https://github.com/bulletphysics/bullet3/pull/618 by Mobeen

Summary of changes: 1) Changed include paths to be relative to the current sources (affected files: LoadMeshFromObj.cpp, Wavefront2GLInstanceGraphicsShape.h/cpp) 2) Added new tutorials in the ExtendedTutorials folder 3) Modified the main_opengl_single_example.cpp file to enable picking support in standalone demos
2016-05-06 15:07:54 -07:00
parent 85368973a1
commit 5151519b94
18 changed files with 1206 additions and 8 deletions
--- a/examples/ExtendedTutorials/SimpleCloth.cpp
+++ b/examples/ExtendedTutorials/SimpleCloth.cpp
@@ -0,0 +1,162 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "SimpleCloth.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+
+struct SimpleClothExample : public CommonRigidBodyBase
+{
+	SimpleClothExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~SimpleClothExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void createEmptyDynamicsWorld()
+	{
+		m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); 
+        m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration); 
+		 
+		m_broadphase = new btDbvtBroadphase();
+	 
+		m_solver = new btSequentialImpulseConstraintSolver; 
+		
+		m_dynamicsWorld = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+		m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+
+		softBodyWorldInfo.m_broadphase = m_broadphase;
+		softBodyWorldInfo.m_dispatcher = m_dispatcher;
+		softBodyWorldInfo.m_gravity = m_dynamicsWorld->getGravity();
+		softBodyWorldInfo.m_sparsesdf.Initialize();
+	}
+	virtual btSoftRigidDynamicsWorld*	getSoftDynamicsWorld()
+	{
+		///just make it a btSoftRigidDynamicsWorld please
+		///or we will add type checking
+		return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
+	}
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
+	void createSoftBody(const btScalar size, const int num_x, const int num_z, const int fixed=1+2);
+	btSoftBodyWorldInfo softBodyWorldInfo;
+};
+
+void SimpleClothExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		const btScalar s=4; //size of cloth patch
+		const int NUM_X=31; //vertices on X axis
+		const int NUM_Z=31; //vertices on Z axis
+		createSoftBody(s,NUM_X, NUM_Z);
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void SimpleClothExample::createSoftBody(const btScalar s,
+										const int numX,
+										const int numY, 
+										const int fixed) {
+	
+	
+	 
+	btSoftBody* cloth=btSoftBodyHelpers::CreatePatch(softBodyWorldInfo,
+		btVector3(-s/2,s+1,0),
+		btVector3(+s/2,s+1,0),
+		btVector3(-s/2,s+1,+s),
+		btVector3(+s/2,s+1,+s),
+		numX,numY, 
+		fixed,true);
+	
+	cloth->getCollisionShape()->setMargin(0.001f);
+	cloth->generateBendingConstraints(2,cloth->appendMaterial());
+	cloth->setTotalMass(10); 
+	//cloth->m_cfg.citerations = 10;
+//	cloth->m_cfg.diterations = 10;
+	cloth->m_cfg.piterations = 5;
+	cloth->m_cfg.kDP = 0.005f;
+	getSoftDynamicsWorld()->addSoftBody(cloth);
+
+}
+
+void SimpleClothExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+	btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
+
+		for (  int i=0;i<softWorld->getSoftBodyArray().size();i++)
+		{
+			btSoftBody*	psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
+			//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+			{
+				btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
+			}
+		}
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_SimpleClothCreateFunc(CommonExampleOptions& options)
+{
+	return new SimpleClothExample(options.m_guiHelper);
+}
+
+
+