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Softbody improvements, thanks to Nathanael

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This commit is contained in:
erwin.coumans
2008-05-17 12:39:16 +00:00
parent 649709dc2d
commit d9e7058ff2
12 changed files with 2098 additions and 1828 deletions
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71
src/BulletSoftBody/btSoftBody.h
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@@ -45,29 +45,31 @@ public:
V_TwoSided, ///Vertex normals are fliped to match velocity
V_OneSided, ///Vertex normals are taken as it is
F_TwoSided, ///Face normals are fliped to match velocity
F_OneSided ///Face normals are taken as it is
F_OneSided, ///Face normals are taken as it is
END
};};
///eVSolver : velocities solvers
struct eVSolver { enum _ {
Linear, ///Linear solver
Volume ///Volume solver
END
};};
///ePSolver : positions solvers
struct ePSolver { enum _ {
Linear, ///Linear solver
Volume, ///Volume solver
Anchors, ///Anchor solver
RContacts, ///Rigid contacts solver
SContacts ///Soft contacts solver
SContacts, ///Soft contacts solver
END
};};
///eSolverPresets
struct eSolverPresets { enum _ {
Positions,
Velocities,
Default = Positions
Default = Positions,
END
};};
///eFeature
@@ -76,7 +78,7 @@ public:
Node,
Link,
Face,
Tetra
END
};};
typedef btAlignedObjectArray<eVSolver::_> tVSolverArray;
@@ -94,14 +96,16 @@ public:
SVSmask = 0x00f0, ///Rigid versus soft mask
VF_SS = 0x0010, ///Vertex vs face soft vs soft handling
/* presets */
Default = SDF_RS
Default = SDF_RS,
END
};};
///fMaterial
struct fMaterial { enum _ {
DebugDraw = 0x0001, /// Enable debug draw
/* presets */
Default = DebugDraw
Default = DebugDraw,
END
};};
//
@@ -120,7 +124,6 @@ public:
/* ImplicitFn */
struct ImplicitFn
{
virtual ~ImplicitFn() {}
virtual btScalar Eval(const btVector3& x)=0;
};
@@ -163,16 +166,13 @@ public:
struct Element
{
void* m_tag; // User data
Element()
{
m_tag=0;
}
Element() : m_tag(0) {}
};
/* Material */
struct Material : Element
{
btScalar m_kLST; // Linear stiffness coefficient [0,1]
btScalar m_kAST; // Area stiffness coefficient [0,1]
btScalar m_kAST; // Area/Angular stiffness coefficient [0,1]
btScalar m_kVST; // Volume stiffness coefficient [0,1]
int m_flags; // Flags
};
@@ -199,7 +199,8 @@ public:
struct Link : Feature
{
Node* m_n[2]; // Node pointers
btScalar m_rl; // Rest length
btScalar m_rl; // Rest length
int m_bbending:1; // Bending link
btScalar m_c0; // (ima+imb)*kLST
btScalar m_c1; // rl^2
btScalar m_c2; // |gradient|^2/c0
@@ -213,16 +214,6 @@ public:
btScalar m_ra; // Rest area
btDbvt::Node* m_leaf; // Leaf data
};
/* Tetra */
struct Tetra : Feature
{
Node* m_n[4]; // Node pointers
btScalar m_rv; // Rest volume
btDbvt::Node* m_leaf; // Leaf data
btVector3 m_c0[4]; // gradients
btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3)
btScalar m_c2; // m_c1/sum(|g0..3|^2)
};
/* RContact */
struct RContact
{
@@ -322,7 +313,6 @@ public:
typedef btAlignedObjectArray<btDbvt::Node*> tLeafArray;
typedef btAlignedObjectArray<Link> tLinkArray;
typedef btAlignedObjectArray<Face> tFaceArray;
typedef btAlignedObjectArray<Tetra> tTetraArray;
typedef btAlignedObjectArray<Anchor> tAnchorArray;
typedef btAlignedObjectArray<RContact> tRContactArray;
typedef btAlignedObjectArray<SContact> tSContactArray;
@@ -342,7 +332,6 @@ public:
tNodeArray m_nodes; // Nodes
tLinkArray m_links; // Links
tFaceArray m_faces; // Faces
tTetraArray m_tetras; // Tetras
tAnchorArray m_anchors; // Anchors
tRContactArray m_rcontacts; // Rigid contacts
tSContactArray m_scontacts; // Soft contacts
@@ -365,12 +354,12 @@ public:
/* Check for existing link */
bool checkLink( int node0,
int node1) const;
bool checkLink( const btSoftBody::Node* node0,
const btSoftBody::Node* node1) const;
bool checkLink( const Node* node0,
const Node* node1) const;
/* Check for existring face */
bool checkFace( int node0,
int node1,
int node2) const;
int node1,
int node2) const;
/* Append material */
Material* appendMaterial();
/* Append note */
@@ -390,9 +379,6 @@ public:
void appendNote( const char* text,
const btVector3& o,
Face* feature);
void appendNote( const char* text,
const btVector3& o,
Tetra* feature);
/* Append node */
void appendNode( const btVector3& x,btScalar m);
/* Append link */
@@ -401,8 +387,8 @@ public:
int node1,
Material* mat=0,
bool bcheckexist=false);
void appendLink( btSoftBody::Node* node0,
btSoftBody::Node* node1,
void appendLink( Node* node0,
Node* node1,
Material* mat=0,
bool bcheckexist=false);
/* Append face */
@@ -411,13 +397,6 @@ public:
int node1,
int node2,
Material* mat=0);
/* Append tetrahedron */
void appendTetra(int model=-1,Material* mat=0);
void appendTetra(int node0,
int node1,
int node2,
int node3,
Material* mat=0);
/* Append anchor */
void appendAnchor( int node,
btRigidBody* body);
@@ -443,10 +422,6 @@ public:
bool fromfaces=false);
/* Set total density */
void setTotalDensity(btScalar density);
/* Set volume mass (using tetrahedrons) */
void setVolumeMass( btScalar mass);
/* Set volume density (using tetrahedrons) */
void setVolumeDensity( btScalar density);
/* Transform */
void transform( const btTransform& trs);
/* Translate */
@@ -463,8 +438,6 @@ public:
/* Generate bending constraints based on distance in the adjency graph */
int generateBendingConstraints( int distance,
Material* mat=0);
/* Generate tetrahedral constraints */
int generateTetrahedralConstraints();
/* Randomize constraints to reduce solver bias */
void randomizeConstraints();
/* Refine */