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+ add option to set pre-tick callback, called at the beginning of each internal simulation step

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+ use real-time for soft body demo (using this pre-tick callback)
+ optimize the generation of bending constraints for the special case where the distance is 2
This commit is contained in:
erwin.coumans
2009-08-14 21:36:51 +00:00
parent e89fe1cbfa
commit 34699f6de6
5 changed files with 135 additions and 40 deletions
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74
Demos/SoftDemo/SoftDemo.cpp
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@@ -98,6 +98,41 @@ void SoftDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int
extern int gNumManifold;
extern int gOverlappingPairs;
///for mouse picking
void pickingPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
{
SoftDemo* softDemo = (SoftDemo*)world->getWorldUserInfo();
if(softDemo->m_drag)
{
const int x=softDemo->m_lastmousepos[0];
const int y=softDemo->m_lastmousepos[1];
const btVector3 rayFrom=softDemo->getCameraPosition();
const btVector3 rayTo=softDemo->getRayTo(x,y);
const btVector3 rayDir=(rayTo-rayFrom).normalized();
const btVector3 N=(softDemo->getCameraTargetPosition()-softDemo->getCameraPosition()).normalized();
const btScalar O=btDot(softDemo->m_impact,N);
const btScalar den=btDot(N,rayDir);
if((den*den)>0)
{
const btScalar num=O-btDot(N,rayFrom);
const btScalar hit=num/den;
if((hit>0)&&(hit<1500))
{
softDemo->m_goal=rayFrom+rayDir*hit;
}
}
btVector3 delta=softDemo->m_goal-softDemo->m_node->m_x;
static const btScalar maxdrag=10;
if(delta.length2()>(maxdrag*maxdrag))
{
delta=delta.normalized()*maxdrag;
}
softDemo->m_node->m_v+=delta/timeStep;
}
}
void SoftDemo::clientMoveAndDisplay()
{
@@ -106,39 +141,17 @@ void SoftDemo::clientMoveAndDisplay()
float dt = 1.0/60.;
float ms = getDeltaTimeMicroseconds();
float dt = ms / 1000000.f;//1.0/60.;
if (m_dynamicsWorld)
{
if(m_drag)
{
const int x=m_lastmousepos[0];
const int y=m_lastmousepos[1];
const btVector3 rayFrom=m_cameraPosition;
const btVector3 rayTo=getRayTo(x,y);
const btVector3 rayDir=(rayTo-rayFrom).normalized();
const btVector3 N=(m_cameraTargetPosition-m_cameraPosition).normalized();
const btScalar O=btDot(m_impact,N);
const btScalar den=btDot(N,rayDir);
if((den*den)>0)
{
const btScalar num=O-btDot(N,rayFrom);
const btScalar hit=num/den;
if((hit>0)&&(hit<1500))
{
m_goal=rayFrom+rayDir*hit;
}
}
btVector3 delta=m_goal-m_node->m_x;
static const btScalar maxdrag=10;
if(delta.length2()>(maxdrag*maxdrag))
{
delta=delta.normalized()*maxdrag;
}
m_node->m_v+=delta/dt;
}
#define FIXED_STEP
//#define FIXED_STEP
#ifdef FIXED_STEP
m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
@@ -1246,7 +1259,7 @@ static void Init_ClusterStackMixed(SoftDemo* pdemo)
}
}
unsigned current_demo=18;
unsigned current_demo=19;
void SoftDemo::clientResetScene()
{
@@ -1711,6 +1724,7 @@ void SoftDemo::initPhysics()
btDiscreteDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = world;
m_dynamicsWorld->setInternalTickCallback(pickingPreTickCallback,this,true);
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;