemo::setupEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
//m_collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef DESERIALIZE_SOFT_BODIES
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
#else
m_collisionConfiguration = new btDefaultCollisionConfiguration();
#endif //DESERIALIZE_SOFT_BODIES
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
@@ -104,14 +118,151 @@ void SerializeDemo::setupEmptyDynamicsWorld()
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
#ifdef DESERIALIZE_SOFT_BODIES
m_dynamicsWorld = new btSoftRigidDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
#else
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
#endif //DESERIALIZE_SOFT_BODIES
btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
//btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
}
btAlignedObjectArray<btVector3> vtx;
btAlignedObjectArray<btScalar> masses;
#ifdef DESERIALIZE_SOFT_BODIES
#include "BulletSoftBody/btSoftBodyData.h"
class MySoftBulletWorldImporter : public btBulletWorldImporter
{
btSoftRigidDynamicsWorld* m_softRigidWorld;
public:
MySoftBulletWorldImporter(btSoftRigidDynamicsWorld* world)
:btBulletWorldImporter(world),
m_softRigidWorld(world)
{
}
virtual bool convertAllObjects( bParse::btBulletFile* bulletFile2)
{
bool result = btBulletWorldImporter::convertAllObjects(bulletFile2);
int i;
//now the soft bodies
for (i=0;i<bulletFile2->m_softBodies.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btAssert(0); //not yet
//btSoftBodyFloatData* colObjData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
} else
{
btSoftBodyFloatData* colObjData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
int i;
int numNodes = colObjData->m_numNodes;
for (i=0;i<colObjData->m_numLinks;i++)
{
SoftBodyLinkData& link = colObjData->m_links[i];
}
vtx.resize(numNodes);
masses.resize(numNodes);
for (i=0;i<numNodes;i++)
{
SoftBodyNodeData& node = colObjData->m_nodes[i];
vtx[i].deSerializeFloat(node.m_position);
masses[i] = node.m_inverseMass? 1./node.m_inverseMass : 0.f;
}
btSoftBody* psb=new btSoftBody(&m_softRigidWorld->getWorldInfo(),numNodes,&vtx[0],&masses[0]);
#if 0
for (i=0;i<numNodes;i++)
{
SoftBodyNodeData& node = colObjData->m_nodes[i];
if (!node.m_inverseMass)
{
btScalar mass = node.m_inverseMass? 1.f/node.m_inverseMass : 0;
psb->setMass(i,mass);
}
}
#endif
for (i=0;i<colObjData->m_numLinks;i++)
{
SoftBodyLinkData& link = colObjData->m_links[i];
psb->appendLink(link.m_nodeIndices[0],link.m_nodeIndices[1]);
}
for (i=0;i<colObjData->m_numFaces;i++)
{
SoftBodyFaceData& face = colObjData->m_faces[i];
psb->appendFace(face.m_nodeIndices[0],face.m_nodeIndices[1],face.m_nodeIndices[2]);
}
// psb->randomizeConstraints();
//psb->updateNormals();
//psb->updateBounds();
//psb->updateConstants();
psb->m_cfg.piterations=colObjData->m_config.m_positionIterations;
psb->m_cfg.diterations=colObjData->m_config.m_driftIterations;
psb->m_cfg.citerations=colObjData->m_config.m_clusterIterations;
psb->m_cfg.viterations=colObjData->m_config.m_velocityIterations;
//psb->setTotalMass(0.1);
psb->m_cfg.aeromodel = (btSoftBody::eAeroModel::_)colObjData->m_config.m_aeroModel;
psb->m_cfg.kLF = colObjData->m_config.m_lift;
psb->m_cfg.kDG = colObjData->m_config.m_drag;
//psb->addForce(btVector3(0,2,0),0);
//anchors
for (i=0;i<colObjData->m_numAnchors;i++)
{
btCollisionObject** colAptr = m_bodyMap.find(colObjData->m_anchors[i].m_rigidBody);
if (colAptr && *colAptr)
{
btRigidBody* body = btRigidBody::upcast(*colAptr);
if (body)
{
bool disableCollision = false;
btVector3 localPivot;
localPivot.deSerializeFloat(colObjData->m_anchors[i].m_localFrame);
psb->appendAnchor(colObjData->m_anchors[i].m_nodeIndex,body,localPivot, disableCollision);
}
}
}
m_softRigidWorld->getWorldInfo().m_dispatcher = m_softRigidWorld->getDispatcher();
m_softRigidWorld->addSoftBody(psb);
}
}
return result;
}
};
#endif //DESERIALIZE_SOFT_BODIES
void SerializeDemo::initPhysics()
{
setTexturing(true);
@@ -121,7 +272,11 @@ void SerializeDemo::initPhysics()
setupEmptyDynamicsWorld();
#ifdef DESERIALIZE_SOFT_BODIES
btBulletWorldImporter* fileLoader = new MySoftBulletWorldImporter((btSoftRigidDynamicsWorld*)m_dynamicsWorld);
#else
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
#endif //DESERIALIZE_SOFT_BODIES
// fileLoader->setVerboseMode(true);
if (!fileLoader->loadFile("testFile.bullet"))
@@ -247,7 +402,7 @@ void SerializeDemo::initPhysics()
fclose(f2);
}
clientResetScene();
//clientResetScene();
}