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Add USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD option.

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This commit is contained in:
yunfeibai
2016-10-18 17:38:43 -07:00
parent 3dc56d7e92
commit 7630bf62d5
3 changed files with 35 additions and 7 deletions
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32
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -25,11 +25,16 @@
#include "Bullet3Common/b3Logging.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletSoftBody/btSoftBodySolvers.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "BulletSoftBody/btSoftMultiBodyDynamicsWorld.h"
#include "../SoftDemo/BunnyMesh.h"
#else
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
@@ -434,12 +439,18 @@ struct PhysicsServerCommandProcessorInternalData
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btMultiBodyConstraintSolver* m_solver;
btSoftBodySolver* m_softbodySolver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btSoftMultiBodyDynamicsWorld* m_dynamicsWorld;
SharedMemoryDebugDrawer* m_remoteDebugDrawer;
btSoftBodySolver* m_softbodySolver;
btSoftBodyWorldInfo m_softBodyWorldInfo;
#else
btMultiBodyDynamicsWorld* m_dynamicsWorld;
#endif
SharedMemoryDebugDrawer* m_remoteDebugDrawer;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<int> m_sdfRecentLoadedBodies;
@@ -615,9 +626,12 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
//m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
#else
m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
#endif
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration);
@@ -625,7 +639,11 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_solver = new btMultiBodyConstraintSolver;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#else
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#endif
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192);
@@ -1609,6 +1627,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_LOAD_BUNNY:
{
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_data->m_softBodyWorldInfo.water_density = 0;
m_data->m_softBodyWorldInfo.water_offset = 0;
@@ -1633,7 +1652,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
psb->getCollisionShape()->setMargin(0.01);
m_data->m_dynamicsWorld->addSoftBody(psb);
#endif
break;
}
case CMD_CREATE_SENSOR:
@@ -2979,7 +2998,7 @@ void PhysicsServerCommandProcessor::renderScene()
m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
}
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
for ( int i=0;i<m_data->m_dynamicsWorld->getSoftBodyArray().size();i++)
{
btSoftBody* psb=(btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
@@ -2989,6 +3008,7 @@ void PhysicsServerCommandProcessor::renderScene()
btSoftBodyHelpers::Draw(psb,m_data->m_dynamicsWorld->getDebugDrawer(),m_data->m_dynamicsWorld->getDrawFlags());
}
}
#endif
}
void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)