fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
File diff suppressed because it is too large
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@@ -1,243 +1,243 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
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||||
|
||||
#ifndef __HFFLUID_H
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||||
#define __HFFLUID_H
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
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class btPersistentManifold;
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class btManifoldResult;
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// FIX AABB calculation for whole btHfFluid shape
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// Fix flags and fill ratio
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||||
// -> Figure out the constants used in flags and fill ratio code
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||||
// Fix volume removal
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||||
// add buoyant convex vs. convex / concave
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// add buoyant concave support (try bunny model)
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///experimental buyancy fluid demo
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class btHfFluid : public btCollisionObject
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{
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public:
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btHfFluid (btScalar gridCellWidth, int numNodesWidth, int numNodesLength);
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||||
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~btHfFluid ();
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||||
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void predictMotion(btScalar dt);
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/* Prep does some initial setup of the height field fluid.
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* You should call this at initialization time.
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||||
*/
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void prep ();
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static const btHfFluid* upcast(const btCollisionObject* colObj)
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{
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if (colObj->getInternalType()==CO_HF_FLUID)
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return (const btHfFluid*)colObj;
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return 0;
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}
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static btHfFluid* upcast(btCollisionObject* colObj)
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{
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if (colObj->getInternalType()==CO_HF_FLUID)
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return (btHfFluid*)colObj;
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return 0;
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}
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//
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// ::btCollisionObject
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//
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virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const
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{
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aabbMin = m_aabbMin;
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aabbMax = m_aabbMax;
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}
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int getNumNodesWidth () const { return m_numNodesWidth; }
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int getNumNodesLength () const { return m_numNodesLength; }
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btScalar getGridCellWidth () const { return m_gridCellWidth; }
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btScalar widthPos (int i) const;
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btScalar lengthPos (int j) const;
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int arrayIndex (int i, int j) const;
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int arrayIndex (btScalar i, btScalar j) const;
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int arrayIndex (unsigned int i, unsigned int j) const;
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const btScalar* getHeightArray () const;
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const btScalar* getGroundArray () const;
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const btScalar* getEtaArray () const;
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const btScalar* getVelocityUArray () const;
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const btScalar* getVelocityVArray () const;
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const bool* getFlagsArray () const;
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void setFluidHeight (int x, int y, btScalar height);
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void setFluidHeight (int index, btScalar height);
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void addFluidHeight (int x, int y, btScalar height);
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void addDisplaced (int i, int j, btScalar r);
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void getAabbForColumn (int x, int y, btVector3& aabbMin, btVector3& aabbMax);
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btScalar* getHeightArray ();
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btScalar* getGroundArray ();
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btScalar* getEtaArray ();
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btScalar* getVelocityUArray ();
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btScalar* getVelocityVArray ();
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bool* getFlagsArray ();
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void foreachGroundTriangle(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax);
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class btHfFluidColumnCallback
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{
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public:
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btHfFluidColumnCallback () {}
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virtual ~btHfFluidColumnCallback () {}
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virtual bool processColumn (btHfFluid* fluid, int w, int l)
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{
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return true; // keep going
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}
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};
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void foreachFluidColumn (btHfFluidColumnCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
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void foreachSurfaceTriangle (btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
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protected:
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int m_numNodesWidth;
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int m_numNodesLength;
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btScalar m_gridCellWidth;
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btScalar m_gridWidth;
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btScalar m_gridLength;
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btScalar m_gridCellWidthInv;
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btVector3 m_aabbMin;
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btVector3 m_aabbMax;
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void setGridDimensions (btScalar gridCellWidth,
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int numNodesWidth, int numNodesLength);
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btScalar bilinearInterpolate (const btScalar* array, btScalar i, btScalar j);
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btScalar advect (const btScalar* array, btScalar i, btScalar j, btScalar di, btScalar dj, btScalar dt);
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void advectEta (btScalar dt);
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void updateHeight (btScalar dt);
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void advectVelocityU (btScalar dt);
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void advectVelocityV (btScalar dt);
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void updateVelocity (btScalar dt);
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||||
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void transferDisplaced (btScalar dt);
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void setReflectBoundaryLeft ();
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void setReflectBoundaryRight ();
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||||
void setReflectBoundaryTop ();
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void setReflectBoundaryBottom ();
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void setAbsorbBoundaryLeft (btScalar dt);
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void setAbsorbBoundaryRight (btScalar dt);
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void setAbsorbBoundaryTop (btScalar dt);
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void setAbsorbBoundaryBottom (btScalar dt);
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void computeFlagsAndFillRatio ();
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btScalar computeHmin (int i, int j);
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btScalar computeHmax (int i, int j);
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btScalar computeEtaMax (int i, int j);
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void allocateArrays ();
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void debugTests ();
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btScalar* m_temp; // temp
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int m_heightIndex;
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btScalar* m_height[2];
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btScalar* m_ground;
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btScalar* m_eta; // height - ground
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btScalar* m_u[2];
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btScalar* m_v[2];
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int m_rIndex;
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btScalar* m_r[2];
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int m_velocityIndex;
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bool* m_flags;
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btScalar* m_fillRatio;
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// tweakables
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btScalar m_globalVelocityU;
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||||
btScalar m_globalVelocityV;
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||||
btScalar m_gravity;
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||||
btScalar m_volumeDisplacementScale;
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||||
btScalar m_horizontalVelocityScale;
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||||
|
||||
btScalar m_epsHeight;
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||||
btScalar m_epsEta;
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||||
public:
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// You can enforce a global velocity at the surface of the fluid
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// default: 0.0 and 0.0
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void setGlobaVelocity (btScalar globalVelocityU, btScalar globalVelocityV);
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||||
void getGlobalVelocity (btScalar& globalVelocityU, btScalar& globalVelocityV) const;
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// Control force of gravity, should match physics world
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// default: -10.0
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void setGravity (btScalar gravity);
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btScalar getGravity () const;
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||||
|
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// When a body is submerged into the fluid, the displaced fluid
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// is spread to adjacent cells. You can control the percentage of this
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// by setting this value between 0.0 and 1.0
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// default: 0.5
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void setVolumeDisplacementScale (btScalar volumeDisplacementScale);
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btScalar getVolumeDisplacementScale () const;
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||||
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// The horizontal velocity of the fluid can influence bodies submerged
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// in the fluid. You can control how much influence by setting this
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// between 0.0 and 1.0
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// default: 0.5
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void setHorizontalVelocityScale (btScalar horizontalVelocityScale);
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btScalar getHorizontalVelocityScale () const;
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};
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class btRigidBody;
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class btIDebugDraw;
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class btHfFluidBuoyantConvexShape;
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class btHfFluidColumnRigidBodyCallback : public btHfFluid::btHfFluidColumnCallback
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{
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protected:
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btRigidBody* m_rigidBody;
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btHfFluidBuoyantConvexShape* m_buoyantShape;
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btIDebugDraw* m_debugDraw;
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int m_numVoxels;
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btVector3* m_voxelPositionsXformed;
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bool* m_voxelSubmerged;
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btVector3 m_aabbMin;
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btVector3 m_aabbMax;
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btScalar m_volume;
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btScalar m_density;
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btScalar m_floatyness;
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public:
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btHfFluidColumnRigidBodyCallback (btRigidBody* rigidBody, btIDebugDraw* debugDraw, btScalar density, btScalar floatyness);
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~btHfFluidColumnRigidBodyCallback ();
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bool processColumn (btHfFluid* fluid, int w, int l);
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btScalar getVolume () const { return m_volume; }
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};
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#endif
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||||
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||||
/*
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||||
Bullet Continuous Collision Detection and Physics Library
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||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#ifndef __HFFLUID_H
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||||
#define __HFFLUID_H
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||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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||||
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
class btManifoldResult;
|
||||
|
||||
// FIX AABB calculation for whole btHfFluid shape
|
||||
// Fix flags and fill ratio
|
||||
// -> Figure out the constants used in flags and fill ratio code
|
||||
// Fix volume removal
|
||||
// add buoyant convex vs. convex / concave
|
||||
// add buoyant concave support (try bunny model)
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
class btHfFluid : public btCollisionObject
|
||||
{
|
||||
public:
|
||||
btHfFluid (btScalar gridCellWidth, int numNodesWidth, int numNodesLength);
|
||||
|
||||
~btHfFluid ();
|
||||
|
||||
void predictMotion(btScalar dt);
|
||||
|
||||
/* Prep does some initial setup of the height field fluid.
|
||||
* You should call this at initialization time.
|
||||
*/
|
||||
void prep ();
|
||||
|
||||
static const btHfFluid* upcast(const btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()==CO_HF_FLUID)
|
||||
return (const btHfFluid*)colObj;
|
||||
return 0;
|
||||
}
|
||||
static btHfFluid* upcast(btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()==CO_HF_FLUID)
|
||||
return (btHfFluid*)colObj;
|
||||
return 0;
|
||||
}
|
||||
|
||||
//
|
||||
// ::btCollisionObject
|
||||
//
|
||||
|
||||
virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
aabbMin = m_aabbMin;
|
||||
aabbMax = m_aabbMax;
|
||||
}
|
||||
|
||||
int getNumNodesWidth () const { return m_numNodesWidth; }
|
||||
int getNumNodesLength () const { return m_numNodesLength; }
|
||||
|
||||
btScalar getGridCellWidth () const { return m_gridCellWidth; }
|
||||
btScalar widthPos (int i) const;
|
||||
btScalar lengthPos (int j) const;
|
||||
|
||||
int arrayIndex (int i, int j) const;
|
||||
int arrayIndex (btScalar i, btScalar j) const;
|
||||
int arrayIndex (unsigned int i, unsigned int j) const;
|
||||
const btScalar* getHeightArray () const;
|
||||
const btScalar* getGroundArray () const;
|
||||
const btScalar* getEtaArray () const;
|
||||
const btScalar* getVelocityUArray () const;
|
||||
const btScalar* getVelocityVArray () const;
|
||||
const bool* getFlagsArray () const;
|
||||
|
||||
void setFluidHeight (int x, int y, btScalar height);
|
||||
void setFluidHeight (int index, btScalar height);
|
||||
|
||||
void addFluidHeight (int x, int y, btScalar height);
|
||||
void addDisplaced (int i, int j, btScalar r);
|
||||
|
||||
void getAabbForColumn (int x, int y, btVector3& aabbMin, btVector3& aabbMax);
|
||||
|
||||
btScalar* getHeightArray ();
|
||||
btScalar* getGroundArray ();
|
||||
btScalar* getEtaArray ();
|
||||
btScalar* getVelocityUArray ();
|
||||
btScalar* getVelocityVArray ();
|
||||
bool* getFlagsArray ();
|
||||
|
||||
void foreachGroundTriangle(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax);
|
||||
class btHfFluidColumnCallback
|
||||
{
|
||||
public:
|
||||
btHfFluidColumnCallback () {}
|
||||
|
||||
virtual ~btHfFluidColumnCallback () {}
|
||||
|
||||
virtual bool processColumn (btHfFluid* fluid, int w, int l)
|
||||
{
|
||||
return true; // keep going
|
||||
}
|
||||
};
|
||||
|
||||
void foreachFluidColumn (btHfFluidColumnCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
|
||||
void foreachSurfaceTriangle (btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
protected:
|
||||
int m_numNodesWidth;
|
||||
int m_numNodesLength;
|
||||
|
||||
btScalar m_gridCellWidth;
|
||||
btScalar m_gridWidth;
|
||||
btScalar m_gridLength;
|
||||
|
||||
btScalar m_gridCellWidthInv;
|
||||
|
||||
btVector3 m_aabbMin;
|
||||
btVector3 m_aabbMax;
|
||||
|
||||
void setGridDimensions (btScalar gridCellWidth,
|
||||
int numNodesWidth, int numNodesLength);
|
||||
|
||||
btScalar bilinearInterpolate (const btScalar* array, btScalar i, btScalar j);
|
||||
|
||||
btScalar advect (const btScalar* array, btScalar i, btScalar j, btScalar di, btScalar dj, btScalar dt);
|
||||
|
||||
void advectEta (btScalar dt);
|
||||
void updateHeight (btScalar dt);
|
||||
|
||||
void advectVelocityU (btScalar dt);
|
||||
void advectVelocityV (btScalar dt);
|
||||
void updateVelocity (btScalar dt);
|
||||
|
||||
void transferDisplaced (btScalar dt);
|
||||
|
||||
void setReflectBoundaryLeft ();
|
||||
void setReflectBoundaryRight ();
|
||||
void setReflectBoundaryTop ();
|
||||
void setReflectBoundaryBottom ();
|
||||
|
||||
void setAbsorbBoundaryLeft (btScalar dt);
|
||||
void setAbsorbBoundaryRight (btScalar dt);
|
||||
void setAbsorbBoundaryTop (btScalar dt);
|
||||
void setAbsorbBoundaryBottom (btScalar dt);
|
||||
|
||||
void computeFlagsAndFillRatio ();
|
||||
btScalar computeHmin (int i, int j);
|
||||
btScalar computeHmax (int i, int j);
|
||||
btScalar computeEtaMax (int i, int j);
|
||||
|
||||
void allocateArrays ();
|
||||
|
||||
void debugTests ();
|
||||
|
||||
btScalar* m_temp; // temp
|
||||
int m_heightIndex;
|
||||
btScalar* m_height[2];
|
||||
btScalar* m_ground;
|
||||
btScalar* m_eta; // height - ground
|
||||
btScalar* m_u[2];
|
||||
btScalar* m_v[2];
|
||||
int m_rIndex;
|
||||
btScalar* m_r[2];
|
||||
int m_velocityIndex;
|
||||
bool* m_flags;
|
||||
btScalar* m_fillRatio;
|
||||
|
||||
// tweakables
|
||||
btScalar m_globalVelocityU;
|
||||
btScalar m_globalVelocityV;
|
||||
btScalar m_gravity;
|
||||
btScalar m_volumeDisplacementScale;
|
||||
btScalar m_horizontalVelocityScale;
|
||||
|
||||
btScalar m_epsHeight;
|
||||
btScalar m_epsEta;
|
||||
public:
|
||||
// You can enforce a global velocity at the surface of the fluid
|
||||
// default: 0.0 and 0.0
|
||||
void setGlobaVelocity (btScalar globalVelocityU, btScalar globalVelocityV);
|
||||
void getGlobalVelocity (btScalar& globalVelocityU, btScalar& globalVelocityV) const;
|
||||
|
||||
// Control force of gravity, should match physics world
|
||||
// default: -10.0
|
||||
void setGravity (btScalar gravity);
|
||||
btScalar getGravity () const;
|
||||
|
||||
// When a body is submerged into the fluid, the displaced fluid
|
||||
// is spread to adjacent cells. You can control the percentage of this
|
||||
// by setting this value between 0.0 and 1.0
|
||||
// default: 0.5
|
||||
void setVolumeDisplacementScale (btScalar volumeDisplacementScale);
|
||||
btScalar getVolumeDisplacementScale () const;
|
||||
|
||||
// The horizontal velocity of the fluid can influence bodies submerged
|
||||
// in the fluid. You can control how much influence by setting this
|
||||
// between 0.0 and 1.0
|
||||
// default: 0.5
|
||||
void setHorizontalVelocityScale (btScalar horizontalVelocityScale);
|
||||
btScalar getHorizontalVelocityScale () const;
|
||||
};
|
||||
|
||||
class btRigidBody;
|
||||
class btIDebugDraw;
|
||||
class btHfFluidBuoyantConvexShape;
|
||||
|
||||
class btHfFluidColumnRigidBodyCallback : public btHfFluid::btHfFluidColumnCallback
|
||||
{
|
||||
protected:
|
||||
btRigidBody* m_rigidBody;
|
||||
btHfFluidBuoyantConvexShape* m_buoyantShape;
|
||||
btIDebugDraw* m_debugDraw;
|
||||
int m_numVoxels;
|
||||
btVector3* m_voxelPositionsXformed;
|
||||
bool* m_voxelSubmerged;
|
||||
btVector3 m_aabbMin;
|
||||
btVector3 m_aabbMax;
|
||||
btScalar m_volume;
|
||||
btScalar m_density;
|
||||
btScalar m_floatyness;
|
||||
public:
|
||||
btHfFluidColumnRigidBodyCallback (btRigidBody* rigidBody, btIDebugDraw* debugDraw, btScalar density, btScalar floatyness);
|
||||
~btHfFluidColumnRigidBodyCallback ();
|
||||
bool processColumn (btHfFluid* fluid, int w, int l);
|
||||
btScalar getVolume () const { return m_volume; }
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@@ -1,195 +1,195 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#include <stdio.h>
|
||||
|
||||
#include "LinearMath/btAabbUtil2.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
|
||||
btHfFluidBuoyantConvexShape::btHfFluidBuoyantConvexShape (btConvexShape* convexShape)
|
||||
{
|
||||
m_convexShape = convexShape;
|
||||
m_shapeType = HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE;
|
||||
m_radius = btScalar(0.f);
|
||||
m_numVoxels = 0;
|
||||
m_voxelPositions = NULL;
|
||||
m_totalVolume = btScalar(0.0f);
|
||||
m_floatyness = btScalar(1.5f);
|
||||
}
|
||||
|
||||
btHfFluidBuoyantConvexShape::~btHfFluidBuoyantConvexShape ()
|
||||
{
|
||||
if (m_voxelPositions)
|
||||
btAlignedFree (m_voxelPositions);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
return m_convexShape->getAabb (t, aabbMin, aabbMax);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::setMargin(btScalar margin)
|
||||
{
|
||||
m_convexShape->setMargin (margin);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_convexShape->setLocalScaling (scaling);
|
||||
}
|
||||
|
||||
const char* btHfFluidBuoyantConvexShape::getName() const
|
||||
{
|
||||
return "HF_FLUID_BUOYANT_CONVEX_SHAPE";
|
||||
}
|
||||
|
||||
const btVector3& btHfFluidBuoyantConvexShape::getLocalScaling() const
|
||||
{
|
||||
return m_convexShape->getLocalScaling();
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
||||
{
|
||||
m_convexShape->calculateLocalInertia (mass, inertia);
|
||||
}
|
||||
|
||||
btScalar btHfFluidBuoyantConvexShape::getMargin() const
|
||||
{
|
||||
return m_convexShape->getMargin();
|
||||
}
|
||||
|
||||
//must be above the machine epsilon
|
||||
#define REL_ERROR2 btScalar(1.0e-6)
|
||||
static bool intersect(btVoronoiSimplexSolver* simplexSolver,
|
||||
const btTransform& transformA,
|
||||
const btTransform& transformB,
|
||||
btConvexShape* a,
|
||||
btConvexShape* b)
|
||||
{
|
||||
|
||||
btScalar squaredDistance = SIMD_INFINITY;
|
||||
btTransform localTransA = transformA;
|
||||
btTransform localTransB = transformB;
|
||||
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
|
||||
localTransA.getOrigin() -= positionOffset;
|
||||
localTransB.getOrigin() -= positionOffset;
|
||||
btScalar delta = btScalar(0.);
|
||||
btVector3 v = btVector3(1.0f, 0.0f, 0.0f);
|
||||
simplexSolver->reset ();
|
||||
do
|
||||
{
|
||||
btVector3 seperatingAxisInA = (-v)* transformA.getBasis();
|
||||
btVector3 seperatingAxisInB = v* transformB.getBasis();
|
||||
|
||||
btVector3 pInA = a->localGetSupportVertexNonVirtual(seperatingAxisInA);
|
||||
btVector3 qInB = b->localGetSupportVertexNonVirtual(seperatingAxisInB);
|
||||
|
||||
btVector3 pWorld = localTransA(pInA);
|
||||
btVector3 qWorld = localTransB(qInB);
|
||||
|
||||
btVector3 w = pWorld - qWorld;
|
||||
delta = v.dot(w);
|
||||
|
||||
// potential exit, they don't overlap
|
||||
if ((delta > btScalar(0.0)))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (simplexSolver->inSimplex (w))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
simplexSolver->addVertex (w, pWorld, qWorld);
|
||||
|
||||
if (!simplexSolver->closest(v))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
btScalar previousSquaredDistance = squaredDistance;
|
||||
squaredDistance = v.length2();
|
||||
|
||||
if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
} while (!simplexSolver->fullSimplex() && squaredDistance > REL_ERROR2 * simplexSolver->maxVertex());
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::generateShape (btScalar radius, btScalar gap)
|
||||
{
|
||||
btTransform T;
|
||||
T.setIdentity ();
|
||||
btVector3 aabbMin, aabbMax;
|
||||
getAabb (T, aabbMin, aabbMax);
|
||||
|
||||
m_radius = radius;
|
||||
m_numVoxels = 0;
|
||||
|
||||
btVoronoiSimplexSolver simplexSolver;
|
||||
btSphereShape sphereShape(radius);
|
||||
btVector3* voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION,16);
|
||||
for (int i = 0; i < MAX_VOXEL_DIMENSION; i++)
|
||||
{
|
||||
for (int j = 0; j < MAX_VOXEL_DIMENSION; j++)
|
||||
{
|
||||
for (int k = 0; k < MAX_VOXEL_DIMENSION; k++)
|
||||
{
|
||||
btVector3 point;
|
||||
btTransform sT;
|
||||
sT.setIdentity ();
|
||||
|
||||
point.setX(aabbMin.getX() + (i * btScalar(2.0f) * radius) + (i * gap));
|
||||
point.setY(aabbMin.getY() + (j * btScalar(2.0f) * radius) + (j * gap));
|
||||
point.setZ(aabbMin.getZ() + (k * btScalar(2.0f) * radius) + (k * gap));
|
||||
|
||||
if (TestPointAgainstAabb2(aabbMin, aabbMax, point))
|
||||
{
|
||||
btTransform sT;
|
||||
sT.setIdentity ();
|
||||
sT.setOrigin (point);
|
||||
|
||||
if (intersect (&simplexSolver, T, sT, m_convexShape, &sphereShape))
|
||||
{
|
||||
voxelPositions[m_numVoxels] = point;
|
||||
m_numVoxels++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
m_voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*m_numVoxels, 16);
|
||||
for (int i = 0; i < m_numVoxels;i++)
|
||||
{
|
||||
m_voxelPositions[i] = voxelPositions[i];
|
||||
}
|
||||
btAlignedFree (voxelPositions);
|
||||
m_volumePerVoxel = btScalar(4.0f)/btScalar(3.0f)*SIMD_PI*radius*radius*radius;
|
||||
m_totalVolume = m_numVoxels * m_volumePerVoxel;
|
||||
m_radius = radius;
|
||||
}
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#include <stdio.h>
|
||||
|
||||
#include "LinearMath/btAabbUtil2.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
|
||||
btHfFluidBuoyantConvexShape::btHfFluidBuoyantConvexShape (btConvexShape* convexShape)
|
||||
{
|
||||
m_convexShape = convexShape;
|
||||
m_shapeType = HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE;
|
||||
m_radius = btScalar(0.f);
|
||||
m_numVoxels = 0;
|
||||
m_voxelPositions = NULL;
|
||||
m_totalVolume = btScalar(0.0f);
|
||||
m_floatyness = btScalar(1.5f);
|
||||
}
|
||||
|
||||
btHfFluidBuoyantConvexShape::~btHfFluidBuoyantConvexShape ()
|
||||
{
|
||||
if (m_voxelPositions)
|
||||
btAlignedFree (m_voxelPositions);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
return m_convexShape->getAabb (t, aabbMin, aabbMax);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::setMargin(btScalar margin)
|
||||
{
|
||||
m_convexShape->setMargin (margin);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_convexShape->setLocalScaling (scaling);
|
||||
}
|
||||
|
||||
const char* btHfFluidBuoyantConvexShape::getName() const
|
||||
{
|
||||
return "HF_FLUID_BUOYANT_CONVEX_SHAPE";
|
||||
}
|
||||
|
||||
const btVector3& btHfFluidBuoyantConvexShape::getLocalScaling() const
|
||||
{
|
||||
return m_convexShape->getLocalScaling();
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
||||
{
|
||||
m_convexShape->calculateLocalInertia (mass, inertia);
|
||||
}
|
||||
|
||||
btScalar btHfFluidBuoyantConvexShape::getMargin() const
|
||||
{
|
||||
return m_convexShape->getMargin();
|
||||
}
|
||||
|
||||
//must be above the machine epsilon
|
||||
#define REL_ERROR2 btScalar(1.0e-6)
|
||||
static bool intersect(btVoronoiSimplexSolver* simplexSolver,
|
||||
const btTransform& transformA,
|
||||
const btTransform& transformB,
|
||||
btConvexShape* a,
|
||||
btConvexShape* b)
|
||||
{
|
||||
|
||||
btScalar squaredDistance = SIMD_INFINITY;
|
||||
btTransform localTransA = transformA;
|
||||
btTransform localTransB = transformB;
|
||||
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
|
||||
localTransA.getOrigin() -= positionOffset;
|
||||
localTransB.getOrigin() -= positionOffset;
|
||||
btScalar delta = btScalar(0.);
|
||||
btVector3 v = btVector3(1.0f, 0.0f, 0.0f);
|
||||
simplexSolver->reset ();
|
||||
do
|
||||
{
|
||||
btVector3 seperatingAxisInA = (-v)* transformA.getBasis();
|
||||
btVector3 seperatingAxisInB = v* transformB.getBasis();
|
||||
|
||||
btVector3 pInA = a->localGetSupportVertexNonVirtual(seperatingAxisInA);
|
||||
btVector3 qInB = b->localGetSupportVertexNonVirtual(seperatingAxisInB);
|
||||
|
||||
btVector3 pWorld = localTransA(pInA);
|
||||
btVector3 qWorld = localTransB(qInB);
|
||||
|
||||
btVector3 w = pWorld - qWorld;
|
||||
delta = v.dot(w);
|
||||
|
||||
// potential exit, they don't overlap
|
||||
if ((delta > btScalar(0.0)))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (simplexSolver->inSimplex (w))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
simplexSolver->addVertex (w, pWorld, qWorld);
|
||||
|
||||
if (!simplexSolver->closest(v))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
btScalar previousSquaredDistance = squaredDistance;
|
||||
squaredDistance = v.length2();
|
||||
|
||||
if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
} while (!simplexSolver->fullSimplex() && squaredDistance > REL_ERROR2 * simplexSolver->maxVertex());
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::generateShape (btScalar radius, btScalar gap)
|
||||
{
|
||||
btTransform T;
|
||||
T.setIdentity ();
|
||||
btVector3 aabbMin, aabbMax;
|
||||
getAabb (T, aabbMin, aabbMax);
|
||||
|
||||
m_radius = radius;
|
||||
m_numVoxels = 0;
|
||||
|
||||
btVoronoiSimplexSolver simplexSolver;
|
||||
btSphereShape sphereShape(radius);
|
||||
btVector3* voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION,16);
|
||||
for (int i = 0; i < MAX_VOXEL_DIMENSION; i++)
|
||||
{
|
||||
for (int j = 0; j < MAX_VOXEL_DIMENSION; j++)
|
||||
{
|
||||
for (int k = 0; k < MAX_VOXEL_DIMENSION; k++)
|
||||
{
|
||||
btVector3 point;
|
||||
btTransform sT;
|
||||
sT.setIdentity ();
|
||||
|
||||
point.setX(aabbMin.getX() + (i * btScalar(2.0f) * radius) + (i * gap));
|
||||
point.setY(aabbMin.getY() + (j * btScalar(2.0f) * radius) + (j * gap));
|
||||
point.setZ(aabbMin.getZ() + (k * btScalar(2.0f) * radius) + (k * gap));
|
||||
|
||||
if (TestPointAgainstAabb2(aabbMin, aabbMax, point))
|
||||
{
|
||||
btTransform sT;
|
||||
sT.setIdentity ();
|
||||
sT.setOrigin (point);
|
||||
|
||||
if (intersect (&simplexSolver, T, sT, m_convexShape, &sphereShape))
|
||||
{
|
||||
voxelPositions[m_numVoxels] = point;
|
||||
m_numVoxels++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
m_voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*m_numVoxels, 16);
|
||||
for (int i = 0; i < m_numVoxels;i++)
|
||||
{
|
||||
m_voxelPositions[i] = voxelPositions[i];
|
||||
}
|
||||
btAlignedFree (voxelPositions);
|
||||
m_volumePerVoxel = btScalar(4.0f)/btScalar(3.0f)*SIMD_PI*radius*radius*radius;
|
||||
m_totalVolume = m_numVoxels * m_volumePerVoxel;
|
||||
m_radius = radius;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,62 +1,62 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#ifndef __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
|
||||
#define __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
|
||||
#define MAX_VOXEL_DIMENSION 32
|
||||
|
||||
class btConvexShape;
|
||||
///experimental buyancy fluid demo
|
||||
class btHfFluidBuoyantConvexShape : public btCollisionShape
|
||||
{
|
||||
public:
|
||||
btHfFluidBuoyantConvexShape (btConvexShape* convexShape);
|
||||
~btHfFluidBuoyantConvexShape ();
|
||||
void generateShape (btScalar radius, btScalar gap);
|
||||
|
||||
btConvexShape* getConvexShape () { return m_convexShape; }
|
||||
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
virtual void setMargin(btScalar margin);
|
||||
virtual btScalar getMargin() const;
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
virtual const char* getName()const;
|
||||
|
||||
btScalar getVoxelRadius () const { return m_radius; }
|
||||
btScalar getTotalVolume () const { return m_totalVolume; }
|
||||
btScalar getVolumePerVoxel () const { return m_volumePerVoxel; }
|
||||
btScalar getFloatyness () const { return m_floatyness; }
|
||||
void setFloatyness (btScalar floatyness) { m_floatyness = floatyness; }
|
||||
int getNumVoxels () const { return m_numVoxels; }
|
||||
const btVector3* getVoxelPositionsArray() { return m_voxelPositions; }
|
||||
|
||||
protected:
|
||||
btScalar m_floatyness;
|
||||
btScalar m_radius;
|
||||
btScalar m_totalVolume;
|
||||
btScalar m_volumePerVoxel;
|
||||
int m_numVoxels;
|
||||
btVector3* m_voxelPositions;
|
||||
btConvexShape* m_convexShape;
|
||||
};
|
||||
|
||||
#endif
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#ifndef __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
|
||||
#define __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
|
||||
#define MAX_VOXEL_DIMENSION 32
|
||||
|
||||
class btConvexShape;
|
||||
///experimental buyancy fluid demo
|
||||
class btHfFluidBuoyantConvexShape : public btCollisionShape
|
||||
{
|
||||
public:
|
||||
btHfFluidBuoyantConvexShape (btConvexShape* convexShape);
|
||||
~btHfFluidBuoyantConvexShape ();
|
||||
void generateShape (btScalar radius, btScalar gap);
|
||||
|
||||
btConvexShape* getConvexShape () { return m_convexShape; }
|
||||
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
virtual void setMargin(btScalar margin);
|
||||
virtual btScalar getMargin() const;
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
virtual const char* getName()const;
|
||||
|
||||
btScalar getVoxelRadius () const { return m_radius; }
|
||||
btScalar getTotalVolume () const { return m_totalVolume; }
|
||||
btScalar getVolumePerVoxel () const { return m_volumePerVoxel; }
|
||||
btScalar getFloatyness () const { return m_floatyness; }
|
||||
void setFloatyness (btScalar floatyness) { m_floatyness = floatyness; }
|
||||
int getNumVoxels () const { return m_numVoxels; }
|
||||
const btVector3* getVoxelPositionsArray() { return m_voxelPositions; }
|
||||
|
||||
protected:
|
||||
btScalar m_floatyness;
|
||||
btScalar m_radius;
|
||||
btScalar m_totalVolume;
|
||||
btScalar m_volumePerVoxel;
|
||||
int m_numVoxels;
|
||||
btVector3* m_voxelPositions;
|
||||
btConvexShape* m_convexShape;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,74 +1,74 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#include <stdio.h>
|
||||
|
||||
#include "btHfFluidBuoyantShapeCollisionAlgorithm.h"
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "btHfFluid.h"
|
||||
|
||||
btHfFluidBuoyantShapeCollisionAlgorithm::btHfFluidBuoyantShapeCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
|
||||
: btCollisionAlgorithm(ci), m_convexConvexAlgorithm(NULL, ci, col0, col1, simplexSolver, pdSolver,0,0)
|
||||
{
|
||||
m_collisionObject0 = col0;
|
||||
m_collisionObject1 = col1;
|
||||
}
|
||||
|
||||
btHfFluidBuoyantShapeCollisionAlgorithm::~btHfFluidBuoyantShapeCollisionAlgorithm()
|
||||
{
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantShapeCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btHfFluidBuoyantConvexShape* tmpShape0 = (btHfFluidBuoyantConvexShape*)body0->getCollisionShape();
|
||||
btHfFluidBuoyantConvexShape* tmpShape1 = (btHfFluidBuoyantConvexShape*)body1->getCollisionShape();
|
||||
btConvexShape* convexShape0 = tmpShape0->getConvexShape();
|
||||
btConvexShape* convexShape1 = tmpShape1->getConvexShape();
|
||||
|
||||
body0->setCollisionShape (convexShape0);
|
||||
body1->setCollisionShape (convexShape1);
|
||||
|
||||
m_convexConvexAlgorithm.processCollision (body0, body1, dispatchInfo,resultOut);
|
||||
|
||||
body0->setCollisionShape (tmpShape0);
|
||||
body1->setCollisionShape (tmpShape1);
|
||||
}
|
||||
|
||||
btScalar btHfFluidBuoyantShapeCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btHfFluidBuoyantConvexShape* tmpShape0 = (btHfFluidBuoyantConvexShape*)body0->getCollisionShape();
|
||||
btHfFluidBuoyantConvexShape* tmpShape1 = (btHfFluidBuoyantConvexShape*)body1->getCollisionShape();
|
||||
btConvexShape* convexShape0 = tmpShape0->getConvexShape();
|
||||
btConvexShape* convexShape1 = tmpShape1->getConvexShape();
|
||||
|
||||
body0->setCollisionShape (convexShape0);
|
||||
body1->setCollisionShape (convexShape1);
|
||||
|
||||
btScalar toi = btScalar(0.0f);
|
||||
|
||||
toi = m_convexConvexAlgorithm.calculateTimeOfImpact (body0, body1, dispatchInfo, resultOut);
|
||||
|
||||
body0->setCollisionShape (tmpShape0);
|
||||
body1->setCollisionShape (tmpShape1);
|
||||
|
||||
return toi;
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#include <stdio.h>
|
||||
|
||||
#include "btHfFluidBuoyantShapeCollisionAlgorithm.h"
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "btHfFluid.h"
|
||||
|
||||
btHfFluidBuoyantShapeCollisionAlgorithm::btHfFluidBuoyantShapeCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
|
||||
: btCollisionAlgorithm(ci), m_convexConvexAlgorithm(NULL, ci, col0, col1, simplexSolver, pdSolver,0,0)
|
||||
{
|
||||
m_collisionObject0 = col0;
|
||||
m_collisionObject1 = col1;
|
||||
}
|
||||
|
||||
btHfFluidBuoyantShapeCollisionAlgorithm::~btHfFluidBuoyantShapeCollisionAlgorithm()
|
||||
{
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantShapeCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btHfFluidBuoyantConvexShape* tmpShape0 = (btHfFluidBuoyantConvexShape*)body0->getCollisionShape();
|
||||
btHfFluidBuoyantConvexShape* tmpShape1 = (btHfFluidBuoyantConvexShape*)body1->getCollisionShape();
|
||||
btConvexShape* convexShape0 = tmpShape0->getConvexShape();
|
||||
btConvexShape* convexShape1 = tmpShape1->getConvexShape();
|
||||
|
||||
body0->setCollisionShape (convexShape0);
|
||||
body1->setCollisionShape (convexShape1);
|
||||
|
||||
m_convexConvexAlgorithm.processCollision (body0, body1, dispatchInfo,resultOut);
|
||||
|
||||
body0->setCollisionShape (tmpShape0);
|
||||
body1->setCollisionShape (tmpShape1);
|
||||
}
|
||||
|
||||
btScalar btHfFluidBuoyantShapeCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btHfFluidBuoyantConvexShape* tmpShape0 = (btHfFluidBuoyantConvexShape*)body0->getCollisionShape();
|
||||
btHfFluidBuoyantConvexShape* tmpShape1 = (btHfFluidBuoyantConvexShape*)body1->getCollisionShape();
|
||||
btConvexShape* convexShape0 = tmpShape0->getConvexShape();
|
||||
btConvexShape* convexShape1 = tmpShape1->getConvexShape();
|
||||
|
||||
body0->setCollisionShape (convexShape0);
|
||||
body1->setCollisionShape (convexShape1);
|
||||
|
||||
btScalar toi = btScalar(0.0f);
|
||||
|
||||
toi = m_convexConvexAlgorithm.calculateTimeOfImpact (body0, body1, dispatchInfo, resultOut);
|
||||
|
||||
body0->setCollisionShape (tmpShape0);
|
||||
body1->setCollisionShape (tmpShape1);
|
||||
|
||||
return toi;
|
||||
}
|
||||
|
||||
@@ -1,87 +1,87 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#ifndef HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
|
||||
#define HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
||||
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
class btHfFluid;
|
||||
|
||||
class btConvexConvexAlgorithm;
|
||||
class btConvexPenetrationDepthSolver;
|
||||
class btSimplexSolverInterface;
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
/// btHfFluidBuoyantShapeCollisionAlgorithm provides collision detection between btHfFluidBuoyantConvexShape and btHfFluidBuoyantConvexShape
|
||||
class btHfFluidBuoyantShapeCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
btCollisionObject* m_collisionObject0;
|
||||
btCollisionObject* m_collisionObject1;
|
||||
|
||||
btConvexConvexAlgorithm m_convexConvexAlgorithm;
|
||||
public:
|
||||
|
||||
btHfFluidBuoyantShapeCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
|
||||
|
||||
virtual ~btHfFluidBuoyantShapeCollisionAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
m_convexConvexAlgorithm.getAllContactManifolds (manifoldArray);
|
||||
}
|
||||
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
btConvexPenetrationDepthSolver* m_pdSolver;
|
||||
btSimplexSolverInterface* m_simplexSolver;
|
||||
|
||||
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
|
||||
{
|
||||
m_simplexSolver = simplexSolver;
|
||||
m_pdSolver = pdSolver;
|
||||
}
|
||||
|
||||
virtual ~CreateFunc() {}
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btHfFluidBuoyantShapeCollisionAlgorithm));
|
||||
if (!m_swapped)
|
||||
{
|
||||
return new(mem) btHfFluidBuoyantShapeCollisionAlgorithm(ci,body0,body1, m_simplexSolver, m_pdSolver);
|
||||
} else
|
||||
{
|
||||
return new(mem) btHfFluidBuoyantShapeCollisionAlgorithm(ci,body0,body1, m_simplexSolver, m_pdSolver);
|
||||
}
|
||||
}
|
||||
};
|
||||
};
|
||||
|
||||
#endif //HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#ifndef HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
|
||||
#define HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
||||
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
class btHfFluid;
|
||||
|
||||
class btConvexConvexAlgorithm;
|
||||
class btConvexPenetrationDepthSolver;
|
||||
class btSimplexSolverInterface;
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
/// btHfFluidBuoyantShapeCollisionAlgorithm provides collision detection between btHfFluidBuoyantConvexShape and btHfFluidBuoyantConvexShape
|
||||
class btHfFluidBuoyantShapeCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
btCollisionObject* m_collisionObject0;
|
||||
btCollisionObject* m_collisionObject1;
|
||||
|
||||
btConvexConvexAlgorithm m_convexConvexAlgorithm;
|
||||
public:
|
||||
|
||||
btHfFluidBuoyantShapeCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
|
||||
|
||||
virtual ~btHfFluidBuoyantShapeCollisionAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
m_convexConvexAlgorithm.getAllContactManifolds (manifoldArray);
|
||||
}
|
||||
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
btConvexPenetrationDepthSolver* m_pdSolver;
|
||||
btSimplexSolverInterface* m_simplexSolver;
|
||||
|
||||
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
|
||||
{
|
||||
m_simplexSolver = simplexSolver;
|
||||
m_pdSolver = pdSolver;
|
||||
}
|
||||
|
||||
virtual ~CreateFunc() {}
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btHfFluidBuoyantShapeCollisionAlgorithm));
|
||||
if (!m_swapped)
|
||||
{
|
||||
return new(mem) btHfFluidBuoyantShapeCollisionAlgorithm(ci,body0,body1, m_simplexSolver, m_pdSolver);
|
||||
} else
|
||||
{
|
||||
return new(mem) btHfFluidBuoyantShapeCollisionAlgorithm(ci,body0,body1, m_simplexSolver, m_pdSolver);
|
||||
}
|
||||
}
|
||||
};
|
||||
};
|
||||
|
||||
#endif //HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
|
||||
|
||||
@@ -1,18 +1,18 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#include "btHfFluidCollisionShape.h"
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#include "btHfFluidCollisionShape.h"
|
||||
|
||||
|
||||
@@ -1,94 +1,94 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#ifndef BT_HF_FLUID_COLLISION_SHAPE_H
|
||||
#define BT_HF_FLUID_COLLISION_SHAPE_H
|
||||
|
||||
#include "btHfFluid.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
|
||||
|
||||
class btHfFluidCollisionShape : public btConcaveShape
|
||||
{
|
||||
public:
|
||||
btHfFluid* m_fluid;
|
||||
|
||||
btHfFluidCollisionShape(btHfFluid* backptr) : btConcaveShape ()
|
||||
{
|
||||
m_shapeType = HFFLUID_SHAPE_PROXYTYPE;
|
||||
m_fluid=backptr;
|
||||
}
|
||||
|
||||
virtual ~btHfFluidCollisionShape()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const
|
||||
{
|
||||
//not yet
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
/* t should be identity, but better be safe than...fast? */
|
||||
btVector3 mins;
|
||||
btVector3 maxs;
|
||||
|
||||
m_fluid->getAabb (mins, maxs);
|
||||
|
||||
const btVector3 crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
|
||||
t*btVector3(maxs.x(),mins.y(),mins.z()),
|
||||
t*btVector3(maxs.x(),maxs.y(),mins.z()),
|
||||
t*btVector3(mins.x(),maxs.y(),mins.z()),
|
||||
t*btVector3(mins.x(),mins.y(),maxs.z()),
|
||||
t*btVector3(maxs.x(),mins.y(),maxs.z()),
|
||||
t*btVector3(maxs.x(),maxs.y(),maxs.z()),
|
||||
t*btVector3(mins.x(),maxs.y(),maxs.z())};
|
||||
aabbMin=aabbMax=crns[0];
|
||||
for(int i=1;i<8;++i)
|
||||
{
|
||||
aabbMin.setMin(crns[i]);
|
||||
aabbMax.setMax(crns[i]);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void setLocalScaling(const btVector3& /*scaling*/)
|
||||
{
|
||||
///na
|
||||
btAssert(0);
|
||||
}
|
||||
virtual const btVector3& getLocalScaling() const
|
||||
{
|
||||
static const btVector3 dummy(1,1,1);
|
||||
return dummy;
|
||||
}
|
||||
virtual void calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
|
||||
{
|
||||
///not yet
|
||||
btAssert(0);
|
||||
}
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "HfFluid";
|
||||
}
|
||||
};
|
||||
|
||||
#endif
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#ifndef BT_HF_FLUID_COLLISION_SHAPE_H
|
||||
#define BT_HF_FLUID_COLLISION_SHAPE_H
|
||||
|
||||
#include "btHfFluid.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
|
||||
|
||||
class btHfFluidCollisionShape : public btConcaveShape
|
||||
{
|
||||
public:
|
||||
btHfFluid* m_fluid;
|
||||
|
||||
btHfFluidCollisionShape(btHfFluid* backptr) : btConcaveShape ()
|
||||
{
|
||||
m_shapeType = HFFLUID_SHAPE_PROXYTYPE;
|
||||
m_fluid=backptr;
|
||||
}
|
||||
|
||||
virtual ~btHfFluidCollisionShape()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const
|
||||
{
|
||||
//not yet
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
/* t should be identity, but better be safe than...fast? */
|
||||
btVector3 mins;
|
||||
btVector3 maxs;
|
||||
|
||||
m_fluid->getAabb (mins, maxs);
|
||||
|
||||
const btVector3 crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
|
||||
t*btVector3(maxs.x(),mins.y(),mins.z()),
|
||||
t*btVector3(maxs.x(),maxs.y(),mins.z()),
|
||||
t*btVector3(mins.x(),maxs.y(),mins.z()),
|
||||
t*btVector3(mins.x(),mins.y(),maxs.z()),
|
||||
t*btVector3(maxs.x(),mins.y(),maxs.z()),
|
||||
t*btVector3(maxs.x(),maxs.y(),maxs.z()),
|
||||
t*btVector3(mins.x(),maxs.y(),maxs.z())};
|
||||
aabbMin=aabbMax=crns[0];
|
||||
for(int i=1;i<8;++i)
|
||||
{
|
||||
aabbMin.setMin(crns[i]);
|
||||
aabbMax.setMax(crns[i]);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void setLocalScaling(const btVector3& /*scaling*/)
|
||||
{
|
||||
///na
|
||||
btAssert(0);
|
||||
}
|
||||
virtual const btVector3& getLocalScaling() const
|
||||
{
|
||||
static const btVector3 dummy(1,1,1);
|
||||
return dummy;
|
||||
}
|
||||
virtual void calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
|
||||
{
|
||||
///not yet
|
||||
btAssert(0);
|
||||
}
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "HfFluid";
|
||||
}
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,133 +1,133 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "btHfFluidRigidCollisionAlgorithm.h"
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "btHfFluid.h"
|
||||
|
||||
btHfFluidRigidCollisionAlgorithm::~btHfFluidRigidCollisionAlgorithm()
|
||||
{
|
||||
}
|
||||
|
||||
btHfFluidRigidCollisionAlgorithm::btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
|
||||
: btCollisionAlgorithm(ci), m_isSwapped(isSwapped),
|
||||
m_convexTrianglecallback(ci.m_dispatcher1, col0, col1, !isSwapped) // we flip the isSwapped because we are hf fluid vs. convex and callback expects convex vs. concave
|
||||
{
|
||||
m_manifoldPtr = m_convexTrianglecallback.m_manifoldPtr;
|
||||
if (m_isSwapped)
|
||||
{
|
||||
m_hfFluid = static_cast<btHfFluid*>(col1);
|
||||
m_rigidCollisionObject = static_cast<btCollisionObject*>(col0);
|
||||
m_manifoldPtr->setBodies(m_hfFluid,m_rigidCollisionObject);
|
||||
} else {
|
||||
m_hfFluid = static_cast<btHfFluid*>(col0);
|
||||
m_rigidCollisionObject = static_cast<btCollisionObject*>(col1);
|
||||
m_manifoldPtr->setBodies(m_rigidCollisionObject,m_hfFluid);
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidCollisionAlgorithm::processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btScalar triangleMargin = m_rigidCollisionObject->getCollisionShape()->getMargin();
|
||||
resultOut->setPersistentManifold(m_manifoldPtr);
|
||||
// to perform the convex shape vs. ground terrain:
|
||||
// we pull the convex shape out of the buoyant shape and replace it temporarily
|
||||
btHfFluidBuoyantConvexShape* tmpShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
|
||||
btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)tmpShape)->getConvexShape();
|
||||
m_rigidCollisionObject->setCollisionShape (convexShape);
|
||||
m_convexTrianglecallback.setTimeStepAndCounters (triangleMargin, dispatchInfo, resultOut);
|
||||
m_hfFluid->foreachGroundTriangle (&m_convexTrianglecallback, m_convexTrianglecallback.getAabbMin(),m_convexTrianglecallback.getAabbMax());
|
||||
resultOut->refreshContactPoints();
|
||||
// restore the buoyant shape
|
||||
m_rigidCollisionObject->setCollisionShape (tmpShape);
|
||||
}
|
||||
|
||||
btScalar btHfFluidRigidCollisionAlgorithm::processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness)
|
||||
{
|
||||
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
|
||||
btHfFluidColumnRigidBodyCallback columnCallback (rb, dispatchInfo.m_debugDraw, density, floatyness);
|
||||
m_hfFluid->foreachFluidColumn (&columnCallback, m_convexTrianglecallback.getAabbMin(), m_convexTrianglecallback.getAabbMax());
|
||||
return columnCallback.getVolume ();
|
||||
}
|
||||
|
||||
void btHfFluidRigidCollisionAlgorithm::applyFluidFriction (btScalar mu, btScalar submerged_percentage)
|
||||
{
|
||||
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
|
||||
btScalar dt = btScalar(1.0f/60.0f);
|
||||
|
||||
//#define OLD_WAY
|
||||
#ifdef OLD_WAY
|
||||
btScalar radius = btScalar(0.0f);
|
||||
{
|
||||
btVector3 aabbMin, aabbMax;
|
||||
btTransform T;
|
||||
T.setIdentity();
|
||||
rb->getCollisionShape()->getAabb (T, aabbMin, aabbMax);
|
||||
radius = (aabbMax-aabbMin).length()*btScalar(0.5);
|
||||
}
|
||||
btScalar viscosity = btScalar(0.05);
|
||||
btVector3 force = btScalar(6.0f) * SIMD_PI * viscosity * radius * -rb->getLinearVelocity();
|
||||
|
||||
btVector3 impulse = force * dt;
|
||||
rb->applyCentralImpulse (impulse);
|
||||
|
||||
if (true)
|
||||
{
|
||||
btVector3 av = rb->getAngularVelocity();
|
||||
av *= btScalar(0.99);
|
||||
rb->setAngularVelocity (av);
|
||||
}
|
||||
#else
|
||||
btScalar scaled_mu = mu * submerged_percentage * btScalar(0.4f);
|
||||
rb->applyCentralImpulse (dt * scaled_mu * -rb->getLinearVelocity());
|
||||
rb->applyTorqueImpulse (dt * scaled_mu * -rb->getAngularVelocity());
|
||||
#endif
|
||||
}
|
||||
|
||||
void btHfFluidRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
processGround (dispatchInfo, resultOut);
|
||||
btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
|
||||
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
|
||||
if (rb)
|
||||
{
|
||||
btScalar mass = btScalar(1.0f) / rb->getInvMass ();
|
||||
btScalar volume = buoyantShape->getTotalVolume ();
|
||||
btScalar density = mass / volume;
|
||||
btScalar floatyness = buoyantShape->getFloatyness ();
|
||||
btScalar submerged_volume = processFluid (dispatchInfo, density, floatyness);
|
||||
if (submerged_volume > btScalar(0.0))
|
||||
{
|
||||
btScalar submerged_percentage = submerged_volume/buoyantShape->getTotalVolume();
|
||||
//printf("%f\n", submerged_percentage);
|
||||
btScalar mu = btScalar(6.0f);
|
||||
applyFluidFriction (mu, submerged_percentage);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btScalar btHfFluidRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
return btScalar(1.0);
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "btHfFluidRigidCollisionAlgorithm.h"
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "btHfFluid.h"
|
||||
|
||||
btHfFluidRigidCollisionAlgorithm::~btHfFluidRigidCollisionAlgorithm()
|
||||
{
|
||||
}
|
||||
|
||||
btHfFluidRigidCollisionAlgorithm::btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
|
||||
: btCollisionAlgorithm(ci), m_isSwapped(isSwapped),
|
||||
m_convexTrianglecallback(ci.m_dispatcher1, col0, col1, !isSwapped) // we flip the isSwapped because we are hf fluid vs. convex and callback expects convex vs. concave
|
||||
{
|
||||
m_manifoldPtr = m_convexTrianglecallback.m_manifoldPtr;
|
||||
if (m_isSwapped)
|
||||
{
|
||||
m_hfFluid = static_cast<btHfFluid*>(col1);
|
||||
m_rigidCollisionObject = static_cast<btCollisionObject*>(col0);
|
||||
m_manifoldPtr->setBodies(m_hfFluid,m_rigidCollisionObject);
|
||||
} else {
|
||||
m_hfFluid = static_cast<btHfFluid*>(col0);
|
||||
m_rigidCollisionObject = static_cast<btCollisionObject*>(col1);
|
||||
m_manifoldPtr->setBodies(m_rigidCollisionObject,m_hfFluid);
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidCollisionAlgorithm::processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
btScalar triangleMargin = m_rigidCollisionObject->getCollisionShape()->getMargin();
|
||||
resultOut->setPersistentManifold(m_manifoldPtr);
|
||||
// to perform the convex shape vs. ground terrain:
|
||||
// we pull the convex shape out of the buoyant shape and replace it temporarily
|
||||
btHfFluidBuoyantConvexShape* tmpShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
|
||||
btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)tmpShape)->getConvexShape();
|
||||
m_rigidCollisionObject->setCollisionShape (convexShape);
|
||||
m_convexTrianglecallback.setTimeStepAndCounters (triangleMargin, dispatchInfo, resultOut);
|
||||
m_hfFluid->foreachGroundTriangle (&m_convexTrianglecallback, m_convexTrianglecallback.getAabbMin(),m_convexTrianglecallback.getAabbMax());
|
||||
resultOut->refreshContactPoints();
|
||||
// restore the buoyant shape
|
||||
m_rigidCollisionObject->setCollisionShape (tmpShape);
|
||||
}
|
||||
|
||||
btScalar btHfFluidRigidCollisionAlgorithm::processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness)
|
||||
{
|
||||
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
|
||||
btHfFluidColumnRigidBodyCallback columnCallback (rb, dispatchInfo.m_debugDraw, density, floatyness);
|
||||
m_hfFluid->foreachFluidColumn (&columnCallback, m_convexTrianglecallback.getAabbMin(), m_convexTrianglecallback.getAabbMax());
|
||||
return columnCallback.getVolume ();
|
||||
}
|
||||
|
||||
void btHfFluidRigidCollisionAlgorithm::applyFluidFriction (btScalar mu, btScalar submerged_percentage)
|
||||
{
|
||||
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
|
||||
btScalar dt = btScalar(1.0f/60.0f);
|
||||
|
||||
//#define OLD_WAY
|
||||
#ifdef OLD_WAY
|
||||
btScalar radius = btScalar(0.0f);
|
||||
{
|
||||
btVector3 aabbMin, aabbMax;
|
||||
btTransform T;
|
||||
T.setIdentity();
|
||||
rb->getCollisionShape()->getAabb (T, aabbMin, aabbMax);
|
||||
radius = (aabbMax-aabbMin).length()*btScalar(0.5);
|
||||
}
|
||||
btScalar viscosity = btScalar(0.05);
|
||||
btVector3 force = btScalar(6.0f) * SIMD_PI * viscosity * radius * -rb->getLinearVelocity();
|
||||
|
||||
btVector3 impulse = force * dt;
|
||||
rb->applyCentralImpulse (impulse);
|
||||
|
||||
if (true)
|
||||
{
|
||||
btVector3 av = rb->getAngularVelocity();
|
||||
av *= btScalar(0.99);
|
||||
rb->setAngularVelocity (av);
|
||||
}
|
||||
#else
|
||||
btScalar scaled_mu = mu * submerged_percentage * btScalar(0.4f);
|
||||
rb->applyCentralImpulse (dt * scaled_mu * -rb->getLinearVelocity());
|
||||
rb->applyTorqueImpulse (dt * scaled_mu * -rb->getAngularVelocity());
|
||||
#endif
|
||||
}
|
||||
|
||||
void btHfFluidRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
processGround (dispatchInfo, resultOut);
|
||||
btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
|
||||
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
|
||||
if (rb)
|
||||
{
|
||||
btScalar mass = btScalar(1.0f) / rb->getInvMass ();
|
||||
btScalar volume = buoyantShape->getTotalVolume ();
|
||||
btScalar density = mass / volume;
|
||||
btScalar floatyness = buoyantShape->getFloatyness ();
|
||||
btScalar submerged_volume = processFluid (dispatchInfo, density, floatyness);
|
||||
if (submerged_volume > btScalar(0.0))
|
||||
{
|
||||
btScalar submerged_percentage = submerged_volume/buoyantShape->getTotalVolume();
|
||||
//printf("%f\n", submerged_percentage);
|
||||
btScalar mu = btScalar(6.0f);
|
||||
applyFluidFriction (mu, submerged_percentage);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btScalar btHfFluidRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
return btScalar(1.0);
|
||||
}
|
||||
|
||||
@@ -1,81 +1,81 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#ifndef HF_FLUID_RIGID_COLLISION_ALGORITHM_H
|
||||
#define HF_FLUID_RIGID_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
||||
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
class btHfFluid;
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
/// btHfFluidRigidCollisionAlgorithm provides collision detection between btHfFluid and btRigidBody
|
||||
class btHfFluidRigidCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
btHfFluid* m_hfFluid;
|
||||
btCollisionObject* m_rigidCollisionObject;
|
||||
|
||||
///for rigid versus fluid (instead of fluid versus rigid), we use this swapped boolean
|
||||
bool m_isSwapped;
|
||||
|
||||
btConvexTriangleCallback m_convexTrianglecallback;
|
||||
|
||||
void processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
void applyFluidFriction (btScalar mu, btScalar submerged_percentage);
|
||||
btScalar processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness);
|
||||
public:
|
||||
|
||||
btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
|
||||
|
||||
virtual ~btHfFluidRigidCollisionAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
manifoldArray.push_back (m_manifoldPtr);
|
||||
}
|
||||
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btHfFluidRigidCollisionAlgorithm));
|
||||
if (!m_swapped)
|
||||
{
|
||||
return new(mem) btHfFluidRigidCollisionAlgorithm(ci,body0,body1,false);
|
||||
} else
|
||||
{
|
||||
return new(mem) btHfFluidRigidCollisionAlgorithm(ci,body0,body1,true);
|
||||
}
|
||||
}
|
||||
};
|
||||
};
|
||||
|
||||
#endif //HF_FLUID_RIGID_COLLISION_ALGORITHM_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#ifndef HF_FLUID_RIGID_COLLISION_ALGORITHM_H
|
||||
#define HF_FLUID_RIGID_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
||||
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
class btHfFluid;
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
/// btHfFluidRigidCollisionAlgorithm provides collision detection between btHfFluid and btRigidBody
|
||||
class btHfFluidRigidCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
btHfFluid* m_hfFluid;
|
||||
btCollisionObject* m_rigidCollisionObject;
|
||||
|
||||
///for rigid versus fluid (instead of fluid versus rigid), we use this swapped boolean
|
||||
bool m_isSwapped;
|
||||
|
||||
btConvexTriangleCallback m_convexTrianglecallback;
|
||||
|
||||
void processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
void applyFluidFriction (btScalar mu, btScalar submerged_percentage);
|
||||
btScalar processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness);
|
||||
public:
|
||||
|
||||
btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
|
||||
|
||||
virtual ~btHfFluidRigidCollisionAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
manifoldArray.push_back (m_manifoldPtr);
|
||||
}
|
||||
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btHfFluidRigidCollisionAlgorithm));
|
||||
if (!m_swapped)
|
||||
{
|
||||
return new(mem) btHfFluidRigidCollisionAlgorithm(ci,body0,body1,false);
|
||||
} else
|
||||
{
|
||||
return new(mem) btHfFluidRigidCollisionAlgorithm(ci,body0,body1,true);
|
||||
}
|
||||
}
|
||||
};
|
||||
};
|
||||
|
||||
#endif //HF_FLUID_RIGID_COLLISION_ALGORITHM_H
|
||||
|
||||
@@ -1,88 +1,88 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#include "btHfFluidRigidCollisionConfiguration.h"
|
||||
#include "btHfFluidRigidCollisionAlgorithm.h"
|
||||
#include "btHfFluidBuoyantShapeCollisionAlgorithm.h"
|
||||
#include "LinearMath/btPoolAllocator.h"
|
||||
|
||||
btHfFluidRigidCollisionConfiguration::btHfFluidRigidCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
|
||||
:btDefaultCollisionConfiguration(constructionInfo)
|
||||
{
|
||||
void* mem;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btHfFluidRigidCollisionAlgorithm::CreateFunc),16);
|
||||
m_hfFluidRigidConvexCreateFunc = new(mem) btHfFluidRigidCollisionAlgorithm::CreateFunc;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btHfFluidRigidCollisionAlgorithm::CreateFunc),16);
|
||||
m_swappedHfFluidRigidConvexCreateFunc = new(mem) btHfFluidRigidCollisionAlgorithm::CreateFunc;
|
||||
m_swappedHfFluidRigidConvexCreateFunc->m_swapped = true;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btHfFluidBuoyantShapeCollisionAlgorithm::CreateFunc),16);
|
||||
m_hfFluidBuoyantShapeCollisionCreateFunc = new(mem) btHfFluidBuoyantShapeCollisionAlgorithm::CreateFunc(m_simplexSolver, m_pdSolver);
|
||||
|
||||
if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
|
||||
{
|
||||
int curElemSize = m_collisionAlgorithmPool->getElementSize();
|
||||
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
|
||||
|
||||
int maxSize0 = sizeof(btHfFluidRigidCollisionAlgorithm);
|
||||
int maxSize1 = 0;
|
||||
int maxSize2 = 0;
|
||||
|
||||
int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
|
||||
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
|
||||
|
||||
if (collisionAlgorithmMaxElementSize > curElemSize)
|
||||
{
|
||||
m_collisionAlgorithmPool->~btPoolAllocator();
|
||||
btAlignedFree(m_collisionAlgorithmPool);
|
||||
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
|
||||
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btHfFluidRigidCollisionConfiguration::~btHfFluidRigidCollisionConfiguration()
|
||||
{
|
||||
m_hfFluidRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
m_swappedHfFluidRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree(m_hfFluidRigidConvexCreateFunc);
|
||||
btAlignedFree(m_swappedHfFluidRigidConvexCreateFunc);
|
||||
}
|
||||
|
||||
btCollisionAlgorithmCreateFunc* btHfFluidRigidCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
|
||||
{
|
||||
if ((proxyType0 == HFFLUID_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE))
|
||||
{
|
||||
return m_hfFluidRigidConvexCreateFunc;
|
||||
}
|
||||
|
||||
if ((proxyType0 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_SHAPE_PROXYTYPE))
|
||||
{
|
||||
return m_swappedHfFluidRigidConvexCreateFunc;
|
||||
}
|
||||
|
||||
if ((proxyType0 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE))
|
||||
{
|
||||
return m_hfFluidBuoyantShapeCollisionCreateFunc;
|
||||
}
|
||||
|
||||
///fallback to the regular rigid collision shape
|
||||
return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
|
||||
}
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#include "btHfFluidRigidCollisionConfiguration.h"
|
||||
#include "btHfFluidRigidCollisionAlgorithm.h"
|
||||
#include "btHfFluidBuoyantShapeCollisionAlgorithm.h"
|
||||
#include "LinearMath/btPoolAllocator.h"
|
||||
|
||||
btHfFluidRigidCollisionConfiguration::btHfFluidRigidCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
|
||||
:btDefaultCollisionConfiguration(constructionInfo)
|
||||
{
|
||||
void* mem;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btHfFluidRigidCollisionAlgorithm::CreateFunc),16);
|
||||
m_hfFluidRigidConvexCreateFunc = new(mem) btHfFluidRigidCollisionAlgorithm::CreateFunc;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btHfFluidRigidCollisionAlgorithm::CreateFunc),16);
|
||||
m_swappedHfFluidRigidConvexCreateFunc = new(mem) btHfFluidRigidCollisionAlgorithm::CreateFunc;
|
||||
m_swappedHfFluidRigidConvexCreateFunc->m_swapped = true;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btHfFluidBuoyantShapeCollisionAlgorithm::CreateFunc),16);
|
||||
m_hfFluidBuoyantShapeCollisionCreateFunc = new(mem) btHfFluidBuoyantShapeCollisionAlgorithm::CreateFunc(m_simplexSolver, m_pdSolver);
|
||||
|
||||
if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
|
||||
{
|
||||
int curElemSize = m_collisionAlgorithmPool->getElementSize();
|
||||
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
|
||||
|
||||
int maxSize0 = sizeof(btHfFluidRigidCollisionAlgorithm);
|
||||
int maxSize1 = 0;
|
||||
int maxSize2 = 0;
|
||||
|
||||
int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
|
||||
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
|
||||
|
||||
if (collisionAlgorithmMaxElementSize > curElemSize)
|
||||
{
|
||||
m_collisionAlgorithmPool->~btPoolAllocator();
|
||||
btAlignedFree(m_collisionAlgorithmPool);
|
||||
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
|
||||
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btHfFluidRigidCollisionConfiguration::~btHfFluidRigidCollisionConfiguration()
|
||||
{
|
||||
m_hfFluidRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
m_swappedHfFluidRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree(m_hfFluidRigidConvexCreateFunc);
|
||||
btAlignedFree(m_swappedHfFluidRigidConvexCreateFunc);
|
||||
}
|
||||
|
||||
btCollisionAlgorithmCreateFunc* btHfFluidRigidCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
|
||||
{
|
||||
if ((proxyType0 == HFFLUID_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE))
|
||||
{
|
||||
return m_hfFluidRigidConvexCreateFunc;
|
||||
}
|
||||
|
||||
if ((proxyType0 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_SHAPE_PROXYTYPE))
|
||||
{
|
||||
return m_swappedHfFluidRigidConvexCreateFunc;
|
||||
}
|
||||
|
||||
if ((proxyType0 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE))
|
||||
{
|
||||
return m_hfFluidBuoyantShapeCollisionCreateFunc;
|
||||
}
|
||||
|
||||
///fallback to the regular rigid collision shape
|
||||
return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,47 +1,47 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#ifndef BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
|
||||
#define BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
|
||||
|
||||
class btVoronoiSimplexSolver;
|
||||
class btGjkEpaPenetrationDepthSolver;
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration
|
||||
class btHfFluidRigidCollisionConfiguration : public btDefaultCollisionConfiguration
|
||||
{
|
||||
//default CreationFunctions, filling the m_doubleDispatch table
|
||||
btCollisionAlgorithmCreateFunc* m_hfFluidRigidConvexCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_swappedHfFluidRigidConvexCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_hfFluidBuoyantShapeCollisionCreateFunc;
|
||||
|
||||
public:
|
||||
|
||||
btHfFluidRigidCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
|
||||
|
||||
virtual ~btHfFluidRigidCollisionConfiguration();
|
||||
|
||||
///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
|
||||
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#ifndef BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
|
||||
#define BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
|
||||
|
||||
class btVoronoiSimplexSolver;
|
||||
class btGjkEpaPenetrationDepthSolver;
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration
|
||||
class btHfFluidRigidCollisionConfiguration : public btDefaultCollisionConfiguration
|
||||
{
|
||||
//default CreationFunctions, filling the m_doubleDispatch table
|
||||
btCollisionAlgorithmCreateFunc* m_hfFluidRigidConvexCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_swappedHfFluidRigidConvexCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_hfFluidBuoyantShapeCollisionCreateFunc;
|
||||
|
||||
public:
|
||||
|
||||
btHfFluidRigidCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
|
||||
|
||||
virtual ~btHfFluidRigidCollisionConfiguration();
|
||||
|
||||
///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
|
||||
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
|
||||
|
||||
|
||||
@@ -1,273 +1,273 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
|
||||
// height field fluid
|
||||
#include "btHfFluid.h"
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
#include "btHfFluidRigidDynamicsWorld.h"
|
||||
|
||||
|
||||
|
||||
|
||||
btHfFluidRigidDynamicsWorld::btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
||||
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
|
||||
{
|
||||
m_drawMode = DRAWMODE_NORMAL;
|
||||
m_bodyDrawMode = BODY_DRAWMODE_NORMAL;
|
||||
}
|
||||
|
||||
btHfFluidRigidDynamicsWorld::~btHfFluidRigidDynamicsWorld()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
|
||||
|
||||
for ( int i=0;i<m_hfFluids.size();++i)
|
||||
{
|
||||
btHfFluid* phff = m_hfFluids[i];
|
||||
|
||||
// XXX: phff->predictMotion(timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
|
||||
{
|
||||
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
|
||||
|
||||
updateFluids (timeStep);
|
||||
|
||||
solveFluidConstraints (timeStep);
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::updateFluids(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("updateFluids");
|
||||
|
||||
for ( int i=0;i<m_hfFluids.size();i++)
|
||||
{
|
||||
btHfFluid* phff=(btHfFluid*)m_hfFluids[i];
|
||||
phff->predictMotion (timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::solveFluidConstraints(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("solve Fluid Contacts");
|
||||
|
||||
#if 0
|
||||
if(m_hfFluids.size())
|
||||
{
|
||||
btHfFluid::solveClusters(m_hfFluids);
|
||||
}
|
||||
|
||||
for(int i=0;i<m_hfFluids.size();++i)
|
||||
{
|
||||
btHfFluid* psb=(btHfFluid*)m_hfFluids[i];
|
||||
psb->solveConstraints();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::addHfFluid(btHfFluid* body)
|
||||
{
|
||||
m_hfFluids.push_back(body);
|
||||
|
||||
btCollisionWorld::addCollisionObject(body,
|
||||
btBroadphaseProxy::DefaultFilter,
|
||||
btBroadphaseProxy::AllFilter);
|
||||
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::removeHfFluid(btHfFluid* body)
|
||||
{
|
||||
m_hfFluids.remove(body);
|
||||
|
||||
btCollisionWorld::removeCollisionObject(body);
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid)
|
||||
{
|
||||
const btScalar* ground = fluid->getGroundArray ();
|
||||
btVector3 com = fluid->getWorldTransform().getOrigin();
|
||||
btVector3 color = btVector3(btScalar(0.13f), btScalar(0.13f), btScalar(0.0));
|
||||
for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
|
||||
{
|
||||
for (int j = 1; j < fluid->getNumNodesLength()-1; j++)
|
||||
{
|
||||
int sw = fluid->arrayIndex (i, j);
|
||||
int se = fluid->arrayIndex (i+1, j);
|
||||
int nw = fluid->arrayIndex (i, j+1);
|
||||
int ne = fluid->arrayIndex (i+1, j+1);
|
||||
btVector3 swV = btVector3 (fluid->widthPos (i), ground[sw], fluid->lengthPos (j));
|
||||
btVector3 seV = btVector3 (fluid->widthPos (i+1), ground[se], fluid->lengthPos (j));
|
||||
btVector3 nwV = btVector3 (fluid->widthPos (i), ground[nw], fluid->lengthPos (j+1));
|
||||
btVector3 neV = btVector3 (fluid->widthPos (i+1), ground[ne], fluid->lengthPos (j+1));
|
||||
debugDraw->drawTriangle (swV+com, seV+com, nwV+com, color, btScalar(1.0f));
|
||||
debugDraw->drawTriangle (seV+com, neV+com, nwV+com, color, btScalar(1.0f));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid)
|
||||
{
|
||||
btScalar alpha(0.7f);
|
||||
const btScalar* height = fluid->getHeightArray ();
|
||||
btVector3 com = fluid->getWorldTransform().getOrigin();
|
||||
btVector3 red = btVector3(btScalar(1.0f), btScalar(0.0f), btScalar(0.0));
|
||||
btVector3 green = btVector3(btScalar(0.0f), btScalar(1.0f), btScalar(0.0));
|
||||
const bool* flags = fluid->getFlagsArray ();
|
||||
for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
|
||||
{
|
||||
for (int j = 1; j < fluid->getNumNodesLength()-1; j++)
|
||||
{
|
||||
int index = fluid->arrayIndex (i, j);
|
||||
if (!flags[index])
|
||||
continue;
|
||||
btVector3 from = btVector3 (fluid->widthPos (i), height[index]+btScalar(0.1f), fluid->lengthPos (j));
|
||||
btVector3 velocity;
|
||||
velocity.setX (fluid->getVelocityUArray()[index]);
|
||||
velocity.setY (btScalar(0.0f));
|
||||
velocity.setZ (fluid->getVelocityVArray()[index]);
|
||||
velocity.normalize();
|
||||
btVector3 to = from + velocity;
|
||||
|
||||
debugDraw->drawLine (from+com, to+com, red, green);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw)
|
||||
{
|
||||
if (voxelDraw)
|
||||
{
|
||||
btTransform xform = object->getWorldTransform();
|
||||
for (int i = 0; i < buoyantShape->getNumVoxels(); i++)
|
||||
{
|
||||
btVector3 p = buoyantShape->getVoxelPositionsArray()[i];
|
||||
p = xform.getBasis() * p;
|
||||
p += xform.getOrigin();
|
||||
debugDrawer->drawSphere (p, buoyantShape->getVoxelRadius(), btVector3(1.0, 0.0, 0.0));
|
||||
}
|
||||
} else {
|
||||
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
|
||||
switch(object->getActivationState())
|
||||
{
|
||||
case ACTIVE_TAG:
|
||||
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
|
||||
case ISLAND_SLEEPING:
|
||||
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
|
||||
case WANTS_DEACTIVATION:
|
||||
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
|
||||
case DISABLE_DEACTIVATION:
|
||||
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
|
||||
case DISABLE_SIMULATION:
|
||||
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
|
||||
default:
|
||||
{
|
||||
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
};
|
||||
|
||||
btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)object->getCollisionShape())->getConvexShape();
|
||||
debugDrawObject(object->getWorldTransform(),(btCollisionShape*)convexShape,color);
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid)
|
||||
{
|
||||
int colIndex = 0;
|
||||
btVector3 col[2];
|
||||
col[0] = btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(1.0));
|
||||
col[1] = btVector3(btScalar(0.0f), btScalar(0.5f), btScalar(0.5));
|
||||
btScalar alpha(0.7f);
|
||||
const btScalar* height = fluid->getHeightArray ();
|
||||
const btScalar* eta = fluid->getEtaArray ();
|
||||
const btScalar* ground = fluid->getGroundArray ();
|
||||
btVector3 com = fluid->getWorldTransform().getOrigin();
|
||||
const bool* flags = fluid->getFlagsArray ();
|
||||
for (int i = 0; i < fluid->getNumNodesWidth()-1; i++)
|
||||
{
|
||||
for (int j = 0; j < fluid->getNumNodesLength()-1; j++)
|
||||
{
|
||||
int sw = fluid->arrayIndex (i, j);
|
||||
int se = fluid->arrayIndex (i+1, j);
|
||||
int nw = fluid->arrayIndex (i, j+1);
|
||||
int ne = fluid->arrayIndex (i+1, j+1);
|
||||
|
||||
btScalar h = eta[sw];
|
||||
btScalar g = ground[sw];
|
||||
|
||||
if (h < btScalar(0.05f))
|
||||
continue;
|
||||
|
||||
if (h <= btScalar(0.01f))
|
||||
continue;
|
||||
|
||||
btVector3 boxMin = btVector3(fluid->widthPos (i), g, fluid->lengthPos(j));
|
||||
btVector3 boxMax = btVector3(fluid->widthPos(i+1), g+h, fluid->lengthPos(j+1));
|
||||
boxMin += com;
|
||||
boxMax += com;
|
||||
|
||||
debugDraw->drawBox (boxMin, boxMax, btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f)));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::debugDrawWorld()
|
||||
{
|
||||
if (getDebugDrawer())
|
||||
{
|
||||
int i;
|
||||
for ( i=0;i<this->m_hfFluids.size();i++)
|
||||
{
|
||||
btHfFluid* phh=(btHfFluid*)this->m_hfFluids[i];
|
||||
switch (m_drawMode)
|
||||
{
|
||||
case DRAWMODE_NORMAL:
|
||||
drawHfFluidGround (m_debugDrawer, phh);
|
||||
//drawHfFluidNormal (m_debugDrawer, phh);
|
||||
break;
|
||||
case DRAWMODE_VELOCITY:
|
||||
drawHfFluidGround (m_debugDrawer, phh);
|
||||
//drawHfFluidNormal (m_debugDrawer, phh);
|
||||
drawHfFluidVelocity (m_debugDrawer, phh);
|
||||
break;
|
||||
default:
|
||||
btAssert (0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
for (i = 0; i < this->m_collisionObjects.size(); i++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionObjects[i]->getCollisionShape();
|
||||
if (shape->getShapeType() == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE)
|
||||
{
|
||||
btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)shape;
|
||||
drawHfFluidBuoyantConvexShape (m_debugDrawer, m_collisionObjects[i], buoyantShape, m_bodyDrawMode);
|
||||
}
|
||||
}
|
||||
}
|
||||
btDiscreteDynamicsWorld::debugDrawWorld();
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
|
||||
// height field fluid
|
||||
#include "btHfFluid.h"
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
#include "btHfFluidRigidDynamicsWorld.h"
|
||||
|
||||
|
||||
|
||||
|
||||
btHfFluidRigidDynamicsWorld::btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
||||
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
|
||||
{
|
||||
m_drawMode = DRAWMODE_NORMAL;
|
||||
m_bodyDrawMode = BODY_DRAWMODE_NORMAL;
|
||||
}
|
||||
|
||||
btHfFluidRigidDynamicsWorld::~btHfFluidRigidDynamicsWorld()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
|
||||
|
||||
for ( int i=0;i<m_hfFluids.size();++i)
|
||||
{
|
||||
btHfFluid* phff = m_hfFluids[i];
|
||||
|
||||
// XXX: phff->predictMotion(timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
|
||||
{
|
||||
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
|
||||
|
||||
updateFluids (timeStep);
|
||||
|
||||
solveFluidConstraints (timeStep);
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::updateFluids(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("updateFluids");
|
||||
|
||||
for ( int i=0;i<m_hfFluids.size();i++)
|
||||
{
|
||||
btHfFluid* phff=(btHfFluid*)m_hfFluids[i];
|
||||
phff->predictMotion (timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::solveFluidConstraints(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("solve Fluid Contacts");
|
||||
|
||||
#if 0
|
||||
if(m_hfFluids.size())
|
||||
{
|
||||
btHfFluid::solveClusters(m_hfFluids);
|
||||
}
|
||||
|
||||
for(int i=0;i<m_hfFluids.size();++i)
|
||||
{
|
||||
btHfFluid* psb=(btHfFluid*)m_hfFluids[i];
|
||||
psb->solveConstraints();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::addHfFluid(btHfFluid* body)
|
||||
{
|
||||
m_hfFluids.push_back(body);
|
||||
|
||||
btCollisionWorld::addCollisionObject(body,
|
||||
btBroadphaseProxy::DefaultFilter,
|
||||
btBroadphaseProxy::AllFilter);
|
||||
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::removeHfFluid(btHfFluid* body)
|
||||
{
|
||||
m_hfFluids.remove(body);
|
||||
|
||||
btCollisionWorld::removeCollisionObject(body);
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid)
|
||||
{
|
||||
const btScalar* ground = fluid->getGroundArray ();
|
||||
btVector3 com = fluid->getWorldTransform().getOrigin();
|
||||
btVector3 color = btVector3(btScalar(0.13f), btScalar(0.13f), btScalar(0.0));
|
||||
for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
|
||||
{
|
||||
for (int j = 1; j < fluid->getNumNodesLength()-1; j++)
|
||||
{
|
||||
int sw = fluid->arrayIndex (i, j);
|
||||
int se = fluid->arrayIndex (i+1, j);
|
||||
int nw = fluid->arrayIndex (i, j+1);
|
||||
int ne = fluid->arrayIndex (i+1, j+1);
|
||||
btVector3 swV = btVector3 (fluid->widthPos (i), ground[sw], fluid->lengthPos (j));
|
||||
btVector3 seV = btVector3 (fluid->widthPos (i+1), ground[se], fluid->lengthPos (j));
|
||||
btVector3 nwV = btVector3 (fluid->widthPos (i), ground[nw], fluid->lengthPos (j+1));
|
||||
btVector3 neV = btVector3 (fluid->widthPos (i+1), ground[ne], fluid->lengthPos (j+1));
|
||||
debugDraw->drawTriangle (swV+com, seV+com, nwV+com, color, btScalar(1.0f));
|
||||
debugDraw->drawTriangle (seV+com, neV+com, nwV+com, color, btScalar(1.0f));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid)
|
||||
{
|
||||
btScalar alpha(0.7f);
|
||||
const btScalar* height = fluid->getHeightArray ();
|
||||
btVector3 com = fluid->getWorldTransform().getOrigin();
|
||||
btVector3 red = btVector3(btScalar(1.0f), btScalar(0.0f), btScalar(0.0));
|
||||
btVector3 green = btVector3(btScalar(0.0f), btScalar(1.0f), btScalar(0.0));
|
||||
const bool* flags = fluid->getFlagsArray ();
|
||||
for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
|
||||
{
|
||||
for (int j = 1; j < fluid->getNumNodesLength()-1; j++)
|
||||
{
|
||||
int index = fluid->arrayIndex (i, j);
|
||||
if (!flags[index])
|
||||
continue;
|
||||
btVector3 from = btVector3 (fluid->widthPos (i), height[index]+btScalar(0.1f), fluid->lengthPos (j));
|
||||
btVector3 velocity;
|
||||
velocity.setX (fluid->getVelocityUArray()[index]);
|
||||
velocity.setY (btScalar(0.0f));
|
||||
velocity.setZ (fluid->getVelocityVArray()[index]);
|
||||
velocity.normalize();
|
||||
btVector3 to = from + velocity;
|
||||
|
||||
debugDraw->drawLine (from+com, to+com, red, green);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw)
|
||||
{
|
||||
if (voxelDraw)
|
||||
{
|
||||
btTransform xform = object->getWorldTransform();
|
||||
for (int i = 0; i < buoyantShape->getNumVoxels(); i++)
|
||||
{
|
||||
btVector3 p = buoyantShape->getVoxelPositionsArray()[i];
|
||||
p = xform.getBasis() * p;
|
||||
p += xform.getOrigin();
|
||||
debugDrawer->drawSphere (p, buoyantShape->getVoxelRadius(), btVector3(1.0, 0.0, 0.0));
|
||||
}
|
||||
} else {
|
||||
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
|
||||
switch(object->getActivationState())
|
||||
{
|
||||
case ACTIVE_TAG:
|
||||
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
|
||||
case ISLAND_SLEEPING:
|
||||
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
|
||||
case WANTS_DEACTIVATION:
|
||||
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
|
||||
case DISABLE_DEACTIVATION:
|
||||
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
|
||||
case DISABLE_SIMULATION:
|
||||
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
|
||||
default:
|
||||
{
|
||||
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
};
|
||||
|
||||
btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)object->getCollisionShape())->getConvexShape();
|
||||
debugDrawObject(object->getWorldTransform(),(btCollisionShape*)convexShape,color);
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid)
|
||||
{
|
||||
int colIndex = 0;
|
||||
btVector3 col[2];
|
||||
col[0] = btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(1.0));
|
||||
col[1] = btVector3(btScalar(0.0f), btScalar(0.5f), btScalar(0.5));
|
||||
btScalar alpha(0.7f);
|
||||
const btScalar* height = fluid->getHeightArray ();
|
||||
const btScalar* eta = fluid->getEtaArray ();
|
||||
const btScalar* ground = fluid->getGroundArray ();
|
||||
btVector3 com = fluid->getWorldTransform().getOrigin();
|
||||
const bool* flags = fluid->getFlagsArray ();
|
||||
for (int i = 0; i < fluid->getNumNodesWidth()-1; i++)
|
||||
{
|
||||
for (int j = 0; j < fluid->getNumNodesLength()-1; j++)
|
||||
{
|
||||
int sw = fluid->arrayIndex (i, j);
|
||||
int se = fluid->arrayIndex (i+1, j);
|
||||
int nw = fluid->arrayIndex (i, j+1);
|
||||
int ne = fluid->arrayIndex (i+1, j+1);
|
||||
|
||||
btScalar h = eta[sw];
|
||||
btScalar g = ground[sw];
|
||||
|
||||
if (h < btScalar(0.05f))
|
||||
continue;
|
||||
|
||||
if (h <= btScalar(0.01f))
|
||||
continue;
|
||||
|
||||
btVector3 boxMin = btVector3(fluid->widthPos (i), g, fluid->lengthPos(j));
|
||||
btVector3 boxMax = btVector3(fluid->widthPos(i+1), g+h, fluid->lengthPos(j+1));
|
||||
boxMin += com;
|
||||
boxMax += com;
|
||||
|
||||
debugDraw->drawBox (boxMin, boxMax, btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f)));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btHfFluidRigidDynamicsWorld::debugDrawWorld()
|
||||
{
|
||||
if (getDebugDrawer())
|
||||
{
|
||||
int i;
|
||||
for ( i=0;i<this->m_hfFluids.size();i++)
|
||||
{
|
||||
btHfFluid* phh=(btHfFluid*)this->m_hfFluids[i];
|
||||
switch (m_drawMode)
|
||||
{
|
||||
case DRAWMODE_NORMAL:
|
||||
drawHfFluidGround (m_debugDrawer, phh);
|
||||
//drawHfFluidNormal (m_debugDrawer, phh);
|
||||
break;
|
||||
case DRAWMODE_VELOCITY:
|
||||
drawHfFluidGround (m_debugDrawer, phh);
|
||||
//drawHfFluidNormal (m_debugDrawer, phh);
|
||||
drawHfFluidVelocity (m_debugDrawer, phh);
|
||||
break;
|
||||
default:
|
||||
btAssert (0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
for (i = 0; i < this->m_collisionObjects.size(); i++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionObjects[i]->getCollisionShape();
|
||||
if (shape->getShapeType() == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE)
|
||||
{
|
||||
btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)shape;
|
||||
drawHfFluidBuoyantConvexShape (m_debugDrawer, m_collisionObjects[i], buoyantShape, m_bodyDrawMode);
|
||||
}
|
||||
}
|
||||
}
|
||||
btDiscreteDynamicsWorld::debugDrawWorld();
|
||||
}
|
||||
|
||||
@@ -1,92 +1,92 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
#ifndef BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
|
||||
#define BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
|
||||
|
||||
class btHfFluid;
|
||||
typedef btAlignedObjectArray<btHfFluid*> btHfFluidArray;
|
||||
|
||||
#define DRAWMODE_NORMAL 0
|
||||
#define DRAWMODE_VELOCITY 1
|
||||
#define DRAWMODE_MAX 2
|
||||
|
||||
#define BODY_DRAWMODE_NORMAL 0
|
||||
#define BODY_DRAWMODE_VOXEL 1
|
||||
#define BODY_DRAWMODE_MAX 2
|
||||
|
||||
class btHfFluidBuoyantConvexShape;
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
class btHfFluidRigidDynamicsWorld : public btDiscreteDynamicsWorld
|
||||
{
|
||||
|
||||
btHfFluidArray m_hfFluids;
|
||||
int m_drawMode;
|
||||
int m_bodyDrawMode;
|
||||
protected:
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
||||
virtual void internalSingleStepSimulation( btScalar timeStep);
|
||||
|
||||
void updateFluids(btScalar timeStep);
|
||||
|
||||
void solveFluidConstraints(btScalar timeStep);
|
||||
|
||||
virtual void debugDrawWorld();
|
||||
|
||||
void drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid);
|
||||
void drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid);
|
||||
void drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw);
|
||||
void drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid);
|
||||
public:
|
||||
|
||||
btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
virtual ~btHfFluidRigidDynamicsWorld();
|
||||
|
||||
|
||||
void addHfFluid(btHfFluid* fluid);
|
||||
|
||||
void removeHfFluid(btHfFluid* fluid);
|
||||
|
||||
void setDrawMode (int drawMode)
|
||||
{
|
||||
m_drawMode = drawMode;
|
||||
}
|
||||
|
||||
void setBodyDrawMode (int bodyDrawMode)
|
||||
{
|
||||
m_bodyDrawMode = bodyDrawMode;
|
||||
}
|
||||
|
||||
btHfFluidArray& getHfFluidArray()
|
||||
{
|
||||
return m_hfFluids;
|
||||
}
|
||||
|
||||
const btHfFluidArray& getHfFluidArray() const
|
||||
{
|
||||
return m_hfFluids;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
#ifndef BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
|
||||
#define BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
|
||||
|
||||
class btHfFluid;
|
||||
typedef btAlignedObjectArray<btHfFluid*> btHfFluidArray;
|
||||
|
||||
#define DRAWMODE_NORMAL 0
|
||||
#define DRAWMODE_VELOCITY 1
|
||||
#define DRAWMODE_MAX 2
|
||||
|
||||
#define BODY_DRAWMODE_NORMAL 0
|
||||
#define BODY_DRAWMODE_VOXEL 1
|
||||
#define BODY_DRAWMODE_MAX 2
|
||||
|
||||
class btHfFluidBuoyantConvexShape;
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
class btHfFluidRigidDynamicsWorld : public btDiscreteDynamicsWorld
|
||||
{
|
||||
|
||||
btHfFluidArray m_hfFluids;
|
||||
int m_drawMode;
|
||||
int m_bodyDrawMode;
|
||||
protected:
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
||||
virtual void internalSingleStepSimulation( btScalar timeStep);
|
||||
|
||||
void updateFluids(btScalar timeStep);
|
||||
|
||||
void solveFluidConstraints(btScalar timeStep);
|
||||
|
||||
virtual void debugDrawWorld();
|
||||
|
||||
void drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid);
|
||||
void drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid);
|
||||
void drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw);
|
||||
void drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid);
|
||||
public:
|
||||
|
||||
btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
virtual ~btHfFluidRigidDynamicsWorld();
|
||||
|
||||
|
||||
void addHfFluid(btHfFluid* fluid);
|
||||
|
||||
void removeHfFluid(btHfFluid* fluid);
|
||||
|
||||
void setDrawMode (int drawMode)
|
||||
{
|
||||
m_drawMode = drawMode;
|
||||
}
|
||||
|
||||
void setBodyDrawMode (int bodyDrawMode)
|
||||
{
|
||||
m_bodyDrawMode = bodyDrawMode;
|
||||
}
|
||||
|
||||
btHfFluidArray& getHfFluidArray()
|
||||
{
|
||||
return m_hfFluids;
|
||||
}
|
||||
|
||||
const btHfFluidArray& getHfFluidArray() const
|
||||
{
|
||||
return m_hfFluids;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
|
||||
|
||||
Reference in New Issue
Block a user