some minor work on soft body, to make it easier to integrate into apps.

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -46,6 +46,7 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
 CONCAVE_SHAPES_START_HERE,
 	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
 	TRIANGLE_MESH_SHAPE_PROXYTYPE,
+	SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
 	///used for demo integration FAST/Swift collision library and Bullet
 	FAST_CONCAVE_MESH_PROXYTYPE,
 	//terrain

src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp

@@ -117,5 +117,5 @@ const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
 void	btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
 {
 	///don't make this a movable object!
-	btAssert(0);
+//	btAssert(0);
 }

src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h

@@ -39,7 +39,7 @@ public:
 	virtual int	getShapeType() const
 	{
 		//use un-used 'FAST_CONCAVE_MESH_PROXYTYPE' for now, later add SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE to btBroadphaseProxy.h
-		return FAST_CONCAVE_MESH_PROXYTYPE;
+		return SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	}
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
@@ -49,6 +49,16 @@ public:
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
 
+	btBvhTriangleMeshShape*	getChildShape()
+	{
+		return m_bvhTriMeshShape;
+	}
+
+	const btBvhTriangleMeshShape*	getChildShape() const
+	{
+		return m_bvhTriMeshShape;
+	}
+
 	//debugging
 	virtual const char*	getName()const {return "SCALEDBVHTRIANGLEMESH";}
 

src/BulletCollision/CollisionShapes/btTriangleBuffer.h

@@ -1,34 +1,34 @@
-/*
+/*
-Bullet Continuous Collision Detection and Physics Library
+Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
+
-This software is provided 'as-is', without any express or implied warranty.
+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.
+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, 
+Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
+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.
+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.
+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.
+3. This notice may not be removed or altered from any source distribution.
-*/
+*/
-
+
-#ifndef BT_TRIANGLE_BUFFER_H
+#ifndef BT_TRIANGLE_BUFFER_H
-#define BT_TRIANGLE_BUFFER_H
+#define BT_TRIANGLE_BUFFER_H
-
+
-#include "btTriangleCallback.h"
+#include "btTriangleCallback.h"
-#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btAlignedObjectArray.h"
-
+
-struct	btTriangle
+struct	btTriangle
-{
+{
-	btVector3	m_vertex0;
+	btVector3	m_vertex0;
-	btVector3	m_vertex1;
+	btVector3	m_vertex1;
-	btVector3	m_vertex2;
+	btVector3	m_vertex2;
-	int	m_partId;
+	int	m_partId;
-	int	m_triangleIndex;
+	int	m_triangleIndex;
-};
+};
-
+
-///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
+///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
 ///Example usage of this class:
 ///			btTriangleBuffer	triBuf;
 ///			concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax);
@@ -36,34 +36,34 @@ struct	btTriangle
 ///			{
 ///				const btTriangle& tri = triBuf.getTriangle(i);
 ///				//do something useful here with the triangle
-///			}
+///			}
-class btTriangleBuffer : public btTriangleCallback
+class btTriangleBuffer : public btTriangleCallback
-{
+{
-
+
-	btAlignedObjectArray<btTriangle>	m_triangleBuffer;
+	btAlignedObjectArray<btTriangle>	m_triangleBuffer;
-	
+	
-public:
+public:
-
+
-
+
-	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
-	
+	
-	int	getNumTriangles() const
+	int	getNumTriangles() const
-	{
+	{
-		return int(m_triangleBuffer.size());
+		return int(m_triangleBuffer.size());
-	}
+	}
-	
+	
-	const btTriangle&	getTriangle(int index) const
+	const btTriangle&	getTriangle(int index) const
-	{
+	{
-		return m_triangleBuffer[index];
+		return m_triangleBuffer[index];
-	}
+	}
-
+
-	void	clearBuffer()
+	void	clearBuffer()
-	{
+	{
-		m_triangleBuffer.clear();
+		m_triangleBuffer.clear();
-	}
+	}
-	
+	
-};
+};
-
+
-
+
-#endif //BT_TRIANGLE_BUFFER_H
+#endif //BT_TRIANGLE_BUFFER_H
-
+

src/BulletSoftBody/btSoftBody.h

@@ -29,7 +29,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
 
 class btBroadphaseInterface;
-class btCollisionDispatcher;
+class btDispatcher;
 
 /* btSoftBodyWorldInfo	*/ 
 struct	btSoftBodyWorldInfo
@@ -39,7 +39,7 @@ struct	btSoftBodyWorldInfo
 	btScalar				water_offset;
 	btVector3				water_normal;
 	btBroadphaseInterface*	m_broadphase;
-	btCollisionDispatcher*	m_dispatcher;
+	btDispatcher*	m_dispatcher;
 	btVector3				m_gravity;
 	btSparseSdf<3>			m_sparsesdf;
 };	
@@ -607,6 +607,7 @@ public:
 	virtual ~btSoftBody();
 	/* Check for existing link												*/ 
 
+	btAlignedObjectArray<int>	m_userIndexMapping;
 
 	virtual void	setCollisionShape(btCollisionShape* collisionShape)
 	{

src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp

@@ -21,6 +21,10 @@ subject to the following restrictions:
 #include "btSoftBody.h"
 #include "btSoftBodyHelpers.h"
 
+
+
+
+
 btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
 :btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
 {
@@ -28,6 +32,11 @@ m_drawFlags			=	fDrawFlags::Std;
 m_drawNodeTree		=	true;
 m_drawFaceTree		=	false;
 m_drawClusterTree	=	false;
+m_sbi.m_broadphase = pairCache;
+m_sbi.m_dispatcher = dispatcher;
+m_sbi.m_sparsesdf.Initialize();
+m_sbi.m_sparsesdf.Reset();
+
 }
 		
 btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()

src/BulletSoftBody/btSoftRigidDynamicsWorld.h

@@ -13,12 +13,12 @@ subject to the following restrictions:
 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;
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "btSoftBody.h"
+
 typedef	btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
 
 class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
@@ -29,7 +29,8 @@ class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
 	bool			m_drawNodeTree;
 	bool			m_drawFaceTree;
 	bool			m_drawClusterTree;
-		
+	btSoftBodyWorldInfo m_sbi;
+
 protected:
 	
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
@@ -40,7 +41,6 @@ protected:
 
 	void	solveSoftBodiesConstraints();
 
-	
 
 public:
 	
@@ -57,6 +57,15 @@ public:
 	int		getDrawFlags() const { return(m_drawFlags); }
 	void	setDrawFlags(int f)	{ m_drawFlags=f; }
 
+	btSoftBodyWorldInfo&	getWorldInfo()
+	{
+		return m_sbi;
+	}
+	const btSoftBodyWorldInfo&	getWorldInfo() const
+	{
+		return m_sbi;
+	}
+
 			
 	btSoftBodyArray& getSoftBodyArray()
 	{

src/LinearMath/CMakeLists.txt

@@ -1,35 +1,35 @@
-
+
-INCLUDE_DIRECTORIES(
+INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/src }
+${BULLET_PHYSICS_SOURCE_DIR}/src }
-)
+)
-
+
-ADD_LIBRARY(LibLinearMath
+ADD_LIBRARY(LibLinearMath
-		btAlignedObjectArray.h
+		btAlignedObjectArray.h
-		btList.h
+		btList.h
-		btPoolAllocator.h
+		btPoolAllocator.h
-		btRandom.h
+		btRandom.h
-		btVector3.h
+		btVector3.h
-		btDefaultMotionState.h
+		btDefaultMotionState.h
-		btMatrix3x3.h
+		btMatrix3x3.h
-		btQuadWord.h
+		btQuadWord.h
-		btHashMap.h
+		btHashMap.h
-		btScalar.h
+		btScalar.h
-		btAabbUtil2.h
+		btAabbUtil2.h
-		btConvexHull.h
+		btConvexHull.h
-		btConvexHull.cpp
+		btConvexHull.cpp
-		btMinMax.h
+		btMinMax.h
-		btQuaternion.h
+		btQuaternion.h
-		btStackAlloc.h
+		btStackAlloc.h
-		btGeometryUtil.h
+		btGeometryUtil.h
-		btMotionState.h
+		btMotionState.h
-		btTransform.h
+		btTransform.h
-		btAlignedAllocator.h
+		btAlignedAllocator.h
-		btIDebugDraw.h
+		btIDebugDraw.h
-		btPoint3.h
+		btPoint3.h
-		btQuickprof.h
+		btQuickprof.h
-		btTransformUtil.h
+		btTransformUtil.h
-		btQuickprof.cpp
+		btQuickprof.cpp
-		btGeometryUtil.cpp
+		btGeometryUtil.cpp
-		btAlignedAllocator.cpp
+		btAlignedAllocator.cpp
-)
+)
-
+

src/LinearMath/btConvexHull.cpp

@@ -869,6 +869,8 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 {
 	if ( svcount == 0 ) return false;
 
+	m_vertexIndexMapping.resize(0);
+
 
 #define EPSILON btScalar(0.000001) /* close enough to consider two btScalaring point numbers to be 'the same'. */
 
@@ -1027,6 +1029,7 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 						v[0] = px;
 						v[1] = py;
 						v[2] = pz;
+						
 					}
 
 					break;
@@ -1041,6 +1044,7 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 				dest[2] = pz;
 				vcount++;
 			}
+			m_vertexIndexMapping.push_back(j);
 		}
 	}
 
@@ -1116,13 +1120,22 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 
 void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount)
 {
+	btAlignedObjectArray<int>tmpIndices;
+	tmpIndices.resize(m_vertexIndexMapping.size());
+	int i;
+
+	for (i=0;i<m_vertexIndexMapping.size();i++)
+	{
+		tmpIndices[i] = m_vertexIndexMapping[i];
+	}
+
 	TUIntArray usedIndices;
 	usedIndices.resize(static_cast<int>(vcount));
 	memset(&usedIndices[0],0,sizeof(unsigned int)*vcount);
 
 	ocount = 0;
 
-	for (unsigned int i=0; i<indexcount; i++)
+	for (i=0; i<indexcount; i++)
 	{
 		unsigned int v = indices[i]; // original array index
 
@@ -1141,11 +1154,19 @@ void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, b
 			overts[ocount][1] = verts[v][1];
 			overts[ocount][2] = verts[v][2];
 
+			for (int k=0;k<m_vertexIndexMapping.size();k++)
+			{
+				if (tmpIndices[k]==v)
+					m_vertexIndexMapping[k]=ocount;
+			}
+
 			ocount++; // increment output vert count
 
 			btAssert( ocount >=0 && ocount <= vcount );
 
 			usedIndices[static_cast<int>(v)] = ocount; // assign new index remapping
+
+		
 		}
 	}
 

src/LinearMath/btConvexHull.h

@@ -192,6 +192,9 @@ class HullLibrary
 
 public:
 
+	btAlignedObjectArray<int> m_vertexIndexMapping;
+
+
 	HullError CreateConvexHull(const HullDesc& desc, // describes the input request
 				   HullResult&     result);        // contains the resulst
 	HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.