fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
@@ -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
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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.
|
||||
|
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Experimental Buoyancy fluid demo written by John McCutchan
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*/
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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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~btHfFluid ();
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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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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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// 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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// 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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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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||||
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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;
|
||||
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)
|
||||
|
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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);
|
||||
|
||||
~btHfFluid ();
|
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|
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void predictMotion(btScalar dt);
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|
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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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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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//
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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; }
|
||||
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
|
||||
|
||||
|
||||
Reference in New Issue
Block a user