move the SoftBody work into its own library, BulletSoftBody (work in progress)
This commit is contained in:
erwin.coumans
485
src/BulletSoftBody/btSoftBodyHelpers.cpp
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485
src/BulletSoftBody/btSoftBodyHelpers.cpp
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@@ -0,0 +1,485 @@
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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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///btSoftBodyHelpers.cpp by Nathanael Presson
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#include "btSoftBody.h"
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#include "btDbvt.h"
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#include <stdio.h>
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#include <string.h>
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#include "btSoftBodyHelpers.h"
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#include "LinearMath/btConvexHull.h"
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//
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static void drawVertex( btIDebugDraw* idraw,
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const btVector3& x,btScalar s,const btVector3& c)
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{
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idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
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idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
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idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
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}
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//
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static void drawBox( btIDebugDraw* idraw,
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const btVector3& mins,
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const btVector3& maxs,
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const btVector3& color)
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{
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const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
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btVector3(maxs.x(),mins.y(),mins.z()),
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btVector3(maxs.x(),maxs.y(),mins.z()),
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btVector3(mins.x(),maxs.y(),mins.z()),
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btVector3(mins.x(),mins.y(),maxs.z()),
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btVector3(maxs.x(),mins.y(),maxs.z()),
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btVector3(maxs.x(),maxs.y(),maxs.z()),
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btVector3(mins.x(),maxs.y(),maxs.z())};
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idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
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idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
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idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
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idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
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idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
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idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
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}
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//
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static void drawTree( btIDebugDraw* idraw,
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const btDbvt::Node* node,
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int depth,
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const btVector3& ncolor,
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const btVector3& lcolor,
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int mindepth,
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int maxdepth)
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{
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if(node)
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{
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if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
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{
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drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
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drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
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}
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if(depth>=mindepth)
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{
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const btScalar scl=(btScalar)(node->isinternal()?1:1);
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const btVector3 mi=node->box.Center()-node->box.Extent()*scl;
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const btVector3 mx=node->box.Center()+node->box.Extent()*scl;
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drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
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}
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}
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}
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//
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static btVector3 stresscolor(btScalar stress)
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{
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static const btVector3 spectrum[]= { btVector3(1,0,1),
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btVector3(0,0,1),
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btVector3(0,1,1),
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btVector3(0,1,0),
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btVector3(1,1,0),
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btVector3(1,0,0),
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btVector3(1,0,0)};
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static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
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static const btScalar one=1;
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stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
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const int sel=(int)stress;
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const btScalar frc=stress-sel;
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return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
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}
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//
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void btSoftBodyHelpers::Draw( btSoftBody* psb,
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btIDebugDraw* idraw,
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int drawflags)
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{
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const btScalar scl=(btScalar)0.1;
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const btScalar nscl=scl*5;
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const btScalar alpha=(btScalar)0.5;
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const btVector3 scolor=btVector3(0,0,0);
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const btVector3 bcolor=btVector3(1,1,0);
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const btVector3 ncolor=btVector3(1,1,1);
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const btVector3 ccolor=btVector3(1,0,0);
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/* Nodes */
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if(0!=(drawflags&fDrawFlags::Nodes))
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{
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for(int i=0;i<psb->getNodes().size();++i)
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{
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const btSoftBody::Node& n=psb->getNodes()[i];
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idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
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idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
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idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
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}
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}
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/* Links */
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if(0!=(drawflags&fDrawFlags::Links))
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{
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for(int i=0;i<psb->getLinks().size();++i)
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{
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const btSoftBody::Link& l=psb->getLinks()[i];
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switch(l.m_type)
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{
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case btSoftBody::eLType::Structural:
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if(0!=(drawflags&fDrawFlags::SLinks)) idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,scolor);break;
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case btSoftBody::eLType::Bending:
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if(0!=(drawflags&fDrawFlags::BLinks)) idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,bcolor);break;
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}
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}
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}
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/* Normals */
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if(0!=(drawflags&fDrawFlags::Normals))
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{
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for(int i=0;i<psb->getNodes().size();++i)
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{
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const btSoftBody::Node& n=psb->getNodes()[i];
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const btVector3 d=n.m_n*nscl;
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idraw->drawLine(n.m_x,n.m_x+d,ncolor);
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idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
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}
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}
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/* Contacts */
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if(0!=(drawflags&fDrawFlags::Contacts))
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{
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static const btVector3 axis[]={btVector3(1,0,0),
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btVector3(0,1,0),
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btVector3(0,0,1)};
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for(int i=0;i<psb->m_rcontacts.size();++i)
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{
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const btSoftBody::RContact& c=psb->m_rcontacts[i];
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const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
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(dot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
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const btVector3 x=cross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
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const btVector3 y=cross(x,c.m_cti.m_normal).normalized();
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idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
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idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
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idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
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}
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}
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/* Anchors */
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if(0!=(drawflags&fDrawFlags::Anchors))
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{
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for(int i=0;i<psb->m_anchors.size();++i)
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{
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const btSoftBody::Anchor& a=psb->m_anchors[i];
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const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
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drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
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drawVertex(idraw,q,0.25,btVector3(0,1,0));
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idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
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}
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for(int i=0;i<psb->getNodes().size();++i)
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{
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const btSoftBody::Node& n=psb->getNodes()[i];
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if(n.m_im<=0)
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{
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drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
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}
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}
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}
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/* Faces */
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if(0!=(drawflags&fDrawFlags::Faces))
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{
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const btScalar scl=(btScalar)0.7;
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const btScalar alp=(btScalar)1;
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const btVector3 col(0,(btScalar)0.7,0);
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for(int i=0;i<psb->getFaces().size();++i)
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{
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const btSoftBody::Face& f=psb->getFaces()[i];
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const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
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const btVector3 c=(x[0]+x[1]+x[2])/3;
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idraw->drawTriangle((x[0]-c)*scl+c,
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(x[1]-c)*scl+c,
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(x[2]-c)*scl+c,
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f.m_n[0]->m_n,f.m_n[1]->m_n,f.m_n[2]->m_n,
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col,alp);
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}
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}
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}
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//
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void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
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btIDebugDraw* idraw,
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bool masses,
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bool areas,
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bool stress)
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{
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for(int i=0;i<psb->getNodes().size();++i)
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{
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const btSoftBody::Node& n=psb->getNodes()[i];
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char text[2048]={0};
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char buff[1024];
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if(masses)
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{
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sprintf(buff," M(%.2f)",1/n.m_im);
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strcat(text,buff);
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}
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if(areas)
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{
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sprintf(buff," A(%.2f)",n.m_area);
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strcat(text,buff);
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}
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if(text[0]) idraw->draw3dText(n.m_x,text);
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}
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}
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//
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void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb,
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btIDebugDraw* idraw,
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int mindepth,
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int maxdepth)
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{
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drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
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}
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//
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void btSoftBodyHelpers::DrawFaceTree( btSoftBody* psb,
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btIDebugDraw* idraw,
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int mindepth,
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int maxdepth)
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{
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drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
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}
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//
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void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
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btIDebugDraw* idraw)
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{
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if(psb->m_pose.m_bframe)
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{
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static const btScalar ascl=10;
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static const btScalar nscl=(btScalar)0.1;
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const btVector3 com=psb->m_pose.m_com;
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const btMatrix3x3 trs=psb->m_pose.m_rot*psb->m_pose.m_scl;
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const btVector3 Xaxis=(trs*btVector3(1,0,0)).normalized();
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const btVector3 Yaxis=(trs*btVector3(0,1,0)).normalized();
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const btVector3 Zaxis=(trs*btVector3(0,0,1)).normalized();
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idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0));
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idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0));
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idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1));
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for(int i=0;i<psb->m_pose.m_pos.size();++i)
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{
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const btVector3 x=com+trs*psb->m_pose.m_pos[i];
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idraw->drawLine(x-btVector3(1,0,0)*nscl,x+btVector3(1,0,0)*nscl,btVector3(1,0,1));
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idraw->drawLine(x-btVector3(0,1,0)*nscl,x+btVector3(0,1,0)*nscl,btVector3(1,0,1));
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idraw->drawLine(x-btVector3(0,0,1)*nscl,x+btVector3(0,0,1)*nscl,btVector3(1,0,1));
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}
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}
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}
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//
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btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3& from,
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const btVector3& to,
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int res,
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int fixeds)
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{
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/* Create nodes */
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const int r=res+2;
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btVector3* x=new btVector3[r];
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btScalar* m=new btScalar[r];
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for(int i=0;i<r;++i)
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{
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const btScalar t=i/(btScalar)(r-1);
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x[i]=lerp(from,to,t);
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m[i]=1;
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}
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btSoftBody* psb= new btSoftBody(&worldInfo,r,x,m);
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if(fixeds&1) psb->setMass(0,0);
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if(fixeds&2) psb->setMass(r-1,0);
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delete[] x;
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delete[] m;
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/* Create links */
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for(int i=1;i<r;++i)
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{
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psb->appendLink(i-1,i,1,btSoftBody::eLType::Structural);
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}
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/* Finished */
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return(psb);
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}
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//
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btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
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const btVector3& corner10,
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const btVector3& corner01,
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const btVector3& corner11,
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int resx,
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int resy,
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||||
int fixeds,
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||||
bool gendiags)
|
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{
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||||
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
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||||
/* Create nodes */
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||||
if((resx<2)||(resy<2)) return(0);
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||||
const int rx=resx;
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||||
const int ry=resy;
|
||||
const int tot=rx*ry;
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||||
btVector3* x=new btVector3[tot];
|
||||
btScalar* m=new btScalar[tot];
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for(int iy=0;iy<ry;++iy)
|
||||
{
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||||
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)
|
||||
{
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||||
const btScalar tx=ix/(btScalar)(rx-1);
|
||||
x[IDX(ix,iy)]=lerp(py0,py1,tx);
|
||||
m[IDX(ix,iy)]=1;
|
||||
}
|
||||
}
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||||
btSoftBody* psb=new btSoftBody(&worldInfo,tot,x,m);
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||||
if(fixeds&1) psb->setMass(IDX(0,0),0);
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||||
if(fixeds&2) psb->setMass(IDX(rx-1,0),0);
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||||
if(fixeds&4) psb->setMass(IDX(0,ry-1),0);
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||||
if(fixeds&8) psb->setMass(IDX(rx-1,ry-1),0);
|
||||
delete[] x;
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||||
delete[] m;
|
||||
/* Create links and faces */
|
||||
for(int iy=0;iy<ry;++iy)
|
||||
{
|
||||
for(int ix=0;ix<rx;++ix)
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||||
{
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||||
const int idx=IDX(ix,iy);
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||||
const bool mdx=(ix+1)<rx;
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||||
const bool mdy=(iy+1)<ry;
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||||
if(mdx) psb->appendLink(idx,IDX(ix+1,iy),
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||||
1,btSoftBody::eLType::Structural);
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if(mdy) psb->appendLink(idx,IDX(ix,iy+1),
|
||||
1,btSoftBody::eLType::Structural);
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||||
if(mdx&&mdy)
|
||||
{
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||||
if((ix+iy)&1)
|
||||
{
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||||
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)
|
||||
{
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||||
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);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user