fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
@@ -1,133 +1,133 @@
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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.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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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#include <stdio.h>
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#include "btHfFluidRigidCollisionAlgorithm.h"
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#include "btHfFluidBuoyantConvexShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "btHfFluid.h"
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btHfFluidRigidCollisionAlgorithm::~btHfFluidRigidCollisionAlgorithm()
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{
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}
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btHfFluidRigidCollisionAlgorithm::btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
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: btCollisionAlgorithm(ci), m_isSwapped(isSwapped),
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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
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{
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m_manifoldPtr = m_convexTrianglecallback.m_manifoldPtr;
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if (m_isSwapped)
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{
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m_hfFluid = static_cast<btHfFluid*>(col1);
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m_rigidCollisionObject = static_cast<btCollisionObject*>(col0);
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m_manifoldPtr->setBodies(m_hfFluid,m_rigidCollisionObject);
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} else {
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m_hfFluid = static_cast<btHfFluid*>(col0);
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m_rigidCollisionObject = static_cast<btCollisionObject*>(col1);
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m_manifoldPtr->setBodies(m_rigidCollisionObject,m_hfFluid);
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}
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}
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void btHfFluidRigidCollisionAlgorithm::processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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btScalar triangleMargin = m_rigidCollisionObject->getCollisionShape()->getMargin();
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resultOut->setPersistentManifold(m_manifoldPtr);
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// to perform the convex shape vs. ground terrain:
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// we pull the convex shape out of the buoyant shape and replace it temporarily
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btHfFluidBuoyantConvexShape* tmpShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
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btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)tmpShape)->getConvexShape();
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m_rigidCollisionObject->setCollisionShape (convexShape);
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m_convexTrianglecallback.setTimeStepAndCounters (triangleMargin, dispatchInfo, resultOut);
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m_hfFluid->foreachGroundTriangle (&m_convexTrianglecallback, m_convexTrianglecallback.getAabbMin(),m_convexTrianglecallback.getAabbMax());
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resultOut->refreshContactPoints();
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// restore the buoyant shape
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m_rigidCollisionObject->setCollisionShape (tmpShape);
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}
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btScalar btHfFluidRigidCollisionAlgorithm::processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness)
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{
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btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
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btHfFluidColumnRigidBodyCallback columnCallback (rb, dispatchInfo.m_debugDraw, density, floatyness);
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m_hfFluid->foreachFluidColumn (&columnCallback, m_convexTrianglecallback.getAabbMin(), m_convexTrianglecallback.getAabbMax());
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return columnCallback.getVolume ();
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}
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void btHfFluidRigidCollisionAlgorithm::applyFluidFriction (btScalar mu, btScalar submerged_percentage)
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{
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btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
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btScalar dt = btScalar(1.0f/60.0f);
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//#define OLD_WAY
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#ifdef OLD_WAY
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btScalar radius = btScalar(0.0f);
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{
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btVector3 aabbMin, aabbMax;
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btTransform T;
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T.setIdentity();
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rb->getCollisionShape()->getAabb (T, aabbMin, aabbMax);
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radius = (aabbMax-aabbMin).length()*btScalar(0.5);
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}
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btScalar viscosity = btScalar(0.05);
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btVector3 force = btScalar(6.0f) * SIMD_PI * viscosity * radius * -rb->getLinearVelocity();
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btVector3 impulse = force * dt;
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rb->applyCentralImpulse (impulse);
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if (true)
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{
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btVector3 av = rb->getAngularVelocity();
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av *= btScalar(0.99);
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rb->setAngularVelocity (av);
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}
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#else
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btScalar scaled_mu = mu * submerged_percentage * btScalar(0.4f);
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rb->applyCentralImpulse (dt * scaled_mu * -rb->getLinearVelocity());
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rb->applyTorqueImpulse (dt * scaled_mu * -rb->getAngularVelocity());
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#endif
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}
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void btHfFluidRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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processGround (dispatchInfo, resultOut);
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btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
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btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
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if (rb)
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{
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btScalar mass = btScalar(1.0f) / rb->getInvMass ();
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btScalar volume = buoyantShape->getTotalVolume ();
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btScalar density = mass / volume;
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btScalar floatyness = buoyantShape->getFloatyness ();
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btScalar submerged_volume = processFluid (dispatchInfo, density, floatyness);
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if (submerged_volume > btScalar(0.0))
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{
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btScalar submerged_percentage = submerged_volume/buoyantShape->getTotalVolume();
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//printf("%f\n", submerged_percentage);
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btScalar mu = btScalar(6.0f);
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applyFluidFriction (mu, submerged_percentage);
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}
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}
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}
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btScalar btHfFluidRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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return btScalar(1.0);
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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
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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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#include <stdio.h>
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#include "btHfFluidRigidCollisionAlgorithm.h"
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#include "btHfFluidBuoyantConvexShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "btHfFluid.h"
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btHfFluidRigidCollisionAlgorithm::~btHfFluidRigidCollisionAlgorithm()
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{
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}
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btHfFluidRigidCollisionAlgorithm::btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
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: btCollisionAlgorithm(ci), m_isSwapped(isSwapped),
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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
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{
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m_manifoldPtr = m_convexTrianglecallback.m_manifoldPtr;
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if (m_isSwapped)
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{
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m_hfFluid = static_cast<btHfFluid*>(col1);
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m_rigidCollisionObject = static_cast<btCollisionObject*>(col0);
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m_manifoldPtr->setBodies(m_hfFluid,m_rigidCollisionObject);
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} else {
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m_hfFluid = static_cast<btHfFluid*>(col0);
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m_rigidCollisionObject = static_cast<btCollisionObject*>(col1);
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m_manifoldPtr->setBodies(m_rigidCollisionObject,m_hfFluid);
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}
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}
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void btHfFluidRigidCollisionAlgorithm::processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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btScalar triangleMargin = m_rigidCollisionObject->getCollisionShape()->getMargin();
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resultOut->setPersistentManifold(m_manifoldPtr);
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// to perform the convex shape vs. ground terrain:
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// we pull the convex shape out of the buoyant shape and replace it temporarily
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btHfFluidBuoyantConvexShape* tmpShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
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btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)tmpShape)->getConvexShape();
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m_rigidCollisionObject->setCollisionShape (convexShape);
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m_convexTrianglecallback.setTimeStepAndCounters (triangleMargin, dispatchInfo, resultOut);
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m_hfFluid->foreachGroundTriangle (&m_convexTrianglecallback, m_convexTrianglecallback.getAabbMin(),m_convexTrianglecallback.getAabbMax());
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resultOut->refreshContactPoints();
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// restore the buoyant shape
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m_rigidCollisionObject->setCollisionShape (tmpShape);
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}
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btScalar btHfFluidRigidCollisionAlgorithm::processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness)
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{
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btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
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btHfFluidColumnRigidBodyCallback columnCallback (rb, dispatchInfo.m_debugDraw, density, floatyness);
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m_hfFluid->foreachFluidColumn (&columnCallback, m_convexTrianglecallback.getAabbMin(), m_convexTrianglecallback.getAabbMax());
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return columnCallback.getVolume ();
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}
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void btHfFluidRigidCollisionAlgorithm::applyFluidFriction (btScalar mu, btScalar submerged_percentage)
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{
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btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
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btScalar dt = btScalar(1.0f/60.0f);
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//#define OLD_WAY
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#ifdef OLD_WAY
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btScalar radius = btScalar(0.0f);
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{
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btVector3 aabbMin, aabbMax;
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btTransform T;
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T.setIdentity();
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rb->getCollisionShape()->getAabb (T, aabbMin, aabbMax);
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radius = (aabbMax-aabbMin).length()*btScalar(0.5);
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}
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btScalar viscosity = btScalar(0.05);
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btVector3 force = btScalar(6.0f) * SIMD_PI * viscosity * radius * -rb->getLinearVelocity();
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btVector3 impulse = force * dt;
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rb->applyCentralImpulse (impulse);
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if (true)
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{
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btVector3 av = rb->getAngularVelocity();
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av *= btScalar(0.99);
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rb->setAngularVelocity (av);
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}
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#else
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btScalar scaled_mu = mu * submerged_percentage * btScalar(0.4f);
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rb->applyCentralImpulse (dt * scaled_mu * -rb->getLinearVelocity());
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rb->applyTorqueImpulse (dt * scaled_mu * -rb->getAngularVelocity());
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#endif
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}
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void btHfFluidRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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processGround (dispatchInfo, resultOut);
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btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
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btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
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if (rb)
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{
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btScalar mass = btScalar(1.0f) / rb->getInvMass ();
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btScalar volume = buoyantShape->getTotalVolume ();
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btScalar density = mass / volume;
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btScalar floatyness = buoyantShape->getFloatyness ();
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btScalar submerged_volume = processFluid (dispatchInfo, density, floatyness);
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if (submerged_volume > btScalar(0.0))
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{
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btScalar submerged_percentage = submerged_volume/buoyantShape->getTotalVolume();
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//printf("%f\n", submerged_percentage);
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btScalar mu = btScalar(6.0f);
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applyFluidFriction (mu, submerged_percentage);
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}
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}
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}
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btScalar btHfFluidRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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return btScalar(1.0);
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}
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