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Added initial broadphase support for softbody versus softbody and softbody versus rigidbody (see btSoftSoftCollisionAlgorithm and btSoftRididCollisionAlgorithm)

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Added 	SOFTBODY_SHAPE_PROXYTYPE.
Some refactoring for btSoftBody, needs more work.
This commit is contained in:
erwin.coumans
2008-04-06 06:53:00 +00:00
parent 39d929cbb0
commit b37a37a28e
14 changed files with 2512 additions and 1859 deletions
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52
Demos/SoftDemo/SoftDemo.h
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@@ -21,7 +21,7 @@ subject to the following restrictions:
#include "DemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletDynamics/SoftBody/btSoftBody.h"
#include "BulletDynamics/SoftBody/btSparseSDF.h"
class btBroadphaseInterface;
class btCollisionShape;
@@ -31,33 +31,29 @@ class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
///collisions between two btSoftBody's
class btSoftSoftCollisionAlgorithm;
///collisions between a btSoftBody and a btRigidBody
class btSoftRididCollisionAlgorithm;
///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
class SoftDemo : public DemoApplication
{
public:
struct SoftBodyImpl : btSoftBody::ISoftBody
{
void Attach(btSoftBody*);
void Detach(btSoftBody*);
void StartCollide(const btVector3&,const btVector3&);
bool CheckContactPrecise(const btVector3&,
btSoftBody::ISoftBody::sCti&);
bool CheckContact( const btVector3&,
btSoftBody::ISoftBody::sCti&);
void EndCollide();
void EvaluateMedium( const btVector3&,
btSoftBody::ISoftBody::sMedium&);
SoftDemo* pdemo;
btScalar air_density;
btScalar water_density;
btScalar water_offset;
btVector3 water_normal;
} m_softbodyimpl;
btAlignedObjectArray<btSoftSoftCollisionAlgorithm*> m_SoftSoftCollisionAlgorithms;
btAlignedObjectArray<btSoftRididCollisionAlgorithm*> m_SoftRigidCollisionAlgorithms;
btSoftBody::btSoftBodyWorldInfo m_softBodyWorldInfo;
btAlignedObjectArray<btSoftBody*> m_softbodies;
btSparseSdf<3> m_sparsesdf;
bool m_autocam;
bool m_autocam;
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
@@ -66,12 +62,6 @@ struct SoftBodyImpl : btSoftBody::ISoftBody
btCollisionDispatcher* m_dispatcher;
#ifdef USE_PARALLEL_DISPATCHER
#ifdef WIN32
class Win32ThreadSupport* m_threadSupportCollision;
class Win32ThreadSupport* m_threadSupportSolver;
#endif
#endif
btConstraintSolver* m_solver;
@@ -80,7 +70,7 @@ struct SoftBodyImpl : btSoftBody::ISoftBody
btDefaultCollisionConfiguration* m_collisionConfiguration;
public:
public:
void initPhysics();
@@ -94,9 +84,9 @@ struct SoftBodyImpl : btSoftBody::ISoftBody
virtual void clientMoveAndDisplay();
virtual void displayCallback();
void createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos );
static DemoApplication* Create()
{
SoftDemo* demo = new SoftDemo;
@@ -104,7 +94,7 @@ struct SoftBodyImpl : btSoftBody::ISoftBody
demo->initPhysics();
return demo;
}
//
void clientResetScene();
void renderme();