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Autoformat selection for soft body, btDbvt related classes (no code change, just layout using Visual Studio)

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This commit is contained in:
erwin.coumans
2008-10-15 18:39:27 +00:00
parent cac172d422
commit 60ce828419
20 changed files with 3941 additions and 3941 deletions
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1892
src/BulletSoftBody/btSoftBody.cpp
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File diff suppressed because it is too large Load Diff

230
src/BulletSoftBody/btSoftBody.h
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@@ -62,13 +62,13 @@ public:
F_OneSided, ///Face normals are taken as it is
END
};};
///eVSolver : velocities solvers
struct eVSolver { enum _ {
Linear, ///Linear solver
END
};};
///ePSolver : positions solvers
struct ePSolver { enum _ {
Linear, ///Linear solver
@@ -77,7 +77,7 @@ public:
SContacts, ///Soft contacts solver
END
};};
///eSolverPresets
struct eSolverPresets { enum _ {
Positions,
@@ -85,7 +85,7 @@ public:
Default = Positions,
END
};};
///eFeature
struct eFeature { enum _ {
None,
@@ -94,20 +94,20 @@ public:
Face,
END
};};
typedef btAlignedObjectArray<eVSolver::_> tVSolverArray;
typedef btAlignedObjectArray<ePSolver::_> tPSolverArray;
//
// Flags
//
///fCollision
struct fCollision { enum _ {
RVSmask = 0x000f, ///Rigid versus soft mask
SDF_RS = 0x0001, ///SDF based rigid vs soft
CL_RS = 0x0002, ///Cluster vs convex rigid vs soft
SVSmask = 0x00f0, ///Rigid versus soft mask
VF_SS = 0x0010, ///Vertex vs face soft vs soft handling
CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling
@@ -115,7 +115,7 @@ public:
Default = SDF_RS,
END
};};
///fMaterial
struct fMaterial { enum _ {
DebugDraw = 0x0001, /// Enable debug draw
@@ -123,11 +123,11 @@ public:
Default = DebugDraw,
END
};};
//
// API Types
//
/* sRayCast */
struct sRayCast
{
@@ -136,13 +136,13 @@ public:
int index; /// feature index
btScalar fraction; /// time of impact fraction (rayorg+(rayto-rayfrom)*fraction)
};
/* ImplicitFn */
struct ImplicitFn
{
virtual btScalar Eval(const btVector3& x)=0;
};
//
// Internal types
//
@@ -180,7 +180,7 @@ public:
btScalar m_kVST; // Volume stiffness coefficient [0,1]
int m_flags; // Flags
};
/* Feature */
struct Feature : Element
{
@@ -296,7 +296,7 @@ public:
btScalar m_adamping;
btScalar m_matching;
bool m_collide;
Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) {}
Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) {}
};
/* Impulse */
struct Impulse
@@ -307,109 +307,109 @@ public:
int m_asDrift:1;
Impulse() : m_velocity(0,0,0),m_drift(0,0,0),m_asVelocity(0),m_asDrift(0) {}
Impulse operator -() const
{
{
Impulse i=*this;
i.m_velocity=-i.m_velocity;
i.m_drift=-i.m_drift;
return(i);
}
}
Impulse operator*(btScalar x) const
{
{
Impulse i=*this;
i.m_velocity*=x;
i.m_drift*=x;
return(i);
}
}
};
/* Body */
struct Body
{
Cluster* m_soft;
btRigidBody* m_rigid;
Body() : m_soft(0),m_rigid(0) {}
Body(Cluster* p) : m_soft(p),m_rigid(0) {}
Body(btRigidBody* p) : m_soft(0),m_rigid(p) {}
Body() : m_soft(0),m_rigid(0) {}
Body(Cluster* p) : m_soft(p),m_rigid(0) {}
Body(btRigidBody* p) : m_soft(0),m_rigid(p) {}
void activate() const
{
{
if(m_rigid) m_rigid->activate();
}
}
const btMatrix3x3& invWorldInertia() const
{
{
static const btMatrix3x3 iwi(0,0,0,0,0,0,0,0,0);
if(m_rigid) return(m_rigid->getInvInertiaTensorWorld());
if(m_soft) return(m_soft->m_invwi);
return(iwi);
}
}
btScalar invMass() const
{
{
if(m_rigid) return(m_rigid->getInvMass());
if(m_soft) return(m_soft->m_imass);
return(0);
}
}
const btTransform& xform() const
{
{
static const btTransform identity=btTransform::getIdentity();
if(m_rigid) return(m_rigid->getInterpolationWorldTransform());
if(m_soft) return(m_soft->m_framexform);
return(identity);
}
}
btVector3 linearVelocity() const
{
{
if(m_rigid) return(m_rigid->getLinearVelocity());
if(m_soft) return(m_soft->m_lv);
return(btVector3(0,0,0));
}
}
btVector3 angularVelocity(const btVector3& rpos) const
{
{
if(m_rigid) return(cross(m_rigid->getAngularVelocity(),rpos));
if(m_soft) return(cross(m_soft->m_av,rpos));
return(btVector3(0,0,0));
}
}
btVector3 angularVelocity() const
{
{
if(m_rigid) return(m_rigid->getAngularVelocity());
if(m_soft) return(m_soft->m_av);
return(btVector3(0,0,0));
}
}
btVector3 velocity(const btVector3& rpos) const
{
{
return(linearVelocity()+angularVelocity(rpos));
}
}
void applyVImpulse(const btVector3& impulse,const btVector3& rpos) const
{
{
if(m_rigid) m_rigid->applyImpulse(impulse,rpos);
if(m_soft) btSoftBody::clusterVImpulse(m_soft,rpos,impulse);
}
}
void applyDImpulse(const btVector3& impulse,const btVector3& rpos) const
{
{
if(m_rigid) m_rigid->applyImpulse(impulse,rpos);
if(m_soft) btSoftBody::clusterDImpulse(m_soft,rpos,impulse);
}
}
void applyImpulse(const Impulse& impulse,const btVector3& rpos) const
{
{
if(impulse.m_asVelocity) applyVImpulse(impulse.m_velocity,rpos);
if(impulse.m_asDrift) applyDImpulse(impulse.m_drift,rpos);
}
}
void applyVAImpulse(const btVector3& impulse) const
{
{
if(m_rigid) m_rigid->applyTorqueImpulse(impulse);
if(m_soft) btSoftBody::clusterVAImpulse(m_soft,impulse);
}
}
void applyDAImpulse(const btVector3& impulse) const
{
{
if(m_rigid) m_rigid->applyTorqueImpulse(impulse);
if(m_soft) btSoftBody::clusterDAImpulse(m_soft,impulse);
}
}
void applyAImpulse(const Impulse& impulse) const
{
{
if(impulse.m_asVelocity) applyVAImpulse(impulse.m_velocity);
if(impulse.m_asDrift) applyDAImpulse(impulse.m_drift);
}
}
void applyDCImpulse(const btVector3& impulse) const
{
{
if(m_rigid) m_rigid->applyCentralImpulse(impulse);
if(m_soft) btSoftBody::clusterDCImpulse(m_soft,impulse);
}
}
};
/* Joint */
struct Joint
@@ -420,12 +420,12 @@ public:
Contact,
};};
struct Specs
{
Specs() : erp(1),cfm(1),split(1) {}
{
Specs() : erp(1),cfm(1),split(1) {}
btScalar erp;
btScalar cfm;
btScalar split;
};
};
Body m_bodies[2];
btVector3 m_refs[2];
btScalar m_cfm;
@@ -436,7 +436,7 @@ public:
btMatrix3x3 m_massmatrix;
bool m_delete;
virtual ~Joint() {}
Joint() : m_delete(false) {}
Joint() : m_delete(false) {}
virtual void Prepare(btScalar dt,int iterations);
virtual void Solve(btScalar dt,btScalar sor)=0;
virtual void Terminate(btScalar dt)=0;
@@ -446,9 +446,9 @@ public:
struct LJoint : Joint
{
struct Specs : Joint::Specs
{
{
btVector3 position;
};
};
btVector3 m_rpos[2];
void Prepare(btScalar dt,int iterations);
void Solve(btScalar dt,btScalar sor);
@@ -459,17 +459,17 @@ public:
struct AJoint : Joint
{
struct IControl
{
{
virtual void Prepare(AJoint*) {}
virtual btScalar Speed(AJoint*,btScalar current) { return(current); }
static IControl* Default() { static IControl def;return(&def); }
};
};
struct Specs : Joint::Specs
{
Specs() : icontrol(IControl::Default()) {}
{
Specs() : icontrol(IControl::Default()) {}
btVector3 axis;
IControl* icontrol;
};
};
btVector3 m_axis[2];
IControl* m_icontrol;
void Prepare(btScalar dt,int iterations);
@@ -534,24 +534,24 @@ public:
};
/// RayFromToCaster takes a ray from, ray to (instead of direction!)
struct RayFromToCaster : btDbvt::ICollide
{
{
btVector3 m_rayFrom;
btVector3 m_rayTo;
btVector3 m_rayNormalizedDirection;
btScalar m_mint;
Face* m_face;
int m_tests;
RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt);
RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt);
void Process(const btDbvtNode* leaf);
static inline btScalar rayFromToTriangle(const btVector3& rayFrom,
const btVector3& rayTo,
const btVector3& rayNormalizedDirection,
const btVector3& a,
const btVector3& b,
const btVector3& c,
btScalar maxt=SIMD_INFINITY);
};
const btVector3& rayTo,
const btVector3& rayNormalizedDirection,
const btVector3& a,
const btVector3& b,
const btVector3& c,
btScalar maxt=SIMD_INFINITY);
};
//
// Typedef's
@@ -597,15 +597,15 @@ public:
btDbvt m_fdbvt; // Faces tree
btDbvt m_cdbvt; // Clusters tree
tClusterArray m_clusters; // Clusters
//
// Api
//
/* ctor */
btSoftBody( btSoftBodyWorldInfo* worldInfo,int node_count,
const btVector3* x,
const btScalar* m);
const btVector3* x,
const btScalar* m);
/* dtor */
virtual ~btSoftBody();
/* Check for existing link */
@@ -625,51 +625,51 @@ public:
bool checkLink( int node0,
int node1) const;
bool checkLink( const Node* node0,
const Node* node1) const;
const Node* node1) const;
/* Check for existring face */
bool checkFace( int node0,
int node1,
int node2) const;
int node1,
int node2) const;
/* Append material */
Material* appendMaterial();
/* Append note */
void appendNote( const char* text,
const btVector3& o,
const btVector4& c=btVector4(1,0,0,0),
Node* n0=0,
Node* n1=0,
Node* n2=0,
Node* n3=0);
const btVector3& o,
const btVector4& c=btVector4(1,0,0,0),
Node* n0=0,
Node* n1=0,
Node* n2=0,
Node* n3=0);
void appendNote( const char* text,
const btVector3& o,
Node* feature);
const btVector3& o,
Node* feature);
void appendNote( const char* text,
const btVector3& o,
Link* feature);
const btVector3& o,
Link* feature);
void appendNote( const char* text,
const btVector3& o,
Face* feature);
const btVector3& o,
Face* feature);
/* Append node */
void appendNode( const btVector3& x,btScalar m);
/* Append link */
void appendLink(int model=-1,Material* mat=0);
void appendLink( int node0,
int node1,
Material* mat=0,
bool bcheckexist=false);
int node1,
Material* mat=0,
bool bcheckexist=false);
void appendLink( Node* node0,
Node* node1,
Material* mat=0,
bool bcheckexist=false);
Node* node1,
Material* mat=0,
bool bcheckexist=false);
/* Append face */
void appendFace(int model=-1,Material* mat=0);
void appendFace( int node0,
int node1,
int node2,
Material* mat=0);
int node1,
int node2,
Material* mat=0);
/* Append anchor */
void appendAnchor( int node,
btRigidBody* body);
btRigidBody* body);
/* Append linear joint */
void appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
void appendLinearJoint(const LJoint::Specs& specs,Body body=Body());
@@ -682,7 +682,7 @@ public:
void addForce( const btVector3& force);
/* Add force (or gravity) to a node of the body */
void addForce( const btVector3& force,
int node);
int node);
/* Add velocity to the entire body */
void addVelocity( const btVector3& velocity);
@@ -691,17 +691,17 @@ public:
/* Add velocity to a node of the body */
void addVelocity( const btVector3& velocity,
int node);
int node);
/* Set mass */
void setMass( int node,
btScalar mass);
btScalar mass);
/* Get mass */
btScalar getMass( int node) const;
/* Get total mass */
btScalar getTotalMass() const;
/* Set total mass (weighted by previous masses) */
void setTotalMass( btScalar mass,
bool fromfaces=false);
bool fromfaces=false);
/* Set total density */
void setTotalDensity(btScalar density);
/* Transform */
@@ -714,7 +714,7 @@ public:
void scale( const btVector3& scl);
/* Set current state as pose */
void setPose( bool bvolume,
bool bframe);
bool bframe);
/* Return the volume */
btScalar getVolume() const;
/* Cluster count */
@@ -734,7 +734,7 @@ public:
static void clusterDCImpulse(Cluster* cluster,const btVector3& impulse);
/* Generate bending constraints based on distance in the adjency graph */
int generateBendingConstraints( int distance,
Material* mat=0);
Material* mat=0);
/* Randomize constraints to reduce solver bias */
void randomizeConstraints();
/* Release clusters */
@@ -747,11 +747,11 @@ public:
/* CutLink */
bool cutLink(int node0,int node1,btScalar position);
bool cutLink(const Node* node0,const Node* node1,btScalar position);
///Ray casting using rayFrom and rayTo in worldspace, (not direction!)
bool rayTest(const btVector3& rayFrom,
const btVector3& rayTo,
sRayCast& results);
const btVector3& rayTo,
sRayCast& results);
/* Solver presets */
void setSolver(eSolverPresets::_ preset);
/* predictMotion */
@@ -769,11 +769,11 @@ public:
/* defaultCollisionHandlers */
void defaultCollisionHandler(btCollisionObject* pco);
void defaultCollisionHandler(btSoftBody* psb);
//
// Cast
//
static const btSoftBody* upcast(const btCollisionObject* colObj)
{
if (colObj->getInternalType()==CO_SOFT_BODY)
@@ -803,7 +803,7 @@ public:
void indicesToPointers(const int* map=0);
int rayTest(const btVector3& rayFrom,const btVector3& rayTo,
btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const;
btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const;
void initializeFaceTree();
btVector3 evaluateCom() const;
bool checkContact(btRigidBody* prb,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const;
@@ -826,7 +826,7 @@ public:
static void VSolve_Links(btSoftBody* psb,btScalar kst);
static psolver_t getSolver(ePSolver::_ solver);
static vsolver_t getSolver(eVSolver::_ solver);
};

112
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
View File

@@ -50,27 +50,27 @@ btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
m_dispatcher(dispatcher),
m_dispatchInfoPtr(0)
m_dispatcher(dispatcher),
m_dispatchInfoPtr(0)
{
m_softBody = (btSoftBody*) (isSwapped? body1:body0);
m_triBody = isSwapped? body0:body1;
//
// create the manifold from the dispatcher 'manifold pool'
//
// m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
clearCache();
//
// create the manifold from the dispatcher 'manifold pool'
//
// m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
clearCache();
}
btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
{
clearCache();
// m_dispatcher->releaseManifold( m_manifoldPtr );
// m_dispatcher->releaseManifold( m_manifoldPtr );
}
void btSoftBodyTriangleCallback::clearCache()
{
@@ -88,13 +88,13 @@ void btSoftBodyTriangleCallback::clearCache()
void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
//just for debugging purposes
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
///debug drawing of the overlapping triangles
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
{
btVector3 color(255,255,0);
@@ -107,7 +107,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
btTriIndex triIndex(partId,triangleIndex,0);
btHashKey<btTriIndex> triKey(triIndex.getUid());
btTriIndex* shapeIndex = m_shapeCache[triKey];
if (shapeIndex)
{
@@ -116,13 +116,13 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
//copy over user pointers to temporary shape
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
btCollisionShape* tmpShape = ob->getCollisionShape();
ob->internalSetTemporaryCollisionShape( tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
@@ -133,56 +133,56 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
//aabb filter is already applied!
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
// if (m_softBody->getCollisionShape()->getShapeType()==
// if (m_softBody->getCollisionShape()->getShapeType()==
{
// btVector3 other;
// btVector3 other;
btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
normal.normalize();
normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
// other+=normal*22.f;
// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
// other+=normal*22.f;
btVector3 pts[6] = {triangle[0]+normal,
triangle[1]+normal,
triangle[2]+normal,
triangle[0]-normal,
triangle[1]-normal,
triangle[2]-normal};
triangle[2]+normal,
triangle[0]-normal,
triangle[1]-normal,
triangle[2]-normal};
btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6);
// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
// tm.setMargin(m_collisionMarginTriangle);
// tm.setMargin(m_collisionMarginTriangle);
//copy over user pointers to temporary shape
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
btCollisionShape* tmpShape = ob->getCollisionShape();
ob->internalSetTemporaryCollisionShape( tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
//m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->internalSetTemporaryCollisionShape( tmpShape );
triIndex.m_childShape = tm;
m_shapeCache.insert(triKey,triIndex);
}
}
@@ -194,7 +194,7 @@ void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
m_resultOut = resultOut;
btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax;
m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
@@ -217,8 +217,8 @@ void btSoftBodyConcaveCollisionAlgorithm::clearCache()
void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
@@ -228,26 +228,26 @@ void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* b
btCollisionObject* triOb = triBody;
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
// if (convexBody->getCollisionShape()->isConvex())
// if (convexBody->getCollisionShape()->isConvex())
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
//m_dispatcher->clearManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
// m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
// m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
// resultOut->refreshContactPoints();
// resultOut->refreshContactPoints();
}
}
}
@@ -287,7 +287,7 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
btScalar m_ccdSphereRadius;
btScalar m_hitFraction;
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
:m_ccdSphereFromTrans(from),
@@ -296,8 +296,8 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
m_hitFraction(hitFraction)
{
}
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
(void)partId;
@@ -327,9 +327,9 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
};
if (triBody->getCollisionShape()->isConcave())
{
btVector3 rayAabbMin = convexFromLocal.getOrigin();
@@ -349,12 +349,12 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
btCollisionObject* concavebody = triBody;
btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
if (triangleMesh)
{
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
}
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())

12
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
View File

@@ -35,7 +35,7 @@ struct btTriIndex
{
int m_PartIdTriangleIndex;
class btCollisionShape* m_childShape;
btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
{
m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
@@ -75,11 +75,11 @@ class btSoftBodyTriangleCallback : public btTriangleCallback
btScalar m_collisionMarginTriangle;
btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
public:
int m_triangleCount;
// btPersistentManifold* m_manifoldPtr;
int m_triangleCount;
// btPersistentManifold* m_manifoldPtr;
btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
@@ -88,7 +88,7 @@ int m_triangleCount;
virtual ~btSoftBodyTriangleCallback();
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
void clearCache();
SIMD_FORCE_INLINE const btVector3& getAabbMin() const

476
src/BulletSoftBody/btSoftBodyHelpers.cpp
View File

@@ -22,57 +22,57 @@ subject to the following restrictions:
//
static void drawVertex( btIDebugDraw* idraw,
const btVector3& x,btScalar s,const btVector3& c)
{
idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
}
const btVector3& x,btScalar s,const btVector3& c)
{
idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
}
//
static void drawBox( btIDebugDraw* idraw,
const btVector3& mins,
const btVector3& maxs,
const btVector3& color)
const btVector3& mins,
const btVector3& maxs,
const btVector3& color)
{
const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
btVector3(maxs.x(),mins.y(),mins.z()),
btVector3(maxs.x(),maxs.y(),mins.z()),
btVector3(mins.x(),maxs.y(),mins.z()),
btVector3(mins.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),maxs.y(),maxs.z()),
btVector3(mins.x(),maxs.y(),maxs.z())};
idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
btVector3(maxs.x(),mins.y(),mins.z()),
btVector3(maxs.x(),maxs.y(),mins.z()),
btVector3(mins.x(),maxs.y(),mins.z()),
btVector3(mins.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),maxs.y(),maxs.z()),
btVector3(mins.x(),maxs.y(),maxs.z())};
idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
}
//
static void drawTree( btIDebugDraw* idraw,
const btDbvtNode* node,
int depth,
const btVector3& ncolor,
const btVector3& lcolor,
int mindepth,
int maxdepth)
const btDbvtNode* node,
int depth,
const btVector3& ncolor,
const btVector3& lcolor,
int mindepth,
int maxdepth)
{
if(node)
if(node)
{
if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
{
drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
}
if(depth>=mindepth)
if(depth>=mindepth)
{
const btScalar scl=(btScalar)(node->isinternal()?1:1);
const btVector3 mi=node->volume.Center()-node->volume.Extents()*scl;
const btVector3 mx=node->volume.Center()+node->volume.Extents()*scl;
drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
const btScalar scl=(btScalar)(node->isinternal()?1:1);
const btVector3 mi=node->volume.Center()-node->volume.Extents()*scl;
const btVector3 mx=node->volume.Center()+node->volume.Extents()*scl;
drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
}
}
}
@@ -81,25 +81,25 @@ if(node)
template <typename T>
static inline T sum(const btAlignedObjectArray<T>& items)
{
T v;
if(items.size())
T v;
if(items.size())
{
v=items[0];
for(int i=1,ni=items.size();i<ni;++i)
v=items[0];
for(int i=1,ni=items.size();i<ni;++i)
{
v+=items[i];
v+=items[i];
}
}
return(v);
return(v);
}
//
template <typename T,typename Q>
static inline void add(btAlignedObjectArray<T>& items,const Q& value)
{
for(int i=0,ni=items.size();i<ni;++i)
for(int i=0,ni=items.size();i<ni;++i)
{
items[i]+=value;
items[i]+=value;
}
}
@@ -107,9 +107,9 @@ for(int i=0,ni=items.size();i<ni;++i)
template <typename T,typename Q>
static inline void mul(btAlignedObjectArray<T>& items,const Q& value)
{
for(int i=0,ni=items.size();i<ni;++i)
for(int i=0,ni=items.size();i<ni;++i)
{
items[i]*=value;
items[i]*=value;
}
}
@@ -117,8 +117,8 @@ for(int i=0,ni=items.size();i<ni;++i)
template <typename T>
static inline T average(const btAlignedObjectArray<T>& items)
{
const btScalar n=(btScalar)(items.size()>0?items.size():1);
return(sum(items)/n);
const btScalar n=(btScalar)(items.size()>0?items.size():1);
return(sum(items)/n);
}
//
@@ -136,27 +136,27 @@ static inline btScalar tetravolume(const btVector3& x0,
//
#if 0
static btVector3 stresscolor(btScalar stress)
{
{
static const btVector3 spectrum[]= { btVector3(1,0,1),
btVector3(0,0,1),
btVector3(0,1,1),
btVector3(0,1,0),
btVector3(1,1,0),
btVector3(1,0,0),
btVector3(1,0,0)};
btVector3(0,0,1),
btVector3(0,1,1),
btVector3(0,1,0),
btVector3(1,1,0),
btVector3(1,0,0),
btVector3(1,0,0)};
static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
static const btScalar one=1;
stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
const int sel=(int)stress;
const btScalar frc=stress-sel;
return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
}
}
#endif
//
void btSoftBodyHelpers::Draw( btSoftBody* psb,
btIDebugDraw* idraw,
int drawflags)
btIDebugDraw* idraw,
int drawflags)
{
const btScalar scl=(btScalar)0.1;
const btScalar nscl=scl*5;
@@ -251,29 +251,29 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
const btVector3 c=(x[0]+x[1]+x[2])/3;
idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
col,alp);
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
col,alp);
}
}
/* Clusters */
if(0!=(drawflags&fDrawFlags::Clusters))
{
{
srand(1806);
for(i=0;i<psb->m_clusters.size();++i)
{
{
if(psb->m_clusters[i]->m_collide)
{
{
btVector3 color( rand()/(btScalar)RAND_MAX,
rand()/(btScalar)RAND_MAX,
rand()/(btScalar)RAND_MAX);
rand()/(btScalar)RAND_MAX,
rand()/(btScalar)RAND_MAX);
color=color.normalized()*0.75;
btAlignedObjectArray<btVector3> vertices;
vertices.resize(psb->m_clusters[i]->m_nodes.size());
for(j=0,nj=vertices.size();j<nj;++j)
{
{
vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
}
}
HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
HullResult hres;
HullLibrary hlib;
@@ -284,32 +284,32 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
mul(hres.m_OutputVertices,(btScalar)1);
add(hres.m_OutputVertices,center);
for(j=0;j<(int)hres.mNumFaces;++j)
{
{
const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
hres.m_OutputVertices[idx[1]],
hres.m_OutputVertices[idx[2]],
color,1);
}
hlib.ReleaseResult(hres);
hres.m_OutputVertices[idx[1]],
hres.m_OutputVertices[idx[2]],
color,1);
}
hlib.ReleaseResult(hres);
}
/* Velocities */
#if 0
#if 0
for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
{
{
const btSoftBody::Cluster& c=psb->m_clusters[i];
const btVector3 r=c.m_nodes[j]->m_x-c.m_com;
const btVector3 v=c.m_lv+cross(c.m_av,r);
idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
}
#endif
}
#endif
/* Frame */
btSoftBody::Cluster& c=*psb->m_clusters[i];
idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
}
}
}
/* Notes */
if(0!=(drawflags&fDrawFlags::Notes))
{
@@ -318,9 +318,9 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
const btSoftBody::Note& n=psb->m_notes[i];
btVector3 p=n.m_offset;
for(int j=0;j<n.m_rank;++j)
{
{
p+=n.m_nodes[j]->m_x*n.m_coords[j];
}
}
idraw->draw3dText(p,n.m_text);
}
}
@@ -333,33 +333,33 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
/* Joints */
if(0!=(drawflags&fDrawFlags::Joints))
{
for(i=0;i<psb->m_joints.size();++i)
for(i=0;i<psb->m_joints.size();++i)
{
const btSoftBody::Joint* pj=psb->m_joints[i];
switch(pj->Type())
const btSoftBody::Joint* pj=psb->m_joints[i];
switch(pj->Type())
{
case btSoftBody::Joint::eType::Linear:
{
const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj;
const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0));
idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
drawVertex(idraw,a0,0.25,btVector3(1,1,0));
drawVertex(idraw,a1,0.25,btVector3(0,1,1));
const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj;
const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0));
idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
drawVertex(idraw,a0,0.25,btVector3(1,1,0));
drawVertex(idraw,a1,0.25,btVector3(0,1,1));
}
break;
break;
case btSoftBody::Joint::eType::Angular:
{
const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj;
const btVector3 o0=pj->m_bodies[0].xform().getOrigin();
const btVector3 o1=pj->m_bodies[1].xform().getOrigin();
const btVector3 a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0));
idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj;
const btVector3 o0=pj->m_bodies[0].xform().getOrigin();
const btVector3 o1=pj->m_bodies[1].xform().getOrigin();
const btVector3 a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0));
idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
}
}
}
@@ -368,10 +368,10 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
//
void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
btIDebugDraw* idraw,
bool masses,
bool areas,
bool /*stress*/)
btIDebugDraw* idraw,
bool masses,
bool areas,
bool /*stress*/)
{
for(int i=0;i<psb->m_nodes.size();++i)
{
@@ -394,34 +394,34 @@ void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
//
void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawFaceTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawClusterTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth);
drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
btIDebugDraw* idraw)
btIDebugDraw* idraw)
{
if(psb->m_pose.m_bframe)
{
@@ -445,9 +445,9 @@ void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
//
btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, const btVector3& from,
const btVector3& to,
int res,
int fixeds)
const btVector3& to,
int res,
int fixeds)
{
/* Create nodes */
const int r=res+2;
@@ -477,13 +477,13 @@ btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, cons
//
btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags)
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags)
{
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
/* Create nodes */
@@ -554,83 +554,83 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const
//
btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags,
float* tex_coords)
const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags,
float* tex_coords)
{
/*
*
* corners:
*
* [0][0] corner00 ------- corner01 [resx][0]
* | |
* | |
* [0][resy] corner10 -------- corner11 [resx][resy]
*
*
*
*
*
*
* "fixedgs" map:
*
* corner00 --> +1
* corner01 --> +2
* corner10 --> +4
* corner11 --> +8
* upper middle --> +16
* left middle --> +32
* right middle --> +64
* lower middle --> +128
* center --> +256
*
*
* tex_coords size (resx-1)*(resy-1)*12
*
*
*
* SINGLE QUAD INTERNALS
*
* 1) btSoftBody's nodes and links,
* diagonal link is optional ("gendiags")
*
*
* node00 ------ node01
* | .
* | .
* | .
* | .
* | .
* node10 node11
*
*
*
* 2) Faces:
* two triangles,
* UV Coordinates (hier example for single quad)
*
* (0,1) (0,1) (1,1)
* 1 |\ 3 \-----| 2
* | \ \ |
* | \ \ |
* | \ \ |
* | \ \ |
* 2 |-----\ 3 \| 1
* (0,0) (1,0) (1,0)
*
*
*
*
*
*
*/
/*
*
* corners:
*
* [0][0] corner00 ------- corner01 [resx][0]
* | |
* | |
* [0][resy] corner10 -------- corner11 [resx][resy]
*
*
*
*
*
*
* "fixedgs" map:
*
* corner00 --> +1
* corner01 --> +2
* corner10 --> +4
* corner11 --> +8
* upper middle --> +16
* left middle --> +32
* right middle --> +64
* lower middle --> +128
* center --> +256
*
*
* tex_coords size (resx-1)*(resy-1)*12
*
*
*
* SINGLE QUAD INTERNALS
*
* 1) btSoftBody's nodes and links,
* diagonal link is optional ("gendiags")
*
*
* node00 ------ node01
* | .
* | .
* | .
* | .
* | .
* node10 node11
*
*
*
* 2) Faces:
* two triangles,
* UV Coordinates (hier example for single quad)
*
* (0,1) (0,1) (1,1)
* 1 |\ 3 \-----| 2
* | \ \ |
* | \ \ |
* | \ \ |
* | \ \ |
* 2 |-----\ 3 \| 1
* (0,0) (1,0) (1,0)
*
*
*
*
*
*
*/
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
/* Create nodes */
@@ -675,12 +675,12 @@ btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
{
const bool mdx=(ix+1)<rx;
const bool mdy=(iy+1)<ry;
int node00=IDX(ix,iy);
int node01=IDX(ix+1,iy);
int node10=IDX(ix,iy+1);
int node11=IDX(ix+1,iy+1);
if(mdx) psb->appendLink(node00,node01);
if(mdy) psb->appendLink(node00,node10);
if(mdx&&mdy)
@@ -716,32 +716,32 @@ btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
float btSoftBodyHelpers::CalculateUV(int resx,int resy,int ix,int iy,int id)
{
/*
*
*
* node00 --- node01
* | |
* node10 --- node11
*
*
* ID map:
*
* node00 s --> 0
* node00 t --> 1
*
* node01 s --> 3
* node01 t --> 1
*
* node10 s --> 0
* node10 t --> 2
*
* node11 s --> 3
* node11 t --> 2
*
*
*/
/*
*
*
* node00 --- node01
* | |
* node10 --- node11
*
*
* ID map:
*
* node00 s --> 0
* node00 t --> 1
*
* node01 s --> 3
* node01 t --> 1
*
* node10 s --> 0
* node10 t --> 2
*
* node11 s --> 3
* node11 t --> 2
*
*
*/
float tc=0.0f;
float tc=0.0f;
if (id == 0) {
tc = (1.0f/((resx-1))*ix);
}
@@ -754,12 +754,12 @@ float tc=0.0f;
else if (id==3) {
tc = (1.0f/((resx-1))*(ix+1));
}
return tc;
return tc;
}
//
btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center,
const btVector3& radius,
int res)
const btVector3& radius,
int res)
{
struct Hammersley
{
@@ -790,8 +790,8 @@ btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,c
//
btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar* vertices,
const int* triangles,
int ntriangles)
const int* triangles,
int ntriangles)
{
int maxidx=0;
int i,j,ni;
@@ -832,7 +832,7 @@ btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo
//
btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
int nvertices)
int nvertices)
{
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
HullResult hres;

90
src/BulletSoftBody/btSoftBodyHelpers.h
View File

@@ -46,74 +46,74 @@ struct btSoftBodyHelpers
{
/* Draw body */
static void Draw( btSoftBody* psb,
btIDebugDraw* idraw,
int drawflags=fDrawFlags::Std);
btIDebugDraw* idraw,
int drawflags=fDrawFlags::Std);
/* Draw body infos */
static void DrawInfos( btSoftBody* psb,
btIDebugDraw* idraw,
bool masses,
bool areas,
bool stress);
btIDebugDraw* idraw,
bool masses,
bool areas,
bool stress);
/* Draw node tree */
static void DrawNodeTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth=0,
int maxdepth=-1);
btIDebugDraw* idraw,
int mindepth=0,
int maxdepth=-1);
/* Draw face tree */
static void DrawFaceTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth=0,
int maxdepth=-1);
btIDebugDraw* idraw,
int mindepth=0,
int maxdepth=-1);
/* Draw cluster tree */
static void DrawClusterTree(btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth=0,
int maxdepth=-1);
btIDebugDraw* idraw,
int mindepth=0,
int maxdepth=-1);
/* Draw rigid frame */
static void DrawFrame( btSoftBody* psb,
btIDebugDraw* idraw);
btIDebugDraw* idraw);
/* Create a rope */
static btSoftBody* CreateRope( btSoftBodyWorldInfo& worldInfo,
const btVector3& from,
const btVector3& to,
int res,
int fixeds);
const btVector3& from,
const btVector3& to,
int res,
int fixeds);
/* Create a patch */
static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo,
const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags);
const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags);
/* Create a patch with UV Texture Coordinates */
static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags,
float* tex_coords=0);
const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags,
float* tex_coords=0);
static float CalculateUV(int resx,int resy,int ix,int iy,int id);
/* Create an ellipsoid */
static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
const btVector3& center,
const btVector3& radius,
int res);
const btVector3& center,
const btVector3& radius,
int res);
/* Create from trimesh */
static btSoftBody* CreateFromTriMesh( btSoftBodyWorldInfo& worldInfo,
const btScalar* vertices,
const int* triangles,
int ntriangles);
const btScalar* vertices,
const int* triangles,
int ntriangles);
/* Create from convex-hull */
static btSoftBody* CreateFromConvexHull( btSoftBodyWorldInfo& worldInfo,
const btVector3* vertices,
int nvertices);
const btVector3* vertices,
int nvertices);
};
#endif //SOFT_BODY_HELPERS_H

710
src/BulletSoftBody/btSoftBodyInternals.h
View File

File diff suppressed because it is too large Load Diff

14
src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
View File

@@ -29,10 +29,10 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
@@ -40,20 +40,20 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
#endif
//replace pool by a new one, with potential larger size
if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
{
int curElemSize = m_collisionAlgorithmPool->getElementSize();
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
@@ -92,7 +92,7 @@ btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfigur
btAlignedFree( m_swappedSoftRigidConcaveCreateFunc);
#endif
}
///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
{

2
src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
View File

@@ -32,7 +32,7 @@ class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfi
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc;
btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc;
public:
btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());

8
src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
View File

@@ -35,13 +35,13 @@ m_isSwapped(isSwapped)
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
{
//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
/*if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
*/
@@ -58,7 +58,7 @@ void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,b
btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
softBody->defaultCollisionHandler(rigidCollisionObject);

8
src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
View File

@@ -28,15 +28,15 @@ class btSoftBody;
/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
{
// bool m_ownManifold;
// btPersistentManifold* m_manifoldPtr;
// bool m_ownManifold;
// btPersistentManifold* m_manifoldPtr;
btSoftBody* m_softBody;
btCollisionObject* m_rigidCollisionObject;
///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
bool m_isSwapped;
public:
btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
@@ -52,7 +52,7 @@ public:
//we don't add any manifolds
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)

34
src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
View File

@@ -28,17 +28,17 @@ subject to the following restrictions:
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
{
m_drawFlags = fDrawFlags::Std;
m_drawNodeTree = true;
m_drawFaceTree = false;
m_drawClusterTree = false;
m_sbi.m_broadphase = pairCache;
m_sbi.m_dispatcher = dispatcher;
m_sbi.m_sparsesdf.Initialize();
m_sbi.m_sparsesdf.Reset();
m_drawFlags = fDrawFlags::Std;
m_drawNodeTree = true;
m_drawFaceTree = false;
m_drawClusterTree = false;
m_sbi.m_broadphase = pairCache;
m_sbi.m_dispatcher = dispatcher;
m_sbi.m_sparsesdf.Initialize();
m_sbi.m_sparsesdf.Reset();
}
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
{
@@ -55,7 +55,7 @@ void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
psb->predictMotion(timeStep);
}
}
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
{
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
@@ -71,7 +71,7 @@ void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
void btSoftRigidDynamicsWorld::updateSoftBodies()
{
BT_PROFILE("updateSoftBodies");
for ( int i=0;i<m_softBodies.size();i++)
{
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
@@ -82,12 +82,12 @@ void btSoftRigidDynamicsWorld::updateSoftBodies()
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
{
BT_PROFILE("solveSoftConstraints");
if(m_softBodies.size())
{
{
btSoftBody::solveClusters(m_softBodies);
}
}
for(int i=0;i<m_softBodies.size();++i)
{
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
@@ -100,8 +100,8 @@ void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body)
m_softBodies.push_back(body);
btCollisionWorld::addCollisionObject(body,
btBroadphaseProxy::DefaultFilter,
btBroadphaseProxy::AllFilter);
btBroadphaseProxy::DefaultFilter,
btBroadphaseProxy::AllFilter);
}

18
src/BulletSoftBody/btSoftRigidDynamicsWorld.h
View File

@@ -23,7 +23,7 @@ typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
{
btSoftBodyArray m_softBodies;
int m_drawFlags;
bool m_drawNodeTree;
@@ -32,9 +32,9 @@ class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
btSoftBodyWorldInfo m_sbi;
protected:
virtual void predictUnconstraintMotion(btScalar timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
void updateSoftBodies();
@@ -43,17 +43,17 @@ protected:
public:
btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btSoftRigidDynamicsWorld();
virtual void debugDrawWorld();
void addSoftBody(btSoftBody* body);
void removeSoftBody(btSoftBody* body);
int getDrawFlags() const { return(m_drawFlags); }
void setDrawFlags(int f) { m_drawFlags=f; }
@@ -66,7 +66,7 @@ public:
return m_sbi;
}
btSoftBodyArray& getSoftBodyArray()
{
return m_softBodies;
@@ -76,7 +76,7 @@ public:
{
return m_softBodies;
}
};
#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H

2
src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
View File

@@ -33,7 +33,7 @@ class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm
btSoftBody* m_softBody0;
btSoftBody* m_softBody1;
public:
btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btCollisionAlgorithm(ci) {}

176
src/BulletSoftBody/btSparseSDF.h
View File

@@ -23,139 +23,139 @@ subject to the following restrictions:
// Modified Paul Hsieh hash
template <const int DWORDLEN>
unsigned int HsiehHash(const void* pdata)
{
{
const unsigned short* data=(const unsigned short*)pdata;
unsigned hash=DWORDLEN<<2,tmp;
for(int i=0;i<DWORDLEN;++i)
{
{
hash += data[0];
tmp = (data[1]<<11)^hash;
hash = (hash<<16)^tmp;
data += 2;
hash += hash>>11;
}
}
hash^=hash<<3;hash+=hash>>5;
hash^=hash<<4;hash+=hash>>17;
hash^=hash<<25;hash+=hash>>6;
return(hash);
}
}
template <const int CELLSIZE>
struct btSparseSdf
{
{
//
// Inner types
//
struct IntFrac
{
{
int b;
int i;
btScalar f;
};
};
struct Cell
{
{
btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
int c[3];
int puid;
unsigned hash;
btCollisionShape* pclient;
Cell* next;
};
};
//
// Fields
//
btAlignedObjectArray<Cell*> cells;
btScalar voxelsz;
int puid;
int ncells;
int nprobes;
int nqueries;
//
// Methods
//
//
void Initialize(int hashsize=2383)
{
{
cells.resize(hashsize,0);
Reset();
}
}
//
void Reset()
{
{
for(int i=0,ni=cells.size();i<ni;++i)
{
{
Cell* pc=cells[i];
cells[i]=0;
while(pc)
{
{
Cell* pn=pc->next;
delete pc;
pc=pn;
}
}
}
voxelsz =0.25;
puid =0;
ncells =0;
nprobes =1;
nqueries =1;
}
}
//
void GarbageCollect(int lifetime=256)
{
{
const int life=puid-lifetime;
for(int i=0;i<cells.size();++i)
{
{
Cell*& root=cells[i];
Cell* pp=0;
Cell* pc=root;
while(pc)
{
{
Cell* pn=pc->next;
if(pc->puid<life)
{
{
if(pp) pp->next=pn; else root=pn;
delete pc;pc=pp;--ncells;
}
pp=pc;pc=pn;
}
pp=pc;pc=pn;
}
}
//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
nqueries=1;
nprobes=1;
++puid; /* TODO: Reset puid's when int range limit is reached */
/* else setup a priority list... */
}
/* else setup a priority list... */
}
//
int RemoveReferences(btCollisionShape* pcs)
{
{
int refcount=0;
for(int i=0;i<cells.size();++i)
{
{
Cell*& root=cells[i];
Cell* pp=0;
Cell* pc=root;
while(pc)
{
{
Cell* pn=pc->next;
if(pc->pclient==pcs)
{
{
if(pp) pp->next=pn; else root=pn;
delete pc;pc=pp;++refcount;
}
pp=pc;pc=pn;
}
pp=pc;pc=pn;
}
return(refcount);
}
return(refcount);
}
//
btScalar Evaluate( const btVector3& x,
btCollisionShape* shape,
btVector3& normal,
btScalar margin)
{
btCollisionShape* shape,
btVector3& normal,
btScalar margin)
{
/* Lookup cell */
const btVector3 scx=x/voxelsz;
const IntFrac ix=Decompose(scx.x());
@@ -166,19 +166,19 @@ struct btSparseSdf
Cell* c=root;
++nqueries;
while(c)
{
{
++nprobes;
if( (c->hash==h) &&
(c->c[0]==ix.b) &&
(c->c[1]==iy.b) &&
(c->c[2]==iz.b) &&
(c->pclient==shape))
{ break; }
else
{ c=c->next; }
}
{ break; }
else
{ c=c->next; }
}
if(!c)
{
{
++nprobes;
++ncells;
c=new Cell();
@@ -187,82 +187,82 @@ struct btSparseSdf
c->hash=h;
c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
BuildCell(*c);
}
}
c->puid=puid;
/* Extract infos */
const int o[]={ ix.i,iy.i,iz.i};
const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0],
c->d[o[0]+1][o[1]+0][o[2]+0],
c->d[o[0]+1][o[1]+1][o[2]+0],
c->d[o[0]+0][o[1]+1][o[2]+0],
c->d[o[0]+0][o[1]+0][o[2]+1],
c->d[o[0]+1][o[1]+0][o[2]+1],
c->d[o[0]+1][o[1]+1][o[2]+1],
c->d[o[0]+0][o[1]+1][o[2]+1]};
c->d[o[0]+1][o[1]+0][o[2]+0],
c->d[o[0]+1][o[1]+1][o[2]+0],
c->d[o[0]+0][o[1]+1][o[2]+0],
c->d[o[0]+0][o[1]+0][o[2]+1],
c->d[o[0]+1][o[1]+0][o[2]+1],
c->d[o[0]+1][o[1]+1][o[2]+1],
c->d[o[0]+0][o[1]+1][o[2]+1]};
/* Normal */
#if 1
#if 1
const btScalar gx[]={ d[1]-d[0],d[2]-d[3],
d[5]-d[4],d[6]-d[7]};
d[5]-d[4],d[6]-d[7]};
const btScalar gy[]={ d[3]-d[0],d[2]-d[1],
d[7]-d[4],d[6]-d[5]};
d[7]-d[4],d[6]-d[5]};
const btScalar gz[]={ d[4]-d[0],d[5]-d[1],
d[7]-d[3],d[6]-d[2]};
d[7]-d[3],d[6]-d[2]};
normal.setX(Lerp( Lerp(gx[0],gx[1],iy.f),
Lerp(gx[2],gx[3],iy.f),iz.f));
Lerp(gx[2],gx[3],iy.f),iz.f));
normal.setY(Lerp( Lerp(gy[0],gy[1],ix.f),
Lerp(gy[2],gy[3],ix.f),iz.f));
Lerp(gy[2],gy[3],ix.f),iz.f));
normal.setZ(Lerp( Lerp(gz[0],gz[1],ix.f),
Lerp(gz[2],gz[3],ix.f),iy.f));
Lerp(gz[2],gz[3],ix.f),iy.f));
normal = normal.normalized();
#else
#else
normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
#endif
#endif
/* Distance */
const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f),
Lerp(d[3],d[2],ix.f),iy.f);
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);
Lerp(d[7],d[6],ix.f),iy.f);
return(Lerp(d0,d1,iz.f)-margin);
}
}
//
void BuildCell(Cell& c)
{
{
const btVector3 org=btVector3( (btScalar)c.c[0],
(btScalar)c.c[1],
(btScalar)c.c[2]) *
CELLSIZE*voxelsz;
(btScalar)c.c[1],
(btScalar)c.c[2]) *
CELLSIZE*voxelsz;
for(int k=0;k<=CELLSIZE;++k)
{
{
const btScalar z=voxelsz*k+org.z();
for(int j=0;j<=CELLSIZE;++j)
{
{
const btScalar y=voxelsz*j+org.y();
for(int i=0;i<=CELLSIZE;++i)
{
{
const btScalar x=voxelsz*i+org.x();
c.d[i][j][k]=DistanceToShape( btVector3(x,y,z),
c.pclient);
}
c.pclient);
}
}
}
}
//
static inline btScalar DistanceToShape(const btVector3& x,
btCollisionShape* shape)
{
btCollisionShape* shape)
{
btTransform unit;
unit.setIdentity();
if(shape->isConvex())
{
{
btGjkEpaSolver2::sResults res;
btConvexShape* csh=static_cast<btConvexShape*>(shape);
return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
}
return(0);
}
return(0);
}
//
static inline IntFrac Decompose(btScalar x)
{
{
/* That one need a lot of improvements... */
/* Remove test, faster floor... */
IntFrac r;
@@ -272,18 +272,18 @@ struct btSparseSdf
const btScalar k=(x-r.b)*CELLSIZE;
r.i=(int)k;r.f=k-r.i;r.b-=o;
return(r);
}
}
//
static inline btScalar Lerp(btScalar a,btScalar b,btScalar t)
{
{
return(a+(b-a)*t);
}
}
//
static inline unsigned int Hash(int x,int y,int z,btCollisionShape* shape)
{
{
struct btS
{
int x,y,z;
@@ -291,16 +291,16 @@ struct btSparseSdf
};
btS myset;
myset.x=x;myset.y=y;myset.z=z;myset.p=shape;
const void* ptr = &myset;
unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
return result;
}
}
};
#endif