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

src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp

@@ -0,0 +1,132 @@
+/*
+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);
+				}
+			}
+		}
+	}
+}