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btDeformableRigidWorld now inherits from btMultiBodyDynamicsWorld instead of btSoftRigidDynamicsWorld

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This commit is contained in:
Xuchen Han
2019-07-09 15:27:17 -07:00
parent 13d4e1cc2b
commit c4e316f005
6 changed files with 86 additions and 38 deletions
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34
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -9,24 +9,11 @@
#include "btDeformableRigidDynamicsWorld.h"
#include "btDeformableBodySolver.h"
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_solveIterations(1)
, m_impulseIterations(1)
, m_world(nullptr)
{
m_objective = new btBackwardEulerObjective(m_softBodySet, m_backupVelocity);
}
btDeformableBodySolver::~btDeformableBodySolver()
{
delete m_objective;
}
void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
// Let the solver grab the soft bodies and if necessary optimize for it
m_deformableBodySolver->optimize(getSoftDynamicsWorld()->getSoftBodyArray());
m_deformableBodySolver->optimize(m_softBodies);
if (!m_deformableBodySolver->checkInitialized())
{
@@ -42,22 +29,21 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
btDispatcherInfo& dispatchInfo = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDispatchInfo();
btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDebugDrawer();
dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer();
// only used in CCD
// createPredictiveContacts(timeStep);
///perform collision detection
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::performDiscreteCollisionDetection();
btMultiBodyDynamicsWorld::performDiscreteCollisionDetection();
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::calculateSimulationIslands();
btMultiBodyDynamicsWorld::calculateSimulationIslands();
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
if (0 != m_internalTickCallback)
{
@@ -76,12 +62,12 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
solveDeformableBodiesConstraints(timeStep);
//integrate transforms
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::integrateTransforms(timeStep);
btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
///update vehicle simulation
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActions(timeStep);
btMultiBodyDynamicsWorld::updateActions(timeStep);
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActivationState(timeStep);
btMultiBodyDynamicsWorld::updateActivationState(timeStep);
///update soft bodies
m_deformableBodySolver->updateSoftBodies();
@@ -98,7 +84,7 @@ void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar t
void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
{
getSoftDynamicsWorld()->getSoftBodyArray().push_back(body);
m_softBodies.push_back(body);
// Set the soft body solver that will deal with this body
// to be the world's solver