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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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46
src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
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@@ -22,7 +22,7 @@ subject to the following restrictions:
#include "btSoftBodyHelpers.h"
#include "btSoftBodySolvers.h"
#include "btDefaultSoftBodySolver.h"
#include "LinearMath/btSerializer.h"
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(
@@ -51,6 +51,15 @@ btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(
m_sbi.m_sparsesdf.Initialize();
m_sbi.m_sparsesdf.Reset();
m_sbi.air_density = (btScalar)1.2;
m_sbi.water_density = 0;
m_sbi.water_offset = 0;
m_sbi.water_normal = btVector3(0,0,0);
m_sbi.m_gravity.setValue(0,-10,0);
m_sbi.m_sparsesdf.Initialize();
}
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
@@ -303,3 +312,38 @@ void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans,con
btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,collisionObject,collisionShape,colObjWorldTransform,resultCallback);
}
}
void btSoftRigidDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
{
int i;
//serialize all collision objects
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->getInternalType() & btCollisionObject::CO_SOFT_BODY)
{
int len = colObj->calculateSerializeBufferSize();
btChunk* chunk = serializer->allocate(len,1);
const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_SOFTBODY_CODE,colObj);
}
}
}
void btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
{
serializer->startSerialization();
serializeSoftBodies(serializer);
serializeRigidBodies(serializer);
serializeCollisionObjects(serializer);
serializer->finishSerialization();
}