5be9f8f301
currently self-collision is always enabled for soft bodies that use clusters collision detectoin. to disable, call 'softbody.m_clusterConnectivity.clear' after 'generateClusters(...) call.
143 lines
3.8 KiB
C++
143 lines
3.8 KiB
C++
/*
|
|
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.
|
|
*/
|
|
|
|
|
|
#include "btSoftRigidDynamicsWorld.h"
|
|
#include "LinearMath/btQuickprof.h"
|
|
|
|
//softbody & helpers
|
|
#include "btSoftBody.h"
|
|
#include "btSoftBodyHelpers.h"
|
|
|
|
|
|
|
|
|
|
|
|
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
|
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
|
|
{
|
|
m_drawFlags = fDrawFlags::Std;
|
|
m_drawNodeTree = true;
|
|
m_drawFaceTree = false;
|
|
m_drawClusterTree = false;
|
|
m_sbi.m_broadphase = pairCache;
|
|
m_sbi.m_dispatcher = dispatcher;
|
|
m_sbi.m_sparsesdf.Initialize();
|
|
m_sbi.m_sparsesdf.Reset();
|
|
|
|
}
|
|
|
|
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
|
|
{
|
|
|
|
}
|
|
|
|
void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
|
{
|
|
btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
|
|
|
|
for ( int i=0;i<m_softBodies.size();++i)
|
|
{
|
|
btSoftBody* psb= m_softBodies[i];
|
|
|
|
psb->predictMotion(timeStep);
|
|
}
|
|
}
|
|
|
|
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
|
|
{
|
|
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
|
|
|
|
///solve soft bodies constraints
|
|
solveSoftBodiesConstraints();
|
|
|
|
//self collisions
|
|
for ( int i=0;i<m_softBodies.size();i++)
|
|
{
|
|
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
|
psb->defaultCollisionHandler(psb);
|
|
}
|
|
|
|
///update soft bodies
|
|
updateSoftBodies();
|
|
|
|
}
|
|
|
|
void btSoftRigidDynamicsWorld::updateSoftBodies()
|
|
{
|
|
BT_PROFILE("updateSoftBodies");
|
|
|
|
for ( int i=0;i<m_softBodies.size();i++)
|
|
{
|
|
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
|
psb->integrateMotion();
|
|
}
|
|
}
|
|
|
|
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
|
|
{
|
|
BT_PROFILE("solveSoftConstraints");
|
|
|
|
if(m_softBodies.size())
|
|
{
|
|
btSoftBody::solveClusters(m_softBodies);
|
|
}
|
|
|
|
for(int i=0;i<m_softBodies.size();++i)
|
|
{
|
|
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
|
psb->solveConstraints();
|
|
}
|
|
}
|
|
|
|
void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body)
|
|
{
|
|
m_softBodies.push_back(body);
|
|
|
|
btCollisionWorld::addCollisionObject(body,
|
|
btBroadphaseProxy::DefaultFilter,
|
|
btBroadphaseProxy::AllFilter);
|
|
|
|
}
|
|
|
|
void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
|
|
{
|
|
m_softBodies.remove(body);
|
|
|
|
btCollisionWorld::removeCollisionObject(body);
|
|
}
|
|
|
|
void btSoftRigidDynamicsWorld::debugDrawWorld()
|
|
{
|
|
btDiscreteDynamicsWorld::debugDrawWorld();
|
|
|
|
if (getDebugDrawer())
|
|
{
|
|
int i;
|
|
for ( i=0;i<this->m_softBodies.size();i++)
|
|
{
|
|
btSoftBody* psb=(btSoftBody*)this->m_softBodies[i];
|
|
btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
|
|
btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags);
|
|
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
|
|
{
|
|
if(m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
|
|
if(m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
|
|
if(m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer);
|
|
}
|
|
}
|
|
}
|
|
}
|