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