Added several updates for btSoftBody: convex cluster collision detection, new constraints, new demos (only enabled in SoftBodyDemo, todo for AllBulletDemos) etc.

Thanks a lot to Nathanael Presson for this update.
2008-07-22 02:22:01 +00:00
parent fe5033119b
commit d71f8d6623
9 changed files with 3223 additions and 1347 deletions
--- a/Demos/SoftDemo/SoftDemo.cpp
+++ b/Demos/SoftDemo/SoftDemo.cpp
@@ -129,10 +129,16 @@ void SoftDemo::clientMoveAndDisplay()
 				m_goal=rayFrom+rayDir*hit;
 				}				
 			}		
-		m_node->m_v+=(m_goal-m_node->m_x)/dt;
+		btVector3				delta=m_goal-m_node->m_x;
+		static const btScalar	maxdrag=10;
+		if(delta.length2()>(maxdrag*maxdrag))
+			{
+			delta=delta.normalized()*maxdrag;
+			}
+		m_node->m_v+=delta/dt;
 		}
 	
-//#define FIXED_STEP
+#define FIXED_STEP
 #ifdef FIXED_STEP
 		m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);

@@ -296,7 +302,7 @@ static void	Ctor_RbUpStack(SoftDemo* pdemo,int count)
 	{
 		btTransform startTransform;
 		startTransform.setIdentity();
-		startTransform.setOrigin(btVector3(0,1+6*i,0));
+		startTransform.setOrigin(btVector3(0,2+6*i,0));
 		pdemo->localCreateRigidBody(mass,startTransform,shape[i%nshapes]);
 	}
 }
@@ -315,13 +321,14 @@ static void	Ctor_BigBall(SoftDemo* pdemo,btScalar mass=10)
 //
 // Big plate
 //
-static void	Ctor_BigPlate(SoftDemo* pdemo,btScalar mass=15)
+static btRigidBody*	Ctor_BigPlate(SoftDemo* pdemo,btScalar mass=15,btScalar height=4)
 {
 	btTransform startTransform;
 	startTransform.setIdentity();
-	startTransform.setOrigin(btVector3(0,4,0.5));
+	startTransform.setOrigin(btVector3(0,height,0.5));
 	btRigidBody*		body=pdemo->localCreateRigidBody(mass,startTransform,new btBoxShape(btVector3(5,1,5)));
 	body->setFriction(1);
+	return(body);
 }

 //
@@ -359,6 +366,7 @@ static btSoftBody* Ctor_SoftBox(SoftDemo* pdemo,const btVector3& p,const btVecto
 	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
 	
 	return(psb);
+
 }

 //
@@ -598,7 +606,9 @@ static void	Init_Aero(SoftDemo* pdemo)
 			btVector3(+s,h,+s),
 			segments,segments,
 			0,true);
-		psb->generateBendingConstraints(2);
+		btSoftBody::Material*	pm=psb->appendMaterial();
+		pm->m_flags				-=	btSoftBody::fMaterial::DebugDraw;
+		psb->generateBendingConstraints(2,pm);
 		psb->m_cfg.kLF			=	0.004;
 		psb->m_cfg.kDG			=	0.0003;
 		psb->m_cfg.aeromodel	=	btSoftBody::eAeroModel::V_TwoSided;
@@ -779,7 +789,7 @@ static void	Init_Bunny(SoftDemo* pdemo)
 	psb->m_cfg.kDF			=	0.5;
 	psb->randomizeConstraints();
 	psb->scale(btVector3(6,6,6));
-	psb->setTotalMass(100,true);
+	psb->setTotalMass(100,true);	
 	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
 	pdemo->m_cutting=true;

@@ -795,12 +805,12 @@ static void	Init_BunnyMatch(SoftDemo* pdemo)
 		&gIndicesBunny[0][0],
 		BUNNY_NUM_TRIANGLES);
 	psb->m_cfg.kDF				=	0.5;
-	psb->m_materials[0]->m_kLST	=	0.1;
 	psb->m_cfg.kMT				=	0.05;
+	psb->m_cfg.piterations		=	5;
 	psb->randomizeConstraints();
 	psb->scale(btVector3(6,6,6));
 	psb->setTotalMass(100,true);
-	psb->setPose(true,true);
+	psb->setPose(false,true);
 	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);	

 }
@@ -844,7 +854,7 @@ static void	Init_TorusMatch(SoftDemo* pdemo)
 	psb->transform(btTransform(m,btVector3(0,4,0)));
 	psb->scale(btVector3(2,2,2));
 	psb->setTotalMass(50,true);
-	psb->setPose(true,true);
+	psb->setPose(false,true);
 	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
 }

@@ -866,7 +876,371 @@ static void	Init_Cutting1(SoftDemo* pdemo)
 	pdemo->m_cutting=true;	
 }

-unsigned	current_demo=0;
+//
+// Clusters
+//
+
+//
+static void			Ctor_Gear(SoftDemo* pdemo,const btVector3& pos,btScalar speed)
+{
+btTransform startTransform;
+startTransform.setIdentity();
+startTransform.setOrigin(pos);
+btCompoundShape*	shape=new btCompoundShape();
+#if 1
+shape->addChildShape(btTransform(btQuaternion(0,0,0)),new btBoxShape(btVector3(5,1,6)));
+shape->addChildShape(btTransform(btQuaternion(0,0,SIMD_HALF_PI)),new btBoxShape(btVector3(5,1,6)));
+#else
+shape->addChildShape(btTransform(btQuaternion(0,0,0)),new btCylinderShapeZ(btVector3(5,1,7)));
+shape->addChildShape(btTransform(btQuaternion(0,0,SIMD_HALF_PI)),new btBoxShape(btVector3(4,1,8)));
+#endif
+btRigidBody*		body=pdemo->localCreateRigidBody(10,startTransform,shape);
+body->setFriction(1);
+btDynamicsWorld*	world=pdemo->getDynamicsWorld();
+btHingeConstraint*	hinge=new btHingeConstraint(*body,btTransform::getIdentity());
+if(speed!=0) hinge->enableAngularMotor(true,speed,3);
+world->addConstraint(hinge);
+}
+
+//
+static btSoftBody*	Ctor_ClusterBunny(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
+{
+btSoftBody*	psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,&gIndicesBunny[0][0],BUNNY_NUM_TRIANGLES);
+btSoftBody::Material*	pm=psb->appendMaterial();
+pm->m_kLST				=	1;
+pm->m_flags				-=	btSoftBody::fMaterial::DebugDraw;
+psb->generateBendingConstraints(2,pm);
+psb->m_cfg.piterations	=	2;
+psb->m_cfg.kDF			=	1;
+psb->m_cfg.collisions	=	btSoftBody::fCollision::CL_SS+
+							btSoftBody::fCollision::CL_RS;
+psb->randomizeConstraints();
+btMatrix3x3	m;
+m.setEulerZYX(a.x(),a.y(),a.z());
+psb->transform(btTransform(m,x));
+psb->scale(btVector3(8,8,8));
+psb->setTotalMass(150,true);
+psb->generateClusters(1);
+pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
+return(psb);
+}
+
+//
+static btSoftBody*	Ctor_ClusterTorus(SoftDemo* pdemo,const btVector3& x,const btVector3& a,const btVector3& s=btVector3(2,2,2))
+{
+btSoftBody*	psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVertices,&gIndices[0][0],NUM_TRIANGLES);
+btSoftBody::Material*	pm=psb->appendMaterial();
+pm->m_kLST				=	1;
+pm->m_flags				-=	btSoftBody::fMaterial::DebugDraw;			
+psb->generateBendingConstraints(2,pm);
+psb->m_cfg.piterations	=	2;
+psb->m_cfg.collisions	=	btSoftBody::fCollision::CL_SS+
+							btSoftBody::fCollision::CL_RS;
+psb->randomizeConstraints();
+psb->scale(s);
+psb->rotate(btQuaternion(a[0],a[1],a[2]));
+psb->translate(x);
+psb->setTotalMass(50,true);
+psb->generateClusters(64);			
+pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
+return(psb);
+}
+
+//
+static struct MotorControl : btSoftBody::AJoint::IControl
+{
+			MotorControl()
+	{
+	goal=0;
+	maxtorque=0;
+	}
+btScalar	Speed(btSoftBody::AJoint*,btScalar current)
+	{
+	return(current+btMin(maxtorque,btMax(-maxtorque,goal-current)));
+	}
+btScalar	goal;
+btScalar	maxtorque;
+}	motorcontrol;
+
+//
+struct SteerControl : btSoftBody::AJoint::IControl
+{
+			SteerControl(btScalar s)
+	{
+	angle=0;
+	sign=s;
+	}
+void		Prepare(btSoftBody::AJoint* joint)
+	{
+	joint->m_refs[0][0]=btCos(angle*sign);
+	joint->m_refs[0][2]=btSin(angle*sign);
+	}
+btScalar	Speed(btSoftBody::AJoint* joint,btScalar current)
+	{
+	return(motorcontrol.Speed(joint,current));
+	}
+btScalar	angle;
+btScalar	sign;
+};
+
+static SteerControl	steercontrol_f(+1);
+static SteerControl	steercontrol_r(-1);
+
+//
+static void	Init_ClusterDeform(SoftDemo* pdemo)
+{
+btSoftBody*		psb=Ctor_ClusterTorus(pdemo,btVector3(0,0,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI));
+psb->generateClusters(8);
+psb->m_cfg.kDF=1;
+}
+
+//
+static void	Init_ClusterCollide1(SoftDemo* pdemo)
+{
+const btScalar	s=8;
+btSoftBody*		psb=btSoftBodyHelpers::CreatePatch(	pdemo->m_softBodyWorldInfo,btVector3(-s,0,-s),
+	btVector3(+s,0,-s),
+	btVector3(-s,0,+s),
+	btVector3(+s,0,+s),
+	31,31,
+	1+2+4+8,true);
+btSoftBody::Material* pm=psb->appendMaterial();
+pm->m_kLST		=	0.4;
+pm->m_flags		-=	btSoftBody::fMaterial::DebugDraw;
+psb->m_cfg.kDF	=	1;
+psb->m_cfg.kSRHR_CL		=	1;
+psb->m_cfg.kSR_SPLT_CL	=	0;
+psb->m_cfg.collisions	=	btSoftBody::fCollision::CL_SS+
+							btSoftBody::fCollision::CL_RS;
+psb->generateBendingConstraints(2,pm);
+psb->setTotalMass(50);
+psb->generateClusters(64);
+pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
+
+Ctor_RbUpStack(pdemo,10);
+}
+
+//
+static void	Init_ClusterCollide2(SoftDemo* pdemo)
+{
+struct Functor
+	{
+	static btSoftBody* Create(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
+		{
+		btSoftBody*	psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVertices,
+			&gIndices[0][0],
+			NUM_TRIANGLES);
+		psb->generateBendingConstraints(2);
+		psb->m_cfg.piterations=2;
+		psb->m_cfg.kSSHR_CL		=1;
+		psb->m_cfg.kSS_SPLT_CL	=0;
+		psb->m_cfg.collisions=	btSoftBody::fCollision::CL_SS+
+								btSoftBody::fCollision::CL_RS;		
+		psb->randomizeConstraints();
+		btMatrix3x3	m;
+		m.setEulerZYX(a.x(),a.y(),a.z());
+		psb->transform(btTransform(m,x));
+		psb->scale(btVector3(2,2,2));
+		psb->setTotalMass(50,true);
+		psb->generateClusters(16);
+		pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
+		return(psb);
+		}
+	};
+for(int i=0;i<3;++i)
+	{
+	Functor::Create(pdemo,btVector3(3*i,2,0),btVector3(SIMD_PI/2*(1-(i&1)),SIMD_PI/2*(i&1),0));
+	}
+}
+
+//
+static void	Init_ClusterSocket(SoftDemo* pdemo)
+{
+btSoftBody*		psb=Ctor_ClusterTorus(pdemo,btVector3(0,0,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI));
+btRigidBody*	prb=Ctor_BigPlate(pdemo,50,8);
+psb->m_cfg.kDF=1;
+btSoftBody::LJoint::Specs	lj;
+lj.position	=	btVector3(0,5,0);
+psb->appendLinearJoint(lj,prb);
+}
+
+//
+static void	Init_ClusterHinge(SoftDemo* pdemo)
+{
+btSoftBody*		psb=Ctor_ClusterTorus(pdemo,btVector3(0,0,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI));
+btRigidBody*	prb=Ctor_BigPlate(pdemo,50,8);
+psb->m_cfg.kDF=1;
+btSoftBody::AJoint::Specs	aj;
+aj.axis	=	btVector3(0,0,1);
+psb->appendAngularJoint(aj,prb);
+}
+
+//
+static void	Init_ClusterCombine(SoftDemo* pdemo)
+{
+const btVector3	sz(2,4,2);		
+btSoftBody*	psb0=Ctor_ClusterTorus(pdemo,btVector3(0,8,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI),sz);
+btSoftBody*	psb1=Ctor_ClusterTorus(pdemo,btVector3(0,8,10),btVector3(SIMD_PI/2,0,SIMD_HALF_PI),sz);
+btSoftBody*	psbs[]={psb0,psb1};
+for(int j=0;j<2;++j)
+	{
+	psbs[j]->m_cfg.kDF=1;
+	psbs[j]->m_cfg.kDP=0;
+	psbs[j]->m_cfg.piterations=1;
+	psbs[j]->m_clusters[0]->m_matching	=	0.05;
+	psbs[j]->m_clusters[0]->m_ndamping	=	0.05;
+	}
+btSoftBody::AJoint::Specs	aj;
+aj.axis		=	btVector3(0,0,1);
+aj.icontrol	=	&motorcontrol;
+psb0->appendAngularJoint(aj,psb1);
+
+btSoftBody::LJoint::Specs	lj;
+lj.position	=	btVector3(0,8,5);
+psb0->appendLinearJoint(lj,psb1);
+}
+
+//
+static void	Init_ClusterCar(SoftDemo* pdemo)
+{
+const btVector3		origin(100,80,0);
+const btQuaternion	orientation(-SIMD_PI/2,0,0);
+const btScalar	widthf=8;
+const btScalar	widthr=9;
+const btScalar	length=8;
+const btScalar	height=4;
+const btVector3	wheels[]=	{
+							btVector3(+widthf,-height,+length),	// Front left
+							btVector3(-widthf,-height,+length),	// Front right
+							btVector3(+widthr,-height,-length),	// Rear left
+							btVector3(-widthr,-height,-length),	// Rear right
+							};
+btSoftBody*	pa=Ctor_ClusterBunny(pdemo,btVector3(0,0,0),btVector3(0,0,0));
+btSoftBody*	pfl=Ctor_ClusterTorus(pdemo,wheels[0],btVector3(0,0,SIMD_HALF_PI),btVector3(2,4,2));
+btSoftBody*	pfr=Ctor_ClusterTorus(pdemo,wheels[1],btVector3(0,0,SIMD_HALF_PI),btVector3(2,4,2));
+btSoftBody*	prl=Ctor_ClusterTorus(pdemo,wheels[2],btVector3(0,0,SIMD_HALF_PI),btVector3(2,5,2));
+btSoftBody*	prr=Ctor_ClusterTorus(pdemo,wheels[3],btVector3(0,0,SIMD_HALF_PI),btVector3(2,5,2));
+
+pfl->m_cfg.kDF	=
+pfr->m_cfg.kDF	=
+prl->m_cfg.kDF	=
+prr->m_cfg.kDF	=	1;
+
+btSoftBody::LJoint::Specs	lspecs;
+lspecs.cfm		=	1;
+lspecs.erp		=	1;
+lspecs.position	=	btVector3(0,0,0);
+
+lspecs.position=wheels[0];pa->appendLinearJoint(lspecs,pfl);
+lspecs.position=wheels[1];pa->appendLinearJoint(lspecs,pfr);
+lspecs.position=wheels[2];pa->appendLinearJoint(lspecs,prl);
+lspecs.position=wheels[3];pa->appendLinearJoint(lspecs,prr);
+
+btSoftBody::AJoint::Specs	aspecs;
+aspecs.cfm		=	1;
+aspecs.erp		=	1;
+aspecs.axis		=	btVector3(1,0,0);
+
+aspecs.icontrol	=	&steercontrol_f;
+pa->appendAngularJoint(aspecs,pfl);
+pa->appendAngularJoint(aspecs,pfr);
+
+aspecs.icontrol	=	&motorcontrol;
+pa->appendAngularJoint(aspecs,prl);
+pa->appendAngularJoint(aspecs,prr);
+
+pa->rotate(orientation);
+pfl->rotate(orientation);
+pfr->rotate(orientation);
+prl->rotate(orientation);
+prr->rotate(orientation);
+pa->translate(origin);
+pfl->translate(origin);
+pfr->translate(origin);
+prl->translate(origin);
+prr->translate(origin);
+pfl->m_cfg.piterations	=
+pfr->m_cfg.piterations	=
+prl->m_cfg.piterations	=
+prr->m_cfg.piterations	= 1;
+pfl->m_clusters[0]->m_matching	=
+pfr->m_clusters[0]->m_matching	=
+prl->m_clusters[0]->m_matching	=
+prr->m_clusters[0]->m_matching	= 0.05;
+pfl->m_clusters[0]->m_ndamping	=
+pfr->m_clusters[0]->m_ndamping	=
+prl->m_clusters[0]->m_ndamping	=
+prr->m_clusters[0]->m_ndamping	= 0.05;
+		
+Ctor_LinearStair(pdemo,btVector3(0,-8,0),btVector3(3,2,40),0,20);
+Ctor_RbUpStack(pdemo,50);
+pdemo->m_autocam=true;
+}
+
+//
+static void	Init_ClusterRobot(SoftDemo* pdemo)
+{
+struct Functor
+	{
+	static btSoftBody*	CreateBall(SoftDemo* pdemo,const btVector3& pos)
+		{
+		btSoftBody*	psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,pos,btVector3(1,1,1)*3,512);
+		psb->m_materials[0]->m_kLST	=	0.45;
+		psb->m_cfg.kVC				=	20;
+		psb->setTotalMass(50,true);
+		psb->setPose(true,false);
+		psb->generateClusters(1);
+		pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
+		return(psb);
+		}
+	};
+const btVector3		base=btVector3(0,25,8);
+btSoftBody*			psb0=Functor::CreateBall(pdemo,base+btVector3(-8,0,0));
+btSoftBody*			psb1=Functor::CreateBall(pdemo,base+btVector3(+8,0,0));
+btSoftBody*			psb2=Functor::CreateBall(pdemo,base+btVector3(0,0,+8*btSqrt(2)));
+const btVector3		ctr=(psb0->clusterCom(0)+psb1->clusterCom(0)+psb2->clusterCom(0))/3;
+btCylinderShape*	pshp=new btCylinderShape(btVector3(8,1,8));
+btRigidBody*		prb=pdemo->localCreateRigidBody(50,btTransform(btQuaternion(0,0,0),ctr+btVector3(0,5,0)),pshp);
+btSoftBody::LJoint::Specs	ls;
+ls.erp=0.5f;
+ls.position=psb0->clusterCom(0);psb0->appendLinearJoint(ls,prb);
+ls.position=psb1->clusterCom(0);psb1->appendLinearJoint(ls,prb);
+ls.position=psb2->clusterCom(0);psb2->appendLinearJoint(ls,prb);
+
+btBoxShape*			pbox=new btBoxShape(btVector3(20,1,40));
+btRigidBody*		pgrn=pdemo->localCreateRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
+
+pdemo->m_autocam=true;
+}
+
+//
+static void	Init_ClusterStackSoft(SoftDemo* pdemo)
+{
+for(int i=0;i<10;++i)
+	{
+	btSoftBody*	psb=Ctor_ClusterTorus(pdemo,btVector3(0,-9+8.25*i,0),btVector3(0,0,0));
+	psb->m_cfg.kDF=1;
+	}
+}
+
+//
+static void	Init_ClusterStackMixed(SoftDemo* pdemo)
+{
+for(int i=0;i<10;++i)
+	{
+	if((i+1)&1)
+		{
+		Ctor_BigPlate(pdemo,50,-9+4.25*i);
+		}
+		else
+		{
+		btSoftBody*	psb=Ctor_ClusterTorus(pdemo,btVector3(0,-9+4.25*i,0),btVector3(0,0,0));
+		psb->m_cfg.kDF=1;
+		}
+	}
+}
+
+unsigned	current_demo=18;

 void	SoftDemo::clientResetScene()
 {
@@ -880,6 +1254,12 @@ void	SoftDemo::clientResetScene()
 		{
 			delete body->getMotionState();
 		}
+		while(m_dynamicsWorld->getNumConstraints())
+			{
+			btTypedConstraint*	pc=m_dynamicsWorld->getConstraint(0);
+			m_dynamicsWorld->removeConstraint(pc);
+			delete pc;
+			}
 		btSoftBody* softBody = btSoftBody::upcast(obj);
 		if (softBody)
 		{
@@ -913,10 +1293,19 @@ void	SoftDemo::clientResetScene()
 		Init_Bunny,
 		Init_BunnyMatch,
 		Init_Cutting1,
+		Init_ClusterDeform,
+		Init_ClusterCollide1,
+		Init_ClusterCollide2,
+		Init_ClusterSocket,
+		Init_ClusterHinge,
+		Init_ClusterCombine,
+		Init_ClusterCar,
+		Init_ClusterRobot,
+		Init_ClusterStackSoft,
+		Init_ClusterStackMixed,
 	};
 	current_demo=current_demo%(sizeof(demofncs)/sizeof(demofncs[0]));
-
-
+	
 	m_softBodyWorldInfo.air_density		=	(btScalar)1.2;
 	m_softBodyWorldInfo.water_density	=	0;
 	m_softBodyWorldInfo.water_offset		=	0;
@@ -953,7 +1342,7 @@ void	SoftDemo::renderme()
 	}
 	ps/=nps;
 	if(m_autocam)
-		m_cameraTargetPosition+=(ps-m_cameraTargetPosition)*0.01;
+		m_cameraTargetPosition+=(ps-m_cameraTargetPosition)*0.05;
 	else
 		m_cameraTargetPosition=btVector3(0,0,0);
 	/* Anm			*/ 
@@ -1047,6 +1436,7 @@ void	SoftDemo::renderme()
 		idraw->drawTriangle(o-x*s-y*s,o+x*s-y*s,o+x*s+y*s,c,a);
 		idraw->drawTriangle(o-x*s-y*s,o+x*s+y*s,o-x*s+y*s,c,a);
 	}
+	//
 	DemoApplication::renderme();
 	
 }
@@ -1055,10 +1445,15 @@ void	SoftDemo::keyboardCallback(unsigned char key, int x, int y)
 {
 	switch(key)
 	{
+	case	'n':	motorcontrol.maxtorque=10;motorcontrol.goal+=1;break;
+	case	'm':	motorcontrol.maxtorque=10;motorcontrol.goal-=1;break;
+	case	'4':	steercontrol_f.angle+=0.1;steercontrol_r.angle+=0.1;break;
+	case	'6':	steercontrol_f.angle-=0.1;steercontrol_r.angle-=0.1;break;
 	case	']':	++current_demo;clientResetScene();break;
 	case	'[':	--current_demo;clientResetScene();break;
 	case	',':	m_raycast=!m_raycast;break;
 	case	';':	m_autocam=!m_autocam;break;
+	case	'c':	getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()^fDrawFlags::Clusters);break;
 	case	'`':
 		{
 		btSoftBodyArray&	sbs=getSoftDynamicsWorld()->getSoftBodyArray();
@@ -1367,3 +1762,4 @@ void	SoftDemo::exitPhysics()



+