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fixed a few issues, removed dependency from BulletDynamics to Extras/ConvexHull

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This commit is contained in:
erwin.coumans
2008-03-31 01:09:41 +00:00
parent 80714cab13
commit a151ec1c73
3 changed files with 1402 additions and 1395 deletions
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33
Demos/SoftDemo/SoftDemo.cpp
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@@ -25,6 +25,8 @@ subject to the following restrictions:
#include "../GimpactTestDemo/BunnyMesh.h" #include "../GimpactTestDemo/BunnyMesh.h"
#include "../GimpactTestDemo/TorusMesh.h" #include "../GimpactTestDemo/TorusMesh.h"
#include <stdio.h> //printf debugging #include <stdio.h> //printf debugging
#include "../../Extras/ConvexHull/btConvexHull.h"
static float gCollisionMargin = 0.05f/*0.05f*/; static float gCollisionMargin = 0.05f/*0.05f*/;
#include "SoftDemo.h" #include "SoftDemo.h"
@@ -39,6 +41,37 @@ extern int glutScreenHeight;
const int maxProxies = 32766; const int maxProxies = 32766;
const int maxOverlap = 65535; const int maxOverlap = 65535;
//
btSoftBody* CreateFromConvexHull( btSoftBody::ISoftBody* isoftbody,
const btVector3* vertices,
int nvertices)
{
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
HullResult hres;
HullLibrary hlib;/*??*/
hdsc.mMaxVertices=nvertices;
hlib.CreateConvexHull(hdsc,hres);
btSoftBody* psb=btSoftBody::Create( isoftbody,
(int)hres.mNumOutputVertices,
hres.mOutputVertices,0);
for(int i=0;i<(int)hres.mNumFaces;++i)
{
const int idx[]={ hres.mIndices[i*3+0],
hres.mIndices[i*3+1],
hres.mIndices[i*3+2]};
if(idx[0]<idx[1]) psb->AppendLink( idx[0],idx[1],
1,btSoftBody::eLType::Structural);
if(idx[1]<idx[2]) psb->AppendLink( idx[1],idx[2],
1,btSoftBody::eLType::Structural);
if(idx[2]<idx[0]) psb->AppendLink( idx[2],idx[0],
1,btSoftBody::eLType::Structural);
psb->AppendFace(idx[0],idx[1],idx[2]);
}
hlib.ReleaseResult(hres);
psb->RandomizeConstraints();
return(psb);
}
#ifdef _DEBUG #ifdef _DEBUG
const int gNumObjects = 1; const int gNumObjects = 1;

4
src/BulletCollision/CMakeLists.txt
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@@ -33,6 +33,10 @@ ADD_LIBRARY(LibBulletCollision
CollisionDispatch/btDefaultCollisionConfiguration.h CollisionDispatch/btDefaultCollisionConfiguration.h
CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
CollisionDispatch/btSphereSphereCollisionAlgorithm.h CollisionDispatch/btSphereSphereCollisionAlgorithm.h
CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
CollisionDispatch/btBoxBoxCollisionAlgorithm.h
CollisionDispatch/btBoxBoxDetector.cpp
CollisionDispatch/btBoxBoxDetector.h
CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
CollisionDispatch/btSphereBoxCollisionAlgorithm.h CollisionDispatch/btSphereBoxCollisionAlgorithm.h
CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp

32
src/BulletDynamics/SoftBody/btSoftBodyHelpers.cpp
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@@ -15,7 +15,6 @@ subject to the following restrictions:
///btSoftBodyHelpers.cpp by Nathanael Presson ///btSoftBodyHelpers.cpp by Nathanael Presson
#include "btSoftBody.h" #include "btSoftBody.h"
#include "Extras/ConvexHull/btConvexHull.h"
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
@@ -356,36 +355,7 @@ for(int i=0;i<vtx.size();++i)
return(CreateFromConvexHull(isoftbody,&vtx[0],vtx.size())); return(CreateFromConvexHull(isoftbody,&vtx[0],vtx.size()));
} }
//
btSoftBody* CreateFromConvexHull( btSoftBody::ISoftBody* isoftbody,
const btVector3* vertices,
int nvertices)
{
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
HullResult hres;
HullLibrary hlib;/*??*/
hdsc.mMaxVertices=nvertices;
hlib.CreateConvexHull(hdsc,hres);
btSoftBody* psb=btSoftBody::Create( isoftbody,
(int)hres.mNumOutputVertices,
hres.mOutputVertices,0);
for(int i=0;i<(int)hres.mNumFaces;++i)
{
const int idx[]={ hres.mIndices[i*3+0],
hres.mIndices[i*3+1],
hres.mIndices[i*3+2]};
if(idx[0]<idx[1]) psb->AppendLink( idx[0],idx[1],
1,btSoftBody::eLType::Structural);
if(idx[1]<idx[2]) psb->AppendLink( idx[1],idx[2],
1,btSoftBody::eLType::Structural);
if(idx[2]<idx[0]) psb->AppendLink( idx[2],idx[0],
1,btSoftBody::eLType::Structural);
psb->AppendFace(idx[0],idx[1],idx[2]);
}
hlib.ReleaseResult(hres);
psb->RandomizeConstraints();
return(psb);
}
// //
btSoftBody* CreateFromTriMesh( btSoftBody::ISoftBody* isoftbody, btSoftBody* CreateFromTriMesh( btSoftBody::ISoftBody* isoftbody,