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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)

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erwin.coumans
2008-04-14 06:24:56 +00:00
parent 912b4ccd29
commit be2490e4fb
11 changed files with 472 additions and 279 deletions
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15
src/BulletSoftBody/btSoftBodyHelpers.cpp
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@@ -79,6 +79,7 @@ if(node)
}
//
#if 0
static btVector3 stresscolor(btScalar stress)
{
static const btVector3 spectrum[]= { btVector3(1,0,1),
@@ -95,6 +96,7 @@ static btVector3 stresscolor(btScalar stress)
const btScalar frc=stress-sel;
return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
}
#endif
//
void btSoftBodyHelpers::Draw( btSoftBody* psb,
@@ -103,7 +105,6 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
{
const btScalar scl=(btScalar)0.1;
const btScalar nscl=scl*5;
const btScalar alpha=(btScalar)0.5;
const btVector3 scolor=btVector3(0,0,0);
const btVector3 bcolor=btVector3(1,1,0);
const btVector3 ncolor=btVector3(1,1,1);
@@ -208,7 +209,7 @@ void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
btIDebugDraw* idraw,
bool masses,
bool areas,
bool stress)
bool /*stress*/)
{
for(int i=0;i<psb->getNodes().size();++i)
{
@@ -266,10 +267,13 @@ void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
for(int i=0;i<psb->m_pose.m_pos.size();++i)
{
const btVector3 x=com+trs*psb->m_pose.m_pos[i];
idraw->drawLine(x-btVector3(1,0,0)*nscl,x+btVector3(1,0,0)*nscl,btVector3(1,0,1));
idraw->drawLine(x-btVector3(0,1,0)*nscl,x+btVector3(0,1,0)*nscl,btVector3(1,0,1));
idraw->drawLine(x-btVector3(0,0,1)*nscl,x+btVector3(0,0,1)*nscl,btVector3(1,0,1));
drawVertex(idraw,x,nscl,btVector3(1,0,1));
}
for(int i=0;i<psb->m_dfld.pts.size();++i)
{
const btVector3 x=com+trs*psb->m_dfld.pts[i];
drawVertex(idraw,x,nscl*(btScalar)0.5,btVector3(0,0,1));
}
}
}
@@ -483,3 +487,4 @@ btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBody::btSoftBodyWorld
return(psb);
}