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more soft body preparations, moved some parts from Demo/SoftBody to src/BulletDynamics/SoftBody

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moved Extras/ConvexHull/btConvexHull.* to src/LinearMath/btConvexHull.*
removed btCollisionObject::m_internalOwner, replaced it by m_internalType. This should not affect external API (it was clearly marked as internal)
This commit is contained in:
erwin.coumans
2008-04-10 20:00:41 +00:00
parent 03d846add0
commit 1139c06a4d
36 changed files with 3316 additions and 1543 deletions
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103
src/BulletDynamics/SoftBody/btSparseSDF.h
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@@ -32,21 +32,13 @@ struct btSparseSdf
int i;
btScalar f;
};
struct Client
{
btCollisionShape* shape;
btVector3 center;
btVector3 extent;
btScalar vsize;
int id;
};
struct Cell
{
btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
int c[3];
int puid;
unsigned hash;
const Client* pclient;
btCollisionShape* pclient;
Cell* next;
};
//
@@ -54,11 +46,11 @@ struct btSparseSdf
//
btAlignedObjectArray<Cell*> cells;
btAlignedObjectArray<Client*> clients;
btScalar voxelsz;
int puid;
int ncells;
int nprobes;
int nqueries;
int nqueries;
//
// Methods
@@ -84,13 +76,14 @@ struct btSparseSdf
pc=pn;
}
}
voxelsz =0.25;
puid =0;
ncells =0;
nprobes =1;
nqueries =1;
}
//
void GarbageCollect(int lifetime=64)
void GarbageCollect(int lifetime=256)
{
const int life=puid-lifetime;
for(int i=0;i<cells.size();++i)
@@ -116,39 +109,17 @@ struct btSparseSdf
/* else setup a priority list... */
}
//
Client* GetClient( btCollisionShape* shape)
{
Client* pc=(Client*)shape->getUserPointer();
if(!pc)
{
pc=new Client();
clients.push_back(pc);
shape->setUserPointer(pc);
pc->shape = shape;
pc->id = clients.size();
pc->vsize = 0.25;
SetShapeBounds(*pc);
}
return(pc);
}
//
btScalar Evaluate( const btVector3& x,
btCollisionShape* shape,
btVector3& normal)
btVector3& normal,
btScalar margin)
{
const Client* pclient=GetClient(shape);
/* Bounds check */
const btVector3 offset=x-pclient->center;
const btVector3 sqoffset=offset*offset;
if( (sqoffset.x()>pclient->extent.x()) ||
(sqoffset.y()>pclient->extent.y()) ||
(sqoffset.z()>pclient->extent.z())) return(SIMD_INFINITY);
/* Lookup cell */
const btVector3 scx=x/pclient->vsize;
const btVector3 scx=x/voxelsz;
const IntFrac ix=Decompose(scx.x());
const IntFrac iy=Decompose(scx.y());
const IntFrac iz=Decompose(scx.z());
const unsigned h=Hash(ix.b,iy.b,iz.b,pclient->id);
const unsigned h=Hash(ix.b,iy.b,iz.b,shape);
Cell*& root=cells[h%cells.size()];
Cell* c=root;
++nqueries;
@@ -159,7 +130,7 @@ struct btSparseSdf
(c->c[0]==ix.b) &&
(c->c[1]==iy.b) &&
(c->c[2]==iz.b) &&
(c->pclient==pclient))
(c->pclient==shape))
{ break; }
else
{ c=c->next; }
@@ -170,7 +141,8 @@ struct btSparseSdf
++ncells;
c=new Cell();
c->next=root;root=c;
c->pclient=pclient;c->hash=h;
c->pclient=shape;
c->hash=h;
c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
BuildCell(*c);
}
@@ -208,33 +180,33 @@ struct btSparseSdf
Lerp(d[3],d[2],ix.f),iy.f);
const btScalar d1=Lerp(Lerp(d[4],d[5],ix.f),
Lerp(d[7],d[6],ix.f),iy.f);
return(Lerp(d0,d1,iz.f));
return(Lerp(d0,d1,iz.f)-margin);
}
//
void BuildCell(Cell& c)
{
const Client* client=c.pclient;
const btVector3 org=btVector3(c.c[0],c.c[1],c.c[2])*CELLSIZE*client->vsize;
const btVector3 org=btVector3( (btScalar)c.c[0],
(btScalar)c.c[1],
(btScalar)c.c[2]) *
CELLSIZE*voxelsz;
for(int k=0;k<=CELLSIZE;++k)
{
const btScalar z=client->vsize*k+org.z();
const btScalar z=voxelsz*k+org.z();
for(int j=0;j<=CELLSIZE;++j)
{
const btScalar y=client->vsize*j+org.y();
const btScalar y=voxelsz*j+org.y();
for(int i=0;i<=CELLSIZE;++i)
{
const btScalar x=client->vsize*i+org.x();
const btScalar x=voxelsz*i+org.x();
c.d[i][j][k]=DistanceToShape( btVector3(x,y,z),
client->shape,
client->vsize);
c.pclient);
}
}
}
}
//
static inline btScalar DistanceToShape(const btVector3& x,
btCollisionShape* shape,
btScalar margin)
btCollisionShape* shape)
{
btTransform unit;
unit.setIdentity();
@@ -242,33 +214,11 @@ struct btSparseSdf
{
btGjkEpaSolver2::sResults res;
btConvexShape* csh=static_cast<btConvexShape*>(shape);
return(btGjkEpaSolver2::SignedDistance(x,margin,csh,unit,res));
return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
}
return(0);
}
//
static inline void SetShapeBounds(Client& c)
{
if(c.shape->isConvex())
{
btConvexShape* csh=static_cast<btConvexShape*>(c.shape);
const btVector3 x[]={ csh->localGetSupportingVertex(btVector3(+1,0,0)),
csh->localGetSupportingVertex(btVector3(-1,0,0))};
const btVector3 y[]={ csh->localGetSupportingVertex(btVector3(0,+1,0)),
csh->localGetSupportingVertex(btVector3(0,-1,0))};
const btVector3 z[]={ csh->localGetSupportingVertex(btVector3(0,0,+1)),
csh->localGetSupportingVertex(btVector3(0,0,-1))};
c.center = btVector3( x[0].x()+x[1].x(),
y[0].y()+y[1].y(),
z[0].z()+z[1].z())*0.5;
c.extent = btVector3( x[0].x()-x[1].x(),
y[0].y()-y[1].y(),
z[0].z()-z[1].z())*0.5;
c.extent += btVector3(c.vsize,c.vsize,c.vsize);
c.extent *= c.extent;
}
}
//
static inline IntFrac Decompose(btScalar x)
{
/* That one need a lot of improvements... */
@@ -287,10 +237,11 @@ struct btSparseSdf
return(a+(b-a)*t);
}
//
static inline unsigned Hash(int x,int y,int z,int i)
static inline unsigned Hash(int x,int y,int z,btCollisionShape* shape)
{
const int data[]={x,y,z,i};
return(HsiehHash<sizeof(data)/4>(data));
struct { int x,y,z;void* p; } set;
set.x=x;set.y=y;set.z=z;set.p=shape;
return(HsiehHash<sizeof(set)/4>(&set));
}
// Modified Paul Hsieh hash
template <const int DWORDLEN>