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

Softbody improvements, thanks to Nathanael

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

378
src/BulletSoftBody/btSoftBodyHelpers.cpp
View File

@@ -15,7 +15,6 @@ subject to the following restrictions:
///btSoftBodyHelpers.cpp by Nathanael Presson
#include "btSoftBody.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include <stdio.h>
#include <string.h>
#include "btSoftBodyHelpers.h"
@@ -23,97 +22,98 @@ subject to the following restrictions:
//
static void drawVertex( btIDebugDraw* idraw,
const btVector3& x,btScalar s,const btVector3& c)
{
idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
}
const btVector3& x,btScalar s,const btVector3& c)
{
idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
}
//
static void drawBox( btIDebugDraw* idraw,
const btVector3& mins,
const btVector3& maxs,
const btVector3& color)
const btVector3& mins,
const btVector3& maxs,
const btVector3& color)
{
const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
btVector3(maxs.x(),mins.y(),mins.z()),
btVector3(maxs.x(),maxs.y(),mins.z()),
btVector3(mins.x(),maxs.y(),mins.z()),
btVector3(mins.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),maxs.y(),maxs.z()),
btVector3(mins.x(),maxs.y(),maxs.z())};
idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
btVector3(maxs.x(),mins.y(),mins.z()),
btVector3(maxs.x(),maxs.y(),mins.z()),
btVector3(mins.x(),maxs.y(),mins.z()),
btVector3(mins.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),maxs.y(),maxs.z()),
btVector3(mins.x(),maxs.y(),maxs.z())};
idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
}
//
static void drawTree( btIDebugDraw* idraw,
const btDbvt::Node* node,
int depth,
const btVector3& ncolor,
const btVector3& lcolor,
int mindepth,
int maxdepth)
const btDbvt::Node* node,
int depth,
const btVector3& ncolor,
const btVector3& lcolor,
int mindepth,
int maxdepth)
{
if(node)
if(node)
{
if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
{
drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
}
if(depth>=mindepth)
if(depth>=mindepth)
{
const btScalar scl=(btScalar)(node->isinternal()?1:1);
const btVector3 mi=node->volume.Center()-node->volume.Extent()*scl;
const btVector3 mx=node->volume.Center()+node->volume.Extent()*scl;
drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
const btScalar scl=(btScalar)(node->isinternal()?1:1);
const btVector3 mi=node->volume.Center()-node->volume.Extent()*scl;
const btVector3 mx=node->volume.Center()+node->volume.Extent()*scl;
drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
}
}
}
//
//
static inline btScalar tetravolume(const btVector3& x0,
const btVector3& x1,
const btVector3& x2,
const btVector3& x3)
{
const btVector3 a=x1-x0;
const btVector3 b=x2-x0;
const btVector3 c=x3-x0;
return(dot(a,cross(b,c)));
//
static inline btScalar tetravolume(const btVector3& x0,
const btVector3& x1,
const btVector3& x2,
const btVector3& x3)
{
const btVector3 a=x1-x0;
const btVector3 b=x2-x0;
const btVector3 c=x3-x0;
return(dot(a,cross(b,c)));
}
//
/*
#if 0
static btVector3 stresscolor(btScalar stress)
{
{
static const btVector3 spectrum[]= { btVector3(1,0,1),
btVector3(0,0,1),
btVector3(0,1,1),
btVector3(0,1,0),
btVector3(1,1,0),
btVector3(1,0,0),
btVector3(1,0,0)};
btVector3(0,0,1),
btVector3(0,1,1),
btVector3(0,1,0),
btVector3(1,1,0),
btVector3(1,0,0),
btVector3(1,0,0)};
static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
static const btScalar one=1;
stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
const int sel=(int)stress;
const btScalar frc=stress-sel;
return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
}
*/
}
#endif
//
void btSoftBodyHelpers::Draw( btSoftBody* psb,
btIDebugDraw* idraw,
int drawflags)
btIDebugDraw* idraw,
int drawflags)
{
const btScalar scl=(btScalar)0.1;
const btScalar nscl=scl*5;
@@ -209,32 +209,14 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
idraw->drawLine((x[1]-c)*scl+c,(x[2]-c)*scl+c,col);
idraw->drawLine((x[2]-c)*scl+c,(x[0]-c)*scl+c,col);*/
idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
col,alp);
/*idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
col,alp);
/*idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
f.m_n[0]->m_n,f.m_n[1]->m_n,f.m_n[2]->m_n,
col,alp);*/
}
}
/* Tetras */
if(0!=(drawflags&fDrawFlags::Tetras))
{
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col((btScalar)0.7,(btScalar)0.7,(btScalar)0.7);
for(int i=0;i<psb->m_tetras.size();++i)
{
const btSoftBody::Tetra& t=psb->m_tetras[i];
if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x};
const btVector3 c=(x[0]+x[1]+x[2]+x[3])/4;
idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp);
idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
f.m_n[0]->m_n,f.m_n[1]->m_n,f.m_n[2]->m_n,
col,alp);*/
}
}
/* Notes */
@@ -245,21 +227,20 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
const btSoftBody::Note& n=psb->m_notes[i];
btVector3 p=n.m_offset;
for(int j=0;j<n.m_rank;++j)
{
{
p+=n.m_nodes[j]->m_x*n.m_coords[j];
}
}
idraw->draw3dText(p,n.m_text);
}
}
}
#if 0
//
void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
btIDebugDraw* idraw,
bool masses,
bool areas,
bool /*stress*/)
btIDebugDraw* idraw,
bool masses,
bool areas,
bool /*stress*/)
{
for(int i=0;i<psb->m_nodes.size();++i)
{
@@ -279,29 +260,28 @@ void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
if(text[0]) idraw->draw3dText(n.m_x,text);
}
}
#endif
//
void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawFaceTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
btIDebugDraw* idraw)
btIDebugDraw* idraw)
{
if(psb->m_pose.m_bframe)
{
@@ -325,9 +305,9 @@ void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
//
btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3& from,
const btVector3& to,
int res,
int fixeds)
const btVector3& to,
int res,
int fixeds)
{
/* Create nodes */
const int r=res+2;
@@ -355,13 +335,13 @@ btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBody::btSoftBodyWorldInfo& wor
//
btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags)
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags)
{
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
/* Create nodes */
@@ -430,8 +410,8 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBody::btSoftBodyWorldInfo& wor
//
btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& center,
const btVector3& radius,
int res)
const btVector3& radius,
int res)
{
struct Hammersley
{
@@ -462,8 +442,8 @@ btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo&
//
btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btScalar* vertices,
const int* triangles,
int ntriangles)
const int* triangles,
int ntriangles)
{
int maxidx=0;
for(int i=0,ni=ntriangles*3;i<ni;++i)
@@ -502,20 +482,20 @@ btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBody::btSoftBodyWorldInf
//
btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
int nvertices)
int nvertices)
{
HullDesc hdsc(QF_TRIANGLES,static_cast<unsigned int>(nvertices),vertices);
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
HullResult hres;
HullLibrary hlib;/*??*/
hdsc.mMaxVertices=static_cast<unsigned int>(nvertices);
hdsc.mMaxVertices=nvertices;
hlib.CreateConvexHull(hdsc,hres);
btSoftBody* psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices,
&hres.m_OutputVertices[0],0);
for(int i=0;i<(int)hres.mNumFaces;++i)
{
const int idx[]={ static_cast<int>(hres.m_Indices[i*3+0]),
static_cast<int>(hres.m_Indices[i*3+1]),
static_cast<int>(hres.m_Indices[i*3+2])};
const int idx[]={ hres.m_Indices[i*3+0],
hres.m_Indices[i*3+1],
hres.m_Indices[i*3+2]};
if(idx[0]<idx[1]) psb->appendLink( idx[0],idx[1]);
if(idx[1]<idx[2]) psb->appendLink( idx[1],idx[2]);
if(idx[2]<idx[0]) psb->appendLink( idx[2],idx[0]);
@@ -524,156 +504,4 @@ btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBody::btSoftBodyWorld
hlib.ReleaseResult(hres);
psb->randomizeConstraints();
return(psb);
}
#if BT_SOFTBODY_USE_STL
#include <string>
#include <sstream>
#include <fstream>
#include <iostream>
#include <stdio.h>
//
void btSoftBodyHelpers::ExportAsSMeshFile(btSoftBody* psb,
const char* filename)
{
std::ofstream output(filename);
output << psb->m_nodes.size() << " " << 3 << " " << 0 << " " << 0 << "\n";
for(int i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
output << i << " "
<< n.m_x.x() << " "
<< n.m_x.y() << " "
<< n.m_x.z() << "\n";
}
output << psb->m_faces.size() << " " << 1 << "\n";
for(int i=0;i<psb->m_faces.size();++i)
{
const btSoftBody::Node* b=&psb->m_nodes[0];
const btSoftBody::Face& f=psb->m_faces[i];
output << 3 << " "
<< int(f.m_n[0]-b) << " "
<< int(f.m_n[1]-b) << " "
<< int(f.m_n[2]-b) << " "
<< 1 << "\n";
}
output << 0 << "\n";
output << 0 << "\n";
output.close();
}
/* Create from TetGen .ele, .face, .node files */
btSoftBody* btSoftBodyHelpers::CreateFromTetGenFile(btSoftBody::btSoftBodyWorldInfo& worldInfo,
const char* ele,
const char* face,
const char* node,
bool bfacelinks,
bool btetralinks,
bool bfacesfromtetras)
{
std::ifstream efile(ele?ele:"");
std::ifstream ffile(face?face:"");
std::ifstream nfile(node);
std::string edata;
std::string fdata;
std::string ndata;
if(efile.good()) while(!efile.eof()) edata+=efile.get();
if(ffile.good()) while(!ffile.eof()) fdata+=ffile.get();
if(nfile.good()) while(!nfile.eof()) ndata+=nfile.get();
efile.close();
ffile.close();
nfile.close();
return(CreateFromTetGenData(worldInfo,edata.c_str(),fdata.c_str(),ndata.c_str(),
bfacelinks,btetralinks,bfacesfromtetras));
}
/* Create from TetGen .ele, .face, .node data */
btSoftBody* btSoftBodyHelpers::CreateFromTetGenData(btSoftBody::btSoftBodyWorldInfo& worldInfo,
const char* ele,
const char* face,
const char* node,
bool bfacelinks,
bool btetralinks,
bool bfacesfromtetras)
{
std::istringstream se(ele?ele:"");
std::istringstream sf(face?face:"");
std::istringstream sn(node?node:"");
btAlignedObjectArray<btVector3> pos;
int nnode=0;
int ndims=0;
int nattrb=0;
int hasbounds=0;
sn>>nnode;sn>>ndims;sn>>nattrb;sn>>hasbounds;
pos.resize(nnode);
for(int i=0;i<pos.size();++i)
{
int index=0;
int bound=0;
btScalar x,y,z,a;
sn>>index;
sn>>x;sn>>y;sn>>z;
for(int j=0;j<nattrb;++j) sn>>a;
if(hasbounds) sn>>bound;
pos[index].setX(x);
pos[index].setY(y);
pos[index].setZ(z);
}
btSoftBody* psb=new btSoftBody(&worldInfo,nnode,&pos[0],0);
if(face&&face[0])
{
int nface=0;
sf>>nface;sf>>hasbounds;
for(int i=0;i<nface;++i)
{
int index=0;
int bound=0;
int ni[3];
sf>>index;
sf>>ni[0];sf>>ni[1];sf>>ni[2];
sf>>bound;
psb->appendFace(ni[0],ni[1],ni[2]);
if(btetralinks)
{
psb->appendLink(ni[0],ni[1],0,true);
psb->appendLink(ni[1],ni[2],0,true);
psb->appendLink(ni[2],ni[0],0,true);
}
}
}
if(ele&&ele[0])
{
int ntetra=0;
int ncorner=0;
int neattrb=0;
se>>ntetra;se>>ncorner;se>>neattrb;
for(int i=0;i<ntetra;++i)
{
int index=0;
int ni[4],a;
se>>index;
se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
for(int j=0;j<neattrb;++j) se>>a;
psb->appendTetra(ni[0],ni[1],ni[2],ni[3]);
if(btetralinks)
{
psb->appendLink(ni[0],ni[1],0,true);
psb->appendLink(ni[1],ni[2],0,true);
psb->appendLink(ni[2],ni[0],0,true);
psb->appendLink(ni[0],ni[3],0,true);
psb->appendLink(ni[1],ni[3],0,true);
psb->appendLink(ni[2],ni[3],0,true);
}
}
}
printf("Nodes: %u\r\n",psb->m_nodes.size());
printf("Links: %u\r\n",psb->m_links.size());
printf("Faces: %u\r\n",psb->m_faces.size());
printf("Tetras: %u\r\n",psb->m_tetras.size());
return(psb);
}
#endif
}