c4ad354ac0
http://code.google.com/p/bullet/issues/detail?id=250 Added missing files for Maya Dynamica plugin Thanks Herbert Law for the patch, and damrit and others for the report http://code.google.com/p/bullet/issues/detail?id=231 Fix btQuaternion shortestArcQuat, thanks Stan Melax for original fix and shogun for reminder http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1989 Implemented btDiscreteDynamicsWorld::removeCollisionObject (and btSoftBodyDynamicsWorld) to avoid crashes. Thanks Jacob Langford for bringing that up. Minor sphere-debug drawing issue (spheres were drawn inside-out (wrong face winding)
152 lines
4.1 KiB
C++
152 lines
4.1 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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#include "btSoftRigidDynamicsWorld.h"
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#include "LinearMath/btQuickprof.h"
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//softbody & helpers
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#include "btSoftBody.h"
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#include "btSoftBodyHelpers.h"
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btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
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:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
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{
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m_drawFlags = fDrawFlags::Std;
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m_drawNodeTree = true;
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m_drawFaceTree = false;
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m_drawClusterTree = false;
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m_sbi.m_broadphase = pairCache;
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m_sbi.m_dispatcher = dispatcher;
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m_sbi.m_sparsesdf.Initialize();
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m_sbi.m_sparsesdf.Reset();
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}
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btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
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{
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}
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void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
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{
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btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
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for ( int i=0;i<m_softBodies.size();++i)
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{
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btSoftBody* psb= m_softBodies[i];
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psb->predictMotion(timeStep);
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}
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}
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void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
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{
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btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
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///solve soft bodies constraints
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solveSoftBodiesConstraints();
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//self collisions
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for ( int i=0;i<m_softBodies.size();i++)
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{
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btSoftBody* psb=(btSoftBody*)m_softBodies[i];
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psb->defaultCollisionHandler(psb);
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}
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///update soft bodies
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updateSoftBodies();
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}
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void btSoftRigidDynamicsWorld::updateSoftBodies()
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{
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BT_PROFILE("updateSoftBodies");
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for ( int i=0;i<m_softBodies.size();i++)
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{
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btSoftBody* psb=(btSoftBody*)m_softBodies[i];
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psb->integrateMotion();
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}
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}
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void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
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{
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BT_PROFILE("solveSoftConstraints");
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if(m_softBodies.size())
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{
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btSoftBody::solveClusters(m_softBodies);
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}
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for(int i=0;i<m_softBodies.size();++i)
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{
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btSoftBody* psb=(btSoftBody*)m_softBodies[i];
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psb->solveConstraints();
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}
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}
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void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body)
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{
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m_softBodies.push_back(body);
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btCollisionWorld::addCollisionObject(body,
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btBroadphaseProxy::DefaultFilter,
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btBroadphaseProxy::AllFilter);
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}
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void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
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{
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m_softBodies.remove(body);
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btCollisionWorld::removeCollisionObject(body);
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}
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void btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
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{
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btSoftBody* body = btSoftBody::upcast(collisionObject);
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if (body)
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removeSoftBody(body);
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else
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btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
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}
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void btSoftRigidDynamicsWorld::debugDrawWorld()
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{
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btDiscreteDynamicsWorld::debugDrawWorld();
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if (getDebugDrawer())
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{
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int i;
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for ( i=0;i<this->m_softBodies.size();i++)
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{
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btSoftBody* psb=(btSoftBody*)this->m_softBodies[i];
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btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
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btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags);
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if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
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{
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if(m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
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if(m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
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if(m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer);
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}
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}
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}
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}
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