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23d9483ea9cb743cd1beac1e3bd2e2dc45ef2621
bullet3/Demos/SoftDemo/SoftDemo.cpp
erwin.coumans 23d9483ea9 use k/l to steer Bunny car (avoid keyboard conflicts)
2008-08-01 02:45:13 +00:00

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///btSoftBody implementation by Nathanael Presson
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "BMF_Api.h"
#include "../GimpactTestDemo/BunnyMesh.h"
#include "../GimpactTestDemo/TorusMesh.h"
#include <stdio.h> //printf debugging
#include "LinearMath/btConvexHull.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "SoftDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
extern float eye[3];
extern int glutScreenWidth;
extern int glutScreenHeight;
const int maxProxies = 32766;
const int maxOverlap = 65535;
static btVector3* gGroundVertices=0;
static int* gGroundIndices=0;
static btBvhTriangleMeshShape* trimeshShape =0;
static btRigidBody* staticBody = 0;
static float waveheight = 5.f;
const float TRIANGLE_SIZE=8.f;
#ifdef _DEBUG
const int gNumObjects = 1;
#else
const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
#endif
const int maxNumObjects = 32760;
#define CUBE_HALF_EXTENTS 1.5
#define EXTRA_HEIGHT -10.f
//
void SoftDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
{
btTransform trans;
trans.setIdentity();
for(int i=0; i<size; i++)
{
// This constructs a row, from left to right
int rowSize = size - i;
for(int j=0; j< rowSize; j++)
{
btVector4 pos;
pos.setValue(
-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
halfCubeSize + i * halfCubeSize * 2.0f,
zPos);
trans.setOrigin(pos);
btScalar mass = 1.f;
btRigidBody* body = 0;
body = localCreateRigidBody(mass,trans,boxShape);
}
}
}
////////////////////////////////////
extern int gNumManifold;
extern int gOverlappingPairs;
extern int gTotalContactPoints;
void SoftDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
float dt = 1.0/60.;
if (m_dynamicsWorld)
{
if(m_drag)
{
const int x=m_lastmousepos[0];
const int y=m_lastmousepos[1];
const btVector3 rayFrom=m_cameraPosition;
const btVector3 rayTo=getRayTo(x,y);
const btVector3 rayDir=(rayTo-rayFrom).normalized();
const btVector3 N=(m_cameraTargetPosition-m_cameraPosition).normalized();
const btScalar O=dot(m_impact,N);
const btScalar den=dot(N,rayDir);
if((den*den)>0)
{
const btScalar num=O-dot(N,rayFrom);
const btScalar hit=num/den;
if((hit>0)&&(hit<1500))
{
m_goal=rayFrom+rayDir*hit;
}
}
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
#ifdef FIXED_STEP
m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
#else
//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
int maxSimSubSteps = m_idle ? 1 : 4;
//if (m_idle)
// dt = 1.0/420.f;
int numSimSteps;
numSimSteps = m_dynamicsWorld->stepSimulation(dt);
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
#endif
if(m_drag)
{
m_node->m_v*=0;
}
m_softBodyWorldInfo.m_sparsesdf.GarbageCollect();
//optional but useful: debug drawing
}
#ifdef USE_QUICKPROF
btProfiler::beginBlock("render");
#endif //USE_QUICKPROF
renderme();
//render the graphics objects, with center of mass shift
updateCamera();
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num manifolds: %i\n",gNumManifold);
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
#endif //PRINT_CONTACT_STATISTICS
gTotalContactPoints = 0;
glutSwapBuffers();
}
void SoftDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
glFlush();
glutSwapBuffers();
}
//
// ImplicitShape
//
//
struct ImplicitSphere : btSoftBody::ImplicitFn
{
btVector3 center;
btScalar sqradius;
ImplicitSphere() {}
ImplicitSphere(const btVector3& c,btScalar r) : center(c),sqradius(r*r) {}
btScalar Eval(const btVector3& x)
{
return((x-center).length2()-sqradius);
}
};
//
// Tetra meshes
//
struct TetraBunny
{
#include "bunny.inl"
};
struct TetraCube
{
#include "cube.inl"
};
//
// Random
//
static inline btScalar UnitRand()
{
return(rand()/(btScalar)RAND_MAX);
}
static inline btScalar SignedUnitRand()
{
return(UnitRand()*2-1);
}
static inline btVector3 Vector3Rand()
{
const btVector3 p=btVector3(SignedUnitRand(),SignedUnitRand(),SignedUnitRand());
return(p.normalized());
}
//
// Rb rain
//
static void Ctor_RbUpStack(SoftDemo* pdemo,int count)
{
float mass=10;
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(4,1,1));
btCollisionShape* boxShape = new btBoxShape(btVector3(4,1,1));
btTransform localTransform;
localTransform.setIdentity();
cylinderCompound->addChildShape(localTransform,boxShape);
btQuaternion orn(SIMD_HALF_PI,0,0);
localTransform.setRotation(orn);
// localTransform.setOrigin(btVector3(1,1,1));
cylinderCompound->addChildShape(localTransform,cylinderShape);
btCollisionShape* shape[]={ cylinderCompound,
new btSphereShape(1.5),
new btBoxShape(btVector3(1,1,1))
};
static const int nshapes=sizeof(shape)/sizeof(shape[0]);
for(int i=0;i<count;++i)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2+6*i,0));
pdemo->localCreateRigidBody(mass,startTransform,shape[i%nshapes]);
}
}
//
// Big ball
//
static void Ctor_BigBall(SoftDemo* pdemo,btScalar mass=10)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,13,0));
pdemo->localCreateRigidBody(mass,startTransform,new btSphereShape(3));
}
//
// Big plate
//
static btRigidBody* Ctor_BigPlate(SoftDemo* pdemo,btScalar mass=15,btScalar height=4)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,height,0.5));
btRigidBody* body=pdemo->localCreateRigidBody(mass,startTransform,new btBoxShape(btVector3(5,1,5)));
body->setFriction(1);
return(body);
}
//
// Linear stair
//
static void Ctor_LinearStair(SoftDemo* pdemo,const btVector3& org,const btVector3& sizes,btScalar angle,int count)
{
btBoxShape* shape=new btBoxShape(sizes);
for(int i=0;i<count;++i)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(org+btVector3(sizes.x()*i*2,sizes.y()*i*2,0));
btRigidBody* body=pdemo->localCreateRigidBody(0,startTransform,shape);
body->setFriction(1);
}
}
//
// Softbox
//
static btSoftBody* Ctor_SoftBox(SoftDemo* pdemo,const btVector3& p,const btVector3& s)
{
const btVector3 h=s*0.5;
const btVector3 c[]={ p+h*btVector3(-1,-1,-1),
p+h*btVector3(+1,-1,-1),
p+h*btVector3(-1,+1,-1),
p+h*btVector3(+1,+1,-1),
p+h*btVector3(-1,-1,+1),
p+h*btVector3(+1,-1,+1),
p+h*btVector3(-1,+1,+1),
p+h*btVector3(+1,+1,+1)};
btSoftBody* psb=btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo,c,8);
psb->generateBendingConstraints(2);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
//
// SoftBoulder
//
static btSoftBody* Ctor_SoftBoulder(SoftDemo* pdemo,const btVector3& p,const btVector3& s,int np,int id)
{
btAlignedObjectArray<btVector3> pts;
if(id) srand(id);
for(int i=0;i<np;++i)
{
pts.push_back(Vector3Rand()*s+p);
}
btSoftBody* psb=btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo,&pts[0],pts.size());
psb->generateBendingConstraints(2);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
//#define TRACEDEMO { pdemo->demoname=__FUNCTION__+5;printf("Launching demo: " __FUNCTION__ "\r\n"); }
//
// Basic ropes
//
static void Init_Ropes(SoftDemo* pdemo)
{
//TRACEDEMO
const int n=15;
for(int i=0;i<n;++i)
{
btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, btVector3(-10,0,i*0.25),
btVector3(10,0,i*0.25),
16,
1+2);
psb->m_cfg.piterations = 4;
psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9;
psb->setTotalMass(20);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
}
//
// Rope attach
//
static void Init_RopeAttach(SoftDemo* pdemo)
{
//TRACEDEMO
pdemo->m_softBodyWorldInfo.m_sparsesdf.RemoveReferences(0);
struct Functors
{
static btSoftBody* CtorRope(SoftDemo* pdemo,const btVector3& p)
{
btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo,p,p+btVector3(10,0,0),8,1);
psb->setTotalMass(50);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
};
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(12,8,0));
btRigidBody* body=pdemo->localCreateRigidBody(50,startTransform,new btBoxShape(btVector3(2,6,2)));
btSoftBody* psb0=Functors::CtorRope(pdemo,btVector3(0,8,-1));
btSoftBody* psb1=Functors::CtorRope(pdemo,btVector3(0,8,+1));
psb0->appendAnchor(psb0->m_nodes.size()-1,body);
psb1->appendAnchor(psb1->m_nodes.size()-1,body);
}
//
// Cloth attach
//
static void Init_ClothAttach(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar s=4;
const btScalar h=6;
const int r=9;
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,btVector3(-s,h,-s),
btVector3(+s,h,-s),
btVector3(-s,h,+s),
btVector3(+s,h,+s),r,r,4+8,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,h,-(s+3.5)));
btRigidBody* body=pdemo->localCreateRigidBody(20,startTransform,new btBoxShape(btVector3(s,1,3)));
psb->appendAnchor(0,body);
psb->appendAnchor(r-1,body);
pdemo->m_cutting=true;
}
//
// Impact
//
static void Init_Impact(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, btVector3(0,0,0),
btVector3(0,-1,0),
0,
1);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->m_cfg.kCHR=0.5;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,20,0));
pdemo->localCreateRigidBody(10,startTransform,new btBoxShape(btVector3(2,2,2)));
}
//
// Collide
//
static void Init_Collide(SoftDemo* pdemo)
{
//TRACEDEMO
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.collisions|=btSoftBody::fCollision::VF_SS;
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);
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));
}
pdemo->m_cutting=true;
}
//
// Collide2
//
static void Init_Collide2(SoftDemo* pdemo)
{
//TRACEDEMO
struct Functor
{
static btSoftBody* Create(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 = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(a.x(),a.y(),a.z());
psb->transform(btTransform(m,x));
psb->scale(btVector3(6,6,6));
psb->setTotalMass(100,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
};
for(int i=0;i<3;++i)
{
Functor::Create(pdemo,btVector3(0,-1+5*i,0),btVector3(0,SIMD_PI/2*(i&1),0));
}
pdemo->m_cutting=true;
}
//
// Collide3
//
static void Init_Collide3(SoftDemo* pdemo)
{
//TRACEDEMO
{
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),
15,15,1+2+4+8,true);
psb->m_materials[0]->m_kLST = 0.4;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->setTotalMass(150);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
{
const btScalar s=4;
const btVector3 o=btVector3(5,10,0);
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,
btVector3(-s,0,-s)+o,
btVector3(+s,0,-s)+o,
btVector3(-s,0,+s)+o,
btVector3(+s,0,+s)+o,
7,7,0,true);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.1;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_materials[0]->m_kLST = 0.5;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->setTotalMass(150);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
pdemo->m_cutting=true;
}
}
//
// Aerodynamic forces, 50x1g flyers
//
static void Init_Aero(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar s=2;
const btScalar h=10;
const int segments=6;
const int count=50;
for(int i=0;i<count;++i)
{
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,btVector3(-s,h,-s),
btVector3(+s,h,-s),
btVector3(-s,h,+s),
btVector3(+s,h,+s),
segments,segments,
0,true);
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;
btTransform trs;
btQuaternion rot;
btVector3 ra=Vector3Rand()*0.1;
btVector3 rp=Vector3Rand()*15+btVector3(0,20,80);
rot.setEuler(SIMD_PI/8+ra.x(),-SIMD_PI/7+ra.y(),ra.z());
trs.setIdentity();
trs.setOrigin(rp);
trs.setRotation(rot);
psb->transform(trs);
psb->setTotalMass(0.1);
psb->addForce(btVector3(0,2,0),0);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
pdemo->m_autocam=true;
}
//
// Friction
//
static void Init_Friction(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar bs=2;
const btScalar ts=bs+bs/4;
for(int i=0,ni=20;i<ni;++i)
{
const btVector3 p(-ni*ts/2+i*ts,-10+bs,40);
btSoftBody* psb=Ctor_SoftBox(pdemo,p,btVector3(bs,bs,bs));
psb->m_cfg.kDF = 0.1 * ((i+1)/(btScalar)ni);
psb->addVelocity(btVector3(0,0,-10));
}
}
//
// Pressure
//
static void Init_Pressure(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,btVector3(35,25,0),
btVector3(1,1,1)*3,
512);
psb->m_materials[0]->m_kLST = 0.1;
psb->m_cfg.kDF = 1;
psb->m_cfg.kDP = 0.001; // fun factor...
psb->m_cfg.kPR = 2500;
psb->setTotalMass(30,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
Ctor_BigPlate(pdemo);
Ctor_LinearStair(pdemo,btVector3(0,0,0),btVector3(2,1,5),0,10);
pdemo->m_autocam=true;
}
//
// Volume conservation
//
static void Init_Volume(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,btVector3(35,25,0),
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);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
Ctor_BigPlate(pdemo);
Ctor_LinearStair(pdemo,btVector3(0,0,0),btVector3(2,1,5),0,10);
pdemo->m_autocam=true;
}
//
// Stick+Bending+Rb's
//
static void Init_Sticks(SoftDemo* pdemo)
{
//TRACEDEMO
const int n=16;
const int sg=4;
const btScalar sz=5;
const btScalar hg=4;
const btScalar in=1/(btScalar)(n-1);
for(int y=0;y<n;++y)
{
for(int x=0;x<n;++x)
{
const btVector3 org(-sz+sz*2*x*in,
-10,
-sz+sz*2*y*in);
btSoftBody* psb=btSoftBodyHelpers::CreateRope( pdemo->m_softBodyWorldInfo, org,
org+btVector3(hg*0.001,hg,0),
sg,
1);
psb->m_cfg.kDP = 0.005;
psb->m_cfg.kCHR = 0.1;
for(int i=0;i<3;++i)
{
psb->generateBendingConstraints(2+i);
}
psb->setMass(1,0);
psb->setTotalMass(0.01);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
}
Ctor_BigBall(pdemo);
}
//
// Bending
//
static void Init_Bending(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar s=4;
const btVector3 x[]={ btVector3(-s,0,-s),
btVector3(+s,0,-s),
btVector3(+s,0,+s),
btVector3(-s,0,+s)};
const btScalar m[]={ 0,0,0,1};
btSoftBody* psb=new btSoftBody(&pdemo->m_softBodyWorldInfo,4,x,m);
psb->appendLink(0,1);
psb->appendLink(1,2);
psb->appendLink(2,3);
psb->appendLink(3,0);
psb->appendLink(0,2);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
//
// 100kg cloth locked at corners, 10 falling 10kg rb's.
//
static void Init_Cloth(SoftDemo* pdemo)
{
//TRACEDEMO
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,
// 31,31,
1+2+4+8,true);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.4;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->setTotalMass(150);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
Ctor_RbUpStack(pdemo,10);
pdemo->m_cutting=true;
}
//
// 100kg Stanford's bunny
//
static void Init_Bunny(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->scale(btVector3(6,6,6));
psb->setTotalMass(100,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
pdemo->m_cutting=true;
}
//
// 100kg Stanford's bunny with pose matching
//
static void Init_BunnyMatch(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
psb->m_cfg.kDF = 0.5;
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(false,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
//
// 50Kg Torus
//
static void Init_Torus(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh( pdemo->m_softBodyWorldInfo, gVertices,
&gIndices[0][0],
NUM_TRIANGLES);
psb->generateBendingConstraints(2);
psb->m_cfg.piterations=2;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(SIMD_PI/2,0,0);
psb->transform(btTransform(m,btVector3(0,4,0)));
psb->scale(btVector3(2,2,2));
psb->setTotalMass(50,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
pdemo->m_cutting=true;
}
//
// 50Kg Torus with pose matching
//
static void Init_TorusMatch(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVertices,
&gIndices[0][0],
NUM_TRIANGLES);
psb->m_materials[0]->m_kLST = 0.1;
psb->m_cfg.kMT = 0.05;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(SIMD_PI/2,0,0);
psb->transform(btTransform(m,btVector3(0,4,0)));
psb->scale(btVector3(2,2,2));
psb->setTotalMass(50,true);
psb->setPose(false,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
//
// Cutting1
//
static void Init_Cutting1(SoftDemo* pdemo)
{
const btScalar s=6;
const btScalar h=2;
const int r=16;
const btVector3 p[]={ btVector3(+s,h,-s),
btVector3(-s,h,-s),
btVector3(+s,h,+s),
btVector3(-s,h,+s)};
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,p[0],p[1],p[2],p[3],r,r,1+2+4+8,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->m_cfg.piterations=1;
pdemo->m_cutting=true;
}
//
// 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);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations=2;
psb->m_cfg.kDF =1;
psb->m_cfg.kSSHR_CL =1;
psb->m_cfg.kSS_SPLT_CL =0;
psb->m_cfg.kSKHR_CL =0.1f;
psb->m_cfg.kSK_SPLT_CL =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(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()
{
DemoApplication::clientResetScene();
/* Clean up */
for(int i=m_dynamicsWorld->getNumCollisionObjects()-1;i>0;i--)
{
btCollisionObject* obj=m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body=btRigidBody::upcast(obj);
if(body&&body->getMotionState())
{
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)
{
getSoftDynamicsWorld()->removeSoftBody(softBody);
} else
{
m_dynamicsWorld->removeCollisionObject(obj);
}
delete obj;
}
m_softBodyWorldInfo.m_sparsesdf.Reset();
/* Init */
void (*demofncs[])(SoftDemo*)=
{
Init_Cloth,
Init_Pressure,
Init_Volume,
Init_Ropes,
Init_RopeAttach,
Init_ClothAttach,
Init_Sticks,
Init_Collide,
Init_Collide2,
Init_Collide3,
Init_Impact,
Init_Aero,
Init_Friction,
Init_Torus,
Init_TorusMatch,
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;
m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
m_autocam = false;
m_raycast = false;
m_cutting = false;
m_results.time = SIMD_INFINITY;
demofncs[current_demo](this);
}
void SoftDemo::renderme()
{
btIDebugDraw* idraw=m_dynamicsWorld->getDebugDrawer();
m_dynamicsWorld->debugDrawWorld();
/* Bodies */
btVector3 ps(0,0,0);
int nps=0;
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
for(int ib=0;ib<sbs.size();++ib)
{
btSoftBody* psb=sbs[ib];
nps+=psb->m_nodes.size();
for(int i=0;i<psb->m_nodes.size();++i)
{
ps+=psb->m_nodes[i].m_x;
}
}
ps/=nps;
if(m_autocam)
m_cameraTargetPosition+=(ps-m_cameraTargetPosition)*0.05;
else
m_cameraTargetPosition=btVector3(0,0,0);
/* Anm */
if(!isIdle())
m_animtime=m_clock.getTimeMilliseconds()/1000.f;
/* Ray cast */
if(m_raycast)
{
/* Prepare rays */
const int res=64;
const btScalar fres=res-1;
const btScalar size=8;
const btScalar dist=10;
btTransform trs;
trs.setOrigin(ps);
const btScalar angle=m_animtime*0.2;
trs.setRotation(btQuaternion(angle,SIMD_PI/4,0));
const btVector3 dir=trs.getBasis()*btVector3(0,-1,0);
trs.setOrigin(ps-dir*dist);
btAlignedObjectArray<btVector3> origins;
btAlignedObjectArray<btScalar> times;
origins.resize(res*res);
times.resize(res*res,SIMD_INFINITY);
for(int y=0;y<res;++y)
{
for(int x=0;x<res;++x)
{
const int idx=y*res+x;
origins[idx]=trs*btVector3(-size+size*2*x/fres,dist,-size+size*2*y/fres);
}
}
/* Cast rays */
{
m_clock.reset();
const btVector3* org=&origins[0];
btScalar* mint=&times[0];
btSoftBody** psbs=&sbs[0];
btSoftBody::sRayCast results;
for(int i=0,ni=origins.size(),nb=sbs.size();i<ni;++i)
{
for(int ib=0;ib<nb;++ib)
{
if(psbs[ib]->rayCast(*org,dir,results,*mint))
{
*mint=results.time;
}
}
++org;++mint;
}
long ms=btMax<long>(m_clock.getTimeMilliseconds(),1);
long rayperseconds=(1000*(origins.size()*sbs.size()))/ms;
printf("%d ms (%d rays/s)\r\n",ms,rayperseconds);
}
/* Draw rays */
const btVector3 c[]={ origins[0],
origins[res-1],
origins[res*(res-1)],
origins[res*(res-1)+res-1]};
idraw->drawLine(c[0],c[1],btVector3(0,0,0));
idraw->drawLine(c[1],c[3],btVector3(0,0,0));
idraw->drawLine(c[3],c[2],btVector3(0,0,0));
idraw->drawLine(c[2],c[0],btVector3(0,0,0));
for(int i=0,ni=origins.size();i<ni;++i)
{
const btScalar tim=times[i];
const btVector3& org=origins[i];
if(tim<SIMD_INFINITY)
{
idraw->drawLine(org,org+dir*tim,btVector3(1,0,0));
}
else
{
idraw->drawLine(org,org-dir*0.1,btVector3(0,0,0));
}
}
#undef RES
}
/* Water level */
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
if(m_softBodyWorldInfo.water_density>0)
{
const btVector3 c= btVector3((btScalar)0.25,(btScalar)0.25,1);
const btScalar a= (btScalar)0.5;
const btVector3 n= m_softBodyWorldInfo.water_normal;
const btVector3 o= -n*m_softBodyWorldInfo.water_offset;
const btVector3 x= cross(n,axis[n.minAxis()]).normalized();
const btVector3 y= cross(x,n).normalized();
const btScalar s= 25;
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();
}
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 'l': steercontrol_f.angle+=0.1;steercontrol_r.angle+=0.1;break;
case 'k': 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();
for(int ib=0;ib<sbs.size();++ib)
{
btSoftBody* psb=sbs[ib];
psb->staticSolve(128);
}
}
break;
default: DemoApplication::keyboardCallback(key,x,y);
}
}
//
void SoftDemo::mouseMotionFunc(int x,int y)
{
if(m_node&&(m_results.time<SIMD_INFINITY))
{
if(!m_drag)
{
#define SQ(_x_) (_x_)*(_x_)
if((SQ(x-m_lastmousepos[0])+SQ(y-m_lastmousepos[1]))>6)
{
m_drag=true;
}
#undef SQ
}
if(m_drag)
{
m_lastmousepos[0] = x;
m_lastmousepos[1] = y;
}
}
else
{
DemoApplication::mouseMotionFunc(x,y);
}
}
//
void SoftDemo::mouseFunc(int button, int state, int x, int y)
{
if(button==0)
{
switch(state)
{
case 0:
{
m_results.time=SIMD_INFINITY;
DemoApplication::mouseFunc(button,state,x,y);
if(!m_pickConstraint)
{
const btVector3 rayFrom=m_cameraPosition;
const btVector3 rayTo=getRayTo(x,y);
const btVector3 rayDir=(rayTo-rayFrom).normalized();
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
for(int ib=0;ib<sbs.size();++ib)
{
btSoftBody* psb=sbs[ib];
btSoftBody::sRayCast res;
if(psb->rayCast(rayFrom,rayDir,res,m_results.time))
{
m_results=res;
}
}
if(m_results.time<SIMD_INFINITY)
{
m_impact = rayFrom+rayDir*m_results.time;
m_drag = false;
m_lastmousepos[0] = x;
m_lastmousepos[1] = y;
m_node = 0;
switch(m_results.feature)
{
case btSoftBody::eFeature::Face:
{
btSoftBody::Face& f=m_results.body->m_faces[m_results.index];
m_node=f.m_n[0];
for(int i=1;i<3;++i)
{
if( (m_node->m_x-m_impact).length2()>
(f.m_n[i]->m_x-m_impact).length2())
{
m_node=f.m_n[i];
}
}
}
break;
}
if(m_node) m_goal=m_node->m_x;
return;
}
}
}
break;
case 1:
if((!m_drag)&&m_cutting&&(m_results.time<SIMD_INFINITY))
{
ImplicitSphere isphere(m_impact,1);
printf("Mass before: %f\r\n",m_results.body->getTotalMass());
m_results.body->refine(&isphere,0.0001,true);
printf("Mass after: %f\r\n",m_results.body->getTotalMass());
}
m_results.time=SIMD_INFINITY;
m_drag=false;
DemoApplication::mouseFunc(button,state,x,y);
break;
}
}
else
{
DemoApplication::mouseFunc(button,state,x,y);
}
}
void SoftDemo::initPhysics()
{
///create concave ground mesh
btCollisionShape* groundShape = 0;
bool useConcaveMesh = false;//not ready yet true;
if (useConcaveMesh)
{
int i;
int j;
const int NUM_VERTS_X = 30;
const int NUM_VERTS_Y = 30;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
gGroundVertices = new btVector3[totalVerts];
gGroundIndices = new int[totalTriangles*3];
btScalar offset(-50);
for ( i=0;i<NUM_VERTS_X;i++)
{
for (j=0;j<NUM_VERTS_Y;j++)
{
gGroundVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gGroundIndices[index++] = j*NUM_VERTS_X+i;
gGroundIndices[index++] = j*NUM_VERTS_X+i+1;
gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gGroundIndices[index++] = j*NUM_VERTS_X+i;
gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gGroundIndices,
indexStride,
totalVerts,(btScalar*) &gGroundVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
groundShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
} else
{
groundShape = new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200));
}
m_collisionShapes.push_back(groundShape);
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
btTransform localTransform;
localTransform.setIdentity();
cylinderCompound->addChildShape(localTransform,cylinderShape);
btQuaternion orn(btVector3(0,1,0),SIMD_PI);
localTransform.setRotation(orn);
cylinderCompound->addChildShape(localTransform,cylinderShape);
m_collisionShapes.push_back(cylinderCompound);
m_dispatcher=0;
///register some softbody collision algorithms on top of the default btDefaultCollisionConfiguration
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_softBodyWorldInfo.m_dispatcher = m_dispatcher;
////////////////////////////
///Register softbody versus softbody collision algorithm
///Register softbody versus rigidbody collision algorithm
////////////////////////////
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
m_softBodyWorldInfo.m_broadphase = m_broadphase;
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_solver = solver;
btDiscreteDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = world;
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-12,0));
localCreateRigidBody(0.f,tr,m_collisionShapes[0]);
// clientResetScene();
m_softBodyWorldInfo.m_sparsesdf.Initialize();
clientResetScene();
}
void SoftDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
m_collisionShapes[j] = 0;
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}
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