2016-05-06 22:07:54 +00:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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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 "SimpleCloth.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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struct SimpleClothExample : public CommonRigidBodyBase
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{
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SimpleClothExample(struct GUIHelperInterface* helper)
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:CommonRigidBodyBase(helper)
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{
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}
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virtual ~SimpleClothExample(){}
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virtual void initPhysics();
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virtual void renderScene();
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void createEmptyDynamicsWorld()
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{
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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m_solver = new btSequentialImpulseConstraintSolver;
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m_dynamicsWorld = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
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softBodyWorldInfo.m_broadphase = m_broadphase;
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softBodyWorldInfo.m_dispatcher = m_dispatcher;
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softBodyWorldInfo.m_gravity = m_dynamicsWorld->getGravity();
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softBodyWorldInfo.m_sparsesdf.Initialize();
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}
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virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld()
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{
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///just make it a btSoftRigidDynamicsWorld please
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///or we will add type checking
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return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
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}
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void resetCamera()
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{
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float dist = 41;
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2017-06-01 22:30:37 +00:00
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float pitch = -35;
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float yaw = 52;
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2016-05-06 22:07:54 +00:00
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float targetPos[3]={0,0.46,0};
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2017-06-01 22:30:37 +00:00
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m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
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2016-05-06 22:07:54 +00:00
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}
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void createSoftBody(const btScalar size, const int num_x, const int num_z, const int fixed=1+2);
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btSoftBodyWorldInfo softBodyWorldInfo;
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};
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void SimpleClothExample::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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createEmptyDynamicsWorld();
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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if (m_dynamicsWorld->getDebugDrawer())
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
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///create a few basic rigid bodies
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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{
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btScalar mass(0.);
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createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
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}
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{
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const btScalar s=4; //size of cloth patch
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const int NUM_X=31; //vertices on X axis
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const int NUM_Z=31; //vertices on Z axis
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createSoftBody(s,NUM_X, NUM_Z);
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void SimpleClothExample::createSoftBody(const btScalar s,
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const int numX,
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const int numY,
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const int fixed) {
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btSoftBody* cloth=btSoftBodyHelpers::CreatePatch(softBodyWorldInfo,
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btVector3(-s/2,s+1,0),
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btVector3(+s/2,s+1,0),
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btVector3(-s/2,s+1,+s),
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btVector3(+s/2,s+1,+s),
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numX,numY,
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fixed,true);
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cloth->getCollisionShape()->setMargin(0.001f);
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cloth->generateBendingConstraints(2,cloth->appendMaterial());
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cloth->setTotalMass(10);
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//cloth->m_cfg.citerations = 10;
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// cloth->m_cfg.diterations = 10;
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cloth->m_cfg.piterations = 5;
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cloth->m_cfg.kDP = 0.005f;
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getSoftDynamicsWorld()->addSoftBody(cloth);
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}
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void SimpleClothExample::renderScene()
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{
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CommonRigidBodyBase::renderScene();
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btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
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for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
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{
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btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
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//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
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{
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btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
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}
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}
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}
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CommonExampleInterface* ET_SimpleClothCreateFunc(CommonExampleOptions& options)
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{
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return new SimpleClothExample(options.m_guiHelper);
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}
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