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+Added btDbvtBroadphase, this very fast/efficient broadphase is based on Dynamic AABB tree (btDbvt).

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+SoftBody improvements by Nathanael Presson:
+Add tetrahedralization
+Add support for tearing/slicing cloth and deformable volumes. Uncomment the line in Bullet/src/BulletSoftBody/btSoftBodyHelpers.h: //#define	BT_SOFTBODY_USE_STL	1
This commit is contained in:
erwin.coumans
2008-05-05 23:19:21 +00:00
parent bce0047986
commit 25c5d0d57a
19 changed files with 2897 additions and 828 deletions
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362
Demos/SoftDemo/SoftDemo.cpp
View File

@@ -106,7 +106,7 @@ void SoftDemo::clientMoveAndDisplay()
if (m_dynamicsWorld)
{
//#define FIXED_STEP
#define FIXED_STEP
#ifdef FIXED_STEP
m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
@@ -186,7 +186,36 @@ void SoftDemo::displayCallback(void) {
}
//
// ImplicitShape
//
//
struct ImplicitSphere : btSoftBody::ImplicitFn
{
btVector3 center;
btScalar sqradius;
ImplicitSphere() {}
ImplicitSphere(const btVector3& c,btScalar r) : center(c),sqradius(r*r) {}
btScalar Eval(const btVector3& x)
{
return((x-center).length2()-sqradius);
}
};
//
// Tetra meshes
//
struct TetraBunny
{
#include "bunny.inl"
};
struct TetraCube
{
#include "cube.inl"
};
//
@@ -282,7 +311,7 @@ static btSoftBody* Ctor_SoftBox(SoftDemo* pdemo,const btVector3& p,const btVecto
p+h*btVector3(-1,+1,+1),
p+h*btVector3(+1,+1,+1)};
btSoftBody* psb=btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo,c,8);
psb->generateBendingConstraints(2,1);
psb->generateBendingConstraints(2);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
@@ -300,7 +329,7 @@ static btSoftBody* Ctor_SoftBoulder(SoftDemo* pdemo,const btVector3& p,const btV
pts.push_back(Vector3Rand()*s+p);
}
btSoftBody* psb=btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo,&pts[0],pts.size());
psb->generateBendingConstraints(2,1);
psb->generateBendingConstraints(2);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
@@ -321,8 +350,8 @@ static void Init_Ropes(SoftDemo* pdemo)
btVector3(10,0,i*0.25),
16,
1+2);
psb->m_cfg.iterations = 4;
psb->m_cfg.kLST = 0.1+(i/(btScalar)(n-1))*0.9;
psb->m_cfg.piterations = 4;
psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9;
psb->setTotalMass(20);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
@@ -335,6 +364,7 @@ static void Init_Ropes(SoftDemo* pdemo)
static void Init_RopeAttach(SoftDemo* pdemo)
{
//TRACEDEMO
pdemo->m_softBodyWorldInfo.m_sparsesdf.RemoveReferences(0);
struct Functors
{
static btSoftBody* CtorRope(SoftDemo* pdemo,const btVector3& p)
@@ -351,8 +381,8 @@ static void Init_RopeAttach(SoftDemo* pdemo)
btRigidBody* body=pdemo->localCreateRigidBody(50,startTransform,new btBoxShape(btVector3(2,6,2)));
btSoftBody* psb0=Functors::CtorRope(pdemo,btVector3(0,8,-1));
btSoftBody* psb1=Functors::CtorRope(pdemo,btVector3(0,8,+1));
psb0->appendAnchor(psb0->getNodes().size()-1,body);
psb1->appendAnchor(psb1->getNodes().size()-1,body);
psb0->appendAnchor(psb0->m_nodes.size()-1,body);
psb1->appendAnchor(psb1->m_nodes.size()-1,body);
}
//
@@ -376,6 +406,7 @@ static void Init_ClothAttach(SoftDemo* pdemo)
btRigidBody* body=pdemo->localCreateRigidBody(20,startTransform,new btBoxShape(btVector3(s,1,3)));
psb->appendAnchor(0,body);
psb->appendAnchor(r-1,body);
pdemo->m_cutting=true;
}
//
@@ -409,8 +440,8 @@ static void Init_Collide(SoftDemo* pdemo)
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVertices,
&gIndices[0][0],
NUM_TRIANGLES);
psb->generateBendingConstraints(2,1);
psb->m_cfg.iterations=2;
psb->generateBendingConstraints(2);
psb->m_cfg.piterations=2;
psb->m_cfg.collisions|=btSoftBody::fCollision::VF_SS;
psb->randomizeConstraints();
btMatrix3x3 m;
@@ -426,6 +457,7 @@ static void Init_Collide(SoftDemo* pdemo)
{
Functor::Create(pdemo,btVector3(3*i,2,0),btVector3(SIMD_PI/2*(1-(i&1)),SIMD_PI/2*(i&1),0));
}
pdemo->m_cutting=true;
}
//
@@ -441,8 +473,11 @@ static void Init_Collide2(SoftDemo* pdemo)
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
psb->generateBendingConstraints(2,0.5);
psb->m_cfg.iterations = 2;
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->randomizeConstraints();
@@ -459,6 +494,7 @@ static void Init_Collide2(SoftDemo* pdemo)
{
Functor::Create(pdemo,btVector3(0,-1+5*i,0),btVector3(0,SIMD_PI/2*(i&1),0));
}
pdemo->m_cutting=true;
}
//
@@ -474,25 +510,29 @@ static void Init_Collide3(SoftDemo* pdemo)
btVector3(-s,0,+s),
btVector3(+s,0,+s),
15,15,1+2+4+8,true);
psb->m_cfg.kLST = 0.4;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->m_materials[0]->m_kLST = 0.4;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->setTotalMass(150);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
{
const btScalar s=4;
const btVector3 o=btVector3(4,10,0);
const btVector3 o=btVector3(5,10,0);
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,
btVector3(-s,0,-s)+o,
btVector3(+s,0,-s)+o,
btVector3(-s,0,+s)+o,
btVector3(+s,0,+s)+o,
7,7,0,true);
psb->generateBendingConstraints(2,0.5);
psb->m_cfg.kLST = 0.4;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.1;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_materials[0]->m_kLST = 0.5;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->setTotalMass(150);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
pdemo->m_cutting=true;
}
}
@@ -514,7 +554,7 @@ static void Init_Aero(SoftDemo* pdemo)
btVector3(+s,h,+s),
segments,segments,
0,true);
psb->generateBendingConstraints(2,1);
psb->generateBendingConstraints(2);
psb->m_cfg.kLF = 0.004;
psb->m_cfg.kDG = 0.0003;
psb->m_cfg.aeromodel = btSoftBody::eAeroModel::V_TwoSided;
@@ -561,10 +601,10 @@ static void Init_Pressure(SoftDemo* pdemo)
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,btVector3(35,25,0),
btVector3(1,1,1)*3,
512);
psb->m_cfg.kLST = 0.1;
psb->m_cfg.kDF = 1;
psb->m_cfg.kDP = 0.001; // fun factor...
psb->m_cfg.kPR = 2500;
psb->m_materials[0]->m_kLST = 0.1;
psb->m_cfg.kDF = 1;
psb->m_cfg.kDP = 0.001; // fun factor...
psb->m_cfg.kPR = 2500;
psb->setTotalMass(30,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
@@ -582,8 +622,8 @@ static void Init_Volume(SoftDemo* pdemo)
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,btVector3(35,25,0),
btVector3(1,1,1)*3,
512);
psb->m_cfg.kLST = 0.45;
psb->m_cfg.kVC = 20;
psb->m_materials[0]->m_kLST = 0.45;
psb->m_cfg.kVC = 20;
psb->setTotalMass(50,true);
psb->setPose(true,false);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
@@ -615,12 +655,11 @@ static void Init_Sticks(SoftDemo* pdemo)
org+btVector3(hg*0.001,hg,0),
sg,
1);
psb->m_cfg.iterations = 1;
psb->m_cfg.kDP = 0.005;
psb->m_cfg.kCHR = 0.1;
for(int i=0;i<3;++i)
{
psb->generateBendingConstraints(2+i,1);
psb->generateBendingConstraints(2+i);
}
psb->setMass(1,0);
psb->setTotalMass(0.01);
@@ -646,12 +685,15 @@ static void Init_Cloth(SoftDemo* pdemo)
// 31,31,
1+2+4+8,true);
psb->generateBendingConstraints(2,1);
psb->m_cfg.kLST = 0.4;
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.4;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->setTotalMass(150);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
Ctor_RbUpStack(pdemo,10);
pdemo->m_cutting=true;
}
//
@@ -663,8 +705,11 @@ static void Init_Bunny(SoftDemo* pdemo)
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
psb->generateBendingConstraints(2,0.5);
psb->m_cfg.iterations = 2;
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->scale(btVector3(6,6,6));
@@ -682,9 +727,9 @@ static void Init_BunnyMatch(SoftDemo* pdemo)
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
psb->m_cfg.kDF = 0.5;
psb->m_cfg.kLST = 0.1;
psb->m_cfg.kMT = 0.05;
psb->m_cfg.kDF = 0.5;
psb->m_materials[0]->m_kLST = 0.1;
psb->m_cfg.kMT = 0.05;
psb->randomizeConstraints();
psb->scale(btVector3(6,6,6));
psb->setTotalMass(100,true);
@@ -702,8 +747,8 @@ static void Init_Torus(SoftDemo* pdemo)
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh( pdemo->m_softBodyWorldInfo, gVertices,
&gIndices[0][0],
NUM_TRIANGLES);
psb->generateBendingConstraints(2,1);
psb->m_cfg.iterations=2;
psb->generateBendingConstraints(2);
psb->m_cfg.piterations=2;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(SIMD_PI/2,0,0);
@@ -723,8 +768,8 @@ static void Init_TorusMatch(SoftDemo* pdemo)
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVertices,
&gIndices[0][0],
NUM_TRIANGLES);
psb->m_cfg.kLST=0.1;
psb->m_cfg.kMT=0.05;
psb->m_materials[0]->m_kLST = 0.1;
psb->m_cfg.kMT = 0.05;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(SIMD_PI/2,0,0);
@@ -733,11 +778,176 @@ static void Init_TorusMatch(SoftDemo* pdemo)
psb->setTotalMass(50,true);
psb->setPose(true,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
unsigned current_demo=0;
//
// Cutting1
//
static void Init_Cutting1(SoftDemo* pdemo)
{
const btScalar s=6;
const btScalar h=2;
const int r=16;
const btVector3 p[]={ btVector3(+s,h,-s),
btVector3(-s,h,-s),
btVector3(+s,h,+s),
btVector3(-s,h,+s)};
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,p[0],p[1],p[2],p[3],r,r,1+2+4+8,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->m_cfg.piterations=1;
pdemo->m_cutting=true;
}
#ifdef BT_SOFTBODY_USE_STL
//
// TetraBunny
//
static void Init_TetraBunny(SoftDemo* pdemo)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
TetraBunny::getElements(),
0,
TetraBunny::getNodes(),
false,true,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->rotate(btQuaternion(SIMD_PI/2,0,0));
psb->setVolumeMass(150);
psb->m_cfg.piterations=2;
pdemo->m_cutting=true;
}
//
// TetraCube
//
static void Init_TetraCube(SoftDemo* pdemo)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
TetraCube::getElements(),
0,
TetraCube::getNodes(),
false,true,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->scale(btVector3(4,4,4));
psb->translate(btVector3(0,5,0));
psb->setVolumeMass(300);
psb->setMass(0,0);
/*psb->setMass(10,0);
psb->setMass(20,0);*/
psb->m_cfg.piterations=1;
//psb->m_materials[0]->m_kLST=0.05;
pdemo->m_cutting=true;
}
#endif //BT_SOFTBODY_USE_STL
//
// Tetra
//
static void Init_Tetra(SoftDemo* pdemo)
{
//TRACEDEMO
#if 0
{
btVector3 pts[]={ btVector3(-1,-1,-1),
btVector3(+1,-1,-1),
btVector3(+1,+1,-1),
btVector3(-1,+1,-1),
btVector3(-1,-1,+1),
btVector3(+1,-1,+1),
btVector3(+1,+1,+1),
btVector3(-1,+1,+1)};
btSoftBody* psb=btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo,pts,8);
btSoftBodyHelpers::ExportAsSMeshFile(psb,"C:/HomeH/Oss/tetgen/Release/cube.smesh");
delete psb;
/*btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh( pdemo->m_softBodyWorldInfo,gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
psb->scale(btVector3(6,6,6));
btSoftBodyHelpers::ExportAsSMeshFile(psb,"C:/HomeH/Oss/tetgen/Release/bunny.smesh");
delete psb;*/
}
btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenFile(pdemo->m_softBodyWorldInfo,
/*"C:/HomeH/Oss/tetgen/Release/bunny.1.ele",
"C:/HomeH/Oss/tetgen/Release/bunny.1.face",
"C:/HomeH/Oss/tetgen/Release/bunny.1.node",*/
"C:/HomeH/Oss/tetgen/Release/cube.1.ele",
0/*"C:/HomeH/Oss/tetgen/Release/cube.1.face"*/,
"C:/HomeH/Oss/tetgen/Release/cube.1.node",
true,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->scale(btVector3(4,4,4));
/*psb->rotate(btQuaternion(SIMD_PI/4,SIMD_PI/4,0));
psb->translate(btVector3(0,10,0));*/
psb->setVolumeMass(30);
psb->m_cfg.piterations=1;
psb->m_cfg.kKHR=1;
//psb->addVelocity(btVector3(0,50,0));
//psb->m_tetras.clear();
ImplicitSphere fnc;
fnc.center = btVector3(4,4,4);
fnc.radius = 4;
psb->refine(&fnc,0.001,true);
//psb->m_tetras.clear();
printf("Nodes: %u\r\n",psb->m_nodes.size());
printf("Links: %u\r\n",psb->m_links.size());
printf("Faces: %u\r\n",psb->m_faces.size());
printf("Tetras: %u\r\n",psb->m_tetras.size());
#else
#if 1
const btScalar s=4;
const int r=32;
const btVector3 p[]={ btVector3(+s,0,-s),
btVector3(-s,0,-s),
btVector3(+s,0,+s),
btVector3(-s,0,+s)};
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,p[0],p[1],p[2],p[3],r,r,1+2+4+8,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->m_cfg.piterations=2;
/*ImplicitSphere fnc;
fnc.center = btVector3(0,0,0);
fnc.radius = 1.5;
psb->refine(&fnc,0.001,true);*/
//psb->m_faces.clear();
/*fnc.center = btVector3(4,0,4);
fnc.radius = 2;
psb->refine(&fnc,0.001,true);*/
#else
const btScalar s=4;
const btVector3 p[]={ btVector3(+s,-s,0),
btVector3(-s,0,0),
btVector3(0,0,+s),
btVector3(0,+s,0)};
btSoftBody* psb=new btSoftBody(&pdemo->m_softBodyWorldInfo,4,p,0);
psb->appendTetra(0,1,2,3);
psb->appendLink(0,1,1,btSoftBody::eLType::Structural);
psb->appendLink(1,2,1,btSoftBody::eLType::Structural);
psb->appendLink(2,0,1,btSoftBody::eLType::Structural);
psb->appendLink(0,3,1,btSoftBody::eLType::Structural);
psb->appendLink(1,3,1,btSoftBody::eLType::Structural);
psb->appendLink(2,3,1,btSoftBody::eLType::Structural);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->setSolver(btSoftBody::eSolverPresets::Velocities);
psb->m_cfg.viterations=1;
psb->m_cfg.diterations=1;
psb->m_cfg.kDF=0;
psb->m_cfg.kLST=0.000001;
//psb1->m_cfg.diterations=1;
/*btSoftBody* psb0=btSoftBodyHelpers::CreateRope( pdemo->m_softBodyWorldInfo,
btVector3(0,0,0),btVector3(5,0,0),16,1);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb0);
btSoftBody* psb1=btSoftBodyHelpers::CreateRope( pdemo->m_softBodyWorldInfo,
btVector3(0,0,2),btVector3(5,0,2),16,1);
psb1->m_cfg.viterations=1;
psb1->m_cfg.diterations=1;
psb1->setSolver(btSoftBody::eSolverPresets::Velocities);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb1);*/
#endif
#endif
pdemo->toggleIdle();
}
unsigned current_demo=1;
void SoftDemo::clientResetScene()
{
@@ -766,6 +976,11 @@ void SoftDemo::clientResetScene()
/* Init */
void (*demofncs[])(SoftDemo*)=
{
Init_Cutting1,
#ifdef BT_SOFTBODY_USE_STL
Init_TetraBunny,
Init_TetraCube,
#endif //BT_SOFTBODY_USE_STL
Init_Cloth,
Init_Pressure,
Init_Volume,
@@ -796,6 +1011,7 @@ void SoftDemo::clientResetScene()
m_autocam = false;
m_raycast = false;
m_cutting = false;
demofncs[current_demo](this);
}
@@ -813,10 +1029,10 @@ void SoftDemo::renderme()
for(int ib=0;ib<sbs.size();++ib)
{
btSoftBody* psb=sbs[ib];
nps+=psb->getNodes().size();
for(int i=0;i<psb->getNodes().size();++i)
nps+=psb->m_nodes.size();
for(int i=0;i<psb->m_nodes.size();++i)
{
ps+=psb->getNodes()[i].m_x;
ps+=psb->m_nodes[i].m_x;
}
}
ps/=nps;
@@ -927,10 +1143,69 @@ void SoftDemo::keyboardCallback(unsigned char key, int x, int y)
case '[': --current_demo;clientResetScene();break;
case ',': m_raycast=!m_raycast;break;
case ';': m_autocam=!m_autocam;break;
case '`':
{
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
for(int ib=0;ib<sbs.size();++ib)
{
btSoftBody* psb=sbs[ib];
psb->staticSolve(128);
}
}
break;
default: DemoApplication::keyboardCallback(key,x,y);
}
}
//
void SoftDemo::mouseFunc(int button, int state, int x, int y)
{
if(m_cutting&&(state==0)&&(button==0))
{
const btVector3 rayFrom=m_cameraPosition;
const btVector3 rayTo=getRayTo(x,y);
const btVector3 rayDir=(rayTo-rayFrom).normalized();
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
btSoftBody::sRayCast results;
results.time=SIMD_INFINITY;
for(int ib=0;ib<sbs.size();++ib)
{
btSoftBody* psb=sbs[ib];
btSoftBody::sRayCast res;
if(psb->rayCast(rayFrom,rayDir,res,results.time))
{
results=res;
}
}
if(results.time<SIMD_INFINITY)
{
#if 0
const btVector3 x=rayFrom+rayDir*results.time;
const btSoftBody::Face& f=results.body->m_faces[results.index];
btScalar bestarea=SIMD_INFINITY;
const btSoftBody::Node* n[2]={0,0};
for(int i=2,j=0;j<3;i=j++)
{
const btScalar a2=cross(f.m_n[i]->m_x-x,f.m_n[j]->m_x-x).length2();
if(a2<bestarea)
{
bestarea=a2;
n[0]=f.m_n[i];
n[1]=f.m_n[j];
}
}
results.body->cutLink(n[0],n[1],0.5);
#endif
ImplicitSphere isphere(rayFrom+rayDir*results.time,1);
printf("Mass before: %f\r\n",results.body->getTotalMass());
results.body->refine(&isphere,0.0001,true);
printf("Mass after: %f\r\n",results.body->getTotalMass());
return;
}
}
DemoApplication::mouseFunc(button,state,x,y);
}
void SoftDemo::initPhysics()
{
@@ -1051,3 +1326,4 @@ void SoftDemo::exitPhysics()

3
Demos/SoftDemo/SoftDemo.h
View File

@@ -53,6 +53,7 @@ public:
bool m_autocam;
bool m_cutting;
bool m_raycast;
btScalar m_animtime;
btClock m_clock;
@@ -116,6 +117,7 @@ public:
void clientResetScene();
void renderme();
void keyboardCallback(unsigned char key, int x, int y);
void mouseFunc(int button, int state, int x, int y);
};
@@ -158,3 +160,4 @@ MACRO_SOFT_DEMO(16)//Init_BunnyMatch