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Improved BulletSoftBody serialization, added cluster support. Joints and copying data from GPU back to softbody are the main todo.

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Updated the Bullet/Demos/SerializeDemo to load .bullet files with the softbody data.

BulletSoftBody should use getWorldTransform and not getInterpolationWorldTransform
Fix btBulletWorldImporter so that it creates a copy of the index/vertex data, this prevents crashes when deleting the .bullet file with triangle meshes.
This commit is contained in:
erwin.coumans
2010-12-03 03:11:21 +00:00
parent 032c6bfe2c
commit 6173a30bce
9 changed files with 964 additions and 472 deletions
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45
src/BulletSoftBody/btSoftBodyData.h
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@@ -121,18 +121,52 @@ struct SoftBodyPoseData
btMatrix3x3FloatData m_rot; // Rotation
btMatrix3x3FloatData m_scale; // Scale
btMatrix3x3FloatData m_aqq; // Base scaling
btVector3FloatData m_positions; // Reference positions
btVector3FloatData m_com; // COM
btVector3FloatData *m_positions; // Reference positions
float *m_weights; // Weights
int m_numPositions;
int m_numWeigts;
int m_bvolume; // Is valid
int m_bframe; // Is frame
float m_restVolume; // Rest volume
int m_numPositions;
float *m_weights; // Weights
int m_numWeigts;
int m_pad;
};
struct SoftBodyClusterData
{
btTransformFloatData m_framexform;
btMatrix3x3FloatData m_locii;
btMatrix3x3FloatData m_invwi;
btVector3FloatData m_com;
btVector3FloatData m_vimpulses[2];
btVector3FloatData m_dimpulses[2];
btVector3FloatData m_lv;
btVector3FloatData m_av;
btVector3FloatData *m_framerefs;
int *m_nodeIndices;
float *m_masses;
int m_numFrameRefs;
int m_numNodes;
int m_numMasses;
float m_idmass;
float m_imass;
int m_nvimpulses;
int m_ndimpulses;
float m_ndamping;
float m_ldamping;
float m_adamping;
float m_matching;
float m_maxSelfCollisionImpulse;
float m_selfCollisionImpulseFactor;
int m_containsAnchor;
int m_collide;
int m_clusterIndex;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btSoftBodyFloatData
@@ -146,6 +180,7 @@ struct btSoftBodyFloatData
SoftBodyFaceData *m_faces;
SoftBodyTetraData *m_tetrahedra;
SoftRigidAnchorData *m_anchors;
SoftBodyClusterData *m_clusters;
int m_numMaterials;
int m_numNodes;
@@ -153,6 +188,8 @@ struct btSoftBodyFloatData
int m_numFaces;
int m_numTetrahedra;
int m_numAnchors;
int m_numClusters;
int m_pad;
SoftBodyConfigData m_config;
};