Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

move the SoftBody work into its own library, BulletSoftBody (work in progress)

Browse Source
This commit is contained in:
erwin.coumans
2008-04-11 18:41:07 +00:00
parent 177287ae78
commit 621be07178
21 changed files with 31 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
src/BulletDynamics/CMakeLists.txt
View File

@@ -46,18 +46,4 @@ ADD_LIBRARY(LibBulletDynamics
Vehicle/btRaycastVehicle.h
Vehicle/btWheelInfo.cpp
Vehicle/btWheelInfo.h
SoftBody/btSoftBody.cpp
SoftBody/btSoftBody.h
SoftBody/btSoftBodyHelpers.cpp
SoftBody/btSparseSDF.h
SoftBody/btDbvt.cpp
SoftBody/btDbvt.h
SoftBody/btSoftBodyHelpers.h
SoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
SoftBody/btSoftRigidCollisionAlgorithm.cpp
SoftBody/btSoftRigidCollisionAlgorithm.h
SoftBody/btSoftSoftCollisionAlgorithm.cpp
SoftBody/btSoftSoftCollisionAlgorithm.h
SoftBody/btSoftRigidDynamicsWorld.h
SoftBody/btSoftRigidDynamicsWorld.cpp
)

1
src/BulletDynamics/Jamfile
View File

@@ -3,7 +3,6 @@ SubDir TOP src BulletDynamics ;
Description bulletdynamics : "Bullet Rigidbody Dynamics" ;
Library bulletdynamics :
[ Wildcard ConstraintSolver : *.h *.cpp ]
[ Wildcard SoftBody : *.h *.cpp ]
[ Wildcard Dynamics : *.h *.cpp ]
[ Wildcard Vehicle : *.h *.cpp ]
;

532
src/BulletDynamics/SoftBody/btDbvt.cpp
View File

@@ -1,532 +0,0 @@
#include "btDbvt.h"
#include <stdio.h>
namespace btdbvt_internals
{
//
typedef btAlignedObjectArray<btDbvt::Node*> tNodeArray;
//
static inline int indexof(const btDbvt::Node* node)
{
return(node->parent->childs[1]==node);
}
//
static inline btDbvt::Aabb merge( const btDbvt::Aabb& a,
const btDbvt::Aabb& b)
{
btDbvt::Aabb res;
Merge(a,b,res);
return(res);
}
// volume+edge lengths
static inline btScalar size(const btDbvt::Aabb& a)
{
const btVector3 edges=a.Lengths();
return( edges.x()*edges.y()*edges.z()+
edges.x()+edges.y()+edges.z());
}
//
static inline void deletenode( btDbvt* pdbvt,
btDbvt::Node* node)
{
delete pdbvt->m_free;
pdbvt->m_free=node;
}
//
static inline void recursedeletenode( btDbvt* pdbvt,
btDbvt::Node* node)
{
if(!node->isleaf())
{
recursedeletenode(pdbvt,node->childs[0]);
recursedeletenode(pdbvt,node->childs[1]);
}
if(node==pdbvt->m_root) pdbvt->m_root=0;
deletenode(pdbvt,node);
}
//
static inline btDbvt::Node* createnode( btDbvt* pdbvt,
btDbvt::Node* parent,
const btDbvt::Aabb& box,
void* data)
{
btDbvt::Node* node;
if(pdbvt->m_free)
{ node=pdbvt->m_free;pdbvt->m_free=0; }
else
{ node=new btDbvt::Node(); }
node->parent = parent;
node->box = box;
node->data = data;
node->childs[1] = 0;
return(node);
}
//
static inline void insertleaf( btDbvt* pdbvt,
btDbvt::Node* root,
btDbvt::Node* leaf)
{
if(!pdbvt->m_root)
{
pdbvt->m_root = leaf;
leaf->parent = 0;
}
else
{
if(!root->isleaf())
{
do {
if( Proximity(root->childs[0]->box,leaf->box)<
Proximity(root->childs[1]->box,leaf->box))
root=root->childs[0];
else
root=root->childs[1];
} while(!root->isleaf());
}
btDbvt::Node* prev=root->parent;
btDbvt::Node* node=createnode(pdbvt,prev,merge(leaf->box,root->box),0);
if(prev)
{
prev->childs[indexof(root)] = node;
node->childs[0] = root;root->parent=node;
node->childs[1] = leaf;leaf->parent=node;
do {
if(prev->box.Contain(node->box))
break;
else
Merge(prev->childs[0]->box,prev->childs[1]->box,prev->box);
node=prev;
} while(0!=(prev=node->parent));
}
else
{
node->childs[0] = root;root->parent=node;
node->childs[1] = leaf;leaf->parent=node;
pdbvt->m_root = node;
}
}
}
//
static inline btDbvt::Node* removeleaf( btDbvt* pdbvt,
btDbvt::Node* leaf)
{
if(leaf==pdbvt->m_root)
{
pdbvt->m_root=0;
return(0);
}
else
{
btDbvt::Node* parent=leaf->parent;
btDbvt::Node* prev=parent->parent;
btDbvt::Node* sibling=parent->childs[1-indexof(leaf)];
if(prev)
{
prev->childs[indexof(parent)]=sibling;
sibling->parent=prev;
deletenode(pdbvt,parent);
while(prev)
{
const btDbvt::Aabb pb=prev->box;
Merge(prev->childs[0]->box,prev->childs[1]->box,prev->box);
if(NotEqual(pb,prev->box))
{
sibling = prev;
prev = prev->parent;
} else break;
}
return(prev?prev:pdbvt->m_root);
}
else
{
pdbvt->m_root=sibling;
sibling->parent=0;
deletenode(pdbvt,parent);
return(pdbvt->m_root);
}
}
}
//
static void fetchleafs( btDbvt* pdbvt,
btDbvt::Node* root,
tNodeArray& leafs,
int depth=-1)
{
if(root->isinternal()&&depth)
{
fetchleafs(pdbvt,root->childs[0],leafs,depth-1);
fetchleafs(pdbvt,root->childs[1],leafs,depth-1);
deletenode(pdbvt,root);
}
else
{
leafs.push_back(root);
}
}
//
static int leafcount(btDbvt::Node* root)
{
if(root->isinternal())
{
return( leafcount(root->childs[0])+
leafcount(root->childs[1]));
}
return(1);
}
//
static void split( const tNodeArray& leafs,
tNodeArray& left,
tNodeArray& right,
const btVector3& org,
const btVector3& axis)
{
left.resize(0);
right.resize(0);
for(int i=0,ni=leafs.size();i<ni;++i)
{
if(dot(axis,leafs[i]->box.Center()-org)<0)
left.push_back(leafs[i]);
else
right.push_back(leafs[i]);
}
}
//
static btDbvt::Aabb bounds( const tNodeArray& leafs)
{
btDbvt::Aabb box=leafs[0]->box;
for(int i=1,ni=leafs.size();i<ni;++i)
{
box=merge(box,leafs[i]->box);
}
return(box);
}
//
static void bottomup( btDbvt* pdbvt,
tNodeArray& leafs)
{
while(leafs.size()>1)
{
btScalar minsize=SIMD_INFINITY;
int minidx[2]={-1,-1};
for(int i=0;i<leafs.size();++i)
{
for(int j=i+1;j<leafs.size();++j)
{
const btScalar sz=size(merge(leafs[i]->box,leafs[j]->box));
if(sz<minsize)
{
minsize = sz;
minidx[0] = i;
minidx[1] = j;
}
}
}
btDbvt::Node* n[] = {leafs[minidx[0]],leafs[minidx[1]]};
btDbvt::Node* p = createnode(pdbvt,0,merge(n[0]->box,n[1]->box),0);
p->childs[0] = n[0];
p->childs[1] = n[1];
n[0]->parent = p;
n[1]->parent = p;
leafs[minidx[0]] = p;
leafs.swap(minidx[1],leafs.size()-1);
leafs.pop_back();
}
}
//
static btDbvt::Node* topdown(btDbvt* pdbvt,
tNodeArray& leafs,
int bu_treshold)
{
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
if(leafs.size()>1)
{
if(leafs.size()>bu_treshold)
{
const btDbvt::Aabb box=bounds(leafs);
const btVector3 org=box.Center();
tNodeArray sets[2];
int bestaxis=-1;
int bestmidp=leafs.size();
sets[0].reserve(leafs.size());
sets[1].reserve(leafs.size());
for(int i=0;i<3;++i)
{
split(leafs,sets[0],sets[1],org,axis[i]);
if((sets[0].size()>0)&&(sets[1].size()>0))
{
const int midp=abs(sets[0].size()-sets[1].size());
if(midp<bestmidp)
{
bestaxis=i;
bestmidp=midp;
}
}
}
if(bestaxis>=0)
{
split(leafs,sets[0],sets[1],org,axis[bestaxis]);
}
else
{
sets[0].resize(0);
sets[1].resize(0);
for(int i=0,ni=leafs.size();i<ni;++i)
{
sets[i&1].push_back(leafs[i]);
}
}
btDbvt::Node* node=createnode(pdbvt,0,box,0);
node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
node->childs[0]->parent=node;
node->childs[1]->parent=node;
return(node);
}
else
{
bottomup(pdbvt,leafs);
return(leafs[0]);
}
}
return(leafs[0]);
}
//
static inline btDbvt::Node* refit( btDbvt* pdbvt,
btDbvt::Node* node)
{
btDbvt::Node* parent=node->parent;
if(parent)
{
const int idx=indexof(node);
tNodeArray leafs;
leafs.reserve(64);
fetchleafs(pdbvt,node,leafs,3);
if(leafs.size()>=2)
{
bottomup(pdbvt,leafs);
node=leafs[0];
node->parent=parent;
parent->childs[idx]=node;
}
}
return(node);
}
}
using namespace btdbvt_internals;
//
// Api
//
//
btDbvt::btDbvt()
{
m_root = 0;
m_free = 0;
m_lkhd = 2;
}
//
btDbvt::~btDbvt()
{
clear();
}
//
void btDbvt::clear()
{
if(m_root) recursedeletenode(this,m_root);
delete m_free;
m_free=0;
}
//
int btDbvt::leafCount() const
{
if(m_root) return(leafcount(m_root));
else
return(0);
}
//
void btDbvt::optimizeBottomUp()
{
if(m_root)
{
tNodeArray leafs;
leafs.reserve(leafCount());
fetchleafs(this,m_root,leafs);
bottomup(this,leafs);
m_root=leafs[0];
}
}
//
void btDbvt::optimizeTopDown(int bu_treshold)
{
if(m_root)
{
tNodeArray leafs;
leafs.reserve(leafCount());
fetchleafs(this,m_root,leafs);
m_root=topdown(this,leafs,bu_treshold);
}
}
//
btDbvt::Node* btDbvt::insert(const Aabb& box,void* data)
{
Node* leaf=createnode(this,0,box,data);
insertleaf(this,m_root,leaf);
return(leaf);
}
//
void btDbvt::update(Node* leaf,const Aabb& box)
{
Node* root=removeleaf(this,leaf);
if(root)
{
for(int i=0;(i<m_lkhd)&&root->parent;++i)
{
root=root->parent;
}
}
leaf->box=box;
insertleaf(this,root,leaf);
}
//
bool btDbvt::update(Node* leaf,Aabb box,const btVector3& velocity,btScalar margin)
{
if(leaf->box.Contain(box)) return(false);
if(margin>0)
box.Expand(btVector3(margin,margin,margin));
if(velocity.length2()>0)
box.SignedExpand(velocity);
update(leaf,box);
return(true);
}
//
void btDbvt::remove(Node* leaf)
{
removeleaf(this,leaf);
deletenode(this,leaf);
}
//
void btDbvt::collide(btDbvt* tree,
ICollide* icollide) const
{
if(tree->m_root&&m_root)
{
btAlignedObjectArray<sStkElm> stack;
stack.reserve(128);
stack.push_back(sStkElm(m_root,tree->m_root));
do {
sStkElm p=stack[stack.size()-1];
stack.pop_back();
if(p.a==p.b)
{
if(p.a->isinternal())
{
stack.push_back(sStkElm(p.a->childs[0],p.a->childs[0]));
stack.push_back(sStkElm(p.a->childs[1],p.a->childs[1]));
stack.push_back(sStkElm(p.a->childs[0],p.a->childs[1]));
}
}
else if(Intersect(p.a->box,p.b->box))
{
if(p.a->isinternal())
{
if(p.b->isinternal())
{
stack.push_back(sStkElm(p.a->childs[0],p.b->childs[0]));
stack.push_back(sStkElm(p.a->childs[1],p.b->childs[0]));
stack.push_back(sStkElm(p.a->childs[0],p.b->childs[1]));
stack.push_back(sStkElm(p.a->childs[1],p.b->childs[1]));
}
else
{
stack.push_back(sStkElm(p.a->childs[0],p.b));
stack.push_back(sStkElm(p.a->childs[1],p.b));
}
}
else
{
if(p.b->isinternal())
{
stack.push_back(sStkElm(p.a,p.b->childs[0]));
stack.push_back(sStkElm(p.a,p.b->childs[1]));
}
else
{
icollide->Process(p.a,p.b);
}
}
}
} while(stack.size()>0);
}
}
//
void btDbvt::collide(const Aabb& box,
ICollide* icollide) const
{
if(m_root)
{
btAlignedObjectArray<const Node*> stack;
stack.reserve(64);
stack.push_back(m_root);
do {
const Node* n=stack[stack.size()-1];
stack.pop_back();
if(Intersect(n->box,box))
{
if(n->isinternal())
{
stack.push_back(n->childs[0]);
stack.push_back(n->childs[1]);
}
else
{
icollide->Process(n);
}
}
} while(stack.size()>0);
}
}
//
void btDbvt::collide(const btVector3& org,
const btVector3& dir,
ICollide* icollide) const
{
/* not implemented */
}

231
src/BulletDynamics/SoftBody/btDbvt.h
View File

@@ -1,231 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///btSoftBody implementation by Nathanael Presson
#ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H
#define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
//
// Dynamic bounding volume tree
//
struct btDbvt
{
// Types
/* Aabb */
struct Aabb
{
inline btVector3 Center() const { return((mi+mx)/2); }
inline btVector3 Extent() const { return((mx-mi)/2); }
inline const btVector3& Mins() const { return(mi); }
inline const btVector3& Maxs() const { return(mx); }
inline btVector3 Lengths() const { return(mx-mi); }
static inline Aabb FromCE(const btVector3& c,const btVector3& e);
static inline Aabb FromCR(const btVector3& c,btScalar r);
static inline Aabb FromMM(const btVector3& mi,const btVector3& mx);
static inline Aabb FromPoints(const btVector3* pts,int n);
static inline Aabb FromPoints(const btVector3** ppts,int n);
inline void Expand(const btVector3 e);
inline void SignedExpand(const btVector3 e);
inline bool Contain(const Aabb& a) const;
inline friend bool Intersect( const Aabb& a,
const Aabb& b);
inline friend btScalar Proximity( const Aabb& a,
const Aabb& b);
inline friend void Merge( const Aabb& a,
const Aabb& b,
Aabb& r);
inline friend bool NotEqual( const Aabb& a,
const Aabb& b);
btVector3 mi,mx;
};
/* Node */
struct Node
{
Aabb box;
Node* parent;
bool isleaf() const { return(childs[1]==0); }
bool isinternal() const { return(!isleaf()); }
union {
Node* childs[2];
void* data;
};
};
// Interfaces
struct sStkElm
{
const Node* a;
const Node* b;
sStkElm(const Node* na,const Node* nb) : a(na),b(nb) {}
};
/* ICollide */
struct ICollide
{
virtual void Process(const Node* leaf0,const Node* leaf1) {};
virtual void Process(const Node* leaf) {};
};
// Fields
Node* m_root;
Node* m_free;
int m_lkhd;
// Methods
btDbvt();
~btDbvt();
void clear();
int leafCount() const;
void optimizeBottomUp();
void optimizeTopDown(int bu_treshold=128);
Node* insert(const Aabb& box,void* data);
void update(Node* leaf,const Aabb& box);
bool update(Node* leaf,Aabb box,const btVector3& velocity,btScalar margin);
void remove(Node* leaf);
void collide(btDbvt* tree,
ICollide* icollide) const;
void collide(const Aabb& box,
ICollide* icollide) const;
void collide(const btVector3& org,
const btVector3& dir,
ICollide* icollide) const;
//
private:
btDbvt(const btDbvt&) {}
};
//
// Inline's
//
//
inline btDbvt::Aabb btDbvt::Aabb::FromCE(const btVector3& c,const btVector3& e)
{
Aabb box;
box.mi=c-e;box.mx=c+e;
return(box);
}
//
inline btDbvt::Aabb btDbvt::Aabb::FromCR(const btVector3& c,btScalar r)
{
return(FromCE(c,btVector3(r,r,r)));
}
//
inline btDbvt::Aabb btDbvt::Aabb::FromMM(const btVector3& mi,const btVector3& mx)
{
Aabb box;
box.mi=mi;box.mx=mx;
return(box);
}
//
inline btDbvt::Aabb btDbvt::Aabb::FromPoints(const btVector3* pts,int n)
{
Aabb box;
box.mi=box.mx=pts[0];
for(int i=1;i<n;++i)
{
box.mi.setMin(pts[i]);
box.mx.setMax(pts[i]);
}
return(box);
}
//
inline btDbvt::Aabb btDbvt::Aabb::FromPoints(const btVector3** ppts,int n)
{
Aabb box;
box.mi=box.mx=*ppts[0];
for(int i=1;i<n;++i)
{
box.mi.setMin(*ppts[i]);
box.mx.setMax(*ppts[i]);
}
return(box);
}
//
inline void btDbvt::Aabb::Expand(const btVector3 e)
{
mi-=e;mx+=e;
}
//
inline void btDbvt::Aabb::SignedExpand(const btVector3 e)
{
if(e.x()>0) mx.setX(mx.x()+e.x()); else mi.setX(mi.x()+e.x());
if(e.y()>0) mx.setY(mx.y()+e.y()); else mi.setY(mi.y()+e.y());
if(e.z()>0) mx.setZ(mx.z()+e.z()); else mi.setZ(mi.z()+e.z());
}
//
inline bool btDbvt::Aabb::Contain(const Aabb& a) const
{
return( (mi.x()<=a.mi.x())&&
(mi.y()<=a.mi.y())&&
(mi.z()<=a.mi.z())&&
(mx.x()>=a.mx.x())&&
(mx.y()>=a.mx.y())&&
(mx.z()>=a.mx.z()));
}
//
inline bool Intersect( const btDbvt::Aabb& a,
const btDbvt::Aabb& b)
{
return( (a.mi.x()<=b.mx.x())&&
(a.mi.y()<=b.mx.y())&&
(a.mi.z()<=b.mx.z())&&
(a.mx.x()>=b.mi.x())&&
(a.mx.y()>=b.mi.y())&&
(a.mx.z()>=b.mi.z()));
}
//
inline btScalar Proximity( const btDbvt::Aabb& a,
const btDbvt::Aabb& b)
{
const btVector3 d=(a.mi+a.mx)-(b.mi+b.mx);
return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z()));
}
//
inline void Merge( const btDbvt::Aabb& a,
const btDbvt::Aabb& b,
btDbvt::Aabb& r)
{
r=a;
r.mi.setMin(b.mi);
r.mx.setMax(b.mx);
}
//
inline bool NotEqual( const btDbvt::Aabb& a,
const btDbvt::Aabb& b)
{
return( (a.mi.x()!=b.mi.x())||
(a.mi.y()!=b.mi.y())||
(a.mi.z()!=b.mi.z())||
(a.mx.x()!=b.mx.x())||
(a.mx.y()!=b.mx.y())||
(a.mx.z()!=b.mx.z()));
}
#endif

1664
src/BulletDynamics/SoftBody/btSoftBody.cpp
View File

File diff suppressed because it is too large Load Diff

366
src/BulletDynamics/SoftBody/btSoftBody.h
View File

@@ -1,366 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///btSoftBody implementation by Nathanael Presson
#ifndef _BT_SOFT_BODY_H
#define _BT_SOFT_BODY_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "BulletDynamics/SoftBody/btSparseSDF.h"
#include "BulletDynamics/SoftBody/btDbvt.h"
class btBroadphaseInterface;
class btCollisionDispatcher;
/// btSoftBody is work-in-progress
class btSoftBody : public btCollisionObject
{
public:
//
// Enumerations
//
///eLType
struct eLType { enum _ {
Structural, ///Master constraints
Bending, ///Secondary constraints
};};
///eAeroModel
struct eAeroModel { enum _ {
V_Point, ///Vertex normals are oriented toward velocity
V_TwoSided, ///Vertex normals are fliped to match velocity
V_OneSided, ///Vertex normals are taken as it is
F_TwoSided, ///Face normals are fliped to match velocity
F_OneSided, ///Face normals are taken as it is
};};
//
// Flags
//
///fCollision
struct fCollision { enum _ {
RVSmask = 0x000f, ///Rigid versus soft mask
SDF_RS = 0x0001, ///SDF base rigid vs soft
SVSmask = 0x00f0, ///Rigid versus soft mask
VF_SS = 0x0010, ///Vertex vs face soft vs soft handling
/* presets */
Default = SDF_RS,
};};
//
// Internal types
//
typedef btAlignedObjectArray<btScalar> tScalarArray;
typedef btAlignedObjectArray<btVector3> tVector3Array;
/* btSoftBodyWorldInfo */
struct btSoftBodyWorldInfo
{
btScalar air_density;
btScalar water_density;
btScalar water_offset;
btVector3 water_normal;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btVector3 m_gravity;
btSparseSdf<3> m_sparsesdf;
};
/* sCti is Softbody contact info */
struct sCti
{
btRigidBody* m_body; /* Rigid body */
btVector3 m_normal; /* Outward normal */
btScalar m_offset; /* Offset from origin */
};
/* sMedium */
struct sMedium
{
btVector3 m_velocity; /* Velocity */
btScalar m_pressure; /* Pressure */
btScalar m_density; /* Density */
};
/* Base type */
struct Element
{
void* m_tag; // User data
};
/* Node */
struct Node : Element
{
btVector3 m_x; // Position
btVector3 m_q; // Previous step position
btVector3 m_v; // Velocity
btVector3 m_f; // Force accumulator
btVector3 m_n; // Normal
btScalar m_im; // 1/mass
btScalar m_area; // Area
btDbvt::Node* m_leaf; // Leaf data
int m_battach:1; // Attached
};
/* Link */
struct Link : Element
{
Node* m_n[2]; // Node pointers
btScalar m_rl; // Rest length
btScalar m_kST; // Stiffness coefficient
btScalar m_c0; // (ima+imb)*kLST
btScalar m_c1; // rl^2
btSoftBody::eLType::_ m_type; // Link type
};
/* Face */
struct Face : Element
{
Node* m_n[3]; // Node pointers
btVector3 m_normal; // Normal
btScalar m_ra; // Rest area
btDbvt::Node* m_leaf; // Leaf data
};
/* RContact */
struct RContact
{
btSoftBody::sCti m_cti; // Contact infos
Node* m_node; // Owner node
btMatrix3x3 m_c0; // Impulse matrix
btVector3 m_c1; // Relative anchor
btScalar m_c2; // ima*dt
btScalar m_c3; // Friction
};
/* SContact */
struct SContact
{
Node* m_node; // Node
Face* m_face; // Face
btVector3 m_weights; // Weigths
btVector3 m_normal; // Normal
btScalar m_margin; // Margin
btScalar m_friction; // Friction
btScalar m_cfm[2]; // Constraint force mixing
};
/* Anchor */
struct Anchor
{
Node* m_node; // Node pointer
btVector3 m_local; // Anchor position in body space
btRigidBody* m_body; // Body
btMatrix3x3 m_c0; // Impulse matrix
btVector3 m_c1; // Relative anchor
btScalar m_c2; // ima*dt
};
/* Pose */
struct Pose
{
bool m_bvolume; // Is valid
bool m_bframe; // Is frame
btScalar m_volume; // Rest volume
tVector3Array m_pos; // Reference positions
tScalarArray m_wgh; // Weights
btVector3 m_com; // COM
btMatrix3x3 m_rot; // Rotation
btMatrix3x3 m_scl; // Scale
btMatrix3x3 m_aqq; // Base scaling
};
/* Config */
struct Config
{
btSoftBody::eAeroModel::_ aeromodel; // Aerodynamic model (default: V_Point)
btScalar kLST; // Linear stiffness coefficient [0,1]
btScalar kDP; // Damping coefficient [0,1]
btScalar kDG; // Drag coefficient [0,+inf]
btScalar kLF; // Lift coefficient [0,+inf]
btScalar kPR; // Pressure coefficient [-inf,+inf]
btScalar kVC; // Volume conversation coefficient [0,+inf]
btScalar kDF; // Dynamic friction coefficient [0,1]
btScalar kMT; // Pose matching coefficient [0,1]
btScalar kSOR; // SOR(w) [1,2] default 1, never use with solver!=Accurate
btScalar kCHR; // Rigid contacts hardness [0,1]
btScalar kSHR; // Soft contacts hardness [0,1]
btScalar kAHR; // Anchors hardness [0,1]
btScalar maxvolume; // Maximum volume ratio for pose
btScalar timescale; // Time scale
int iterations; // Solver iterations
int collisions; // Collisions flags
};
/* SolverState */
struct SolverState
{
btScalar iit; // 1/iterations
btScalar sdt; // dt*timescale
btScalar isdt; // 1/sdt
btScalar velmrg; // velocity margin
};
//
// Typedef's
//
typedef btAlignedObjectArray<Node> tNodeArray;
typedef btAlignedObjectArray<Link> tLinkArray;
typedef btAlignedObjectArray<Face> tFaceArray;
typedef btAlignedObjectArray<Anchor> tAnchorArray;
typedef btAlignedObjectArray<RContact> tRContactArray;
typedef btAlignedObjectArray<SContact> tSContactArray;
typedef btAlignedObjectArray<btSoftBody*> tSoftBodyArray;
//
// Fields
//
Config m_cfg; // Configuration
SolverState m_sst; // Solver state
Pose m_pose; // Pose
void* m_tag; // User data
btSoftBodyWorldInfo* m_worldInfo; //
tAnchorArray m_anchors; // Anchors
tRContactArray m_rcontacts; // Rigid contacts
tSContactArray m_scontacts; // Soft contacts
btScalar m_timeacc; // Time accumulator
btVector3 m_bounds[2]; // Spatial bounds
bool m_bUpdateRtCst; // Update runtime constants
btDbvt m_ndbvt; // Nodes tree
btDbvt m_fdbvt; // Faces tree
//
// Api
//
/* ctor */
btSoftBody( btSoftBody::btSoftBodyWorldInfo* worldInfo,int node_count,
const btVector3* x,
const btScalar* m);
/* dtor */
virtual ~btSoftBody();
/* Check for existing link */
bool checkLink( int node0,
int node1) const;
bool checkLink( const btSoftBody::Node* node0,
const btSoftBody::Node* node1) const;
/* Check for existring face */
bool checkFace( int node0,
int node1,
int node2) const;
/* Append link */
void appendLink( int node0,
int node1,
btScalar kST,
btSoftBody::eLType::_ type,
bool bcheckexist=false);
void appendLink( btSoftBody::Node* node0,
btSoftBody::Node* node1,
btScalar kST,
btSoftBody::eLType::_ type,
bool bcheckexist=false);
/* Append face */
void appendFace( int node0,
int node1,
int node2);
/* Append anchor */
void appendAnchor( int node,
btRigidBody* body);
/* Add force (or gravity) to the entire body */
void addForce( const btVector3& force);
/* Add force (or gravity) to a node of the body */
void addForce( const btVector3& force,
int node);
/* Add velocity to the entire body */
void addVelocity( const btVector3& velocity);
/* Add velocity to a node of the body */
void addVelocity( const btVector3& velocity,
int node);
/* Set mass */
void setMass( int node,
btScalar mass);
/* Get mass */
btScalar getMass( int node) const;
/* Get total mass */
btScalar getTotalMass() const;
/* Set total mass (weighted by previous masses) */
void setTotalMass( btScalar mass,
bool fromfaces=false);
/* Set total density */
void setTotalDensity(btScalar density);
/* Transform */
void transform( const btTransform& trs);
/* Scale */
void scale( const btVector3& scl);
/* Set current state as pose */
void setPose( bool bvolume,
bool bframe);
/* Return the volume */
btScalar getVolume() const;
/* Generate bending constraints based on distance in the adjency graph */
int generateBendingConstraints( int distance,
btScalar stiffness);
/* Randomize constraints to reduce solver bias */
void randomizeConstraints();
/* Ray casting */
btScalar raycast(const btVector3& org,
const btVector3& dir) const;
/* predictMotion */
void predictMotion(btScalar dt);
/* solveConstraints */
void solveConstraints();
/* solveCommonConstraints */
static void solveCommonConstraints(btSoftBody** bodies,int count,int iterations);
/* integrateMotion */
void integrateMotion();
/* defaultCollisionHandlers */
void defaultCollisionHandler(btCollisionObject* pco);
void defaultCollisionHandler(btSoftBody* psb);
///to keep collision detection and dynamics separate we don't store a rigidbody pointer
///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
static const btSoftBody* upcast(const btCollisionObject* colObj)
{
if (colObj->getInternalType()==CO_SOFT_BODY)
return (const btSoftBody*)colObj;
return 0;
}
static btSoftBody* upcast(btCollisionObject* colObj)
{
if (colObj->getInternalType()==CO_SOFT_BODY)
return (btSoftBody*)colObj;
return 0;
}
//
// ...
//
tNodeArray& getNodes();
const tNodeArray& getNodes() const;
tLinkArray& getLinks();
const tLinkArray& getLinks() const;
tFaceArray& getFaces();
const tFaceArray& getFaces() const;
};
#endif //_BT_SOFT_BODY_H

485
src/BulletDynamics/SoftBody/btSoftBodyHelpers.cpp
View File

@@ -1,485 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///btSoftBodyHelpers.cpp by Nathanael Presson
#include "btSoftBody.h"
#include "btDbvt.h"
#include <stdio.h>
#include <string.h>
#include "btSoftBodyHelpers.h"
#include "LinearMath/btConvexHull.h"
//
static void drawVertex( btIDebugDraw* idraw,
const btVector3& x,btScalar s,const btVector3& c)
{
idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
}
//
static void drawBox( btIDebugDraw* idraw,
const btVector3& mins,
const btVector3& maxs,
const btVector3& color)
{
const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
btVector3(maxs.x(),mins.y(),mins.z()),
btVector3(maxs.x(),maxs.y(),mins.z()),
btVector3(mins.x(),maxs.y(),mins.z()),
btVector3(mins.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),maxs.y(),maxs.z()),
btVector3(mins.x(),maxs.y(),maxs.z())};
idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
}
//
static void drawTree( btIDebugDraw* idraw,
const btDbvt::Node* node,
int depth,
const btVector3& ncolor,
const btVector3& lcolor,
int mindepth,
int maxdepth)
{
if(node)
{
if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
{
drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
}
if(depth>=mindepth)
{
const btScalar scl=(btScalar)(node->isinternal()?1:1);
const btVector3 mi=node->box.Center()-node->box.Extent()*scl;
const btVector3 mx=node->box.Center()+node->box.Extent()*scl;
drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
}
}
}
//
static btVector3 stresscolor(btScalar stress)
{
static const btVector3 spectrum[]= { btVector3(1,0,1),
btVector3(0,0,1),
btVector3(0,1,1),
btVector3(0,1,0),
btVector3(1,1,0),
btVector3(1,0,0),
btVector3(1,0,0)};
static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
static const btScalar one=1;
stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
const int sel=(int)stress;
const btScalar frc=stress-sel;
return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
}
//
void btSoftBodyHelpers::Draw( btSoftBody* psb,
btIDebugDraw* idraw,
int drawflags)
{
const btScalar scl=(btScalar)0.1;
const btScalar nscl=scl*5;
const btScalar alpha=(btScalar)0.5;
const btVector3 scolor=btVector3(0,0,0);
const btVector3 bcolor=btVector3(1,1,0);
const btVector3 ncolor=btVector3(1,1,1);
const btVector3 ccolor=btVector3(1,0,0);
/* Nodes */
if(0!=(drawflags&fDrawFlags::Nodes))
{
for(int i=0;i<psb->getNodes().size();++i)
{
const btSoftBody::Node& n=psb->getNodes()[i];
idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
}
}
/* Links */
if(0!=(drawflags&fDrawFlags::Links))
{
for(int i=0;i<psb->getLinks().size();++i)
{
const btSoftBody::Link& l=psb->getLinks()[i];
switch(l.m_type)
{
case btSoftBody::eLType::Structural:
if(0!=(drawflags&fDrawFlags::SLinks)) idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,scolor);break;
case btSoftBody::eLType::Bending:
if(0!=(drawflags&fDrawFlags::BLinks)) idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,bcolor);break;
}
}
}
/* Normals */
if(0!=(drawflags&fDrawFlags::Normals))
{
for(int i=0;i<psb->getNodes().size();++i)
{
const btSoftBody::Node& n=psb->getNodes()[i];
const btVector3 d=n.m_n*nscl;
idraw->drawLine(n.m_x,n.m_x+d,ncolor);
idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
}
}
/* Contacts */
if(0!=(drawflags&fDrawFlags::Contacts))
{
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
for(int i=0;i<psb->m_rcontacts.size();++i)
{
const btSoftBody::RContact& c=psb->m_rcontacts[i];
const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
(dot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
const btVector3 x=cross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
const btVector3 y=cross(x,c.m_cti.m_normal).normalized();
idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
}
}
/* Anchors */
if(0!=(drawflags&fDrawFlags::Anchors))
{
for(int i=0;i<psb->m_anchors.size();++i)
{
const btSoftBody::Anchor& a=psb->m_anchors[i];
const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
drawVertex(idraw,q,0.25,btVector3(0,1,0));
idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
}
for(int i=0;i<psb->getNodes().size();++i)
{
const btSoftBody::Node& n=psb->getNodes()[i];
if(n.m_im<=0)
{
drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
}
}
}
/* Faces */
if(0!=(drawflags&fDrawFlags::Faces))
{
const btScalar scl=(btScalar)0.7;
const btScalar alp=(btScalar)1;
const btVector3 col(0,(btScalar)0.7,0);
for(int i=0;i<psb->getFaces().size();++i)
{
const btSoftBody::Face& f=psb->getFaces()[i];
const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
const btVector3 c=(x[0]+x[1]+x[2])/3;
idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
f.m_n[0]->m_n,f.m_n[1]->m_n,f.m_n[2]->m_n,
col,alp);
}
}
}
//
void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
btIDebugDraw* idraw,
bool masses,
bool areas,
bool stress)
{
for(int i=0;i<psb->getNodes().size();++i)
{
const btSoftBody::Node& n=psb->getNodes()[i];
char text[2048]={0};
char buff[1024];
if(masses)
{
sprintf(buff," M(%.2f)",1/n.m_im);
strcat(text,buff);
}
if(areas)
{
sprintf(buff," A(%.2f)",n.m_area);
strcat(text,buff);
}
if(text[0]) idraw->draw3dText(n.m_x,text);
}
}
//
void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawFaceTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
btIDebugDraw* idraw)
{
if(psb->m_pose.m_bframe)
{
static const btScalar ascl=10;
static const btScalar nscl=(btScalar)0.1;
const btVector3 com=psb->m_pose.m_com;
const btMatrix3x3 trs=psb->m_pose.m_rot*psb->m_pose.m_scl;
const btVector3 Xaxis=(trs*btVector3(1,0,0)).normalized();
const btVector3 Yaxis=(trs*btVector3(0,1,0)).normalized();
const btVector3 Zaxis=(trs*btVector3(0,0,1)).normalized();
idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0));
idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0));
idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1));
for(int i=0;i<psb->m_pose.m_pos.size();++i)
{
const btVector3 x=com+trs*psb->m_pose.m_pos[i];
idraw->drawLine(x-btVector3(1,0,0)*nscl,x+btVector3(1,0,0)*nscl,btVector3(1,0,1));
idraw->drawLine(x-btVector3(0,1,0)*nscl,x+btVector3(0,1,0)*nscl,btVector3(1,0,1));
idraw->drawLine(x-btVector3(0,0,1)*nscl,x+btVector3(0,0,1)*nscl,btVector3(1,0,1));
}
}
}
//
btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3& from,
const btVector3& to,
int res,
int fixeds)
{
/* Create nodes */
const int r=res+2;
btVector3* x=new btVector3[r];
btScalar* m=new btScalar[r];
for(int i=0;i<r;++i)
{
const btScalar t=i/(btScalar)(r-1);
x[i]=lerp(from,to,t);
m[i]=1;
}
btSoftBody* psb= new btSoftBody(&worldInfo,r,x,m);
if(fixeds&1) psb->setMass(0,0);
if(fixeds&2) psb->setMass(r-1,0);
delete[] x;
delete[] m;
/* Create links */
for(int i=1;i<r;++i)
{
psb->appendLink(i-1,i,1,btSoftBody::eLType::Structural);
}
/* Finished */
return(psb);
}
//
btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags)
{
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
/* Create nodes */
if((resx<2)||(resy<2)) return(0);
const int rx=resx;
const int ry=resy;
const int tot=rx*ry;
btVector3* x=new btVector3[tot];
btScalar* m=new btScalar[tot];
for(int iy=0;iy<ry;++iy)
{
const btScalar ty=iy/(btScalar)(ry-1);
const btVector3 py0=lerp(corner00,corner01,ty);
const btVector3 py1=lerp(corner10,corner11,ty);
for(int ix=0;ix<rx;++ix)
{
const btScalar tx=ix/(btScalar)(rx-1);
x[IDX(ix,iy)]=lerp(py0,py1,tx);
m[IDX(ix,iy)]=1;
}
}
btSoftBody* psb=new btSoftBody(&worldInfo,tot,x,m);
if(fixeds&1) psb->setMass(IDX(0,0),0);
if(fixeds&2) psb->setMass(IDX(rx-1,0),0);
if(fixeds&4) psb->setMass(IDX(0,ry-1),0);
if(fixeds&8) psb->setMass(IDX(rx-1,ry-1),0);
delete[] x;
delete[] m;
/* Create links and faces */
for(int iy=0;iy<ry;++iy)
{
for(int ix=0;ix<rx;++ix)
{
const int idx=IDX(ix,iy);
const bool mdx=(ix+1)<rx;
const bool mdy=(iy+1)<ry;
if(mdx) psb->appendLink(idx,IDX(ix+1,iy),
1,btSoftBody::eLType::Structural);
if(mdy) psb->appendLink(idx,IDX(ix,iy+1),
1,btSoftBody::eLType::Structural);
if(mdx&&mdy)
{
if((ix+iy)&1)
{
psb->appendFace(IDX(ix,iy),IDX(ix+1,iy),IDX(ix+1,iy+1));
psb->appendFace(IDX(ix,iy),IDX(ix+1,iy+1),IDX(ix,iy+1));
if(gendiags)
{
psb->appendLink(IDX(ix,iy),IDX(ix+1,iy+1),
1,btSoftBody::eLType::Structural);
}
}
else
{
psb->appendFace(IDX(ix,iy+1),IDX(ix,iy),IDX(ix+1,iy));
psb->appendFace(IDX(ix,iy+1),IDX(ix+1,iy),IDX(ix+1,iy+1));
if(gendiags)
{
psb->appendLink(IDX(ix+1,iy),IDX(ix,iy+1),
1,btSoftBody::eLType::Structural);
}
}
}
}
}
/* Finished */
#undef IDX
return(psb);
}
//
btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& center,
const btVector3& radius,
int res)
{
struct Hammersley
{
static void Generate(btVector3* x,int n)
{
for(int i=0;i<n;i++)
{
btScalar p=0.5,t=0;
for(int j=i;j;p*=0.5,j>>=1) if(j&1) t+=p;
btScalar w=2*t-1;
btScalar a=(SIMD_PI+2*i*SIMD_PI)/n;
btScalar s=btSqrt(1-w*w);
*x++=btVector3(s*btCos(a),s*btSin(a),w);
}
}
};
btAlignedObjectArray<btVector3> vtx;
vtx.resize(3+res);
Hammersley::Generate(&vtx[0],vtx.size());
for(int i=0;i<vtx.size();++i)
{
vtx[i]=vtx[i]*radius+center;
}
return(CreateFromConvexHull(worldInfo,&vtx[0],vtx.size()));
}
//
btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btScalar* vertices,
const int* triangles,
int ntriangles)
{
int maxidx=0;
for(int i=0,ni=ntriangles*3;i<ni;++i)
{
maxidx=btMax(triangles[i],maxidx);
}
++maxidx;
btAlignedObjectArray<bool> chks;
btAlignedObjectArray<btVector3> vtx;
chks.resize(maxidx*maxidx,false);
vtx.resize(maxidx);
for(int i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3)
{
vtx[j]=btVector3(vertices[i],vertices[i+1],vertices[i+2]);
}
btSoftBody* psb=new btSoftBody(&worldInfo,vtx.size(),&vtx[0],0);
for(int i=0,ni=ntriangles*3;i<ni;i+=3)
{
const int idx[]={triangles[i],triangles[i+1],triangles[i+2]};
#define IDX(_x_,_y_) ((_y_)*maxidx+(_x_))
for(int j=2,k=0;k<3;j=k++)
{
if(!chks[IDX(idx[j],idx[k])])
{
chks[IDX(idx[j],idx[k])]=true;
chks[IDX(idx[k],idx[k])]=true;
psb->appendLink(idx[j],idx[k],1,btSoftBody::eLType::Structural);
}
}
#undef IDX
psb->appendFace(idx[0],idx[1],idx[2]);
}
psb->randomizeConstraints();
return(psb);
}
//
btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
int nvertices)
{
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
HullResult hres;
HullLibrary hlib;/*??*/
hdsc.mMaxVertices=nvertices;
hlib.CreateConvexHull(hdsc,hres);
btSoftBody* psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices,
&hres.m_OutputVertices[0],0);
for(int i=0;i<(int)hres.mNumFaces;++i)
{
const int idx[]={ hres.m_Indices[i*3+0],
hres.m_Indices[i*3+1],
hres.m_Indices[i*3+2]};
if(idx[0]<idx[1]) psb->appendLink( idx[0],idx[1],
1,btSoftBody::eLType::Structural);
if(idx[1]<idx[2]) psb->appendLink( idx[1],idx[2],
1,btSoftBody::eLType::Structural);
if(idx[2]<idx[0]) psb->appendLink( idx[2],idx[0],
1,btSoftBody::eLType::Structural);
psb->appendFace(idx[0],idx[1],idx[2]);
}
hlib.ReleaseResult(hres);
psb->randomizeConstraints();
return(psb);
}

93
src/BulletDynamics/SoftBody/btSoftBodyHelpers.h
View File

@@ -1,93 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SOFT_BODY_HELPERS_H
#define SOFT_BODY_HELPERS_H
#include "btSoftBody.h"
//
// Helpers
//
/* fDrawFlags */
struct fDrawFlags { enum _ {
Nodes = 0x0001,
SLinks = 0x0002,
BLinks = 0x0004,
Faces = 0x0008,
Tetras = 0x0010,
Normals = 0x0020,
Contacts = 0x0040,
Anchors = 0x0080,
/* presets */
Links = SLinks+BLinks,
Std = SLinks+Faces+Anchors,
StdTetra = Std-Faces+Tetras,
};};
struct btSoftBodyHelpers
{
/* Draw body */
static void Draw( btSoftBody* psb,
btIDebugDraw* idraw,
int drawflags=fDrawFlags::Std);
/* Draw body infos */
static void DrawInfos( btSoftBody* psb,
btIDebugDraw* idraw,
bool masses,
bool areas,
bool stress);
/* Draw node tree */
static void DrawNodeTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth=0,
int maxdepth=-1);
/* Draw face tree */
static void DrawFaceTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth=0,
int maxdepth=-1);
/* Draw rigid frame */
static void DrawFrame( btSoftBody* psb,
btIDebugDraw* idraw);
/* Create a rope */
static btSoftBody* CreateRope( btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& from,
const btVector3& to,
int res,
int fixeds);
/* Create a patch */
static btSoftBody* CreatePatch( btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags);
/* Create an ellipsoid */
static btSoftBody* CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& center,
const btVector3& radius,
int res);
/* Create from convex-hull */
static btSoftBody* CreateFromConvexHull( btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
int nvertices);
/* Create from trimesh */
static btSoftBody* CreateFromTriMesh( btSoftBody::btSoftBodyWorldInfo& worldInfo, const btScalar* vertices,
const int* triangles,
int ntriangles);
};
#endif //SOFT_BODY_HELPERS_H

77
src/BulletDynamics/SoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
View File

@@ -1,77 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSoftBodyRigidBodyCollisionConfiguration.h"
#include "btSoftRigidCollisionAlgorithm.h"
#include "btSoftSoftCollisionAlgorithm.h"
btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
:btDefaultCollisionConfiguration(stackAlloc,persistentManifoldPool,collisionAlgorithmPool)
{
void* mem;
mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
m_softRigidCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
m_swappedSoftRigidCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
m_swappedSoftRigidCreateFunc->m_swapped=true;
}
btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
{
m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_softSoftCreateFunc);
m_softRigidCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_softRigidCreateFunc);
m_swappedSoftRigidCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedSoftRigidCreateFunc);
}
///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
{
///try to handle the softbody interactions first
if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE))
{
return m_softSoftCreateFunc;
}
///other can't be also softbody, so assume rigid for now
if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE )
{
return m_softRigidCreateFunc;
}
///other can't be also softbody, so assume rigid for now
if (proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
{
return m_swappedSoftRigidCreateFunc;
}
///fallback to the regular rigid collision shape
return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
}

46
src/BulletDynamics/SoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
View File

@@ -1,46 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
#define BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
class btVoronoiSimplexSolver;
class btGjkEpaPenetrationDepthSolver;
///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration
class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfiguration
{
//default CreationFunctions, filling the m_doubleDispatch table
btCollisionAlgorithmCreateFunc* m_softSoftCreateFunc;
btCollisionAlgorithmCreateFunc* m_softRigidCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidCreateFunc;
public:
btSoftBodyRigidBodyCollisionConfiguration(btStackAlloc* stackAlloc=0,btPoolAllocator* persistentManifoldPool=0,btPoolAllocator* collisionAlgorithmPool=0);
virtual ~btSoftBodyRigidBodyCollisionConfiguration();
///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
};
#endif //BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION

96
src/BulletDynamics/SoftBody/btSoftRigidCollisionAlgorithm.cpp
View File

@@ -1,96 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSoftRigidCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/SoftBody/btSoftBody.h"
///TODO: include all the shapes that the softbody can collide with
///alternatively, implement special case collision algorithms (just like for rigid collision shapes)
//#include <stdio.h>
btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
: btCollisionAlgorithm(ci),
//m_ownManifold(false),
//m_manifoldPtr(mf),
m_isSwapped(isSwapped)
{
//m_softBody = m_isSwapped? (btSoftBody*)col1 : (btSoftBody*)col0;
//m_rigidCollisionObject = m_isSwapped? col0 : col1;
//quick fix, add overlapping rigidbody to softbody, so it can be handled within btSoftBody::Step method
//m_softBody->m_overlappingRigidBodies.push_back(m_rigidCollisionObject);
///store the contacts straight into the btSoftBody for now?
/*if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
{
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
m_ownManifold = true;
}
*/
}
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
{
//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
/*if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
*/
}
#include <stdio.h>
void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
//printf("btSoftRigidCollisionAlgorithm\n");
btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
softBody->defaultCollisionHandler(rigidCollisionObject);
}
btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
(void)col0;
(void)col1;
//not yet
return btScalar(1.);
}

70
src/BulletDynamics/SoftBody/btSoftRigidCollisionAlgorithm.h
View File

@@ -1,70 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SOFT_RIGID_COLLISION_ALGORITHM_H
#define SOFT_RIGID_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btPersistentManifold;
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "LinearMath/btVector3.h"
class btSoftBody;
/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
{
// bool m_ownManifold;
// btPersistentManifold* m_manifoldPtr;
btSoftBody* m_softBody;
btCollisionObject* m_rigidCollisionObject;
///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
bool m_isSwapped;
public:
btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
virtual ~btSoftRigidCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,false);
} else
{
return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,true);
}
}
};
};
#endif //SOFT_RIGID_COLLISION_ALGORITHM_H

132
src/BulletDynamics/SoftBody/btSoftRigidDynamicsWorld.cpp
View File

@@ -1,132 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSoftRigidDynamicsWorld.h"
#include "LinearMath/btQuickprof.h"
//softbody & helpers
#include "BulletDynamics/SoftBody/btSoftBody.h"
#include "BulletDynamics/SoftBody/btSoftBodyHelpers.h"
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
{
}
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
{
}
void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
for ( int i=0;i<m_softBodies.size();++i)
{
btSoftBody* psb= m_softBodies[i];
psb->predictMotion(timeStep);
}
}
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
{
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
///solve soft bodies constraints
solveSoftBodiesConstraints();
///update soft bodies
updateSoftBodies();
}
void btSoftRigidDynamicsWorld::updateSoftBodies()
{
BT_PROFILE("updateSoftBodies");
for ( int i=0;i<m_softBodies.size();i++)
{
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
psb->integrateMotion();
}
}
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
{
BT_PROFILE("solveSoftConstraints");
for(int i=0;i<m_softBodies.size();++i)
{
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
psb->solveConstraints();
}
}
void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body)
{
m_softBodies.push_back(body);
btCollisionWorld::addCollisionObject(body,
btBroadphaseProxy::DefaultFilter,
btBroadphaseProxy::AllFilter);
}
void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
{
m_softBodies.remove(body);
btCollisionWorld::removeCollisionObject(body);
}
void btSoftRigidDynamicsWorld::debugDrawWorld()
{
btDiscreteDynamicsWorld::debugDrawWorld();
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
{
int i;
for ( i=0;i<this->m_softBodies.size();i++)
{
btSoftBody* psb=(btSoftBody*)this->m_softBodies[i];
btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
btSoftBodyHelpers::Draw(psb,m_debugDrawer,fDrawFlags::Std+fDrawFlags::Nodes);
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
//btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
}
}
if (getDebugDrawer())
{
for (int i=0;i<this->m_softBodies.size();i++)
{
btSoftBody* psb=(btSoftBody*)this->m_softBodies[i];
btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
btSoftBodyHelpers::Draw(psb,m_debugDrawer,fDrawFlags::Std);
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
}
}
}
}
}

65
src/BulletDynamics/SoftBody/btSoftRigidDynamicsWorld.h
View File

@@ -1,65 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
#define BT_SOFT_RIGID_DYNAMICS_WORLD_H
class btSoftBody;
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
{
btSoftBodyArray m_softBodies;
protected:
virtual void predictUnconstraintMotion(btScalar timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
void updateSoftBodies();
void solveSoftBodiesConstraints();
virtual void debugDrawWorld();
public:
btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btSoftRigidDynamicsWorld();
void addSoftBody(btSoftBody* body);
void removeSoftBody(btSoftBody* body);
btSoftBodyArray& getSoftBodyArray()
{
return m_softBodies;
}
const btSoftBodyArray& getSoftBodyArray() const
{
return m_softBodies;
}
};
#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H

105
src/BulletDynamics/SoftBody/btSoftSoftCollisionAlgorithm.cpp
View File

@@ -1,105 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSoftSoftCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/SoftBody/btSoftBody.h"
#define USE_PERSISTENT_CONTACTS 1
btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btCollisionAlgorithm(ci)
//m_ownManifold(false),
//m_manifoldPtr(mf)
{
/*m_softBody0 = (btSoftBody*) obj0;
m_softBody1 = (btSoftBody*) obj1;
m_softBody0->m_overlappingSoftBodies.push_back(m_softBody1);
m_softBody1->m_overlappingSoftBodies.push_back(m_softBody0);*/
/*if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
m_ownManifold = true;
}
*/
}
btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm()
{
//m_softBody0->m_overlappingSoftBodies.remove(m_softBody1);
//m_softBody1->m_overlappingSoftBodies.remove(m_softBody0);
//this gets called when the overlap stops.
//here is where contacts (manifolds) should be removed
/*
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
*/
}
void btSoftSoftCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btSoftBody* soft0 = (btSoftBody*)body0;
btSoftBody* soft1 = (btSoftBody*)body1;
soft0->defaultCollisionHandler(soft1);
/*
btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
#ifndef USE_PERSISTENT_CONTACTS
m_manifoldPtr->clearManifold();
#endif //USE_PERSISTENT_CONTACTS
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
btBoxBoxDetector detector(box0,box1);
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#ifdef USE_PERSISTENT_CONTACTS
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
#endif //USE_PERSISTENT_CONTACTS
*/
}
btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
//not yet
return 1.f;
}

63
src/BulletDynamics/SoftBody/btSoftSoftCollisionAlgorithm.h
View File

@@ -1,63 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SOFT_SOFT_COLLISION_ALGORITHM_H
#define SOFT_SOFT_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btPersistentManifold;
class btSoftBody;
///collision detection between two btSoftBody shapes
class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm
{
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
btSoftBody* m_softBody0;
btSoftBody* m_softBody1;
public:
btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
virtual ~btSoftSoftCollisionAlgorithm();
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
int bbsize = sizeof(btSoftSoftCollisionAlgorithm);
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
return new(ptr) btSoftSoftCollisionAlgorithm(0,ci,body0,body1);
}
};
};
#endif //SOFT_SOFT_COLLISION_ALGORITHM_H

267
src/BulletDynamics/SoftBody/btSparseSDF.h
View File

@@ -1,267 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///btSparseSdf implementation by Nathanael Presson
#ifndef _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
#define _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
template <const int CELLSIZE>
struct btSparseSdf
{
//
// Inner types
//
struct IntFrac
{
int b;
int i;
btScalar f;
};
struct Cell
{
btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
int c[3];
int puid;
unsigned hash;
btCollisionShape* pclient;
Cell* next;
};
//
// Fields
//
btAlignedObjectArray<Cell*> cells;
btScalar voxelsz;
int puid;
int ncells;
int nprobes;
int nqueries;
//
// Methods
//
//
void Initialize(int hashsize=2383)
{
cells.resize(hashsize,0);
Reset();
}
//
void Reset()
{
for(int i=0,ni=cells.size();i<ni;++i)
{
Cell* pc=cells[i];
cells[i]=0;
while(pc)
{
Cell* pn=pc->next;
delete pc;
pc=pn;
}
}
voxelsz =0.25;
puid =0;
ncells =0;
nprobes =1;
nqueries =1;
}
//
void GarbageCollect(int lifetime=256)
{
const int life=puid-lifetime;
for(int i=0;i<cells.size();++i)
{
Cell*& root=cells[i];
Cell* pp=0;
Cell* pc=root;
while(pc)
{
Cell* pn=pc->next;
if(pc->puid<life)
{
if(pp) pp->next=pn; else root=pn;
delete pc;pc=pp;--ncells;
}
pp=pc;pc=pn;
}
}
//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
nqueries=1;
nprobes=1;
++puid; /* TODO: Reset puid's when int range limit is reached */
/* else setup a priority list... */
}
//
btScalar Evaluate( const btVector3& x,
btCollisionShape* shape,
btVector3& normal,
btScalar margin)
{
/* Lookup cell */
const btVector3 scx=x/voxelsz;
const IntFrac ix=Decompose(scx.x());
const IntFrac iy=Decompose(scx.y());
const IntFrac iz=Decompose(scx.z());
const unsigned h=Hash(ix.b,iy.b,iz.b,shape);
Cell*& root=cells[h%cells.size()];
Cell* c=root;
++nqueries;
while(c)
{
++nprobes;
if( (c->hash==h) &&
(c->c[0]==ix.b) &&
(c->c[1]==iy.b) &&
(c->c[2]==iz.b) &&
(c->pclient==shape))
{ break; }
else
{ c=c->next; }
}
if(!c)
{
++nprobes;
++ncells;
c=new Cell();
c->next=root;root=c;
c->pclient=shape;
c->hash=h;
c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
BuildCell(*c);
}
c->puid=puid;
/* Extract infos */
const int o[]={ ix.i,iy.i,iz.i};
const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0],
c->d[o[0]+1][o[1]+0][o[2]+0],
c->d[o[0]+1][o[1]+1][o[2]+0],
c->d[o[0]+0][o[1]+1][o[2]+0],
c->d[o[0]+0][o[1]+0][o[2]+1],
c->d[o[0]+1][o[1]+0][o[2]+1],
c->d[o[0]+1][o[1]+1][o[2]+1],
c->d[o[0]+0][o[1]+1][o[2]+1]};
/* Normal */
#if 1
const btScalar gx[]={ d[1]-d[0],d[2]-d[3],
d[5]-d[4],d[6]-d[7]};
const btScalar gy[]={ d[3]-d[0],d[2]-d[1],
d[7]-d[4],d[6]-d[5]};
const btScalar gz[]={ d[4]-d[0],d[5]-d[1],
d[7]-d[3],d[6]-d[2]};
normal.setX(Lerp( Lerp(gx[0],gx[1],iy.f),
Lerp(gx[2],gx[3],iy.f),iz.f));
normal.setY(Lerp( Lerp(gy[0],gy[1],ix.f),
Lerp(gy[2],gy[3],ix.f),iz.f));
normal.setZ(Lerp( Lerp(gz[0],gz[1],ix.f),
Lerp(gz[2],gz[3],ix.f),iy.f));
normal = normal.normalized();
#else
normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
#endif
/* Distance */
const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f),
Lerp(d[3],d[2],ix.f),iy.f);
const btScalar d1=Lerp(Lerp(d[4],d[5],ix.f),
Lerp(d[7],d[6],ix.f),iy.f);
return(Lerp(d0,d1,iz.f)-margin);
}
//
void BuildCell(Cell& c)
{
const btVector3 org=btVector3( (btScalar)c.c[0],
(btScalar)c.c[1],
(btScalar)c.c[2]) *
CELLSIZE*voxelsz;
for(int k=0;k<=CELLSIZE;++k)
{
const btScalar z=voxelsz*k+org.z();
for(int j=0;j<=CELLSIZE;++j)
{
const btScalar y=voxelsz*j+org.y();
for(int i=0;i<=CELLSIZE;++i)
{
const btScalar x=voxelsz*i+org.x();
c.d[i][j][k]=DistanceToShape( btVector3(x,y,z),
c.pclient);
}
}
}
}
//
static inline btScalar DistanceToShape(const btVector3& x,
btCollisionShape* shape)
{
btTransform unit;
unit.setIdentity();
if(shape->isConvex())
{
btGjkEpaSolver2::sResults res;
btConvexShape* csh=static_cast<btConvexShape*>(shape);
return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
}
return(0);
}
//
static inline IntFrac Decompose(btScalar x)
{
/* That one need a lot of improvements... */
/* Remove test, faster floor... */
IntFrac r;
x/=CELLSIZE;
const int o=x<0?(int)(-x+1):0;
x+=o;r.b=(int)x;
const btScalar k=(x-r.b)*CELLSIZE;
r.i=(int)k;r.f=k-r.i;r.b-=o;
return(r);
}
//
static inline btScalar Lerp(btScalar a,btScalar b,btScalar t)
{
return(a+(b-a)*t);
}
//
static inline unsigned Hash(int x,int y,int z,btCollisionShape* shape)
{
struct { int x,y,z;void* p; } set;
set.x=x;set.y=y;set.z=z;set.p=shape;
return(HsiehHash<sizeof(set)/4>(&set));
}
// Modified Paul Hsieh hash
template <const int DWORDLEN>
static inline unsigned HsiehHash(const void* pdata)
{
const unsigned short* data=(const unsigned short*)pdata;
unsigned hash=DWORDLEN<<2,tmp;
for(int i=0;i<DWORDLEN;++i)
{
hash += data[0];
tmp = (data[1]<<11)^hash;
hash = (hash<<16)^tmp;
data += 2;
hash += hash>>11;
}
hash^=hash<<3;hash+=hash>>5;
hash^=hash<<4;hash+=hash>>17;
hash^=hash<<25;hash+=hash>>6;
return(hash);
}
};
#endif