d4698cb3d5
Added very basic drawTriangle for btIDebugDraw, useful for basic softbody visualization. Added btGjkEpa2, contribution by Nathanael Presson. Improved version of EPA penetration depth computation, more suitable for multi-core/SPU (less memory usage). Note: btGjkEpa2 is not enabled by default currently.
117 lines
3.3 KiB
C++
117 lines
3.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///btSoftBody implementation by Nathanael Presson
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#ifndef SOFT_DEMO_H
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#define SOFT_DEMO_H
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#include "DemoApplication.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "BulletDynamics/SoftBody/btSoftBody.h"
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#include "BulletDynamics/SoftBody/btSparseSDF.h"
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class btBroadphaseInterface;
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class btCollisionShape;
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class btOverlappingPairCache;
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class btCollisionDispatcher;
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class btConstraintSolver;
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struct btCollisionAlgorithmCreateFunc;
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class btDefaultCollisionConfiguration;
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///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
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class SoftDemo : public DemoApplication
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{
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public:
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struct SoftBodyImpl : btSoftBody::ISoftBody
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{
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void Attach(btSoftBody*);
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void Detach(btSoftBody*);
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void StartCollide(const btVector3&,const btVector3&);
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bool CheckContactPrecise(const btVector3&,
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btSoftBody::ISoftBody::sCti&);
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bool CheckContact( const btVector3&,
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btSoftBody::ISoftBody::sCti&);
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void EndCollide();
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void EvaluateMedium( const btVector3&,
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btSoftBody::ISoftBody::sMedium&);
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SoftDemo* pdemo;
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btScalar air_density;
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btScalar water_density;
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btScalar water_offset;
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btVector3 water_normal;
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} m_softbodyimpl;
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btAlignedObjectArray<btSoftBody*> m_softbodies;
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btSparseSdf<3> m_sparsesdf;
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bool m_autocam;
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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#ifdef USE_PARALLEL_DISPATCHER
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#ifdef WIN32
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class Win32ThreadSupport* m_threadSupportCollision;
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class Win32ThreadSupport* m_threadSupportSolver;
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#endif
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#endif
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btConstraintSolver* m_solver;
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btCollisionAlgorithmCreateFunc* m_boxBoxCF;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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public:
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void initPhysics();
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void exitPhysics();
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virtual ~SoftDemo()
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{
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exitPhysics();
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}
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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void createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos );
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static DemoApplication* Create()
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{
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SoftDemo* demo = new SoftDemo;
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demo->myinit();
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demo->initPhysics();
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return demo;
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}
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//
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void clientResetScene();
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void renderme();
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void keyboardCallback(unsigned char key, int x, int y);
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};
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#endif //CCD_PHYSICS_DEMO_H
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