Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld

Browse Source
This commit is contained in:
Xuchen Han
2019-08-16 13:42:53 -07:00
parent 8860f8bacc
commit bf215a3ce1
14 changed files with 67 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
examples/DeformableDemo/DeformableMultibody.cpp
View File

@@ -28,7 +28,7 @@
#include "DeformableMultibody.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/btSoftBody.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "BulletSoftBody/btDeformableBodySolver.h"
@@ -79,20 +79,20 @@ public:
void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
{
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
{
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual void renderScene()
{
CommonMultiBodyBase::renderScene();
btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
@@ -121,7 +121,7 @@ void DeformableMultibody::initPhysics()
sol = new btMultiBodyConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);

14
examples/DeformableDemo/DeformableRigid.cpp
View File

@@ -28,7 +28,7 @@
#include "DeformableRigid.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/btSoftBody.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "BulletSoftBody/btDeformableBodySolver.h"
@@ -115,24 +115,24 @@ public:
createRigidBody(mass, startTransform, shape[0]);
}
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual void renderScene()
{
CommonRigidBodyBase::renderScene();
btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
@@ -163,7 +163,7 @@ void DeformableRigid::initPhysics()
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
m_solver = sol;
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
btVector3 gravity = btVector3(0, -10, 0);

14
examples/DeformableDemo/GraspDeformable.cpp
View File

@@ -14,7 +14,7 @@
#include "GraspDeformable.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/btSoftBody.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "BulletSoftBody/btDeformableBodySolver.h"
@@ -148,20 +148,20 @@ public:
}
}
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
{
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
{
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual void renderScene()
{
CommonRigidBodyBase::renderScene();
btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
@@ -189,7 +189,7 @@ void GraspDeformable::initPhysics()
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
m_solver = sol;
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);

16
examples/DeformableDemo/Pinch.cpp
View File

@@ -28,7 +28,7 @@
#include "Pinch.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/btSoftBody.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "BulletSoftBody/btDeformableBodySolver.h"
@@ -102,20 +102,20 @@ public:
}
}
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
{
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
{
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual void renderScene()
{
CommonRigidBodyBase::renderScene();
btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
@@ -128,7 +128,7 @@ public:
}
};
void dynamics(btScalar time, btDeformableRigidDynamicsWorld* world)
void dynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
{
btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
if (rbs.size()<2)
@@ -247,7 +247,7 @@ void Pinch::initPhysics()
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
m_solver = sol;
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
btVector3 gravity = btVector3(0, -10, 0);

14
examples/DeformableDemo/VolumetricDeformable.cpp
View File

@@ -28,7 +28,7 @@
#include "VolumetricDeformable.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/btSoftBody.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "BulletSoftBody/btDeformableBodySolver.h"
@@ -133,24 +133,24 @@ public:
}
}
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual void renderScene()
{
CommonRigidBodyBase::renderScene();
btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
@@ -181,7 +181,7 @@ void VolumetricDeformable::initPhysics()
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
m_solver = sol;
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
btVector3 gravity = btVector3(0, -10, 0);