Add USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD option.

CMakeLists.txt

@@ -27,6 +27,7 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
 OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
+OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)	
 
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
 OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
@@ -146,6 +147,10 @@ ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
 SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
 ENDIF (USE_DOUBLE_PRECISION)
 
+IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+
 IF(USE_GRAPHICAL_BENCHMARK)
 ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
 ENDIF (USE_GRAPHICAL_BENCHMARK)

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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!
@@ -434,11 +439,17 @@ 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;
 
@@ -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)

test/SharedMemory/CMakeLists.txt

@@ -13,8 +13,11 @@ ADD_DEFINITIONS(-DPHYSICS_LOOP_BACK -DPHYSICS_SERVER_DIRECT -DENABLE_GTEST -D_VA
 
 
 LINK_LIBRARIES(
- BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest BussIK BulletSoftBody
+ BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest BussIK
 )
+IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+	LINK_LIBRARIES(BulletSoftBody)
+ENDIF()
 
 IF (NOT WIN32)
 	LINK_LIBRARIES(		pthread	)