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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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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);
};