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

Added SOFTBODY_SHAPE_PROXYTYPE. Some refactoring for btSoftBody, needs more work.
2008-04-06 06:53:00 +00:00
parent 39d929cbb0
commit b37a37a28e
14 changed files with 2512 additions and 1859 deletions
--- a/src/BulletDynamics/SoftBody/btSoftBodyHelpers.h
+++ b/src/BulletDynamics/SoftBody/btSoftBodyHelpers.h
@@ -0,0 +1,90 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef SOFT_BODY_HELPERS_H
+#define SOFT_BODY_HELPERS_H
+
+#include "btSoftBody.h"
+
+//
+// Helpers
+//
+
+/* fDrawFlags															*/ 
+struct	fDrawFlags { enum _ {
+	Nodes		=	0x0001,
+	SLinks		=	0x0002,
+	BLinks		=	0x0004,
+	Faces		=	0x0008,
+	Tetras		=	0x0010,
+	Normals		=	0x0020,
+	Contacts	=	0x0040,
+	Anchors		=	0x0080,
+	/* presets	*/ 
+	Links		=	SLinks+BLinks,
+	Std			=	SLinks+Faces+Anchors,
+	StdTetra	=	Std-Faces+Tetras,
+};};
+
+struct	btSoftBodyHelpers
+{
+
+	static btVector3			stresscolor(btScalar stress);
+
+	static void					drawVertex(	btIDebugDraw* idraw,
+		const btVector3& x,btScalar s,const btVector3& c);
+
+
+	/* Draw body															*/ 
+	static void			Draw(			btSoftBody* psb,
+						 btIDebugDraw* idraw,
+						 int drawflags=fDrawFlags::Std);
+	/* Draw body infos														*/ 
+	static	void			DrawInfos(		btSoftBody* psb,
+							  btIDebugDraw* idraw,
+							  bool masses,
+							  bool areas,
+							  bool stress);
+	/* Draw rigid frame														*/ 
+	static	void			DrawFrame(		btSoftBody* psb,
+							  btIDebugDraw* idraw);
+	/* Create a rope														*/ 
+	static	btSoftBody*		CreateRope(	 btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& from,
+							   const btVector3& to,
+							   int res,
+							   int fixeds);
+	/* Create a patch														*/ 
+	static	btSoftBody*		CreatePatch(	btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
+								const btVector3& corner10,
+								const btVector3& corner01,
+								const btVector3& corner11,
+								int resx,
+								int resy,
+								int fixeds,
+								bool gendiags);
+	/* Create an ellipsoid													*/ 
+	static	btSoftBody*		CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& center,
+									const btVector3& radius,
+									int res);
+	/* Create from convex-hull												*/ 
+	static	btSoftBody*		CreateFromConvexHull(	btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
+										 int nvertices);											
+	/* Create from trimesh													*/ 
+	static	btSoftBody*		CreateFromTriMesh(	btSoftBody::btSoftBodyWorldInfo& worldInfo, const btScalar*	vertices,
+									  const int* triangles,
+									  int ntriangles);
+};
+
+#endif //SOFT_BODY_HELPERS_H