Autoformat selection for soft body, btDbvt related classes (no code change, just layout using Visual Studio)
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@@ -26,19 +26,19 @@ subject to the following restrictions:
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#if DBVT_BP_PROFILE
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#if DBVT_BP_PROFILE
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struct ProfileScope
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struct ProfileScope
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{
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{
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__forceinline ProfileScope(btClock& clock,unsigned long& value) :
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__forceinline ProfileScope(btClock& clock,unsigned long& value) :
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m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
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m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
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{
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{
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}
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}
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__forceinline ~ProfileScope()
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__forceinline ~ProfileScope()
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{
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{
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(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
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(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
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}
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}
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btClock* m_clock;
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btClock* m_clock;
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unsigned long* m_value;
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unsigned long* m_value;
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unsigned long m_base;
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unsigned long m_base;
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};
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};
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#define SPC(_value_) ProfileScope spc_scope(m_clock,_value_)
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#define SPC(_value_) ProfileScope spc_scope(m_clock,_value_)
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#else
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#else
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#define SPC(_value_)
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#define SPC(_value_)
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@@ -52,35 +52,35 @@ struct ProfileScope
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template <typename T>
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template <typename T>
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static inline void listappend(T* item,T*& list)
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static inline void listappend(T* item,T*& list)
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{
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{
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item->links[0]=0;
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item->links[0]=0;
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item->links[1]=list;
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item->links[1]=list;
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if(list) list->links[0]=item;
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if(list) list->links[0]=item;
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list=item;
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list=item;
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}
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}
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//
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//
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template <typename T>
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template <typename T>
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static inline void listremove(T* item,T*& list)
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static inline void listremove(T* item,T*& list)
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{
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{
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if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
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if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
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if(item->links[1]) item->links[1]->links[0]=item->links[0];
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if(item->links[1]) item->links[1]->links[0]=item->links[0];
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}
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}
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//
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//
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template <typename T>
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template <typename T>
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static inline int listcount(T* root)
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static inline int listcount(T* root)
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{
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{
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int n=0;
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int n=0;
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while(root) { ++n;root=root->links[1]; }
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while(root) { ++n;root=root->links[1]; }
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return(n);
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return(n);
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}
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}
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//
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//
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template <typename T>
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template <typename T>
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static inline void clear(T& value)
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static inline void clear(T& value)
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{
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{
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static const struct ZeroDummy : T {} zerodummy;
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static const struct ZeroDummy : T {} zerodummy;
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value=zerodummy;
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value=zerodummy;
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}
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}
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//
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//
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@@ -90,25 +90,25 @@ value=zerodummy;
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/* Tree collider */
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/* Tree collider */
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struct btDbvtTreeCollider : btDbvt::ICollide
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struct btDbvtTreeCollider : btDbvt::ICollide
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{
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{
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btDbvtBroadphase* pbp;
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btDbvtBroadphase* pbp;
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btDbvtProxy* proxy;
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btDbvtProxy* proxy;
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btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
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btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
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void Process(const btDbvtNode* na,const btDbvtNode* nb)
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void Process(const btDbvtNode* na,const btDbvtNode* nb)
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{
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{
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if(na!=nb)
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if(na!=nb)
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{
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{
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btDbvtProxy* pa=(btDbvtProxy*)na->data;
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btDbvtProxy* pa=(btDbvtProxy*)na->data;
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btDbvtProxy* pb=(btDbvtProxy*)nb->data;
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btDbvtProxy* pb=(btDbvtProxy*)nb->data;
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#if DBVT_BP_SORTPAIRS
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#if DBVT_BP_SORTPAIRS
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if(pa>pb) btSwap(pa,pb);
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if(pa>pb) btSwap(pa,pb);
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#endif
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#endif
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pbp->m_paircache->addOverlappingPair(pa,pb);
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pbp->m_paircache->addOverlappingPair(pa,pb);
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++pbp->m_newpairs;
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++pbp->m_newpairs;
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}
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}
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}
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}
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void Process(const btDbvtNode* n)
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void Process(const btDbvtNode* n)
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{
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{
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Process(n,proxy->leaf);
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Process(n,proxy->leaf);
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}
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}
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};
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};
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@@ -119,88 +119,88 @@ void Process(const btDbvtNode* n)
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//
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//
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btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
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btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
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{
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{
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m_deferedcollide = false;
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m_deferedcollide = false;
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m_needcleanup = true;
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m_needcleanup = true;
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m_releasepaircache = (paircache!=0)?false:true;
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m_releasepaircache = (paircache!=0)?false:true;
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m_prediction = 1/(btScalar)2;
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m_prediction = 1/(btScalar)2;
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m_stageCurrent = 0;
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m_stageCurrent = 0;
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m_fixedleft = 0;
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m_fixedleft = 0;
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m_fupdates = 1;
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m_fupdates = 1;
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m_dupdates = 0;
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m_dupdates = 0;
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m_cupdates = 10;
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m_cupdates = 10;
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m_newpairs = 1;
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m_newpairs = 1;
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m_updates_call = 0;
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m_updates_call = 0;
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m_updates_done = 0;
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m_updates_done = 0;
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m_updates_ratio = 0;
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m_updates_ratio = 0;
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m_paircache = paircache?
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m_paircache = paircache?
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paircache :
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paircache :
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new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
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new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
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m_gid = 0;
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m_gid = 0;
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m_pid = 0;
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m_pid = 0;
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m_cid = 0;
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m_cid = 0;
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for(int i=0;i<=STAGECOUNT;++i)
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for(int i=0;i<=STAGECOUNT;++i)
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{
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{
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m_stageRoots[i]=0;
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m_stageRoots[i]=0;
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}
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}
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#if DBVT_BP_PROFILE
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#if DBVT_BP_PROFILE
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clear(m_profiling);
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clear(m_profiling);
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#endif
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#endif
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}
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}
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//
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//
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btDbvtBroadphase::~btDbvtBroadphase()
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btDbvtBroadphase::~btDbvtBroadphase()
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{
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{
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if(m_releasepaircache)
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if(m_releasepaircache)
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{
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{
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m_paircache->~btOverlappingPairCache();
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m_paircache->~btOverlappingPairCache();
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btAlignedFree(m_paircache);
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btAlignedFree(m_paircache);
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}
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}
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}
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}
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//
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//
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btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
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btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
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const btVector3& aabbMax,
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const btVector3& aabbMax,
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int /*shapeType*/,
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int /*shapeType*/,
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void* userPtr,
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void* userPtr,
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short int collisionFilterGroup,
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short int collisionFilterGroup,
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short int collisionFilterMask,
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short int collisionFilterMask,
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btDispatcher* /*dispatcher*/,
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btDispatcher* /*dispatcher*/,
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void* /*multiSapProxy*/)
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void* /*multiSapProxy*/)
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{
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{
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btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( aabbMin,aabbMax,userPtr,
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btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( aabbMin,aabbMax,userPtr,
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collisionFilterGroup,
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collisionFilterGroup,
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collisionFilterMask);
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collisionFilterMask);
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btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
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btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
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//bproxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
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//bproxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
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proxy->stage = m_stageCurrent;
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proxy->stage = m_stageCurrent;
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proxy->m_uniqueId = ++m_gid;
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proxy->m_uniqueId = ++m_gid;
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proxy->leaf = m_sets[0].insert(aabb,proxy);
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proxy->leaf = m_sets[0].insert(aabb,proxy);
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listappend(proxy,m_stageRoots[m_stageCurrent]);
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listappend(proxy,m_stageRoots[m_stageCurrent]);
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if(!m_deferedcollide)
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if(!m_deferedcollide)
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{
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{
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btDbvtTreeCollider collider(this);
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btDbvtTreeCollider collider(this);
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collider.proxy=proxy;
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collider.proxy=proxy;
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btDbvt::collideTV(m_sets[0].m_root,aabb,collider);
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btDbvt::collideTV(m_sets[0].m_root,aabb,collider);
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btDbvt::collideTV(m_sets[1].m_root,aabb,collider);
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btDbvt::collideTV(m_sets[1].m_root,aabb,collider);
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}
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}
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return(proxy);
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return(proxy);
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}
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}
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//
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//
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void btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy,
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void btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy,
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btDispatcher* dispatcher)
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btDispatcher* dispatcher)
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{
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{
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btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
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btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
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if(proxy->stage==STAGECOUNT)
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if(proxy->stage==STAGECOUNT)
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m_sets[1].remove(proxy->leaf);
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m_sets[1].remove(proxy->leaf);
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else
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else
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m_sets[0].remove(proxy->leaf);
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m_sets[0].remove(proxy->leaf);
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listremove(proxy,m_stageRoots[proxy->stage]);
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listremove(proxy,m_stageRoots[proxy->stage]);
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m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
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m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
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btAlignedFree(proxy);
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btAlignedFree(proxy);
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m_needcleanup=true;
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m_needcleanup=true;
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}
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}
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void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
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void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
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@@ -230,79 +230,79 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
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BroadphaseRayTester callback(rayCallback);
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BroadphaseRayTester callback(rayCallback);
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m_sets[0].rayTest( m_sets[0].m_root,
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m_sets[0].rayTest( m_sets[0].m_root,
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rayFrom,
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rayFrom,
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rayTo,
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rayTo,
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callback);
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callback);
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m_sets[1].rayTest( m_sets[1].m_root,
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m_sets[1].rayTest( m_sets[1].m_root,
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rayFrom,
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rayFrom,
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rayTo,
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rayTo,
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callback);
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callback);
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}
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}
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//
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//
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void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
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void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
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const btVector3& aabbMin,
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const btVector3& aabbMin,
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const btVector3& aabbMax,
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const btVector3& aabbMax,
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btDispatcher* /*dispatcher*/)
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btDispatcher* /*dispatcher*/)
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{
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{
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btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
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btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
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ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
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ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
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#if DBVT_BP_PREVENTFALSEUPDATE
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#if DBVT_BP_PREVENTFALSEUPDATE
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if(NotEqual(aabb,proxy->leaf->volume))
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if(NotEqual(aabb,proxy->leaf->volume))
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#endif
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#endif
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{
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{
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bool docollide=false;
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bool docollide=false;
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if(proxy->stage==STAGECOUNT)
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if(proxy->stage==STAGECOUNT)
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{/* fixed -> dynamic set */
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{/* fixed -> dynamic set */
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m_sets[1].remove(proxy->leaf);
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m_sets[1].remove(proxy->leaf);
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proxy->leaf=m_sets[0].insert(aabb,proxy);
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proxy->leaf=m_sets[0].insert(aabb,proxy);
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docollide=true;
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docollide=true;
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}
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}
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else
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else
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{/* dynamic set */
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{/* dynamic set */
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++m_updates_call;
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++m_updates_call;
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if(Intersect(proxy->leaf->volume,aabb))
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if(Intersect(proxy->leaf->volume,aabb))
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{/* Moving */
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{/* Moving */
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const btVector3 delta=aabbMin-proxy->m_aabbMin;
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const btVector3 delta=aabbMin-proxy->m_aabbMin;
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btVector3 velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
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btVector3 velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
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if(delta[0]<0) velocity[0]=-velocity[0];
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if(delta[0]<0) velocity[0]=-velocity[0];
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if(delta[1]<0) velocity[1]=-velocity[1];
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if(delta[1]<0) velocity[1]=-velocity[1];
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if(delta[2]<0) velocity[2]=-velocity[2];
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if(delta[2]<0) velocity[2]=-velocity[2];
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if (
|
if (
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#ifdef DBVT_BP_MARGIN
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#ifdef DBVT_BP_MARGIN
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m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
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m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
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#else
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#else
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m_sets[0].update(proxy->leaf,aabb,velocity)
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m_sets[0].update(proxy->leaf,aabb,velocity)
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#endif
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#endif
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)
|
)
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{
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{
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++m_updates_done;
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++m_updates_done;
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docollide=true;
|
docollide=true;
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}
|
}
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}
|
}
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else
|
else
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{/* Teleporting */
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{/* Teleporting */
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m_sets[0].update(proxy->leaf,aabb);
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m_sets[0].update(proxy->leaf,aabb);
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++m_updates_done;
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++m_updates_done;
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docollide=true;
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docollide=true;
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}
|
}
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}
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}
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listremove(proxy,m_stageRoots[proxy->stage]);
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listremove(proxy,m_stageRoots[proxy->stage]);
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proxy->m_aabbMin = aabbMin;
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proxy->m_aabbMin = aabbMin;
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proxy->m_aabbMax = aabbMax;
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proxy->m_aabbMax = aabbMax;
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proxy->stage = m_stageCurrent;
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proxy->stage = m_stageCurrent;
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listappend(proxy,m_stageRoots[m_stageCurrent]);
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listappend(proxy,m_stageRoots[m_stageCurrent]);
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if(docollide)
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if(docollide)
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{
|
{
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m_needcleanup=true;
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m_needcleanup=true;
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if(!m_deferedcollide)
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if(!m_deferedcollide)
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{
|
{
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btDbvtTreeCollider collider(this);
|
btDbvtTreeCollider collider(this);
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btDbvt::collideTT(m_sets[1].m_root,proxy->leaf,collider);
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btDbvt::collideTT(m_sets[1].m_root,proxy->leaf,collider);
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btDbvt::collideTT(m_sets[0].m_root,proxy->leaf,collider);
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btDbvt::collideTT(m_sets[0].m_root,proxy->leaf,collider);
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||||||
}
|
}
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||||||
}
|
}
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||||||
}
|
}
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||||||
@@ -311,24 +311,24 @@ if(NotEqual(aabb,proxy->leaf->volume))
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|||||||
//
|
//
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||||||
void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
|
void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
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||||||
{
|
{
|
||||||
collide(dispatcher);
|
collide(dispatcher);
|
||||||
#if DBVT_BP_PROFILE
|
#if DBVT_BP_PROFILE
|
||||||
if(0==(m_pid%DBVT_BP_PROFILING_RATE))
|
if(0==(m_pid%DBVT_BP_PROFILING_RATE))
|
||||||
{
|
{
|
||||||
printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
|
printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
|
||||||
unsigned int total=m_profiling.m_total;
|
unsigned int total=m_profiling.m_total;
|
||||||
if(total<=0) total=1;
|
if(total<=0) total=1;
|
||||||
printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
|
printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
|
||||||
printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
|
printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
|
||||||
printf("cleanup: %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
|
printf("cleanup: %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
|
||||||
printf("total: %uus\r\n",total/DBVT_BP_PROFILING_RATE);
|
printf("total: %uus\r\n",total/DBVT_BP_PROFILING_RATE);
|
||||||
const unsigned long sum=m_profiling.m_ddcollide+
|
const unsigned long sum=m_profiling.m_ddcollide+
|
||||||
m_profiling.m_fdcollide+
|
m_profiling.m_fdcollide+
|
||||||
m_profiling.m_cleanup;
|
m_profiling.m_cleanup;
|
||||||
printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
|
printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
|
||||||
printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
|
printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
|
||||||
clear(m_profiling);
|
clear(m_profiling);
|
||||||
m_clock.reset();
|
m_clock.reset();
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
@@ -336,108 +336,108 @@ if(0==(m_pid%DBVT_BP_PROFILING_RATE))
|
|||||||
//
|
//
|
||||||
void btDbvtBroadphase::collide(btDispatcher* dispatcher)
|
void btDbvtBroadphase::collide(btDispatcher* dispatcher)
|
||||||
{
|
{
|
||||||
SPC(m_profiling.m_total);
|
SPC(m_profiling.m_total);
|
||||||
/* optimize */
|
/* optimize */
|
||||||
m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
|
m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
|
||||||
if(m_fixedleft)
|
if(m_fixedleft)
|
||||||
{
|
{
|
||||||
const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
|
const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
|
||||||
m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
|
m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
|
||||||
m_fixedleft=btMax<int>(0,m_fixedleft-count);
|
m_fixedleft=btMax<int>(0,m_fixedleft-count);
|
||||||
}
|
}
|
||||||
/* dynamic -> fixed set */
|
/* dynamic -> fixed set */
|
||||||
m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
|
m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
|
||||||
btDbvtProxy* current=m_stageRoots[m_stageCurrent];
|
btDbvtProxy* current=m_stageRoots[m_stageCurrent];
|
||||||
if(current)
|
if(current)
|
||||||
{
|
{
|
||||||
btDbvtTreeCollider collider(this);
|
btDbvtTreeCollider collider(this);
|
||||||
do {
|
do {
|
||||||
btDbvtProxy* next=current->links[1];
|
btDbvtProxy* next=current->links[1];
|
||||||
listremove(current,m_stageRoots[current->stage]);
|
listremove(current,m_stageRoots[current->stage]);
|
||||||
listappend(current,m_stageRoots[STAGECOUNT]);
|
listappend(current,m_stageRoots[STAGECOUNT]);
|
||||||
#if DBVT_BP_ACCURATESLEEPING
|
#if DBVT_BP_ACCURATESLEEPING
|
||||||
m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
|
m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
|
||||||
collider.proxy=current;
|
collider.proxy=current;
|
||||||
btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
|
btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
|
||||||
btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
|
btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
|
||||||
#endif
|
#endif
|
||||||
m_sets[0].remove(current->leaf);
|
m_sets[0].remove(current->leaf);
|
||||||
ATTRIBUTE_ALIGNED16(btDbvtVolume) curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
|
ATTRIBUTE_ALIGNED16(btDbvtVolume) curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
|
||||||
current->leaf = m_sets[1].insert(curAabb,current);
|
current->leaf = m_sets[1].insert(curAabb,current);
|
||||||
current->stage = STAGECOUNT;
|
current->stage = STAGECOUNT;
|
||||||
current = next;
|
current = next;
|
||||||
} while(current);
|
} while(current);
|
||||||
m_fixedleft=m_sets[1].m_leaves;
|
m_fixedleft=m_sets[1].m_leaves;
|
||||||
m_needcleanup=true;
|
m_needcleanup=true;
|
||||||
}
|
}
|
||||||
/* collide dynamics */
|
/* collide dynamics */
|
||||||
{
|
{
|
||||||
btDbvtTreeCollider collider(this);
|
btDbvtTreeCollider collider(this);
|
||||||
if(m_deferedcollide)
|
if(m_deferedcollide)
|
||||||
{
|
{
|
||||||
SPC(m_profiling.m_fdcollide);
|
SPC(m_profiling.m_fdcollide);
|
||||||
btDbvt::collideTT(m_sets[0].m_root,m_sets[1].m_root,collider);
|
btDbvt::collideTT(m_sets[0].m_root,m_sets[1].m_root,collider);
|
||||||
}
|
}
|
||||||
if(m_deferedcollide)
|
if(m_deferedcollide)
|
||||||
{
|
{
|
||||||
SPC(m_profiling.m_ddcollide);
|
SPC(m_profiling.m_ddcollide);
|
||||||
btDbvt::collideTT(m_sets[0].m_root,m_sets[0].m_root,collider);
|
btDbvt::collideTT(m_sets[0].m_root,m_sets[0].m_root,collider);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
/* clean up */
|
/* clean up */
|
||||||
if(m_needcleanup)
|
if(m_needcleanup)
|
||||||
{
|
{
|
||||||
SPC(m_profiling.m_cleanup);
|
SPC(m_profiling.m_cleanup);
|
||||||
btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
|
btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
|
||||||
if(pairs.size()>0)
|
if(pairs.size()>0)
|
||||||
{
|
{
|
||||||
const int ci=pairs.size();
|
const int ci=pairs.size();
|
||||||
int ni=btMin(ci,btMax<int>(m_newpairs,(ci*m_cupdates)/100));
|
int ni=btMin(ci,btMax<int>(m_newpairs,(ci*m_cupdates)/100));
|
||||||
for(int i=0;i<ni;++i)
|
for(int i=0;i<ni;++i)
|
||||||
{
|
{
|
||||||
btBroadphasePair& p=pairs[(m_cid+i)%ci];
|
btBroadphasePair& p=pairs[(m_cid+i)%ci];
|
||||||
btDbvtProxy* pa=(btDbvtProxy*)p.m_pProxy0;
|
btDbvtProxy* pa=(btDbvtProxy*)p.m_pProxy0;
|
||||||
btDbvtProxy* pb=(btDbvtProxy*)p.m_pProxy1;
|
btDbvtProxy* pb=(btDbvtProxy*)p.m_pProxy1;
|
||||||
if(!Intersect(pa->leaf->volume,pb->leaf->volume))
|
if(!Intersect(pa->leaf->volume,pb->leaf->volume))
|
||||||
{
|
{
|
||||||
#if DBVT_BP_SORTPAIRS
|
#if DBVT_BP_SORTPAIRS
|
||||||
if(pa>pb) btSwap(pa,pb);
|
if(pa>pb) btSwap(pa,pb);
|
||||||
#endif
|
#endif
|
||||||
m_paircache->removeOverlappingPair(pa,pb,dispatcher);
|
m_paircache->removeOverlappingPair(pa,pb,dispatcher);
|
||||||
--ni;--i;
|
--ni;--i;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
|
if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
++m_pid;
|
++m_pid;
|
||||||
m_newpairs=1;
|
m_newpairs=1;
|
||||||
m_needcleanup=false;
|
m_needcleanup=false;
|
||||||
if(m_updates_call>0)
|
if(m_updates_call>0)
|
||||||
{ m_updates_ratio=m_updates_done/(btScalar)m_updates_call; }
|
{ m_updates_ratio=m_updates_done/(btScalar)m_updates_call; }
|
||||||
else
|
else
|
||||||
{ m_updates_ratio=0; }
|
{ m_updates_ratio=0; }
|
||||||
m_updates_done/=2;
|
m_updates_done/=2;
|
||||||
m_updates_call/=2;
|
m_updates_call/=2;
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
void btDbvtBroadphase::optimize()
|
void btDbvtBroadphase::optimize()
|
||||||
{
|
{
|
||||||
m_sets[0].optimizeTopDown();
|
m_sets[0].optimizeTopDown();
|
||||||
m_sets[1].optimizeTopDown();
|
m_sets[1].optimizeTopDown();
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
|
btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
|
||||||
{
|
{
|
||||||
return(m_paircache);
|
return(m_paircache);
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
|
const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
|
||||||
{
|
{
|
||||||
return(m_paircache);
|
return(m_paircache);
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
@@ -446,16 +446,16 @@ void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aab
|
|||||||
|
|
||||||
ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds;
|
ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds;
|
||||||
|
|
||||||
if(!m_sets[0].empty())
|
if(!m_sets[0].empty())
|
||||||
if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume,
|
if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume,
|
||||||
m_sets[1].m_root->volume,bounds);
|
m_sets[1].m_root->volume,bounds);
|
||||||
else
|
else
|
||||||
bounds=m_sets[0].m_root->volume;
|
bounds=m_sets[0].m_root->volume;
|
||||||
else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume;
|
else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume;
|
||||||
else
|
else
|
||||||
bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
|
bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
|
||||||
aabbMin=bounds.Mins();
|
aabbMin=bounds.Mins();
|
||||||
aabbMax=bounds.Maxs();
|
aabbMax=bounds.Maxs();
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
@@ -466,9 +466,9 @@ void btDbvtBroadphase::printStats()
|
|||||||
#if DBVT_BP_ENABLE_BENCHMARK
|
#if DBVT_BP_ENABLE_BENCHMARK
|
||||||
|
|
||||||
struct btBroadphaseBenchmark
|
struct btBroadphaseBenchmark
|
||||||
{
|
{
|
||||||
struct Experiment
|
struct Experiment
|
||||||
{
|
{
|
||||||
const char* name;
|
const char* name;
|
||||||
int object_count;
|
int object_count;
|
||||||
int update_count;
|
int update_count;
|
||||||
@@ -476,109 +476,109 @@ struct btBroadphaseBenchmark
|
|||||||
int iterations;
|
int iterations;
|
||||||
btScalar speed;
|
btScalar speed;
|
||||||
btScalar amplitude;
|
btScalar amplitude;
|
||||||
};
|
};
|
||||||
struct Object
|
struct Object
|
||||||
{
|
{
|
||||||
btVector3 center;
|
btVector3 center;
|
||||||
btVector3 extents;
|
btVector3 extents;
|
||||||
btBroadphaseProxy* proxy;
|
btBroadphaseProxy* proxy;
|
||||||
btScalar time;
|
btScalar time;
|
||||||
void update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi)
|
void update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi)
|
||||||
{
|
{
|
||||||
time += speed;
|
time += speed;
|
||||||
center[0] = btCos(time*(btScalar)2.17)*amplitude+
|
center[0] = btCos(time*(btScalar)2.17)*amplitude+
|
||||||
btSin(time)*amplitude/2;
|
btSin(time)*amplitude/2;
|
||||||
center[1] = btCos(time*(btScalar)1.38)*amplitude+
|
center[1] = btCos(time*(btScalar)1.38)*amplitude+
|
||||||
btSin(time)*amplitude;
|
btSin(time)*amplitude;
|
||||||
center[2] = btSin(time*(btScalar)0.777)*amplitude;
|
center[2] = btSin(time*(btScalar)0.777)*amplitude;
|
||||||
pbi->setAabb(proxy,center-extents,center+extents,0);
|
pbi->setAabb(proxy,center-extents,center+extents,0);
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
static int UnsignedRand(int range=RAND_MAX-1) { return(rand()%(range+1)); }
|
static int UnsignedRand(int range=RAND_MAX-1) { return(rand()%(range+1)); }
|
||||||
static btScalar UnitRand() { return(UnsignedRand(16384)/(btScalar)16384); }
|
static btScalar UnitRand() { return(UnsignedRand(16384)/(btScalar)16384); }
|
||||||
static void OutputTime(const char* name,btClock& c,unsigned count=0)
|
static void OutputTime(const char* name,btClock& c,unsigned count=0)
|
||||||
{
|
{
|
||||||
const unsigned long us=c.getTimeMicroseconds();
|
const unsigned long us=c.getTimeMicroseconds();
|
||||||
const unsigned long ms=(us+500)/1000;
|
const unsigned long ms=(us+500)/1000;
|
||||||
const btScalar sec=us/(btScalar)(1000*1000);
|
const btScalar sec=us/(btScalar)(1000*1000);
|
||||||
if(count>0)
|
if(count>0)
|
||||||
printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
|
printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
|
||||||
else
|
else
|
||||||
printf("%s : %u us (%u ms)\r\n",name,us,ms);
|
printf("%s : %u us (%u ms)\r\n",name,us,ms);
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
|
void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
|
||||||
{
|
{
|
||||||
static const btBroadphaseBenchmark::Experiment experiments[]=
|
static const btBroadphaseBenchmark::Experiment experiments[]=
|
||||||
{
|
{
|
||||||
{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
|
{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
|
||||||
/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
|
/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
|
||||||
{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
|
{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
|
||||||
};
|
};
|
||||||
static const int nexperiments=sizeof(experiments)/sizeof(experiments[0]);
|
static const int nexperiments=sizeof(experiments)/sizeof(experiments[0]);
|
||||||
btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects;
|
btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects;
|
||||||
btClock wallclock;
|
btClock wallclock;
|
||||||
/* Begin */
|
/* Begin */
|
||||||
for(int iexp=0;iexp<nexperiments;++iexp)
|
for(int iexp=0;iexp<nexperiments;++iexp)
|
||||||
{
|
{
|
||||||
const btBroadphaseBenchmark::Experiment& experiment=experiments[iexp];
|
const btBroadphaseBenchmark::Experiment& experiment=experiments[iexp];
|
||||||
const int object_count=experiment.object_count;
|
const int object_count=experiment.object_count;
|
||||||
const int update_count=(object_count*experiment.update_count)/100;
|
const int update_count=(object_count*experiment.update_count)/100;
|
||||||
const int spawn_count=(object_count*experiment.spawn_count)/100;
|
const int spawn_count=(object_count*experiment.spawn_count)/100;
|
||||||
const btScalar speed=experiment.speed;
|
const btScalar speed=experiment.speed;
|
||||||
const btScalar amplitude=experiment.amplitude;
|
const btScalar amplitude=experiment.amplitude;
|
||||||
printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
|
printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
|
||||||
printf("\tObjects: %u\r\n",object_count);
|
printf("\tObjects: %u\r\n",object_count);
|
||||||
printf("\tUpdate: %u\r\n",update_count);
|
printf("\tUpdate: %u\r\n",update_count);
|
||||||
printf("\tSpawn: %u\r\n",spawn_count);
|
printf("\tSpawn: %u\r\n",spawn_count);
|
||||||
printf("\tSpeed: %f\r\n",speed);
|
printf("\tSpeed: %f\r\n",speed);
|
||||||
printf("\tAmplitude: %f\r\n",amplitude);
|
printf("\tAmplitude: %f\r\n",amplitude);
|
||||||
srand(180673);
|
srand(180673);
|
||||||
/* Create objects */
|
/* Create objects */
|
||||||
wallclock.reset();
|
wallclock.reset();
|
||||||
objects.reserve(object_count);
|
objects.reserve(object_count);
|
||||||
for(int i=0;i<object_count;++i)
|
for(int i=0;i<object_count;++i)
|
||||||
{
|
{
|
||||||
btBroadphaseBenchmark::Object* po=new btBroadphaseBenchmark::Object();
|
btBroadphaseBenchmark::Object* po=new btBroadphaseBenchmark::Object();
|
||||||
po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
|
po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
|
||||||
po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
|
po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
|
||||||
po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
|
po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
|
||||||
po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
|
po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
|
||||||
po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
|
po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
|
||||||
po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
|
po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
|
||||||
po->time=btBroadphaseBenchmark::UnitRand()*2000;
|
po->time=btBroadphaseBenchmark::UnitRand()*2000;
|
||||||
po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
|
po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
|
||||||
objects.push_back(po);
|
objects.push_back(po);
|
||||||
}
|
}
|
||||||
btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
|
btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
|
||||||
/* First update */
|
/* First update */
|
||||||
wallclock.reset();
|
wallclock.reset();
|
||||||
for(int i=0;i<objects.size();++i)
|
for(int i=0;i<objects.size();++i)
|
||||||
{
|
{
|
||||||
objects[i]->update(speed,amplitude,pbi);
|
objects[i]->update(speed,amplitude,pbi);
|
||||||
}
|
}
|
||||||
btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
|
btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
|
||||||
/* Updates */
|
/* Updates */
|
||||||
wallclock.reset();
|
wallclock.reset();
|
||||||
for(int i=0;i<experiment.iterations;++i)
|
for(int i=0;i<experiment.iterations;++i)
|
||||||
{
|
{
|
||||||
for(int j=0;j<update_count;++j)
|
for(int j=0;j<update_count;++j)
|
||||||
{
|
{
|
||||||
objects[j]->update(speed,amplitude,pbi);
|
objects[j]->update(speed,amplitude,pbi);
|
||||||
}
|
}
|
||||||
pbi->calculateOverlappingPairs(0);
|
pbi->calculateOverlappingPairs(0);
|
||||||
}
|
}
|
||||||
btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
|
btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
|
||||||
/* Clean up */
|
/* Clean up */
|
||||||
wallclock.reset();
|
wallclock.reset();
|
||||||
for(int i=0;i<objects.size();++i)
|
for(int i=0;i<objects.size();++i)
|
||||||
{
|
{
|
||||||
pbi->destroyProxy(objects[i]->proxy,0);
|
pbi->destroyProxy(objects[i]->proxy,0);
|
||||||
delete objects[i];
|
delete objects[i];
|
||||||
}
|
}
|
||||||
objects.resize(0);
|
objects.resize(0);
|
||||||
btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
|
btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -31,8 +31,8 @@ subject to the following restrictions:
|
|||||||
#define DBVT_BP_MARGIN (btScalar)0.05
|
#define DBVT_BP_MARGIN (btScalar)0.05
|
||||||
|
|
||||||
#if DBVT_BP_PROFILE
|
#if DBVT_BP_PROFILE
|
||||||
#define DBVT_BP_PROFILING_RATE 256
|
#define DBVT_BP_PROFILING_RATE 256
|
||||||
#include "LinearMath/btQuickprof.h"
|
#include "LinearMath/btQuickprof.h"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
//
|
//
|
||||||
@@ -40,16 +40,16 @@ subject to the following restrictions:
|
|||||||
//
|
//
|
||||||
struct btDbvtProxy : btBroadphaseProxy
|
struct btDbvtProxy : btBroadphaseProxy
|
||||||
{
|
{
|
||||||
/* Fields */
|
/* Fields */
|
||||||
//btDbvtAabbMm aabb;
|
//btDbvtAabbMm aabb;
|
||||||
btDbvtNode* leaf;
|
btDbvtNode* leaf;
|
||||||
btDbvtProxy* links[2];
|
btDbvtProxy* links[2];
|
||||||
int stage;
|
int stage;
|
||||||
/* ctor */
|
/* ctor */
|
||||||
btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
|
btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
|
||||||
btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
|
btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
|
||||||
{
|
{
|
||||||
links[0]=links[1]=0;
|
links[0]=links[1]=0;
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
@@ -60,60 +60,60 @@ typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray;
|
|||||||
///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
|
///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
|
||||||
struct btDbvtBroadphase : btBroadphaseInterface
|
struct btDbvtBroadphase : btBroadphaseInterface
|
||||||
{
|
{
|
||||||
/* Config */
|
/* Config */
|
||||||
enum {
|
enum {
|
||||||
DYNAMIC_SET = 0, /* Dynamic set index */
|
DYNAMIC_SET = 0, /* Dynamic set index */
|
||||||
FIXED_SET = 1, /* Fixed set index */
|
FIXED_SET = 1, /* Fixed set index */
|
||||||
STAGECOUNT = 2 /* Number of stages */
|
STAGECOUNT = 2 /* Number of stages */
|
||||||
};
|
};
|
||||||
/* Fields */
|
/* Fields */
|
||||||
btDbvt m_sets[2]; // Dbvt sets
|
btDbvt m_sets[2]; // Dbvt sets
|
||||||
btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list
|
btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list
|
||||||
btOverlappingPairCache* m_paircache; // Pair cache
|
btOverlappingPairCache* m_paircache; // Pair cache
|
||||||
btScalar m_prediction; // Velocity prediction
|
btScalar m_prediction; // Velocity prediction
|
||||||
int m_stageCurrent; // Current stage
|
int m_stageCurrent; // Current stage
|
||||||
int m_fupdates; // % of fixed updates per frame
|
int m_fupdates; // % of fixed updates per frame
|
||||||
int m_dupdates; // % of dynamic updates per frame
|
int m_dupdates; // % of dynamic updates per frame
|
||||||
int m_cupdates; // % of cleanup updates per frame
|
int m_cupdates; // % of cleanup updates per frame
|
||||||
int m_newpairs; // Number of pairs created
|
int m_newpairs; // Number of pairs created
|
||||||
int m_fixedleft; // Fixed optimization left
|
int m_fixedleft; // Fixed optimization left
|
||||||
unsigned m_updates_call; // Number of updates call
|
unsigned m_updates_call; // Number of updates call
|
||||||
unsigned m_updates_done; // Number of updates done
|
unsigned m_updates_done; // Number of updates done
|
||||||
btScalar m_updates_ratio; // m_updates_done/m_updates_call
|
btScalar m_updates_ratio; // m_updates_done/m_updates_call
|
||||||
int m_pid; // Parse id
|
int m_pid; // Parse id
|
||||||
int m_cid; // Cleanup index
|
int m_cid; // Cleanup index
|
||||||
int m_gid; // Gen id
|
int m_gid; // Gen id
|
||||||
bool m_releasepaircache; // Release pair cache on delete
|
bool m_releasepaircache; // Release pair cache on delete
|
||||||
bool m_deferedcollide; // Defere dynamic/static collision to collide call
|
bool m_deferedcollide; // Defere dynamic/static collision to collide call
|
||||||
bool m_needcleanup; // Need to run cleanup?
|
bool m_needcleanup; // Need to run cleanup?
|
||||||
#if DBVT_BP_PROFILE
|
#if DBVT_BP_PROFILE
|
||||||
btClock m_clock;
|
btClock m_clock;
|
||||||
struct {
|
struct {
|
||||||
unsigned long m_total;
|
unsigned long m_total;
|
||||||
unsigned long m_ddcollide;
|
unsigned long m_ddcollide;
|
||||||
unsigned long m_fdcollide;
|
unsigned long m_fdcollide;
|
||||||
unsigned long m_cleanup;
|
unsigned long m_cleanup;
|
||||||
unsigned long m_jobcount;
|
unsigned long m_jobcount;
|
||||||
} m_profiling;
|
} m_profiling;
|
||||||
#endif
|
#endif
|
||||||
/* Methods */
|
/* Methods */
|
||||||
btDbvtBroadphase(btOverlappingPairCache* paircache=0);
|
btDbvtBroadphase(btOverlappingPairCache* paircache=0);
|
||||||
~btDbvtBroadphase();
|
~btDbvtBroadphase();
|
||||||
void collide(btDispatcher* dispatcher);
|
void collide(btDispatcher* dispatcher);
|
||||||
void optimize();
|
void optimize();
|
||||||
/* btBroadphaseInterface Implementation */
|
/* btBroadphaseInterface Implementation */
|
||||||
btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
|
btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
|
||||||
void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||||
void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
|
void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
|
||||||
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
|
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
|
||||||
|
|
||||||
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
|
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
|
||||||
void calculateOverlappingPairs(btDispatcher* dispatcher);
|
void calculateOverlappingPairs(btDispatcher* dispatcher);
|
||||||
btOverlappingPairCache* getOverlappingPairCache();
|
btOverlappingPairCache* getOverlappingPairCache();
|
||||||
const btOverlappingPairCache* getOverlappingPairCache() const;
|
const btOverlappingPairCache* getOverlappingPairCache() const;
|
||||||
void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
|
void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
|
||||||
void printStats();
|
void printStats();
|
||||||
static void benchmark(btBroadphaseInterface*);
|
static void benchmark(btBroadphaseInterface*);
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
+946
-946
File diff suppressed because it is too large.
Load diff
+115
-115
@@ -62,13 +62,13 @@ public:
|
|||||||
F_OneSided, ///Face normals are taken as it is
|
F_OneSided, ///Face normals are taken as it is
|
||||||
END
|
END
|
||||||
};};
|
};};
|
||||||
|
|
||||||
///eVSolver : velocities solvers
|
///eVSolver : velocities solvers
|
||||||
struct eVSolver { enum _ {
|
struct eVSolver { enum _ {
|
||||||
Linear, ///Linear solver
|
Linear, ///Linear solver
|
||||||
END
|
END
|
||||||
};};
|
};};
|
||||||
|
|
||||||
///ePSolver : positions solvers
|
///ePSolver : positions solvers
|
||||||
struct ePSolver { enum _ {
|
struct ePSolver { enum _ {
|
||||||
Linear, ///Linear solver
|
Linear, ///Linear solver
|
||||||
@@ -77,7 +77,7 @@ public:
|
|||||||
SContacts, ///Soft contacts solver
|
SContacts, ///Soft contacts solver
|
||||||
END
|
END
|
||||||
};};
|
};};
|
||||||
|
|
||||||
///eSolverPresets
|
///eSolverPresets
|
||||||
struct eSolverPresets { enum _ {
|
struct eSolverPresets { enum _ {
|
||||||
Positions,
|
Positions,
|
||||||
@@ -85,7 +85,7 @@ public:
|
|||||||
Default = Positions,
|
Default = Positions,
|
||||||
END
|
END
|
||||||
};};
|
};};
|
||||||
|
|
||||||
///eFeature
|
///eFeature
|
||||||
struct eFeature { enum _ {
|
struct eFeature { enum _ {
|
||||||
None,
|
None,
|
||||||
@@ -94,20 +94,20 @@ public:
|
|||||||
Face,
|
Face,
|
||||||
END
|
END
|
||||||
};};
|
};};
|
||||||
|
|
||||||
typedef btAlignedObjectArray<eVSolver::_> tVSolverArray;
|
typedef btAlignedObjectArray<eVSolver::_> tVSolverArray;
|
||||||
typedef btAlignedObjectArray<ePSolver::_> tPSolverArray;
|
typedef btAlignedObjectArray<ePSolver::_> tPSolverArray;
|
||||||
|
|
||||||
//
|
//
|
||||||
// Flags
|
// Flags
|
||||||
//
|
//
|
||||||
|
|
||||||
///fCollision
|
///fCollision
|
||||||
struct fCollision { enum _ {
|
struct fCollision { enum _ {
|
||||||
RVSmask = 0x000f, ///Rigid versus soft mask
|
RVSmask = 0x000f, ///Rigid versus soft mask
|
||||||
SDF_RS = 0x0001, ///SDF based rigid vs soft
|
SDF_RS = 0x0001, ///SDF based rigid vs soft
|
||||||
CL_RS = 0x0002, ///Cluster vs convex rigid vs soft
|
CL_RS = 0x0002, ///Cluster vs convex rigid vs soft
|
||||||
|
|
||||||
SVSmask = 0x00f0, ///Rigid versus soft mask
|
SVSmask = 0x00f0, ///Rigid versus soft mask
|
||||||
VF_SS = 0x0010, ///Vertex vs face soft vs soft handling
|
VF_SS = 0x0010, ///Vertex vs face soft vs soft handling
|
||||||
CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling
|
CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling
|
||||||
@@ -115,7 +115,7 @@ public:
|
|||||||
Default = SDF_RS,
|
Default = SDF_RS,
|
||||||
END
|
END
|
||||||
};};
|
};};
|
||||||
|
|
||||||
///fMaterial
|
///fMaterial
|
||||||
struct fMaterial { enum _ {
|
struct fMaterial { enum _ {
|
||||||
DebugDraw = 0x0001, /// Enable debug draw
|
DebugDraw = 0x0001, /// Enable debug draw
|
||||||
@@ -123,11 +123,11 @@ public:
|
|||||||
Default = DebugDraw,
|
Default = DebugDraw,
|
||||||
END
|
END
|
||||||
};};
|
};};
|
||||||
|
|
||||||
//
|
//
|
||||||
// API Types
|
// API Types
|
||||||
//
|
//
|
||||||
|
|
||||||
/* sRayCast */
|
/* sRayCast */
|
||||||
struct sRayCast
|
struct sRayCast
|
||||||
{
|
{
|
||||||
@@ -136,13 +136,13 @@ public:
|
|||||||
int index; /// feature index
|
int index; /// feature index
|
||||||
btScalar fraction; /// time of impact fraction (rayorg+(rayto-rayfrom)*fraction)
|
btScalar fraction; /// time of impact fraction (rayorg+(rayto-rayfrom)*fraction)
|
||||||
};
|
};
|
||||||
|
|
||||||
/* ImplicitFn */
|
/* ImplicitFn */
|
||||||
struct ImplicitFn
|
struct ImplicitFn
|
||||||
{
|
{
|
||||||
virtual btScalar Eval(const btVector3& x)=0;
|
virtual btScalar Eval(const btVector3& x)=0;
|
||||||
};
|
};
|
||||||
|
|
||||||
//
|
//
|
||||||
// Internal types
|
// Internal types
|
||||||
//
|
//
|
||||||
@@ -180,7 +180,7 @@ public:
|
|||||||
btScalar m_kVST; // Volume stiffness coefficient [0,1]
|
btScalar m_kVST; // Volume stiffness coefficient [0,1]
|
||||||
int m_flags; // Flags
|
int m_flags; // Flags
|
||||||
};
|
};
|
||||||
|
|
||||||
/* Feature */
|
/* Feature */
|
||||||
struct Feature : Element
|
struct Feature : Element
|
||||||
{
|
{
|
||||||
@@ -296,7 +296,7 @@ public:
|
|||||||
btScalar m_adamping;
|
btScalar m_adamping;
|
||||||
btScalar m_matching;
|
btScalar m_matching;
|
||||||
bool m_collide;
|
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 */
|
/* Impulse */
|
||||||
struct Impulse
|
struct Impulse
|
||||||
@@ -307,109 +307,109 @@ public:
|
|||||||
int m_asDrift:1;
|
int m_asDrift:1;
|
||||||
Impulse() : m_velocity(0,0,0),m_drift(0,0,0),m_asVelocity(0),m_asDrift(0) {}
|
Impulse() : m_velocity(0,0,0),m_drift(0,0,0),m_asVelocity(0),m_asDrift(0) {}
|
||||||
Impulse operator -() const
|
Impulse operator -() const
|
||||||
{
|
{
|
||||||
Impulse i=*this;
|
Impulse i=*this;
|
||||||
i.m_velocity=-i.m_velocity;
|
i.m_velocity=-i.m_velocity;
|
||||||
i.m_drift=-i.m_drift;
|
i.m_drift=-i.m_drift;
|
||||||
return(i);
|
return(i);
|
||||||
}
|
}
|
||||||
Impulse operator*(btScalar x) const
|
Impulse operator*(btScalar x) const
|
||||||
{
|
{
|
||||||
Impulse i=*this;
|
Impulse i=*this;
|
||||||
i.m_velocity*=x;
|
i.m_velocity*=x;
|
||||||
i.m_drift*=x;
|
i.m_drift*=x;
|
||||||
return(i);
|
return(i);
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
/* Body */
|
/* Body */
|
||||||
struct Body
|
struct Body
|
||||||
{
|
{
|
||||||
Cluster* m_soft;
|
Cluster* m_soft;
|
||||||
btRigidBody* m_rigid;
|
btRigidBody* m_rigid;
|
||||||
Body() : m_soft(0),m_rigid(0) {}
|
Body() : m_soft(0),m_rigid(0) {}
|
||||||
Body(Cluster* p) : m_soft(p),m_rigid(0) {}
|
Body(Cluster* p) : m_soft(p),m_rigid(0) {}
|
||||||
Body(btRigidBody* p) : m_soft(0),m_rigid(p) {}
|
Body(btRigidBody* p) : m_soft(0),m_rigid(p) {}
|
||||||
void activate() const
|
void activate() const
|
||||||
{
|
{
|
||||||
if(m_rigid) m_rigid->activate();
|
if(m_rigid) m_rigid->activate();
|
||||||
}
|
}
|
||||||
const btMatrix3x3& invWorldInertia() const
|
const btMatrix3x3& invWorldInertia() const
|
||||||
{
|
{
|
||||||
static const btMatrix3x3 iwi(0,0,0,0,0,0,0,0,0);
|
static const btMatrix3x3 iwi(0,0,0,0,0,0,0,0,0);
|
||||||
if(m_rigid) return(m_rigid->getInvInertiaTensorWorld());
|
if(m_rigid) return(m_rigid->getInvInertiaTensorWorld());
|
||||||
if(m_soft) return(m_soft->m_invwi);
|
if(m_soft) return(m_soft->m_invwi);
|
||||||
return(iwi);
|
return(iwi);
|
||||||
}
|
}
|
||||||
btScalar invMass() const
|
btScalar invMass() const
|
||||||
{
|
{
|
||||||
if(m_rigid) return(m_rigid->getInvMass());
|
if(m_rigid) return(m_rigid->getInvMass());
|
||||||
if(m_soft) return(m_soft->m_imass);
|
if(m_soft) return(m_soft->m_imass);
|
||||||
return(0);
|
return(0);
|
||||||
}
|
}
|
||||||
const btTransform& xform() const
|
const btTransform& xform() const
|
||||||
{
|
{
|
||||||
static const btTransform identity=btTransform::getIdentity();
|
static const btTransform identity=btTransform::getIdentity();
|
||||||
if(m_rigid) return(m_rigid->getInterpolationWorldTransform());
|
if(m_rigid) return(m_rigid->getInterpolationWorldTransform());
|
||||||
if(m_soft) return(m_soft->m_framexform);
|
if(m_soft) return(m_soft->m_framexform);
|
||||||
return(identity);
|
return(identity);
|
||||||
}
|
}
|
||||||
btVector3 linearVelocity() const
|
btVector3 linearVelocity() const
|
||||||
{
|
{
|
||||||
if(m_rigid) return(m_rigid->getLinearVelocity());
|
if(m_rigid) return(m_rigid->getLinearVelocity());
|
||||||
if(m_soft) return(m_soft->m_lv);
|
if(m_soft) return(m_soft->m_lv);
|
||||||
return(btVector3(0,0,0));
|
return(btVector3(0,0,0));
|
||||||
}
|
}
|
||||||
btVector3 angularVelocity(const btVector3& rpos) const
|
btVector3 angularVelocity(const btVector3& rpos) const
|
||||||
{
|
{
|
||||||
if(m_rigid) return(cross(m_rigid->getAngularVelocity(),rpos));
|
if(m_rigid) return(cross(m_rigid->getAngularVelocity(),rpos));
|
||||||
if(m_soft) return(cross(m_soft->m_av,rpos));
|
if(m_soft) return(cross(m_soft->m_av,rpos));
|
||||||
return(btVector3(0,0,0));
|
return(btVector3(0,0,0));
|
||||||
}
|
}
|
||||||
btVector3 angularVelocity() const
|
btVector3 angularVelocity() const
|
||||||
{
|
{
|
||||||
if(m_rigid) return(m_rigid->getAngularVelocity());
|
if(m_rigid) return(m_rigid->getAngularVelocity());
|
||||||
if(m_soft) return(m_soft->m_av);
|
if(m_soft) return(m_soft->m_av);
|
||||||
return(btVector3(0,0,0));
|
return(btVector3(0,0,0));
|
||||||
}
|
}
|
||||||
btVector3 velocity(const btVector3& rpos) const
|
btVector3 velocity(const btVector3& rpos) const
|
||||||
{
|
{
|
||||||
return(linearVelocity()+angularVelocity(rpos));
|
return(linearVelocity()+angularVelocity(rpos));
|
||||||
}
|
}
|
||||||
void applyVImpulse(const btVector3& impulse,const btVector3& rpos) const
|
void applyVImpulse(const btVector3& impulse,const btVector3& rpos) const
|
||||||
{
|
{
|
||||||
if(m_rigid) m_rigid->applyImpulse(impulse,rpos);
|
if(m_rigid) m_rigid->applyImpulse(impulse,rpos);
|
||||||
if(m_soft) btSoftBody::clusterVImpulse(m_soft,rpos,impulse);
|
if(m_soft) btSoftBody::clusterVImpulse(m_soft,rpos,impulse);
|
||||||
}
|
}
|
||||||
void applyDImpulse(const btVector3& impulse,const btVector3& rpos) const
|
void applyDImpulse(const btVector3& impulse,const btVector3& rpos) const
|
||||||
{
|
{
|
||||||
if(m_rigid) m_rigid->applyImpulse(impulse,rpos);
|
if(m_rigid) m_rigid->applyImpulse(impulse,rpos);
|
||||||
if(m_soft) btSoftBody::clusterDImpulse(m_soft,rpos,impulse);
|
if(m_soft) btSoftBody::clusterDImpulse(m_soft,rpos,impulse);
|
||||||
}
|
}
|
||||||
void applyImpulse(const Impulse& impulse,const btVector3& rpos) const
|
void applyImpulse(const Impulse& impulse,const btVector3& rpos) const
|
||||||
{
|
{
|
||||||
if(impulse.m_asVelocity) applyVImpulse(impulse.m_velocity,rpos);
|
if(impulse.m_asVelocity) applyVImpulse(impulse.m_velocity,rpos);
|
||||||
if(impulse.m_asDrift) applyDImpulse(impulse.m_drift,rpos);
|
if(impulse.m_asDrift) applyDImpulse(impulse.m_drift,rpos);
|
||||||
}
|
}
|
||||||
void applyVAImpulse(const btVector3& impulse) const
|
void applyVAImpulse(const btVector3& impulse) const
|
||||||
{
|
{
|
||||||
if(m_rigid) m_rigid->applyTorqueImpulse(impulse);
|
if(m_rigid) m_rigid->applyTorqueImpulse(impulse);
|
||||||
if(m_soft) btSoftBody::clusterVAImpulse(m_soft,impulse);
|
if(m_soft) btSoftBody::clusterVAImpulse(m_soft,impulse);
|
||||||
}
|
}
|
||||||
void applyDAImpulse(const btVector3& impulse) const
|
void applyDAImpulse(const btVector3& impulse) const
|
||||||
{
|
{
|
||||||
if(m_rigid) m_rigid->applyTorqueImpulse(impulse);
|
if(m_rigid) m_rigid->applyTorqueImpulse(impulse);
|
||||||
if(m_soft) btSoftBody::clusterDAImpulse(m_soft,impulse);
|
if(m_soft) btSoftBody::clusterDAImpulse(m_soft,impulse);
|
||||||
}
|
}
|
||||||
void applyAImpulse(const Impulse& impulse) const
|
void applyAImpulse(const Impulse& impulse) const
|
||||||
{
|
{
|
||||||
if(impulse.m_asVelocity) applyVAImpulse(impulse.m_velocity);
|
if(impulse.m_asVelocity) applyVAImpulse(impulse.m_velocity);
|
||||||
if(impulse.m_asDrift) applyDAImpulse(impulse.m_drift);
|
if(impulse.m_asDrift) applyDAImpulse(impulse.m_drift);
|
||||||
}
|
}
|
||||||
void applyDCImpulse(const btVector3& impulse) const
|
void applyDCImpulse(const btVector3& impulse) const
|
||||||
{
|
{
|
||||||
if(m_rigid) m_rigid->applyCentralImpulse(impulse);
|
if(m_rigid) m_rigid->applyCentralImpulse(impulse);
|
||||||
if(m_soft) btSoftBody::clusterDCImpulse(m_soft,impulse);
|
if(m_soft) btSoftBody::clusterDCImpulse(m_soft,impulse);
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
/* Joint */
|
/* Joint */
|
||||||
struct Joint
|
struct Joint
|
||||||
@@ -420,12 +420,12 @@ public:
|
|||||||
Contact,
|
Contact,
|
||||||
};};
|
};};
|
||||||
struct Specs
|
struct Specs
|
||||||
{
|
{
|
||||||
Specs() : erp(1),cfm(1),split(1) {}
|
Specs() : erp(1),cfm(1),split(1) {}
|
||||||
btScalar erp;
|
btScalar erp;
|
||||||
btScalar cfm;
|
btScalar cfm;
|
||||||
btScalar split;
|
btScalar split;
|
||||||
};
|
};
|
||||||
Body m_bodies[2];
|
Body m_bodies[2];
|
||||||
btVector3 m_refs[2];
|
btVector3 m_refs[2];
|
||||||
btScalar m_cfm;
|
btScalar m_cfm;
|
||||||
@@ -436,7 +436,7 @@ public:
|
|||||||
btMatrix3x3 m_massmatrix;
|
btMatrix3x3 m_massmatrix;
|
||||||
bool m_delete;
|
bool m_delete;
|
||||||
virtual ~Joint() {}
|
virtual ~Joint() {}
|
||||||
Joint() : m_delete(false) {}
|
Joint() : m_delete(false) {}
|
||||||
virtual void Prepare(btScalar dt,int iterations);
|
virtual void Prepare(btScalar dt,int iterations);
|
||||||
virtual void Solve(btScalar dt,btScalar sor)=0;
|
virtual void Solve(btScalar dt,btScalar sor)=0;
|
||||||
virtual void Terminate(btScalar dt)=0;
|
virtual void Terminate(btScalar dt)=0;
|
||||||
@@ -446,9 +446,9 @@ public:
|
|||||||
struct LJoint : Joint
|
struct LJoint : Joint
|
||||||
{
|
{
|
||||||
struct Specs : Joint::Specs
|
struct Specs : Joint::Specs
|
||||||
{
|
{
|
||||||
btVector3 position;
|
btVector3 position;
|
||||||
};
|
};
|
||||||
btVector3 m_rpos[2];
|
btVector3 m_rpos[2];
|
||||||
void Prepare(btScalar dt,int iterations);
|
void Prepare(btScalar dt,int iterations);
|
||||||
void Solve(btScalar dt,btScalar sor);
|
void Solve(btScalar dt,btScalar sor);
|
||||||
@@ -459,17 +459,17 @@ public:
|
|||||||
struct AJoint : Joint
|
struct AJoint : Joint
|
||||||
{
|
{
|
||||||
struct IControl
|
struct IControl
|
||||||
{
|
{
|
||||||
virtual void Prepare(AJoint*) {}
|
virtual void Prepare(AJoint*) {}
|
||||||
virtual btScalar Speed(AJoint*,btScalar current) { return(current); }
|
virtual btScalar Speed(AJoint*,btScalar current) { return(current); }
|
||||||
static IControl* Default() { static IControl def;return(&def); }
|
static IControl* Default() { static IControl def;return(&def); }
|
||||||
};
|
};
|
||||||
struct Specs : Joint::Specs
|
struct Specs : Joint::Specs
|
||||||
{
|
{
|
||||||
Specs() : icontrol(IControl::Default()) {}
|
Specs() : icontrol(IControl::Default()) {}
|
||||||
btVector3 axis;
|
btVector3 axis;
|
||||||
IControl* icontrol;
|
IControl* icontrol;
|
||||||
};
|
};
|
||||||
btVector3 m_axis[2];
|
btVector3 m_axis[2];
|
||||||
IControl* m_icontrol;
|
IControl* m_icontrol;
|
||||||
void Prepare(btScalar dt,int iterations);
|
void Prepare(btScalar dt,int iterations);
|
||||||
@@ -534,24 +534,24 @@ public:
|
|||||||
};
|
};
|
||||||
/// RayFromToCaster takes a ray from, ray to (instead of direction!)
|
/// RayFromToCaster takes a ray from, ray to (instead of direction!)
|
||||||
struct RayFromToCaster : btDbvt::ICollide
|
struct RayFromToCaster : btDbvt::ICollide
|
||||||
{
|
{
|
||||||
btVector3 m_rayFrom;
|
btVector3 m_rayFrom;
|
||||||
btVector3 m_rayTo;
|
btVector3 m_rayTo;
|
||||||
btVector3 m_rayNormalizedDirection;
|
btVector3 m_rayNormalizedDirection;
|
||||||
btScalar m_mint;
|
btScalar m_mint;
|
||||||
Face* m_face;
|
Face* m_face;
|
||||||
int m_tests;
|
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);
|
void Process(const btDbvtNode* leaf);
|
||||||
|
|
||||||
static inline btScalar rayFromToTriangle(const btVector3& rayFrom,
|
static inline btScalar rayFromToTriangle(const btVector3& rayFrom,
|
||||||
const btVector3& rayTo,
|
const btVector3& rayTo,
|
||||||
const btVector3& rayNormalizedDirection,
|
const btVector3& rayNormalizedDirection,
|
||||||
const btVector3& a,
|
const btVector3& a,
|
||||||
const btVector3& b,
|
const btVector3& b,
|
||||||
const btVector3& c,
|
const btVector3& c,
|
||||||
btScalar maxt=SIMD_INFINITY);
|
btScalar maxt=SIMD_INFINITY);
|
||||||
};
|
};
|
||||||
|
|
||||||
//
|
//
|
||||||
// Typedef's
|
// Typedef's
|
||||||
@@ -597,15 +597,15 @@ public:
|
|||||||
btDbvt m_fdbvt; // Faces tree
|
btDbvt m_fdbvt; // Faces tree
|
||||||
btDbvt m_cdbvt; // Clusters tree
|
btDbvt m_cdbvt; // Clusters tree
|
||||||
tClusterArray m_clusters; // Clusters
|
tClusterArray m_clusters; // Clusters
|
||||||
|
|
||||||
//
|
//
|
||||||
// Api
|
// Api
|
||||||
//
|
//
|
||||||
|
|
||||||
/* ctor */
|
/* ctor */
|
||||||
btSoftBody( btSoftBodyWorldInfo* worldInfo,int node_count,
|
btSoftBody( btSoftBodyWorldInfo* worldInfo,int node_count,
|
||||||
const btVector3* x,
|
const btVector3* x,
|
||||||
const btScalar* m);
|
const btScalar* m);
|
||||||
/* dtor */
|
/* dtor */
|
||||||
virtual ~btSoftBody();
|
virtual ~btSoftBody();
|
||||||
/* Check for existing link */
|
/* Check for existing link */
|
||||||
@@ -625,51 +625,51 @@ public:
|
|||||||
bool checkLink( int node0,
|
bool checkLink( int node0,
|
||||||
int node1) const;
|
int node1) const;
|
||||||
bool checkLink( const Node* node0,
|
bool checkLink( const Node* node0,
|
||||||
const Node* node1) const;
|
const Node* node1) const;
|
||||||
/* Check for existring face */
|
/* Check for existring face */
|
||||||
bool checkFace( int node0,
|
bool checkFace( int node0,
|
||||||
int node1,
|
int node1,
|
||||||
int node2) const;
|
int node2) const;
|
||||||
/* Append material */
|
/* Append material */
|
||||||
Material* appendMaterial();
|
Material* appendMaterial();
|
||||||
/* Append note */
|
/* Append note */
|
||||||
void appendNote( const char* text,
|
void appendNote( const char* text,
|
||||||
const btVector3& o,
|
const btVector3& o,
|
||||||
const btVector4& c=btVector4(1,0,0,0),
|
const btVector4& c=btVector4(1,0,0,0),
|
||||||
Node* n0=0,
|
Node* n0=0,
|
||||||
Node* n1=0,
|
Node* n1=0,
|
||||||
Node* n2=0,
|
Node* n2=0,
|
||||||
Node* n3=0);
|
Node* n3=0);
|
||||||
void appendNote( const char* text,
|
void appendNote( const char* text,
|
||||||
const btVector3& o,
|
const btVector3& o,
|
||||||
Node* feature);
|
Node* feature);
|
||||||
void appendNote( const char* text,
|
void appendNote( const char* text,
|
||||||
const btVector3& o,
|
const btVector3& o,
|
||||||
Link* feature);
|
Link* feature);
|
||||||
void appendNote( const char* text,
|
void appendNote( const char* text,
|
||||||
const btVector3& o,
|
const btVector3& o,
|
||||||
Face* feature);
|
Face* feature);
|
||||||
/* Append node */
|
/* Append node */
|
||||||
void appendNode( const btVector3& x,btScalar m);
|
void appendNode( const btVector3& x,btScalar m);
|
||||||
/* Append link */
|
/* Append link */
|
||||||
void appendLink(int model=-1,Material* mat=0);
|
void appendLink(int model=-1,Material* mat=0);
|
||||||
void appendLink( int node0,
|
void appendLink( int node0,
|
||||||
int node1,
|
int node1,
|
||||||
Material* mat=0,
|
Material* mat=0,
|
||||||
bool bcheckexist=false);
|
bool bcheckexist=false);
|
||||||
void appendLink( Node* node0,
|
void appendLink( Node* node0,
|
||||||
Node* node1,
|
Node* node1,
|
||||||
Material* mat=0,
|
Material* mat=0,
|
||||||
bool bcheckexist=false);
|
bool bcheckexist=false);
|
||||||
/* Append face */
|
/* Append face */
|
||||||
void appendFace(int model=-1,Material* mat=0);
|
void appendFace(int model=-1,Material* mat=0);
|
||||||
void appendFace( int node0,
|
void appendFace( int node0,
|
||||||
int node1,
|
int node1,
|
||||||
int node2,
|
int node2,
|
||||||
Material* mat=0);
|
Material* mat=0);
|
||||||
/* Append anchor */
|
/* Append anchor */
|
||||||
void appendAnchor( int node,
|
void appendAnchor( int node,
|
||||||
btRigidBody* body);
|
btRigidBody* body);
|
||||||
/* Append linear joint */
|
/* Append linear joint */
|
||||||
void appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
|
void appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
|
||||||
void appendLinearJoint(const LJoint::Specs& specs,Body body=Body());
|
void appendLinearJoint(const LJoint::Specs& specs,Body body=Body());
|
||||||
@@ -682,7 +682,7 @@ public:
|
|||||||
void addForce( const btVector3& force);
|
void addForce( const btVector3& force);
|
||||||
/* Add force (or gravity) to a node of the body */
|
/* Add force (or gravity) to a node of the body */
|
||||||
void addForce( const btVector3& force,
|
void addForce( const btVector3& force,
|
||||||
int node);
|
int node);
|
||||||
/* Add velocity to the entire body */
|
/* Add velocity to the entire body */
|
||||||
void addVelocity( const btVector3& velocity);
|
void addVelocity( const btVector3& velocity);
|
||||||
|
|
||||||
@@ -691,17 +691,17 @@ public:
|
|||||||
|
|
||||||
/* Add velocity to a node of the body */
|
/* Add velocity to a node of the body */
|
||||||
void addVelocity( const btVector3& velocity,
|
void addVelocity( const btVector3& velocity,
|
||||||
int node);
|
int node);
|
||||||
/* Set mass */
|
/* Set mass */
|
||||||
void setMass( int node,
|
void setMass( int node,
|
||||||
btScalar mass);
|
btScalar mass);
|
||||||
/* Get mass */
|
/* Get mass */
|
||||||
btScalar getMass( int node) const;
|
btScalar getMass( int node) const;
|
||||||
/* Get total mass */
|
/* Get total mass */
|
||||||
btScalar getTotalMass() const;
|
btScalar getTotalMass() const;
|
||||||
/* Set total mass (weighted by previous masses) */
|
/* Set total mass (weighted by previous masses) */
|
||||||
void setTotalMass( btScalar mass,
|
void setTotalMass( btScalar mass,
|
||||||
bool fromfaces=false);
|
bool fromfaces=false);
|
||||||
/* Set total density */
|
/* Set total density */
|
||||||
void setTotalDensity(btScalar density);
|
void setTotalDensity(btScalar density);
|
||||||
/* Transform */
|
/* Transform */
|
||||||
@@ -714,7 +714,7 @@ public:
|
|||||||
void scale( const btVector3& scl);
|
void scale( const btVector3& scl);
|
||||||
/* Set current state as pose */
|
/* Set current state as pose */
|
||||||
void setPose( bool bvolume,
|
void setPose( bool bvolume,
|
||||||
bool bframe);
|
bool bframe);
|
||||||
/* Return the volume */
|
/* Return the volume */
|
||||||
btScalar getVolume() const;
|
btScalar getVolume() const;
|
||||||
/* Cluster count */
|
/* Cluster count */
|
||||||
@@ -734,7 +734,7 @@ public:
|
|||||||
static void clusterDCImpulse(Cluster* cluster,const btVector3& impulse);
|
static void clusterDCImpulse(Cluster* cluster,const btVector3& impulse);
|
||||||
/* Generate bending constraints based on distance in the adjency graph */
|
/* Generate bending constraints based on distance in the adjency graph */
|
||||||
int generateBendingConstraints( int distance,
|
int generateBendingConstraints( int distance,
|
||||||
Material* mat=0);
|
Material* mat=0);
|
||||||
/* Randomize constraints to reduce solver bias */
|
/* Randomize constraints to reduce solver bias */
|
||||||
void randomizeConstraints();
|
void randomizeConstraints();
|
||||||
/* Release clusters */
|
/* Release clusters */
|
||||||
@@ -747,11 +747,11 @@ public:
|
|||||||
/* CutLink */
|
/* CutLink */
|
||||||
bool cutLink(int node0,int node1,btScalar position);
|
bool cutLink(int node0,int node1,btScalar position);
|
||||||
bool cutLink(const Node* node0,const Node* node1,btScalar position);
|
bool cutLink(const Node* node0,const Node* node1,btScalar position);
|
||||||
|
|
||||||
///Ray casting using rayFrom and rayTo in worldspace, (not direction!)
|
///Ray casting using rayFrom and rayTo in worldspace, (not direction!)
|
||||||
bool rayTest(const btVector3& rayFrom,
|
bool rayTest(const btVector3& rayFrom,
|
||||||
const btVector3& rayTo,
|
const btVector3& rayTo,
|
||||||
sRayCast& results);
|
sRayCast& results);
|
||||||
/* Solver presets */
|
/* Solver presets */
|
||||||
void setSolver(eSolverPresets::_ preset);
|
void setSolver(eSolverPresets::_ preset);
|
||||||
/* predictMotion */
|
/* predictMotion */
|
||||||
@@ -769,11 +769,11 @@ public:
|
|||||||
/* defaultCollisionHandlers */
|
/* defaultCollisionHandlers */
|
||||||
void defaultCollisionHandler(btCollisionObject* pco);
|
void defaultCollisionHandler(btCollisionObject* pco);
|
||||||
void defaultCollisionHandler(btSoftBody* psb);
|
void defaultCollisionHandler(btSoftBody* psb);
|
||||||
|
|
||||||
//
|
//
|
||||||
// Cast
|
// Cast
|
||||||
//
|
//
|
||||||
|
|
||||||
static const btSoftBody* upcast(const btCollisionObject* colObj)
|
static const btSoftBody* upcast(const btCollisionObject* colObj)
|
||||||
{
|
{
|
||||||
if (colObj->getInternalType()==CO_SOFT_BODY)
|
if (colObj->getInternalType()==CO_SOFT_BODY)
|
||||||
@@ -803,7 +803,7 @@ public:
|
|||||||
void indicesToPointers(const int* map=0);
|
void indicesToPointers(const int* map=0);
|
||||||
|
|
||||||
int rayTest(const btVector3& rayFrom,const btVector3& rayTo,
|
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();
|
void initializeFaceTree();
|
||||||
btVector3 evaluateCom() const;
|
btVector3 evaluateCom() const;
|
||||||
bool checkContact(btRigidBody* prb,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) 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 void VSolve_Links(btSoftBody* psb,btScalar kst);
|
||||||
static psolver_t getSolver(ePSolver::_ solver);
|
static psolver_t getSolver(ePSolver::_ solver);
|
||||||
static vsolver_t getSolver(eVSolver::_ solver);
|
static vsolver_t getSolver(eVSolver::_ solver);
|
||||||
|
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@@ -50,27 +50,27 @@ btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
|
|||||||
|
|
||||||
|
|
||||||
btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
|
btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
|
||||||
m_dispatcher(dispatcher),
|
m_dispatcher(dispatcher),
|
||||||
m_dispatchInfoPtr(0)
|
m_dispatchInfoPtr(0)
|
||||||
{
|
{
|
||||||
m_softBody = (btSoftBody*) (isSwapped? body1:body0);
|
m_softBody = (btSoftBody*) (isSwapped? body1:body0);
|
||||||
m_triBody = isSwapped? body0:body1;
|
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()
|
btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
|
||||||
{
|
{
|
||||||
clearCache();
|
clearCache();
|
||||||
// m_dispatcher->releaseManifold( m_manifoldPtr );
|
// m_dispatcher->releaseManifold( m_manifoldPtr );
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void btSoftBodyTriangleCallback::clearCache()
|
void btSoftBodyTriangleCallback::clearCache()
|
||||||
{
|
{
|
||||||
@@ -88,13 +88,13 @@ void btSoftBodyTriangleCallback::clearCache()
|
|||||||
|
|
||||||
void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
|
void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
|
||||||
{
|
{
|
||||||
//just for debugging purposes
|
//just for debugging purposes
|
||||||
//printf("triangle %d",m_triangleCount++);
|
//printf("triangle %d",m_triangleCount++);
|
||||||
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
|
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
|
||||||
btCollisionAlgorithmConstructionInfo ci;
|
btCollisionAlgorithmConstructionInfo ci;
|
||||||
ci.m_dispatcher1 = m_dispatcher;
|
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)
|
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
|
||||||
{
|
{
|
||||||
btVector3 color(255,255,0);
|
btVector3 color(255,255,0);
|
||||||
@@ -107,7 +107,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
|
|||||||
btTriIndex triIndex(partId,triangleIndex,0);
|
btTriIndex triIndex(partId,triangleIndex,0);
|
||||||
btHashKey<btTriIndex> triKey(triIndex.getUid());
|
btHashKey<btTriIndex> triKey(triIndex.getUid());
|
||||||
|
|
||||||
|
|
||||||
btTriIndex* shapeIndex = m_shapeCache[triKey];
|
btTriIndex* shapeIndex = m_shapeCache[triKey];
|
||||||
if (shapeIndex)
|
if (shapeIndex)
|
||||||
{
|
{
|
||||||
@@ -116,13 +116,13 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
|
|||||||
|
|
||||||
//copy over user pointers to temporary shape
|
//copy over user pointers to temporary shape
|
||||||
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
|
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
|
||||||
|
|
||||||
btCollisionShape* tmpShape = ob->getCollisionShape();
|
btCollisionShape* tmpShape = ob->getCollisionShape();
|
||||||
ob->internalSetTemporaryCollisionShape( tm );
|
ob->internalSetTemporaryCollisionShape( tm );
|
||||||
|
|
||||||
|
|
||||||
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
|
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
|
||||||
|
|
||||||
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
||||||
colAlgo->~btCollisionAlgorithm();
|
colAlgo->~btCollisionAlgorithm();
|
||||||
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
|
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
|
||||||
@@ -133,56 +133,56 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
|
|||||||
//aabb filter is already applied!
|
//aabb filter is already applied!
|
||||||
|
|
||||||
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
|
//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]);
|
btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
|
||||||
normal.normalize();
|
normal.normalize();
|
||||||
normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
|
normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
|
||||||
// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
|
// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
|
||||||
// other+=normal*22.f;
|
// other+=normal*22.f;
|
||||||
btVector3 pts[6] = {triangle[0]+normal,
|
btVector3 pts[6] = {triangle[0]+normal,
|
||||||
triangle[1]+normal,
|
triangle[1]+normal,
|
||||||
triangle[2]+normal,
|
triangle[2]+normal,
|
||||||
triangle[0]-normal,
|
triangle[0]-normal,
|
||||||
triangle[1]-normal,
|
triangle[1]-normal,
|
||||||
triangle[2]-normal};
|
triangle[2]-normal};
|
||||||
|
|
||||||
btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6);
|
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]);
|
//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
|
||||||
// tm.setMargin(m_collisionMarginTriangle);
|
// tm.setMargin(m_collisionMarginTriangle);
|
||||||
|
|
||||||
//copy over user pointers to temporary shape
|
//copy over user pointers to temporary shape
|
||||||
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
|
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
|
||||||
|
|
||||||
btCollisionShape* tmpShape = ob->getCollisionShape();
|
btCollisionShape* tmpShape = ob->getCollisionShape();
|
||||||
ob->internalSetTemporaryCollisionShape( tm );
|
ob->internalSetTemporaryCollisionShape( tm );
|
||||||
|
|
||||||
|
|
||||||
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
|
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
|
///this should use the btDispatcher, so the actual registered algorithm is used
|
||||||
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
|
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
|
||||||
|
|
||||||
//m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
|
//m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
|
||||||
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
|
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
|
||||||
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
||||||
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
||||||
colAlgo->~btCollisionAlgorithm();
|
colAlgo->~btCollisionAlgorithm();
|
||||||
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
|
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
|
||||||
|
|
||||||
|
|
||||||
ob->internalSetTemporaryCollisionShape( tmpShape );
|
ob->internalSetTemporaryCollisionShape( tmpShape );
|
||||||
triIndex.m_childShape = tm;
|
triIndex.m_childShape = tm;
|
||||||
m_shapeCache.insert(triKey,triIndex);
|
m_shapeCache.insert(triKey,triIndex);
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -194,7 +194,7 @@ void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
|
|||||||
m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
|
m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
|
||||||
m_resultOut = resultOut;
|
m_resultOut = resultOut;
|
||||||
|
|
||||||
|
|
||||||
btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax;
|
btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax;
|
||||||
m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
|
m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
|
||||||
btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
|
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)
|
void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||||
{
|
{
|
||||||
|
|
||||||
|
|
||||||
btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
|
btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
|
||||||
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
|
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
|
||||||
|
|
||||||
@@ -228,26 +228,26 @@ void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* b
|
|||||||
|
|
||||||
btCollisionObject* triOb = triBody;
|
btCollisionObject* triOb = triBody;
|
||||||
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
|
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
|
||||||
|
|
||||||
// if (convexBody->getCollisionShape()->isConvex())
|
// if (convexBody->getCollisionShape()->isConvex())
|
||||||
{
|
{
|
||||||
btScalar collisionMarginTriangle = concaveShape->getMargin();
|
btScalar collisionMarginTriangle = concaveShape->getMargin();
|
||||||
|
|
||||||
// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
|
// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
|
||||||
m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
|
m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
|
||||||
|
|
||||||
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
|
//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_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());
|
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_ccdSphereRadius;
|
||||||
btScalar m_hitFraction;
|
btScalar m_hitFraction;
|
||||||
|
|
||||||
|
|
||||||
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
|
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
|
||||||
:m_ccdSphereFromTrans(from),
|
:m_ccdSphereFromTrans(from),
|
||||||
@@ -296,8 +296,8 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
|
|||||||
m_hitFraction(hitFraction)
|
m_hitFraction(hitFraction)
|
||||||
{
|
{
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
||||||
{
|
{
|
||||||
(void)partId;
|
(void)partId;
|
||||||
@@ -327,9 +327,9 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
|
|||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
if (triBody->getCollisionShape()->isConcave())
|
if (triBody->getCollisionShape()->isConcave())
|
||||||
{
|
{
|
||||||
btVector3 rayAabbMin = convexFromLocal.getOrigin();
|
btVector3 rayAabbMin = convexFromLocal.getOrigin();
|
||||||
@@ -349,12 +349,12 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
|
|||||||
btCollisionObject* concavebody = triBody;
|
btCollisionObject* concavebody = triBody;
|
||||||
|
|
||||||
btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
|
btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
|
||||||
|
|
||||||
if (triangleMesh)
|
if (triangleMesh)
|
||||||
{
|
{
|
||||||
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
|
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
|
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
|
||||||
|
|||||||
@@ -35,7 +35,7 @@ struct btTriIndex
|
|||||||
{
|
{
|
||||||
int m_PartIdTriangleIndex;
|
int m_PartIdTriangleIndex;
|
||||||
class btCollisionShape* m_childShape;
|
class btCollisionShape* m_childShape;
|
||||||
|
|
||||||
btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
|
btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
|
||||||
{
|
{
|
||||||
m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
|
m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
|
||||||
@@ -75,11 +75,11 @@ class btSoftBodyTriangleCallback : public btTriangleCallback
|
|||||||
btScalar m_collisionMarginTriangle;
|
btScalar m_collisionMarginTriangle;
|
||||||
|
|
||||||
btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
|
btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
int m_triangleCount;
|
int m_triangleCount;
|
||||||
|
|
||||||
// btPersistentManifold* m_manifoldPtr;
|
// btPersistentManifold* m_manifoldPtr;
|
||||||
|
|
||||||
btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
|
btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
|
||||||
|
|
||||||
@@ -88,7 +88,7 @@ int m_triangleCount;
|
|||||||
virtual ~btSoftBodyTriangleCallback();
|
virtual ~btSoftBodyTriangleCallback();
|
||||||
|
|
||||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
|
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
|
||||||
|
|
||||||
void clearCache();
|
void clearCache();
|
||||||
|
|
||||||
SIMD_FORCE_INLINE const btVector3& getAabbMin() const
|
SIMD_FORCE_INLINE const btVector3& getAabbMin() const
|
||||||
|
|||||||
@@ -22,57 +22,57 @@ subject to the following restrictions:
|
|||||||
|
|
||||||
//
|
//
|
||||||
static void drawVertex( btIDebugDraw* idraw,
|
static void drawVertex( btIDebugDraw* idraw,
|
||||||
const btVector3& x,btScalar s,const btVector3& 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(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,s,0),x+btVector3(0,s,0),c);
|
||||||
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
|
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
static void drawBox( btIDebugDraw* idraw,
|
static void drawBox( btIDebugDraw* idraw,
|
||||||
const btVector3& mins,
|
const btVector3& mins,
|
||||||
const btVector3& maxs,
|
const btVector3& maxs,
|
||||||
const btVector3& color)
|
const btVector3& color)
|
||||||
{
|
{
|
||||||
const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
|
const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
|
||||||
btVector3(maxs.x(),mins.y(),mins.z()),
|
btVector3(maxs.x(),mins.y(),mins.z()),
|
||||||
btVector3(maxs.x(),maxs.y(),mins.z()),
|
btVector3(maxs.x(),maxs.y(),mins.z()),
|
||||||
btVector3(mins.x(),maxs.y(),mins.z()),
|
btVector3(mins.x(),maxs.y(),mins.z()),
|
||||||
btVector3(mins.x(),mins.y(),maxs.z()),
|
btVector3(mins.x(),mins.y(),maxs.z()),
|
||||||
btVector3(maxs.x(),mins.y(),maxs.z()),
|
btVector3(maxs.x(),mins.y(),maxs.z()),
|
||||||
btVector3(maxs.x(),maxs.y(),maxs.z()),
|
btVector3(maxs.x(),maxs.y(),maxs.z()),
|
||||||
btVector3(mins.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[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[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[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[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[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);
|
idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
static void drawTree( btIDebugDraw* idraw,
|
static void drawTree( btIDebugDraw* idraw,
|
||||||
const btDbvtNode* node,
|
const btDbvtNode* node,
|
||||||
int depth,
|
int depth,
|
||||||
const btVector3& ncolor,
|
const btVector3& ncolor,
|
||||||
const btVector3& lcolor,
|
const btVector3& lcolor,
|
||||||
int mindepth,
|
int mindepth,
|
||||||
int maxdepth)
|
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[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
|
||||||
drawTree(idraw,node->childs[1],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 btScalar scl=(btScalar)(node->isinternal()?1:1);
|
||||||
const btVector3 mi=node->volume.Center()-node->volume.Extents()*scl;
|
const btVector3 mi=node->volume.Center()-node->volume.Extents()*scl;
|
||||||
const btVector3 mx=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);
|
drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -81,25 +81,25 @@ if(node)
|
|||||||
template <typename T>
|
template <typename T>
|
||||||
static inline T sum(const btAlignedObjectArray<T>& items)
|
static inline T sum(const btAlignedObjectArray<T>& items)
|
||||||
{
|
{
|
||||||
T v;
|
T v;
|
||||||
if(items.size())
|
if(items.size())
|
||||||
{
|
{
|
||||||
v=items[0];
|
v=items[0];
|
||||||
for(int i=1,ni=items.size();i<ni;++i)
|
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>
|
template <typename T,typename Q>
|
||||||
static inline void add(btAlignedObjectArray<T>& items,const Q& value)
|
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>
|
template <typename T,typename Q>
|
||||||
static inline void mul(btAlignedObjectArray<T>& items,const Q& value)
|
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>
|
template <typename T>
|
||||||
static inline T average(const btAlignedObjectArray<T>& items)
|
static inline T average(const btAlignedObjectArray<T>& items)
|
||||||
{
|
{
|
||||||
const btScalar n=(btScalar)(items.size()>0?items.size():1);
|
const btScalar n=(btScalar)(items.size()>0?items.size():1);
|
||||||
return(sum(items)/n);
|
return(sum(items)/n);
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
@@ -136,27 +136,27 @@ static inline btScalar tetravolume(const btVector3& x0,
|
|||||||
//
|
//
|
||||||
#if 0
|
#if 0
|
||||||
static btVector3 stresscolor(btScalar stress)
|
static btVector3 stresscolor(btScalar stress)
|
||||||
{
|
{
|
||||||
static const btVector3 spectrum[]= { btVector3(1,0,1),
|
static const btVector3 spectrum[]= { btVector3(1,0,1),
|
||||||
btVector3(0,0,1),
|
btVector3(0,0,1),
|
||||||
btVector3(0,1,1),
|
btVector3(0,1,1),
|
||||||
btVector3(0,1,0),
|
btVector3(0,1,0),
|
||||||
btVector3(1,1,0),
|
btVector3(1,1,0),
|
||||||
btVector3(1,0,0),
|
btVector3(1,0,0),
|
||||||
btVector3(1,0,0)};
|
btVector3(1,0,0)};
|
||||||
static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
|
static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
|
||||||
static const btScalar one=1;
|
static const btScalar one=1;
|
||||||
stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
|
stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
|
||||||
const int sel=(int)stress;
|
const int sel=(int)stress;
|
||||||
const btScalar frc=stress-sel;
|
const btScalar frc=stress-sel;
|
||||||
return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
|
return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
//
|
//
|
||||||
void btSoftBodyHelpers::Draw( btSoftBody* psb,
|
void btSoftBodyHelpers::Draw( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
int drawflags)
|
int drawflags)
|
||||||
{
|
{
|
||||||
const btScalar scl=(btScalar)0.1;
|
const btScalar scl=(btScalar)0.1;
|
||||||
const btScalar nscl=scl*5;
|
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 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;
|
const btVector3 c=(x[0]+x[1]+x[2])/3;
|
||||||
idraw->drawTriangle((x[0]-c)*scl+c,
|
idraw->drawTriangle((x[0]-c)*scl+c,
|
||||||
(x[1]-c)*scl+c,
|
(x[1]-c)*scl+c,
|
||||||
(x[2]-c)*scl+c,
|
(x[2]-c)*scl+c,
|
||||||
col,alp);
|
col,alp);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
/* Clusters */
|
/* Clusters */
|
||||||
if(0!=(drawflags&fDrawFlags::Clusters))
|
if(0!=(drawflags&fDrawFlags::Clusters))
|
||||||
{
|
{
|
||||||
srand(1806);
|
srand(1806);
|
||||||
for(i=0;i<psb->m_clusters.size();++i)
|
for(i=0;i<psb->m_clusters.size();++i)
|
||||||
{
|
{
|
||||||
if(psb->m_clusters[i]->m_collide)
|
if(psb->m_clusters[i]->m_collide)
|
||||||
{
|
{
|
||||||
btVector3 color( rand()/(btScalar)RAND_MAX,
|
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;
|
color=color.normalized()*0.75;
|
||||||
btAlignedObjectArray<btVector3> vertices;
|
btAlignedObjectArray<btVector3> vertices;
|
||||||
vertices.resize(psb->m_clusters[i]->m_nodes.size());
|
vertices.resize(psb->m_clusters[i]->m_nodes.size());
|
||||||
for(j=0,nj=vertices.size();j<nj;++j)
|
for(j=0,nj=vertices.size();j<nj;++j)
|
||||||
{
|
{
|
||||||
vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
|
vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
|
||||||
}
|
}
|
||||||
HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
|
HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
|
||||||
HullResult hres;
|
HullResult hres;
|
||||||
HullLibrary hlib;
|
HullLibrary hlib;
|
||||||
@@ -284,32 +284,32 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
|
|||||||
mul(hres.m_OutputVertices,(btScalar)1);
|
mul(hres.m_OutputVertices,(btScalar)1);
|
||||||
add(hres.m_OutputVertices,center);
|
add(hres.m_OutputVertices,center);
|
||||||
for(j=0;j<(int)hres.mNumFaces;++j)
|
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]};
|
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]],
|
idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
|
||||||
hres.m_OutputVertices[idx[1]],
|
hres.m_OutputVertices[idx[1]],
|
||||||
hres.m_OutputVertices[idx[2]],
|
hres.m_OutputVertices[idx[2]],
|
||||||
color,1);
|
color,1);
|
||||||
}
|
|
||||||
hlib.ReleaseResult(hres);
|
|
||||||
}
|
}
|
||||||
|
hlib.ReleaseResult(hres);
|
||||||
|
}
|
||||||
/* Velocities */
|
/* Velocities */
|
||||||
#if 0
|
#if 0
|
||||||
for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
|
for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
|
||||||
{
|
{
|
||||||
const btSoftBody::Cluster& c=psb->m_clusters[i];
|
const btSoftBody::Cluster& c=psb->m_clusters[i];
|
||||||
const btVector3 r=c.m_nodes[j]->m_x-c.m_com;
|
const btVector3 r=c.m_nodes[j]->m_x-c.m_com;
|
||||||
const btVector3 v=c.m_lv+cross(c.m_av,r);
|
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));
|
idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
/* Frame */
|
/* Frame */
|
||||||
btSoftBody::Cluster& c=*psb->m_clusters[i];
|
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(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(0,10,0),btVector3(0,1,0));
|
||||||
idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
|
idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
}
|
||||||
/* Notes */
|
/* Notes */
|
||||||
if(0!=(drawflags&fDrawFlags::Notes))
|
if(0!=(drawflags&fDrawFlags::Notes))
|
||||||
{
|
{
|
||||||
@@ -318,9 +318,9 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
|
|||||||
const btSoftBody::Note& n=psb->m_notes[i];
|
const btSoftBody::Note& n=psb->m_notes[i];
|
||||||
btVector3 p=n.m_offset;
|
btVector3 p=n.m_offset;
|
||||||
for(int j=0;j<n.m_rank;++j)
|
for(int j=0;j<n.m_rank;++j)
|
||||||
{
|
{
|
||||||
p+=n.m_nodes[j]->m_x*n.m_coords[j];
|
p+=n.m_nodes[j]->m_x*n.m_coords[j];
|
||||||
}
|
}
|
||||||
idraw->draw3dText(p,n.m_text);
|
idraw->draw3dText(p,n.m_text);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -333,33 +333,33 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
|
|||||||
/* Joints */
|
/* Joints */
|
||||||
if(0!=(drawflags&fDrawFlags::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];
|
const btSoftBody::Joint* pj=psb->m_joints[i];
|
||||||
switch(pj->Type())
|
switch(pj->Type())
|
||||||
{
|
{
|
||||||
case btSoftBody::Joint::eType::Linear:
|
case btSoftBody::Joint::eType::Linear:
|
||||||
{
|
{
|
||||||
const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj;
|
const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj;
|
||||||
const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
|
const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
|
||||||
const btVector3 a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
|
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[0].xform().getOrigin(),a0,btVector3(1,1,0));
|
||||||
idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
|
idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
|
||||||
drawVertex(idraw,a0,0.25,btVector3(1,1,0));
|
drawVertex(idraw,a0,0.25,btVector3(1,1,0));
|
||||||
drawVertex(idraw,a1,0.25,btVector3(0,1,1));
|
drawVertex(idraw,a1,0.25,btVector3(0,1,1));
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
case btSoftBody::Joint::eType::Angular:
|
case btSoftBody::Joint::eType::Angular:
|
||||||
{
|
{
|
||||||
const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj;
|
const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj;
|
||||||
const btVector3 o0=pj->m_bodies[0].xform().getOrigin();
|
const btVector3 o0=pj->m_bodies[0].xform().getOrigin();
|
||||||
const btVector3 o1=pj->m_bodies[1].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 a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
|
||||||
const btVector3 a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
|
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+a0*10,btVector3(1,1,0));
|
||||||
idraw->drawLine(o0,o0+a1*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+a0*10,btVector3(0,1,1));
|
||||||
idraw->drawLine(o1,o1+a1*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,
|
void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
bool masses,
|
bool masses,
|
||||||
bool areas,
|
bool areas,
|
||||||
bool /*stress*/)
|
bool /*stress*/)
|
||||||
{
|
{
|
||||||
for(int i=0;i<psb->m_nodes.size();++i)
|
for(int i=0;i<psb->m_nodes.size();++i)
|
||||||
{
|
{
|
||||||
@@ -394,34 +394,34 @@ void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
|
|||||||
|
|
||||||
//
|
//
|
||||||
void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb,
|
void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
int mindepth,
|
int mindepth,
|
||||||
int maxdepth)
|
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,
|
void btSoftBodyHelpers::DrawFaceTree( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
int mindepth,
|
int mindepth,
|
||||||
int maxdepth)
|
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,
|
void btSoftBodyHelpers::DrawClusterTree( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
int mindepth,
|
int mindepth,
|
||||||
int maxdepth)
|
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,
|
void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw)
|
btIDebugDraw* idraw)
|
||||||
{
|
{
|
||||||
if(psb->m_pose.m_bframe)
|
if(psb->m_pose.m_bframe)
|
||||||
{
|
{
|
||||||
@@ -445,9 +445,9 @@ void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
|
|||||||
|
|
||||||
//
|
//
|
||||||
btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, const btVector3& from,
|
btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, const btVector3& from,
|
||||||
const btVector3& to,
|
const btVector3& to,
|
||||||
int res,
|
int res,
|
||||||
int fixeds)
|
int fixeds)
|
||||||
{
|
{
|
||||||
/* Create nodes */
|
/* Create nodes */
|
||||||
const int r=res+2;
|
const int r=res+2;
|
||||||
@@ -477,13 +477,13 @@ btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, cons
|
|||||||
|
|
||||||
//
|
//
|
||||||
btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
|
btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
|
||||||
const btVector3& corner10,
|
const btVector3& corner10,
|
||||||
const btVector3& corner01,
|
const btVector3& corner01,
|
||||||
const btVector3& corner11,
|
const btVector3& corner11,
|
||||||
int resx,
|
int resx,
|
||||||
int resy,
|
int resy,
|
||||||
int fixeds,
|
int fixeds,
|
||||||
bool gendiags)
|
bool gendiags)
|
||||||
{
|
{
|
||||||
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
|
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
|
||||||
/* Create nodes */
|
/* Create nodes */
|
||||||
@@ -554,83 +554,83 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const
|
|||||||
|
|
||||||
//
|
//
|
||||||
btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
|
btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
|
||||||
const btVector3& corner00,
|
const btVector3& corner00,
|
||||||
const btVector3& corner10,
|
const btVector3& corner10,
|
||||||
const btVector3& corner01,
|
const btVector3& corner01,
|
||||||
const btVector3& corner11,
|
const btVector3& corner11,
|
||||||
int resx,
|
int resx,
|
||||||
int resy,
|
int resy,
|
||||||
int fixeds,
|
int fixeds,
|
||||||
bool gendiags,
|
bool gendiags,
|
||||||
float* tex_coords)
|
float* tex_coords)
|
||||||
{
|
{
|
||||||
|
|
||||||
/*
|
/*
|
||||||
*
|
*
|
||||||
* corners:
|
* corners:
|
||||||
*
|
*
|
||||||
* [0][0] corner00 ------- corner01 [resx][0]
|
* [0][0] corner00 ------- corner01 [resx][0]
|
||||||
* | |
|
* | |
|
||||||
* | |
|
* | |
|
||||||
* [0][resy] corner10 -------- corner11 [resx][resy]
|
* [0][resy] corner10 -------- corner11 [resx][resy]
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
* "fixedgs" map:
|
* "fixedgs" map:
|
||||||
*
|
*
|
||||||
* corner00 --> +1
|
* corner00 --> +1
|
||||||
* corner01 --> +2
|
* corner01 --> +2
|
||||||
* corner10 --> +4
|
* corner10 --> +4
|
||||||
* corner11 --> +8
|
* corner11 --> +8
|
||||||
* upper middle --> +16
|
* upper middle --> +16
|
||||||
* left middle --> +32
|
* left middle --> +32
|
||||||
* right middle --> +64
|
* right middle --> +64
|
||||||
* lower middle --> +128
|
* lower middle --> +128
|
||||||
* center --> +256
|
* center --> +256
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
* tex_coords size (resx-1)*(resy-1)*12
|
* tex_coords size (resx-1)*(resy-1)*12
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
* SINGLE QUAD INTERNALS
|
* SINGLE QUAD INTERNALS
|
||||||
*
|
*
|
||||||
* 1) btSoftBody's nodes and links,
|
* 1) btSoftBody's nodes and links,
|
||||||
* diagonal link is optional ("gendiags")
|
* diagonal link is optional ("gendiags")
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
* node00 ------ node01
|
* node00 ------ node01
|
||||||
* | .
|
* | .
|
||||||
* | .
|
* | .
|
||||||
* | .
|
* | .
|
||||||
* | .
|
* | .
|
||||||
* | .
|
* | .
|
||||||
* node10 node11
|
* node10 node11
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
* 2) Faces:
|
* 2) Faces:
|
||||||
* two triangles,
|
* two triangles,
|
||||||
* UV Coordinates (hier example for single quad)
|
* UV Coordinates (hier example for single quad)
|
||||||
*
|
*
|
||||||
* (0,1) (0,1) (1,1)
|
* (0,1) (0,1) (1,1)
|
||||||
* 1 |\ 3 \-----| 2
|
* 1 |\ 3 \-----| 2
|
||||||
* | \ \ |
|
* | \ \ |
|
||||||
* | \ \ |
|
* | \ \ |
|
||||||
* | \ \ |
|
* | \ \ |
|
||||||
* | \ \ |
|
* | \ \ |
|
||||||
* 2 |-----\ 3 \| 1
|
* 2 |-----\ 3 \| 1
|
||||||
* (0,0) (1,0) (1,0)
|
* (0,0) (1,0) (1,0)
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
|
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
|
||||||
/* Create nodes */
|
/* Create nodes */
|
||||||
@@ -675,12 +675,12 @@ btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
|
|||||||
{
|
{
|
||||||
const bool mdx=(ix+1)<rx;
|
const bool mdx=(ix+1)<rx;
|
||||||
const bool mdy=(iy+1)<ry;
|
const bool mdy=(iy+1)<ry;
|
||||||
|
|
||||||
int node00=IDX(ix,iy);
|
int node00=IDX(ix,iy);
|
||||||
int node01=IDX(ix+1,iy);
|
int node01=IDX(ix+1,iy);
|
||||||
int node10=IDX(ix,iy+1);
|
int node10=IDX(ix,iy+1);
|
||||||
int node11=IDX(ix+1,iy+1);
|
int node11=IDX(ix+1,iy+1);
|
||||||
|
|
||||||
if(mdx) psb->appendLink(node00,node01);
|
if(mdx) psb->appendLink(node00,node01);
|
||||||
if(mdy) psb->appendLink(node00,node10);
|
if(mdy) psb->appendLink(node00,node10);
|
||||||
if(mdx&&mdy)
|
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)
|
float btSoftBodyHelpers::CalculateUV(int resx,int resy,int ix,int iy,int id)
|
||||||
{
|
{
|
||||||
|
|
||||||
/*
|
/*
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
* node00 --- node01
|
* node00 --- node01
|
||||||
* | |
|
* | |
|
||||||
* node10 --- node11
|
* node10 --- node11
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
* ID map:
|
* ID map:
|
||||||
*
|
*
|
||||||
* node00 s --> 0
|
* node00 s --> 0
|
||||||
* node00 t --> 1
|
* node00 t --> 1
|
||||||
*
|
*
|
||||||
* node01 s --> 3
|
* node01 s --> 3
|
||||||
* node01 t --> 1
|
* node01 t --> 1
|
||||||
*
|
*
|
||||||
* node10 s --> 0
|
* node10 s --> 0
|
||||||
* node10 t --> 2
|
* node10 t --> 2
|
||||||
*
|
*
|
||||||
* node11 s --> 3
|
* node11 s --> 3
|
||||||
* node11 t --> 2
|
* node11 t --> 2
|
||||||
*
|
*
|
||||||
*
|
*
|
||||||
*/
|
*/
|
||||||
|
|
||||||
float tc=0.0f;
|
float tc=0.0f;
|
||||||
if (id == 0) {
|
if (id == 0) {
|
||||||
tc = (1.0f/((resx-1))*ix);
|
tc = (1.0f/((resx-1))*ix);
|
||||||
}
|
}
|
||||||
@@ -754,12 +754,12 @@ float tc=0.0f;
|
|||||||
else if (id==3) {
|
else if (id==3) {
|
||||||
tc = (1.0f/((resx-1))*(ix+1));
|
tc = (1.0f/((resx-1))*(ix+1));
|
||||||
}
|
}
|
||||||
return tc;
|
return tc;
|
||||||
}
|
}
|
||||||
//
|
//
|
||||||
btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center,
|
btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center,
|
||||||
const btVector3& radius,
|
const btVector3& radius,
|
||||||
int res)
|
int res)
|
||||||
{
|
{
|
||||||
struct Hammersley
|
struct Hammersley
|
||||||
{
|
{
|
||||||
@@ -790,8 +790,8 @@ btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,c
|
|||||||
|
|
||||||
//
|
//
|
||||||
btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar* vertices,
|
btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar* vertices,
|
||||||
const int* triangles,
|
const int* triangles,
|
||||||
int ntriangles)
|
int ntriangles)
|
||||||
{
|
{
|
||||||
int maxidx=0;
|
int maxidx=0;
|
||||||
int i,j,ni;
|
int i,j,ni;
|
||||||
@@ -832,7 +832,7 @@ btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo
|
|||||||
|
|
||||||
//
|
//
|
||||||
btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
|
btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
|
||||||
int nvertices)
|
int nvertices)
|
||||||
{
|
{
|
||||||
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
|
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
|
||||||
HullResult hres;
|
HullResult hres;
|
||||||
|
|||||||
@@ -46,74 +46,74 @@ struct btSoftBodyHelpers
|
|||||||
{
|
{
|
||||||
/* Draw body */
|
/* Draw body */
|
||||||
static void Draw( btSoftBody* psb,
|
static void Draw( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
int drawflags=fDrawFlags::Std);
|
int drawflags=fDrawFlags::Std);
|
||||||
/* Draw body infos */
|
/* Draw body infos */
|
||||||
static void DrawInfos( btSoftBody* psb,
|
static void DrawInfos( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
bool masses,
|
bool masses,
|
||||||
bool areas,
|
bool areas,
|
||||||
bool stress);
|
bool stress);
|
||||||
/* Draw node tree */
|
/* Draw node tree */
|
||||||
static void DrawNodeTree( btSoftBody* psb,
|
static void DrawNodeTree( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
int mindepth=0,
|
int mindepth=0,
|
||||||
int maxdepth=-1);
|
int maxdepth=-1);
|
||||||
/* Draw face tree */
|
/* Draw face tree */
|
||||||
static void DrawFaceTree( btSoftBody* psb,
|
static void DrawFaceTree( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
int mindepth=0,
|
int mindepth=0,
|
||||||
int maxdepth=-1);
|
int maxdepth=-1);
|
||||||
/* Draw cluster tree */
|
/* Draw cluster tree */
|
||||||
static void DrawClusterTree(btSoftBody* psb,
|
static void DrawClusterTree(btSoftBody* psb,
|
||||||
btIDebugDraw* idraw,
|
btIDebugDraw* idraw,
|
||||||
int mindepth=0,
|
int mindepth=0,
|
||||||
int maxdepth=-1);
|
int maxdepth=-1);
|
||||||
/* Draw rigid frame */
|
/* Draw rigid frame */
|
||||||
static void DrawFrame( btSoftBody* psb,
|
static void DrawFrame( btSoftBody* psb,
|
||||||
btIDebugDraw* idraw);
|
btIDebugDraw* idraw);
|
||||||
/* Create a rope */
|
/* Create a rope */
|
||||||
static btSoftBody* CreateRope( btSoftBodyWorldInfo& worldInfo,
|
static btSoftBody* CreateRope( btSoftBodyWorldInfo& worldInfo,
|
||||||
const btVector3& from,
|
const btVector3& from,
|
||||||
const btVector3& to,
|
const btVector3& to,
|
||||||
int res,
|
int res,
|
||||||
int fixeds);
|
int fixeds);
|
||||||
/* Create a patch */
|
/* Create a patch */
|
||||||
static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo,
|
static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo,
|
||||||
const btVector3& corner00,
|
const btVector3& corner00,
|
||||||
const btVector3& corner10,
|
const btVector3& corner10,
|
||||||
const btVector3& corner01,
|
const btVector3& corner01,
|
||||||
const btVector3& corner11,
|
const btVector3& corner11,
|
||||||
int resx,
|
int resx,
|
||||||
int resy,
|
int resy,
|
||||||
int fixeds,
|
int fixeds,
|
||||||
bool gendiags);
|
bool gendiags);
|
||||||
/* Create a patch with UV Texture Coordinates */
|
/* Create a patch with UV Texture Coordinates */
|
||||||
static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
|
static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
|
||||||
const btVector3& corner00,
|
const btVector3& corner00,
|
||||||
const btVector3& corner10,
|
const btVector3& corner10,
|
||||||
const btVector3& corner01,
|
const btVector3& corner01,
|
||||||
const btVector3& corner11,
|
const btVector3& corner11,
|
||||||
int resx,
|
int resx,
|
||||||
int resy,
|
int resy,
|
||||||
int fixeds,
|
int fixeds,
|
||||||
bool gendiags,
|
bool gendiags,
|
||||||
float* tex_coords=0);
|
float* tex_coords=0);
|
||||||
static float CalculateUV(int resx,int resy,int ix,int iy,int id);
|
static float CalculateUV(int resx,int resy,int ix,int iy,int id);
|
||||||
/* Create an ellipsoid */
|
/* Create an ellipsoid */
|
||||||
static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
|
static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
|
||||||
const btVector3& center,
|
const btVector3& center,
|
||||||
const btVector3& radius,
|
const btVector3& radius,
|
||||||
int res);
|
int res);
|
||||||
/* Create from trimesh */
|
/* Create from trimesh */
|
||||||
static btSoftBody* CreateFromTriMesh( btSoftBodyWorldInfo& worldInfo,
|
static btSoftBody* CreateFromTriMesh( btSoftBodyWorldInfo& worldInfo,
|
||||||
const btScalar* vertices,
|
const btScalar* vertices,
|
||||||
const int* triangles,
|
const int* triangles,
|
||||||
int ntriangles);
|
int ntriangles);
|
||||||
/* Create from convex-hull */
|
/* Create from convex-hull */
|
||||||
static btSoftBody* CreateFromConvexHull( btSoftBodyWorldInfo& worldInfo,
|
static btSoftBody* CreateFromConvexHull( btSoftBodyWorldInfo& worldInfo,
|
||||||
const btVector3* vertices,
|
const btVector3* vertices,
|
||||||
int nvertices);
|
int nvertices);
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif //SOFT_BODY_HELPERS_H
|
#endif //SOFT_BODY_HELPERS_H
|
||||||
File diff suppressed because it is too large.
Load diff
@@ -29,10 +29,10 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
|
|||||||
|
|
||||||
mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
|
mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
|
||||||
m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
|
m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
|
||||||
|
|
||||||
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
|
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
|
||||||
m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
|
m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
|
||||||
|
|
||||||
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
|
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
|
||||||
m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
|
m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
|
||||||
m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
|
m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
|
||||||
@@ -40,20 +40,20 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
|
|||||||
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
|
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
|
||||||
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
|
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
|
||||||
m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
|
m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
|
||||||
|
|
||||||
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
|
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
|
||||||
m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
|
m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
|
||||||
m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
|
m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
//replace pool by a new one, with potential larger size
|
//replace pool by a new one, with potential larger size
|
||||||
|
|
||||||
if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
|
if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
|
||||||
{
|
{
|
||||||
int curElemSize = m_collisionAlgorithmPool->getElementSize();
|
int curElemSize = m_collisionAlgorithmPool->getElementSize();
|
||||||
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
|
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
|
||||||
|
|
||||||
|
|
||||||
int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
|
int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
|
||||||
int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
|
int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
|
||||||
int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
|
int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
|
||||||
@@ -92,7 +92,7 @@ btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfigur
|
|||||||
btAlignedFree( m_swappedSoftRigidConcaveCreateFunc);
|
btAlignedFree( m_swappedSoftRigidConcaveCreateFunc);
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
|
///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
|
||||||
btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
|
btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
|
||||||
{
|
{
|
||||||
|
|||||||
@@ -32,7 +32,7 @@ class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfi
|
|||||||
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc;
|
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc;
|
||||||
btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc;
|
btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc;
|
||||||
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc;
|
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
|
|
||||||
btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
|
btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
|
||||||
|
|||||||
@@ -35,13 +35,13 @@ m_isSwapped(isSwapped)
|
|||||||
|
|
||||||
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
|
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
|
||||||
{
|
{
|
||||||
|
|
||||||
//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
|
//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
|
||||||
|
|
||||||
/*if (m_ownManifold)
|
/*if (m_ownManifold)
|
||||||
{
|
{
|
||||||
if (m_manifoldPtr)
|
if (m_manifoldPtr)
|
||||||
m_dispatcher->releaseManifold(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;
|
btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
|
||||||
btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
|
btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
|
||||||
|
|
||||||
softBody->defaultCollisionHandler(rigidCollisionObject);
|
softBody->defaultCollisionHandler(rigidCollisionObject);
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@@ -28,15 +28,15 @@ class btSoftBody;
|
|||||||
/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
|
/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
|
||||||
class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
|
class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
|
||||||
{
|
{
|
||||||
// bool m_ownManifold;
|
// bool m_ownManifold;
|
||||||
// btPersistentManifold* m_manifoldPtr;
|
// btPersistentManifold* m_manifoldPtr;
|
||||||
|
|
||||||
btSoftBody* m_softBody;
|
btSoftBody* m_softBody;
|
||||||
btCollisionObject* m_rigidCollisionObject;
|
btCollisionObject* m_rigidCollisionObject;
|
||||||
|
|
||||||
///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
|
///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
|
||||||
bool m_isSwapped;
|
bool m_isSwapped;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
|
|
||||||
btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
|
btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
|
||||||
@@ -52,7 +52,7 @@ public:
|
|||||||
//we don't add any manifolds
|
//we don't add any manifolds
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||||
{
|
{
|
||||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||||
|
|||||||
@@ -28,17 +28,17 @@ subject to the following restrictions:
|
|||||||
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
||||||
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
|
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
|
||||||
{
|
{
|
||||||
m_drawFlags = fDrawFlags::Std;
|
m_drawFlags = fDrawFlags::Std;
|
||||||
m_drawNodeTree = true;
|
m_drawNodeTree = true;
|
||||||
m_drawFaceTree = false;
|
m_drawFaceTree = false;
|
||||||
m_drawClusterTree = false;
|
m_drawClusterTree = false;
|
||||||
m_sbi.m_broadphase = pairCache;
|
m_sbi.m_broadphase = pairCache;
|
||||||
m_sbi.m_dispatcher = dispatcher;
|
m_sbi.m_dispatcher = dispatcher;
|
||||||
m_sbi.m_sparsesdf.Initialize();
|
m_sbi.m_sparsesdf.Initialize();
|
||||||
m_sbi.m_sparsesdf.Reset();
|
m_sbi.m_sparsesdf.Reset();
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
|
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
|
||||||
{
|
{
|
||||||
|
|
||||||
@@ -55,7 +55,7 @@ void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
|||||||
psb->predictMotion(timeStep);
|
psb->predictMotion(timeStep);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
|
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
|
||||||
{
|
{
|
||||||
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
|
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
|
||||||
@@ -71,7 +71,7 @@ void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
|
|||||||
void btSoftRigidDynamicsWorld::updateSoftBodies()
|
void btSoftRigidDynamicsWorld::updateSoftBodies()
|
||||||
{
|
{
|
||||||
BT_PROFILE("updateSoftBodies");
|
BT_PROFILE("updateSoftBodies");
|
||||||
|
|
||||||
for ( int i=0;i<m_softBodies.size();i++)
|
for ( int i=0;i<m_softBodies.size();i++)
|
||||||
{
|
{
|
||||||
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
||||||
@@ -82,12 +82,12 @@ void btSoftRigidDynamicsWorld::updateSoftBodies()
|
|||||||
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
|
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
|
||||||
{
|
{
|
||||||
BT_PROFILE("solveSoftConstraints");
|
BT_PROFILE("solveSoftConstraints");
|
||||||
|
|
||||||
if(m_softBodies.size())
|
if(m_softBodies.size())
|
||||||
{
|
{
|
||||||
btSoftBody::solveClusters(m_softBodies);
|
btSoftBody::solveClusters(m_softBodies);
|
||||||
}
|
}
|
||||||
|
|
||||||
for(int i=0;i<m_softBodies.size();++i)
|
for(int i=0;i<m_softBodies.size();++i)
|
||||||
{
|
{
|
||||||
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
||||||
@@ -100,8 +100,8 @@ void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body)
|
|||||||
m_softBodies.push_back(body);
|
m_softBodies.push_back(body);
|
||||||
|
|
||||||
btCollisionWorld::addCollisionObject(body,
|
btCollisionWorld::addCollisionObject(body,
|
||||||
btBroadphaseProxy::DefaultFilter,
|
btBroadphaseProxy::DefaultFilter,
|
||||||
btBroadphaseProxy::AllFilter);
|
btBroadphaseProxy::AllFilter);
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -23,7 +23,7 @@ typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
|
|||||||
|
|
||||||
class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
|
class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
|
||||||
{
|
{
|
||||||
|
|
||||||
btSoftBodyArray m_softBodies;
|
btSoftBodyArray m_softBodies;
|
||||||
int m_drawFlags;
|
int m_drawFlags;
|
||||||
bool m_drawNodeTree;
|
bool m_drawNodeTree;
|
||||||
@@ -32,9 +32,9 @@ class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
|
|||||||
btSoftBodyWorldInfo m_sbi;
|
btSoftBodyWorldInfo m_sbi;
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
|
|
||||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||||
|
|
||||||
virtual void internalSingleStepSimulation( btScalar timeStep);
|
virtual void internalSingleStepSimulation( btScalar timeStep);
|
||||||
|
|
||||||
void updateSoftBodies();
|
void updateSoftBodies();
|
||||||
@@ -43,17 +43,17 @@ protected:
|
|||||||
|
|
||||||
|
|
||||||
public:
|
public:
|
||||||
|
|
||||||
btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
||||||
|
|
||||||
virtual ~btSoftRigidDynamicsWorld();
|
virtual ~btSoftRigidDynamicsWorld();
|
||||||
|
|
||||||
virtual void debugDrawWorld();
|
virtual void debugDrawWorld();
|
||||||
|
|
||||||
void addSoftBody(btSoftBody* body);
|
void addSoftBody(btSoftBody* body);
|
||||||
|
|
||||||
void removeSoftBody(btSoftBody* body);
|
void removeSoftBody(btSoftBody* body);
|
||||||
|
|
||||||
int getDrawFlags() const { return(m_drawFlags); }
|
int getDrawFlags() const { return(m_drawFlags); }
|
||||||
void setDrawFlags(int f) { m_drawFlags=f; }
|
void setDrawFlags(int f) { m_drawFlags=f; }
|
||||||
|
|
||||||
@@ -66,7 +66,7 @@ public:
|
|||||||
return m_sbi;
|
return m_sbi;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
btSoftBodyArray& getSoftBodyArray()
|
btSoftBodyArray& getSoftBodyArray()
|
||||||
{
|
{
|
||||||
return m_softBodies;
|
return m_softBodies;
|
||||||
@@ -76,7 +76,7 @@ public:
|
|||||||
{
|
{
|
||||||
return m_softBodies;
|
return m_softBodies;
|
||||||
}
|
}
|
||||||
|
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
|
#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
|
||||||
@@ -33,7 +33,7 @@ class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm
|
|||||||
btSoftBody* m_softBody0;
|
btSoftBody* m_softBody0;
|
||||||
btSoftBody* m_softBody1;
|
btSoftBody* m_softBody1;
|
||||||
|
|
||||||
|
|
||||||
public:
|
public:
|
||||||
btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
|
btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
|
||||||
: btCollisionAlgorithm(ci) {}
|
: btCollisionAlgorithm(ci) {}
|
||||||
|
|||||||
@@ -23,139 +23,139 @@ subject to the following restrictions:
|
|||||||
// Modified Paul Hsieh hash
|
// Modified Paul Hsieh hash
|
||||||
template <const int DWORDLEN>
|
template <const int DWORDLEN>
|
||||||
unsigned int HsiehHash(const void* pdata)
|
unsigned int HsiehHash(const void* pdata)
|
||||||
{
|
{
|
||||||
const unsigned short* data=(const unsigned short*)pdata;
|
const unsigned short* data=(const unsigned short*)pdata;
|
||||||
unsigned hash=DWORDLEN<<2,tmp;
|
unsigned hash=DWORDLEN<<2,tmp;
|
||||||
for(int i=0;i<DWORDLEN;++i)
|
for(int i=0;i<DWORDLEN;++i)
|
||||||
{
|
{
|
||||||
hash += data[0];
|
hash += data[0];
|
||||||
tmp = (data[1]<<11)^hash;
|
tmp = (data[1]<<11)^hash;
|
||||||
hash = (hash<<16)^tmp;
|
hash = (hash<<16)^tmp;
|
||||||
data += 2;
|
data += 2;
|
||||||
hash += hash>>11;
|
hash += hash>>11;
|
||||||
}
|
}
|
||||||
hash^=hash<<3;hash+=hash>>5;
|
hash^=hash<<3;hash+=hash>>5;
|
||||||
hash^=hash<<4;hash+=hash>>17;
|
hash^=hash<<4;hash+=hash>>17;
|
||||||
hash^=hash<<25;hash+=hash>>6;
|
hash^=hash<<25;hash+=hash>>6;
|
||||||
return(hash);
|
return(hash);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <const int CELLSIZE>
|
template <const int CELLSIZE>
|
||||||
struct btSparseSdf
|
struct btSparseSdf
|
||||||
{
|
{
|
||||||
//
|
//
|
||||||
// Inner types
|
// Inner types
|
||||||
//
|
//
|
||||||
struct IntFrac
|
struct IntFrac
|
||||||
{
|
{
|
||||||
int b;
|
int b;
|
||||||
int i;
|
int i;
|
||||||
btScalar f;
|
btScalar f;
|
||||||
};
|
};
|
||||||
struct Cell
|
struct Cell
|
||||||
{
|
{
|
||||||
btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
|
btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
|
||||||
int c[3];
|
int c[3];
|
||||||
int puid;
|
int puid;
|
||||||
unsigned hash;
|
unsigned hash;
|
||||||
btCollisionShape* pclient;
|
btCollisionShape* pclient;
|
||||||
Cell* next;
|
Cell* next;
|
||||||
};
|
};
|
||||||
//
|
//
|
||||||
// Fields
|
// Fields
|
||||||
//
|
//
|
||||||
|
|
||||||
btAlignedObjectArray<Cell*> cells;
|
btAlignedObjectArray<Cell*> cells;
|
||||||
btScalar voxelsz;
|
btScalar voxelsz;
|
||||||
int puid;
|
int puid;
|
||||||
int ncells;
|
int ncells;
|
||||||
int nprobes;
|
int nprobes;
|
||||||
int nqueries;
|
int nqueries;
|
||||||
|
|
||||||
//
|
//
|
||||||
// Methods
|
// Methods
|
||||||
//
|
//
|
||||||
|
|
||||||
//
|
//
|
||||||
void Initialize(int hashsize=2383)
|
void Initialize(int hashsize=2383)
|
||||||
{
|
{
|
||||||
cells.resize(hashsize,0);
|
cells.resize(hashsize,0);
|
||||||
Reset();
|
Reset();
|
||||||
}
|
}
|
||||||
//
|
//
|
||||||
void Reset()
|
void Reset()
|
||||||
{
|
{
|
||||||
for(int i=0,ni=cells.size();i<ni;++i)
|
for(int i=0,ni=cells.size();i<ni;++i)
|
||||||
{
|
{
|
||||||
Cell* pc=cells[i];
|
Cell* pc=cells[i];
|
||||||
cells[i]=0;
|
cells[i]=0;
|
||||||
while(pc)
|
while(pc)
|
||||||
{
|
{
|
||||||
Cell* pn=pc->next;
|
Cell* pn=pc->next;
|
||||||
delete pc;
|
delete pc;
|
||||||
pc=pn;
|
pc=pn;
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
}
|
||||||
voxelsz =0.25;
|
voxelsz =0.25;
|
||||||
puid =0;
|
puid =0;
|
||||||
ncells =0;
|
ncells =0;
|
||||||
nprobes =1;
|
nprobes =1;
|
||||||
nqueries =1;
|
nqueries =1;
|
||||||
}
|
}
|
||||||
//
|
//
|
||||||
void GarbageCollect(int lifetime=256)
|
void GarbageCollect(int lifetime=256)
|
||||||
{
|
{
|
||||||
const int life=puid-lifetime;
|
const int life=puid-lifetime;
|
||||||
for(int i=0;i<cells.size();++i)
|
for(int i=0;i<cells.size();++i)
|
||||||
{
|
{
|
||||||
Cell*& root=cells[i];
|
Cell*& root=cells[i];
|
||||||
Cell* pp=0;
|
Cell* pp=0;
|
||||||
Cell* pc=root;
|
Cell* pc=root;
|
||||||
while(pc)
|
while(pc)
|
||||||
{
|
{
|
||||||
Cell* pn=pc->next;
|
Cell* pn=pc->next;
|
||||||
if(pc->puid<life)
|
if(pc->puid<life)
|
||||||
{
|
{
|
||||||
if(pp) pp->next=pn; else root=pn;
|
if(pp) pp->next=pn; else root=pn;
|
||||||
delete pc;pc=pp;--ncells;
|
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);
|
//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
|
||||||
nqueries=1;
|
nqueries=1;
|
||||||
nprobes=1;
|
nprobes=1;
|
||||||
++puid; /* TODO: Reset puid's when int range limit is reached */
|
++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 RemoveReferences(btCollisionShape* pcs)
|
||||||
{
|
{
|
||||||
int refcount=0;
|
int refcount=0;
|
||||||
for(int i=0;i<cells.size();++i)
|
for(int i=0;i<cells.size();++i)
|
||||||
{
|
{
|
||||||
Cell*& root=cells[i];
|
Cell*& root=cells[i];
|
||||||
Cell* pp=0;
|
Cell* pp=0;
|
||||||
Cell* pc=root;
|
Cell* pc=root;
|
||||||
while(pc)
|
while(pc)
|
||||||
{
|
{
|
||||||
Cell* pn=pc->next;
|
Cell* pn=pc->next;
|
||||||
if(pc->pclient==pcs)
|
if(pc->pclient==pcs)
|
||||||
{
|
{
|
||||||
if(pp) pp->next=pn; else root=pn;
|
if(pp) pp->next=pn; else root=pn;
|
||||||
delete pc;pc=pp;++refcount;
|
delete pc;pc=pp;++refcount;
|
||||||
}
|
|
||||||
pp=pc;pc=pn;
|
|
||||||
}
|
}
|
||||||
|
pp=pc;pc=pn;
|
||||||
}
|
}
|
||||||
return(refcount);
|
|
||||||
}
|
}
|
||||||
|
return(refcount);
|
||||||
|
}
|
||||||
//
|
//
|
||||||
btScalar Evaluate( const btVector3& x,
|
btScalar Evaluate( const btVector3& x,
|
||||||
btCollisionShape* shape,
|
btCollisionShape* shape,
|
||||||
btVector3& normal,
|
btVector3& normal,
|
||||||
btScalar margin)
|
btScalar margin)
|
||||||
{
|
{
|
||||||
/* Lookup cell */
|
/* Lookup cell */
|
||||||
const btVector3 scx=x/voxelsz;
|
const btVector3 scx=x/voxelsz;
|
||||||
const IntFrac ix=Decompose(scx.x());
|
const IntFrac ix=Decompose(scx.x());
|
||||||
@@ -166,19 +166,19 @@ struct btSparseSdf
|
|||||||
Cell* c=root;
|
Cell* c=root;
|
||||||
++nqueries;
|
++nqueries;
|
||||||
while(c)
|
while(c)
|
||||||
{
|
{
|
||||||
++nprobes;
|
++nprobes;
|
||||||
if( (c->hash==h) &&
|
if( (c->hash==h) &&
|
||||||
(c->c[0]==ix.b) &&
|
(c->c[0]==ix.b) &&
|
||||||
(c->c[1]==iy.b) &&
|
(c->c[1]==iy.b) &&
|
||||||
(c->c[2]==iz.b) &&
|
(c->c[2]==iz.b) &&
|
||||||
(c->pclient==shape))
|
(c->pclient==shape))
|
||||||
{ break; }
|
{ break; }
|
||||||
else
|
else
|
||||||
{ c=c->next; }
|
{ c=c->next; }
|
||||||
}
|
}
|
||||||
if(!c)
|
if(!c)
|
||||||
{
|
{
|
||||||
++nprobes;
|
++nprobes;
|
||||||
++ncells;
|
++ncells;
|
||||||
c=new Cell();
|
c=new Cell();
|
||||||
@@ -187,82 +187,82 @@ struct btSparseSdf
|
|||||||
c->hash=h;
|
c->hash=h;
|
||||||
c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
|
c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
|
||||||
BuildCell(*c);
|
BuildCell(*c);
|
||||||
}
|
}
|
||||||
c->puid=puid;
|
c->puid=puid;
|
||||||
/* Extract infos */
|
/* Extract infos */
|
||||||
const int o[]={ ix.i,iy.i,iz.i};
|
const int o[]={ ix.i,iy.i,iz.i};
|
||||||
const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0],
|
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]+0][o[2]+0],
|
||||||
c->d[o[0]+1][o[1]+1][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]+1][o[2]+0],
|
||||||
c->d[o[0]+0][o[1]+0][o[2]+1],
|
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]+0][o[2]+1],
|
||||||
c->d[o[0]+1][o[1]+1][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]+0][o[1]+1][o[2]+1]};
|
||||||
/* Normal */
|
/* Normal */
|
||||||
#if 1
|
#if 1
|
||||||
const btScalar gx[]={ d[1]-d[0],d[2]-d[3],
|
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],
|
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],
|
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),
|
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),
|
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),
|
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();
|
normal = normal.normalized();
|
||||||
#else
|
#else
|
||||||
normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
|
normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
|
||||||
#endif
|
#endif
|
||||||
/* Distance */
|
/* Distance */
|
||||||
const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f),
|
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),
|
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);
|
return(Lerp(d0,d1,iz.f)-margin);
|
||||||
}
|
}
|
||||||
//
|
//
|
||||||
void BuildCell(Cell& c)
|
void BuildCell(Cell& c)
|
||||||
{
|
{
|
||||||
const btVector3 org=btVector3( (btScalar)c.c[0],
|
const btVector3 org=btVector3( (btScalar)c.c[0],
|
||||||
(btScalar)c.c[1],
|
(btScalar)c.c[1],
|
||||||
(btScalar)c.c[2]) *
|
(btScalar)c.c[2]) *
|
||||||
CELLSIZE*voxelsz;
|
CELLSIZE*voxelsz;
|
||||||
for(int k=0;k<=CELLSIZE;++k)
|
for(int k=0;k<=CELLSIZE;++k)
|
||||||
{
|
{
|
||||||
const btScalar z=voxelsz*k+org.z();
|
const btScalar z=voxelsz*k+org.z();
|
||||||
for(int j=0;j<=CELLSIZE;++j)
|
for(int j=0;j<=CELLSIZE;++j)
|
||||||
{
|
{
|
||||||
const btScalar y=voxelsz*j+org.y();
|
const btScalar y=voxelsz*j+org.y();
|
||||||
for(int i=0;i<=CELLSIZE;++i)
|
for(int i=0;i<=CELLSIZE;++i)
|
||||||
{
|
{
|
||||||
const btScalar x=voxelsz*i+org.x();
|
const btScalar x=voxelsz*i+org.x();
|
||||||
c.d[i][j][k]=DistanceToShape( btVector3(x,y,z),
|
c.d[i][j][k]=DistanceToShape( btVector3(x,y,z),
|
||||||
c.pclient);
|
c.pclient);
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
}
|
||||||
//
|
//
|
||||||
static inline btScalar DistanceToShape(const btVector3& x,
|
static inline btScalar DistanceToShape(const btVector3& x,
|
||||||
btCollisionShape* shape)
|
btCollisionShape* shape)
|
||||||
{
|
{
|
||||||
btTransform unit;
|
btTransform unit;
|
||||||
unit.setIdentity();
|
unit.setIdentity();
|
||||||
if(shape->isConvex())
|
if(shape->isConvex())
|
||||||
{
|
{
|
||||||
btGjkEpaSolver2::sResults res;
|
btGjkEpaSolver2::sResults res;
|
||||||
btConvexShape* csh=static_cast<btConvexShape*>(shape);
|
btConvexShape* csh=static_cast<btConvexShape*>(shape);
|
||||||
return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
|
return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
|
||||||
}
|
|
||||||
return(0);
|
|
||||||
}
|
}
|
||||||
|
return(0);
|
||||||
|
}
|
||||||
//
|
//
|
||||||
static inline IntFrac Decompose(btScalar x)
|
static inline IntFrac Decompose(btScalar x)
|
||||||
{
|
{
|
||||||
/* That one need a lot of improvements... */
|
/* That one need a lot of improvements... */
|
||||||
/* Remove test, faster floor... */
|
/* Remove test, faster floor... */
|
||||||
IntFrac r;
|
IntFrac r;
|
||||||
@@ -272,18 +272,18 @@ struct btSparseSdf
|
|||||||
const btScalar k=(x-r.b)*CELLSIZE;
|
const btScalar k=(x-r.b)*CELLSIZE;
|
||||||
r.i=(int)k;r.f=k-r.i;r.b-=o;
|
r.i=(int)k;r.f=k-r.i;r.b-=o;
|
||||||
return(r);
|
return(r);
|
||||||
}
|
}
|
||||||
//
|
//
|
||||||
static inline btScalar Lerp(btScalar a,btScalar b,btScalar t)
|
static inline btScalar Lerp(btScalar a,btScalar b,btScalar t)
|
||||||
{
|
{
|
||||||
return(a+(b-a)*t);
|
return(a+(b-a)*t);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
//
|
//
|
||||||
static inline unsigned int Hash(int x,int y,int z,btCollisionShape* shape)
|
static inline unsigned int Hash(int x,int y,int z,btCollisionShape* shape)
|
||||||
{
|
{
|
||||||
struct btS
|
struct btS
|
||||||
{
|
{
|
||||||
int x,y,z;
|
int x,y,z;
|
||||||
@@ -291,16 +291,16 @@ struct btSparseSdf
|
|||||||
};
|
};
|
||||||
|
|
||||||
btS myset;
|
btS myset;
|
||||||
|
|
||||||
myset.x=x;myset.y=y;myset.z=z;myset.p=shape;
|
myset.x=x;myset.y=y;myset.z=z;myset.p=shape;
|
||||||
const void* ptr = &myset;
|
const void* ptr = &myset;
|
||||||
|
|
||||||
unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
|
unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
|
||||||
|
|
||||||
|
|
||||||
return result;
|
return result;
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
Reference in new issue
Block a user