Final 2.68 from Nathanael Presson, mainly soft body related. Added raycast support for soft bodies (press comma-key in the soft body demos to toggle ray cast tests)
This commit is contained in:
erwin.coumans
@@ -106,7 +106,7 @@ void SoftDemo::clientMoveAndDisplay()
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if (m_dynamicsWorld)
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{
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#define FIXED_STEP 0
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//#define FIXED_STEP
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#ifdef FIXED_STEP
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m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
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@@ -340,8 +340,6 @@ static void Init_RopeAttach(SoftDemo* pdemo)
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static btSoftBody* CtorRope(SoftDemo* pdemo,const btVector3& p)
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{
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btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo,p,p+btVector3(10,0,0),8,1);
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psb->m_cfg.kDF = 0;
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psb->m_cfg.kDP = 0.001;
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psb->setTotalMass(50);
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pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
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return(psb);
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@@ -391,7 +389,7 @@ static void Init_Impact(SoftDemo* pdemo)
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0,
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1);
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pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
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psb->m_cfg.kCHR=0.5;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,20,0));
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@@ -428,36 +426,6 @@ static void Init_Collide(SoftDemo* pdemo)
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{
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Functor::Create(pdemo,btVector3(3*i,2,0),btVector3(SIMD_PI/2*(1-(i&1)),SIMD_PI/2*(i&1),0));
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}
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#if 0
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const btScalar s=2;
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const btScalar s2=s*1.01;
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{
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const btScalar h=0;
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const btVector3 p[]={ btVector3(-s,h,-s),btVector3(+s,h,-s),
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btVector3(+s,h,+s),btVector3(-s,h,+s)};
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btSoftBody* psb=new btSoftBody(&pdemo->m_softBodyWorldInfo,4,p,0);
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psb->appendLink(0,1,1,btSoftBody::eLType::Structural);
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psb->appendLink(1,2,1,btSoftBody::eLType::Structural);
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psb->appendLink(2,3,1,btSoftBody::eLType::Structural);
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psb->appendLink(3,0,1,btSoftBody::eLType::Structural);
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psb->appendLink(0,2,1,btSoftBody::eLType::Structural);
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psb->appendFace(0,1,2);
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psb->appendFace(2,3,0);
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/*psb->setMass(0,0);
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psb->setMass(1,0);
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psb->setMass(2,0);
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psb->setMass(3,0);*/
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psb->m_cfg.collisions|=btSoftBody::fCollision::VF_SS;
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pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
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}
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{
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btVector3 p[]={btVector3(0.5,5,-0.5)};
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btSoftBody* psb=new btSoftBody(&pdemo->m_softBodyWorldInfo,1,p,0);
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//psb->setMass(0,0);
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psb->m_cfg.collisions|=btSoftBody::fCollision::VF_SS;
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pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
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}
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#endif
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}
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//
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@@ -489,7 +457,7 @@ static void Init_Collide2(SoftDemo* pdemo)
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};
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for(int i=0;i<3;++i)
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{
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Functor::Create(pdemo,btVector3(0,-1+4*i,0),btVector3(0,SIMD_PI/2*(i&1),0));
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Functor::Create(pdemo,btVector3(0,-1+5*i,0),btVector3(0,SIMD_PI/2*(i&1),0));
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}
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}
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@@ -511,7 +479,7 @@ static void Init_Collide3(SoftDemo* pdemo)
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psb->setTotalMass(150);
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pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
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}
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{
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{
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const btScalar s=4;
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const btVector3 o=btVector3(4,10,0);
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btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,
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@@ -519,7 +487,7 @@ static void Init_Collide3(SoftDemo* pdemo)
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btVector3(+s,0,-s)+o,
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btVector3(-s,0,+s)+o,
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btVector3(+s,0,+s)+o,
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15,15,0,true);
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7,7,0,true);
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psb->generateBendingConstraints(2,0.5);
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psb->m_cfg.kLST = 0.4;
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psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
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@@ -595,7 +563,7 @@ static void Init_Pressure(SoftDemo* pdemo)
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512);
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psb->m_cfg.kLST = 0.1;
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psb->m_cfg.kDF = 1;
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psb->m_cfg.kDP = 0.008; // fun factor...
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psb->m_cfg.kDP = 0.001; // fun factor...
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psb->m_cfg.kPR = 2500;
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psb->setTotalMass(30,true);
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pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
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@@ -769,7 +737,7 @@ static void Init_TorusMatch(SoftDemo* pdemo)
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}
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unsigned current_demo=14;
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unsigned current_demo=0;
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void SoftDemo::clientResetScene()
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{
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@@ -827,13 +795,12 @@ void SoftDemo::clientResetScene()
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m_autocam = false;
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m_showtrees = 0;
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m_raycast = false;
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demofncs[current_demo](this);
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}
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void SoftDemo::renderme()
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{
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DemoApplication::renderme();
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btIDebugDraw* idraw=m_dynamicsWorld->getDebugDrawer();
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m_dynamicsWorld->debugDrawWorld();
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@@ -850,17 +817,88 @@ void SoftDemo::renderme()
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for(int i=0;i<psb->getNodes().size();++i)
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{
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ps+=psb->getNodes()[i].m_x;
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}
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btSoftBodyHelpers::DrawFrame(psb,idraw);
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btSoftBodyHelpers::Draw(psb,idraw,fDrawFlags::Std);
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if(m_showtrees&1)
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btSoftBodyHelpers::DrawNodeTree(psb,idraw);
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}
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}
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ps/=nps;
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if(m_autocam)
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m_cameraTargetPosition+=(ps-m_cameraTargetPosition)*0.01;
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else
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m_cameraTargetPosition=btVector3(0,0,0);
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/* Anm */
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if(!isIdle())
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m_animtime=::GetTickCount()/1000.;
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/* Ray cast */
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if(m_raycast)
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{
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/* Prepare rays */
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const int res=64;
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const btScalar fres=res-1;
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const btScalar size=8;
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const btScalar dist=10;
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btTransform trs;
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trs.setOrigin(ps);
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const btScalar angle=m_animtime*0.2;
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trs.setRotation(btQuaternion(angle,SIMD_PI/4,0));
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const btVector3 dir=trs.getBasis()*btVector3(0,-1,0);
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trs.setOrigin(ps-dir*dist);
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btAlignedObjectArray<btVector3> origins;
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btAlignedObjectArray<btScalar> times;
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origins.resize(res*res);
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times.resize(res*res,SIMD_INFINITY);
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for(int y=0;y<res;++y)
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{
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for(int x=0;x<res;++x)
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{
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const int idx=y*res+x;
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origins[idx]=trs*btVector3(-size+size*2*x/fres,dist,-size+size*2*y/fres);
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}
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}
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/* Cast rays */
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{
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m_clock.reset();
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const btVector3* org=&origins[0];
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btScalar* mint=×[0];
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btSoftBody** psbs=&sbs[0];
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btSoftBody::sRayCast results;
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for(int i=0,ni=origins.size(),nb=sbs.size();i<ni;++i)
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{
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for(int ib=0;ib<nb;++ib)
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{
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if(psbs[ib]->rayCast(*org,dir,results,*mint))
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{
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*mint=results.time;
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}
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}
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++org;++mint;
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}
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long ms=btMax<long>(m_clock.getTimeMilliseconds(),1);
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long rayperseconds=(1000*(origins.size()*sbs.size()))/ms;
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printf("%d ms (%d rays/s)\r\n",ms,rayperseconds);
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}
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/* Draw rays */
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const btVector3 c[]={ origins[0],
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origins[res-1],
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origins[res*(res-1)],
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origins[res*(res-1)+res-1]};
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idraw->drawLine(c[0],c[1],btVector3(0,0,0));
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idraw->drawLine(c[1],c[3],btVector3(0,0,0));
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idraw->drawLine(c[3],c[2],btVector3(0,0,0));
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idraw->drawLine(c[2],c[0],btVector3(0,0,0));
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for(int i=0,ni=origins.size();i<ni;++i)
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{
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const btScalar tim=times[i];
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const btVector3& org=origins[i];
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if(tim<SIMD_INFINITY)
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{
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idraw->drawLine(org,org+dir*tim,btVector3(1,0,0));
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}
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else
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{
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idraw->drawLine(org,org-dir*0.1,btVector3(0,0,0));
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}
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}
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#undef RES
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}
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/* Water level */
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static const btVector3 axis[]={btVector3(1,0,0),
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btVector3(0,1,0),
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@@ -877,6 +915,8 @@ void SoftDemo::renderme()
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idraw->drawTriangle(o-x*s-y*s,o+x*s-y*s,o+x*s+y*s,c,a);
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idraw->drawTriangle(o-x*s-y*s,o+x*s+y*s,o-x*s+y*s,c,a);
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}
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DemoApplication::renderme();
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}
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void SoftDemo::keyboardCallback(unsigned char key, int x, int y)
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@@ -885,8 +925,8 @@ void SoftDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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case ']': ++current_demo;clientResetScene();break;
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case '[': --current_demo;clientResetScene();break;
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case ',': m_raycast=!m_raycast;break;
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case ';': m_autocam=!m_autocam;break;
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case ',': m_showtrees+=1;break;
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default: DemoApplication::keyboardCallback(key,x,y);
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}
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}
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@@ -1010,3 +1050,4 @@ void SoftDemo::exitPhysics()
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