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Code Issues Releases Wiki Activity

add m_splitImpulseTurnErp solver setting, initialized to 0.1: more stable recovery from deeper penetrations by reducing the angular effect (if split impulse is enabled)

Browse Source 
Set it to 1.0 to disable the effect.
removed broken/not maintained heightfield fluid demo
add some API methods to btPersistentManifold
This commit is contained in:
erwin.coumans 2012-09-03 04:38:08 +00:00
parent c1138535f9
commit 196aa20329
25 changed files with 26 additions and 4888 deletions
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2
Demos/CMakeLists.txt
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@ -13,7 +13,7 @@ IF (USE_GLUT)
OpenGL AllBulletDemos ConvexDecompositionDemo OpenGL AllBulletDemos ConvexDecompositionDemo
CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
RagdollDemo ForkLiftDemo BasicDemo VoronoiFractureDemo FractureDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo RagdollDemo ForkLiftDemo BasicDemo VoronoiFractureDemo FractureDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
UserCollisionAlgorithm CharacterDemo SoftDemo HeightFieldFluidDemo UserCollisionAlgorithm CharacterDemo SoftDemo
CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo
ConvexHullDistance ConvexHullDistance
DoublePrecisionDemo ConcaveDemo CollisionDemo DoublePrecisionDemo ConcaveDemo CollisionDemo

1045
Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.cpp
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File diff suppressed because it is too large Load Diff

243
Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.h
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@ -1,243 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#ifndef __HFFLUID_H
#define __HFFLUID_H
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
class btPersistentManifold;
class btManifoldResult;
// FIX AABB calculation for whole btHfFluid shape
// Fix flags and fill ratio
// -> Figure out the constants used in flags and fill ratio code
// Fix volume removal
// add buoyant convex vs. convex / concave
// add buoyant concave support (try bunny model)
///experimental buyancy fluid demo
class btHfFluid : public btCollisionObject
{
public:
btHfFluid (btScalar gridCellWidth, int numNodesWidth, int numNodesLength);
~btHfFluid ();
void predictMotion(btScalar dt);
/* Prep does some initial setup of the height field fluid.
* You should call this at initialization time.
*/
void prep ();
static const btHfFluid* upcast(const btCollisionObject* colObj)
{
if (colObj->getInternalType()==CO_HF_FLUID)
return (const btHfFluid*)colObj;
return 0;
}
static btHfFluid* upcast(btCollisionObject* colObj)
{
if (colObj->getInternalType()==CO_HF_FLUID)
return (btHfFluid*)colObj;
return 0;
}
//
// ::btCollisionObject
//
virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin = m_aabbMin;
aabbMax = m_aabbMax;
}
int getNumNodesWidth () const { return m_numNodesWidth; }
int getNumNodesLength () const { return m_numNodesLength; }
btScalar getGridCellWidth () const { return m_gridCellWidth; }
btScalar widthPos (int i) const;
btScalar lengthPos (int j) const;
int arrayIndex (int i, int j) const;
int arrayIndex (btScalar i, btScalar j) const;
int arrayIndex (unsigned int i, unsigned int j) const;
const btScalar* getHeightArray () const;
const btScalar* getGroundArray () const;
const btScalar* getEtaArray () const;
const btScalar* getVelocityUArray () const;
const btScalar* getVelocityVArray () const;
const bool* getFlagsArray () const;
void setFluidHeight (int x, int y, btScalar height);
void setFluidHeight (int index, btScalar height);
void addFluidHeight (int x, int y, btScalar height);
void addDisplaced (int i, int j, btScalar r);
void getAabbForColumn (int x, int y, btVector3& aabbMin, btVector3& aabbMax);
btScalar* getHeightArray ();
btScalar* getGroundArray ();
btScalar* getEtaArray ();
btScalar* getVelocityUArray ();
btScalar* getVelocityVArray ();
bool* getFlagsArray ();
void foreachGroundTriangle(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax);
class btHfFluidColumnCallback
{
public:
btHfFluidColumnCallback () {}
virtual ~btHfFluidColumnCallback () {}
virtual bool processColumn (btHfFluid* fluid, int w, int l)
{
return true; // keep going
}
};
void foreachFluidColumn (btHfFluidColumnCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
void foreachSurfaceTriangle (btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
protected:
int m_numNodesWidth;
int m_numNodesLength;
btScalar m_gridCellWidth;
btScalar m_gridWidth;
btScalar m_gridLength;
btScalar m_gridCellWidthInv;
btVector3 m_aabbMin;
btVector3 m_aabbMax;
void setGridDimensions (btScalar gridCellWidth,
int numNodesWidth, int numNodesLength);
btScalar bilinearInterpolate (const btScalar* array, btScalar i, btScalar j);
btScalar advect (const btScalar* array, btScalar i, btScalar j, btScalar di, btScalar dj, btScalar dt);
void advectEta (btScalar dt);
void updateHeight (btScalar dt);
void advectVelocityU (btScalar dt);
void advectVelocityV (btScalar dt);
void updateVelocity (btScalar dt);
void transferDisplaced (btScalar dt);
void setReflectBoundaryLeft ();
void setReflectBoundaryRight ();
void setReflectBoundaryTop ();
void setReflectBoundaryBottom ();
void setAbsorbBoundaryLeft (btScalar dt);
void setAbsorbBoundaryRight (btScalar dt);
void setAbsorbBoundaryTop (btScalar dt);
void setAbsorbBoundaryBottom (btScalar dt);
void computeFlagsAndFillRatio ();
btScalar computeHmin (int i, int j);
btScalar computeHmax (int i, int j);
btScalar computeEtaMax (int i, int j);
void allocateArrays ();
void debugTests ();
btScalar* m_temp; // temp
int m_heightIndex;
btScalar* m_height[2];
btScalar* m_ground;
btScalar* m_eta; // height - ground
btScalar* m_u[2];
btScalar* m_v[2];
int m_rIndex;
btScalar* m_r[2];
int m_velocityIndex;
bool* m_flags;
btScalar* m_fillRatio;
// tweakables
btScalar m_globalVelocityU;
btScalar m_globalVelocityV;
btScalar m_gravity;
btScalar m_volumeDisplacementScale;
btScalar m_horizontalVelocityScale;
btScalar m_epsHeight;
btScalar m_epsEta;
public:
// You can enforce a global velocity at the surface of the fluid
// default: 0.0 and 0.0
void setGlobaVelocity (btScalar globalVelocityU, btScalar globalVelocityV);
void getGlobalVelocity (btScalar& globalVelocityU, btScalar& globalVelocityV) const;
// Control force of gravity, should match physics world
// default: -10.0
void setGravity (btScalar gravity);
btScalar getGravity () const;
// When a body is submerged into the fluid, the displaced fluid
// is spread to adjacent cells. You can control the percentage of this
// by setting this value between 0.0 and 1.0
// default: 0.5
void setVolumeDisplacementScale (btScalar volumeDisplacementScale);
btScalar getVolumeDisplacementScale () const;
// The horizontal velocity of the fluid can influence bodies submerged
// in the fluid. You can control how much influence by setting this
// between 0.0 and 1.0
// default: 0.5
void setHorizontalVelocityScale (btScalar horizontalVelocityScale);
btScalar getHorizontalVelocityScale () const;
};
class btRigidBody;
class btIDebugDraw;
class btHfFluidBuoyantConvexShape;
class btHfFluidColumnRigidBodyCallback : public btHfFluid::btHfFluidColumnCallback
{
protected:
btRigidBody* m_rigidBody;
btHfFluidBuoyantConvexShape* m_buoyantShape;
btIDebugDraw* m_debugDraw;
int m_numVoxels;
btVector3* m_voxelPositionsXformed;
bool* m_voxelSubmerged;
btVector3 m_aabbMin;
btVector3 m_aabbMax;
btScalar m_volume;
btScalar m_density;
btScalar m_floatyness;
public:
btHfFluidColumnRigidBodyCallback (btRigidBody* rigidBody, btIDebugDraw* debugDraw, btScalar density, btScalar floatyness);
~btHfFluidColumnRigidBodyCallback ();
bool processColumn (btHfFluid* fluid, int w, int l);
btScalar getVolume () const { return m_volume; }
};
#endif

195
Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.cpp
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@ -1,195 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#include <stdio.h>
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "btHfFluidBuoyantConvexShape.h"
btHfFluidBuoyantConvexShape::btHfFluidBuoyantConvexShape (btConvexShape* convexShape)
{
m_convexShape = convexShape;
m_shapeType = HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE;
m_radius = btScalar(0.f);
m_numVoxels = 0;
m_voxelPositions = NULL;
m_totalVolume = btScalar(0.0f);
m_floatyness = btScalar(1.5f);
}
btHfFluidBuoyantConvexShape::~btHfFluidBuoyantConvexShape ()
{
if (m_voxelPositions)
btAlignedFree (m_voxelPositions);
}
void btHfFluidBuoyantConvexShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
return m_convexShape->getAabb (t, aabbMin, aabbMax);
}
void btHfFluidBuoyantConvexShape::setMargin(btScalar margin)
{
m_convexShape->setMargin (margin);
}
void btHfFluidBuoyantConvexShape::setLocalScaling(const btVector3& scaling)
{
m_convexShape->setLocalScaling (scaling);
}
const char* btHfFluidBuoyantConvexShape::getName() const
{
return "HF_FLUID_BUOYANT_CONVEX_SHAPE";
}
const btVector3& btHfFluidBuoyantConvexShape::getLocalScaling() const
{
return m_convexShape->getLocalScaling();
}
void btHfFluidBuoyantConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
m_convexShape->calculateLocalInertia (mass, inertia);
}
btScalar btHfFluidBuoyantConvexShape::getMargin() const
{
return m_convexShape->getMargin();
}
//must be above the machine epsilon
#define REL_ERROR2 btScalar(1.0e-6)
static bool intersect(btVoronoiSimplexSolver* simplexSolver,
const btTransform& transformA,
const btTransform& transformB,
btConvexShape* a,
btConvexShape* b)
{
btScalar squaredDistance = SIMD_INFINITY;
btTransform localTransA = transformA;
btTransform localTransB = transformB;
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
btScalar delta = btScalar(0.);
btVector3 v = btVector3(1.0f, 0.0f, 0.0f);
simplexSolver->reset ();
do
{
btVector3 seperatingAxisInA = (-v)* transformA.getBasis();
btVector3 seperatingAxisInB = v* transformB.getBasis();
btVector3 pInA = a->localGetSupportVertexNonVirtual(seperatingAxisInA);
btVector3 qInB = b->localGetSupportVertexNonVirtual(seperatingAxisInB);
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
btVector3 w = pWorld - qWorld;
delta = v.dot(w);
// potential exit, they don't overlap
if ((delta > btScalar(0.0)))
{
return false;
}
if (simplexSolver->inSimplex (w))
{
return false;
}
simplexSolver->addVertex (w, pWorld, qWorld);
if (!simplexSolver->closest(v))
{
return false;
}
btScalar previousSquaredDistance = squaredDistance;
squaredDistance = v.length2();
if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
{
return false;
}
} while (!simplexSolver->fullSimplex() && squaredDistance > REL_ERROR2 * simplexSolver->maxVertex());
return true;
}
void btHfFluidBuoyantConvexShape::generateShape (btScalar radius, btScalar gap)
{
btTransform T;
T.setIdentity ();
btVector3 aabbMin, aabbMax;
getAabb (T, aabbMin, aabbMax);
m_radius = radius;
m_numVoxels = 0;
btVoronoiSimplexSolver simplexSolver;
btSphereShape sphereShape(radius);
btVector3* voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION,16);
for (int i = 0; i < MAX_VOXEL_DIMENSION; i++)
{
for (int j = 0; j < MAX_VOXEL_DIMENSION; j++)
{
for (int k = 0; k < MAX_VOXEL_DIMENSION; k++)
{
btVector3 point;
btTransform sT;
sT.setIdentity ();
point.setX(aabbMin.getX() + (i * btScalar(2.0f) * radius) + (i * gap));
point.setY(aabbMin.getY() + (j * btScalar(2.0f) * radius) + (j * gap));
point.setZ(aabbMin.getZ() + (k * btScalar(2.0f) * radius) + (k * gap));
if (TestPointAgainstAabb2(aabbMin, aabbMax, point))
{
btTransform sT;
sT.setIdentity ();
sT.setOrigin (point);
if (intersect (&simplexSolver, T, sT, m_convexShape, &sphereShape))
{
voxelPositions[m_numVoxels] = point;
m_numVoxels++;
}
}
}
}
}
m_voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*m_numVoxels, 16);
for (int i = 0; i < m_numVoxels;i++)
{
m_voxelPositions[i] = voxelPositions[i];
}
btAlignedFree (voxelPositions);
m_volumePerVoxel = btScalar(4.0f)/btScalar(3.0f)*SIMD_PI*radius*radius*radius;
m_totalVolume = m_numVoxels * m_volumePerVoxel;
m_radius = radius;
}

65
Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.h
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@ -1,65 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#ifndef __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
#define __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
#include "LinearMath/btVector3.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#define MAX_VOXEL_DIMENSION 32
class btConvexShape;
///experimental buyancy fluid demo
class btHfFluidBuoyantConvexShape : public btCollisionShape
{
public:
btHfFluidBuoyantConvexShape (btConvexShape* convexShape);
~btHfFluidBuoyantConvexShape ();
void generateShape (btScalar radius, btScalar gap);
const btConvexShape* getConvexShape () const
{
return m_convexShape;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setMargin(btScalar margin);
virtual btScalar getMargin() const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual const char* getName()const;
btScalar getVoxelRadius () const { return m_radius; }
btScalar getTotalVolume () const { return m_totalVolume; }
btScalar getVolumePerVoxel () const { return m_volumePerVoxel; }
btScalar getFloatyness () const { return m_floatyness; }
void setFloatyness (btScalar floatyness) { m_floatyness = floatyness; }
int getNumVoxels () const { return m_numVoxels; }
const btVector3* getVoxelPositionsArray() { return m_voxelPositions; }
protected:
btScalar m_floatyness;
btScalar m_radius;
btScalar m_totalVolume;
btScalar m_volumePerVoxel;
int m_numVoxels;
btVector3* m_voxelPositions;
btConvexShape* m_convexShape;
};
#endif

74
Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.cpp
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@ -1,74 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#include <stdio.h>
#include "btHfFluidBuoyantShapeCollisionAlgorithm.h"
#include "btHfFluidBuoyantConvexShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "btHfFluid.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btHfFluidBuoyantShapeCollisionAlgorithm::btHfFluidBuoyantShapeCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
: btCollisionAlgorithm(ci), m_convexConvexAlgorithm(NULL, ci, col0Wrap, col1Wrap, simplexSolver, pdSolver,0,0)
{
m_collisionObject0 = col0Wrap->getCollisionObject();
m_collisionObject1 = col1Wrap->getCollisionObject();
}
btHfFluidBuoyantShapeCollisionAlgorithm::~btHfFluidBuoyantShapeCollisionAlgorithm()
{
}
void btHfFluidBuoyantShapeCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
const btHfFluidBuoyantConvexShape* tmpShape0 = (const btHfFluidBuoyantConvexShape*)body0Wrap->getCollisionShape();
const btHfFluidBuoyantConvexShape* tmpShape1 = (const btHfFluidBuoyantConvexShape*)body1Wrap->getCollisionShape();
const btConvexShape* convexShape0 = tmpShape0->getConvexShape();
const btConvexShape* convexShape1 = tmpShape1->getConvexShape();
//body0->setCollisionShape (convexShape0);
//body1->setCollisionShape (convexShape1);
btCollisionObjectWrapper ob0(body0Wrap,convexShape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform());
btCollisionObjectWrapper ob1(body1Wrap,convexShape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform());
m_convexConvexAlgorithm.processCollision (&ob0, &ob1, dispatchInfo,resultOut);
}
btScalar btHfFluidBuoyantShapeCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
btHfFluidBuoyantConvexShape* tmpShape0 = (btHfFluidBuoyantConvexShape*)body0->getCollisionShape();
btHfFluidBuoyantConvexShape* tmpShape1 = (btHfFluidBuoyantConvexShape*)body1->getCollisionShape();
const btConvexShape* convexShape0 = tmpShape0->getConvexShape();
const btConvexShape* convexShape1 = tmpShape1->getConvexShape();
btScalar toi = btScalar(0.0f);
toi = m_convexConvexAlgorithm.calculateTimeOfImpact (body0, body1, dispatchInfo, resultOut);
return toi;
}

87
Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.h
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#ifndef HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
#define HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "LinearMath/btVector3.h"
class btHfFluid;
class btConvexConvexAlgorithm;
class btConvexPenetrationDepthSolver;
class btSimplexSolverInterface;
///experimental buyancy fluid demo
/// btHfFluidBuoyantShapeCollisionAlgorithm provides collision detection between btHfFluidBuoyantConvexShape and btHfFluidBuoyantConvexShape
class btHfFluidBuoyantShapeCollisionAlgorithm : public btCollisionAlgorithm
{
const btCollisionObject* m_collisionObject0;
const btCollisionObject* m_collisionObject1;
btConvexConvexAlgorithm m_convexConvexAlgorithm;
public:
btHfFluidBuoyantShapeCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
virtual ~btHfFluidBuoyantShapeCollisionAlgorithm();
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
m_convexConvexAlgorithm.getAllContactManifolds (manifoldArray);
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
btConvexPenetrationDepthSolver* m_pdSolver;
btSimplexSolverInterface* m_simplexSolver;
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
virtual ~CreateFunc() {}
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btHfFluidBuoyantShapeCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btHfFluidBuoyantShapeCollisionAlgorithm(ci,body0Wrap,body1Wrap, m_simplexSolver, m_pdSolver);
} else
{
return new(mem) btHfFluidBuoyantShapeCollisionAlgorithm(ci,body0Wrap,body1Wrap, m_simplexSolver, m_pdSolver);
}
}
};
};
#endif //HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#include "btHfFluidCollisionShape.h"

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#ifndef BT_HF_FLUID_COLLISION_SHAPE_H
#define BT_HF_FLUID_COLLISION_SHAPE_H
#include "btHfFluid.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
class btHfFluidCollisionShape : public btConcaveShape
{
public:
btHfFluid* m_fluid;
btHfFluidCollisionShape(btHfFluid* backptr) : btConcaveShape ()
{
m_shapeType = HFFLUID_SHAPE_PROXYTYPE;
m_fluid=backptr;
}
virtual ~btHfFluidCollisionShape()
{
}
void processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const
{
//not yet
btAssert(0);
}
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
/* t should be identity, but better be safe than...fast? */
btVector3 mins;
btVector3 maxs;
m_fluid->getAabb (mins, maxs);
const btVector3 crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
t*btVector3(maxs.x(),mins.y(),mins.z()),
t*btVector3(maxs.x(),maxs.y(),mins.z()),
t*btVector3(mins.x(),maxs.y(),mins.z()),
t*btVector3(mins.x(),mins.y(),maxs.z()),
t*btVector3(maxs.x(),mins.y(),maxs.z()),
t*btVector3(maxs.x(),maxs.y(),maxs.z()),
t*btVector3(mins.x(),maxs.y(),maxs.z())};
aabbMin=aabbMax=crns[0];
for(int i=1;i<8;++i)
{
aabbMin.setMin(crns[i]);
aabbMax.setMax(crns[i]);
}
}
virtual void setLocalScaling(const btVector3& /*scaling*/)
{
///na
btAssert(0);
}
virtual const btVector3& getLocalScaling() const
{
static const btVector3 dummy(1,1,1);
return dummy;
}
virtual void calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
{
///not yet
btAssert(0);
}
virtual const char* getName()const
{
return "HfFluid";
}
};
#endif

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#include <stdio.h>
#include "btHfFluidRigidCollisionAlgorithm.h"
#include "btHfFluidBuoyantConvexShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "btHfFluid.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btHfFluidRigidCollisionAlgorithm::~btHfFluidRigidCollisionAlgorithm()
{
}
btHfFluidRigidCollisionAlgorithm::btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
: btCollisionAlgorithm(ci), m_isSwapped(isSwapped),
m_convexTrianglecallback(ci.m_dispatcher1, col0Wrap, col1Wrap, !isSwapped) // we flip the isSwapped because we are hf fluid vs. convex and callback expects convex vs. concave
{
m_manifoldPtr = m_convexTrianglecallback.m_manifoldPtr;
if (m_isSwapped)
{
m_hfFluid = static_cast<const btHfFluid*>(col1Wrap->getCollisionObject());
m_rigidCollisionObject = static_cast<const btCollisionObject*>(col0Wrap->getCollisionObject());
m_manifoldPtr->setBodies(m_hfFluid,m_rigidCollisionObject);
} else {
m_hfFluid = static_cast<const btHfFluid*>(col0Wrap->getCollisionObject());
m_rigidCollisionObject = static_cast<const btCollisionObject*>(col1Wrap->getCollisionObject());
m_manifoldPtr->setBodies(m_rigidCollisionObject,m_hfFluid);
}
}
void btHfFluidRigidCollisionAlgorithm::processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
//needs fixing after btCollisionObjectWrapper introduction
#if 0
btScalar triangleMargin = m_rigidCollisionObject->getCollisionShape()->getMargin();
resultOut->setPersistentManifold(m_manifoldPtr);
// to perform the convex shape vs. ground terrain:
// we pull the convex shape out of the buoyant shape and replace it temporarily
btHfFluidBuoyantConvexShape* tmpShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
const btConvexShape* convexShape = ((const btHfFluidBuoyantConvexShape*)tmpShape)->getConvexShape();
//m_rigidCollisionObject->setCollisionShape (convexShape);
m_convexTrianglecallback.setTimeStepAndCounters (triangleMargin, dispatchInfo, resultOut);
m_hfFluid->foreachGroundTriangle (&m_convexTrianglecallback, m_convexTrianglecallback.getAabbMin(),m_convexTrianglecallback.getAabbMax());
resultOut->refreshContactPoints();
#endif
// restore the buoyant shape
//m_rigidCollisionObject->setCollisionShape (tmpShape);
}
btScalar btHfFluidRigidCollisionAlgorithm::processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness)
{
btAssert(0);
//needs fixing after btCollisionObjectWrapper introduction
#if 0
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
btHfFluidColumnRigidBodyCallback columnCallback (rb, dispatchInfo.m_debugDraw, density, floatyness);
m_hfFluid->foreachFluidColumn (&columnCallback, m_convexTrianglecallback.getAabbMin(), m_convexTrianglecallback.getAabbMax());
return columnCallback.getVolume ();
#endif
return 0.f;
}
void btHfFluidRigidCollisionAlgorithm::applyFluidFriction (btScalar mu, btScalar submerged_percentage)
{
btAssert(0);
//needs fixing after btCollisionObjectWrapper introduction
#if 0
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
btScalar dt = btScalar(1.0f/60.0f);
//#define OLD_WAY
#ifdef OLD_WAY
btScalar radius = btScalar(0.0f);
{
btVector3 aabbMin, aabbMax;
btTransform T;
T.setIdentity();
rb->getCollisionShape()->getAabb (T, aabbMin, aabbMax);
radius = (aabbMax-aabbMin).length()*btScalar(0.5);
}
btScalar viscosity = btScalar(0.05);
btVector3 force = btScalar(6.0f) * SIMD_PI * viscosity * radius * -rb->getLinearVelocity();
btVector3 impulse = force * dt;
rb->applyCentralImpulse (impulse);
if (true)
{
btVector3 av = rb->getAngularVelocity();
av *= btScalar(0.99);
rb->setAngularVelocity (av);
}
#else
btScalar scaled_mu = mu * submerged_percentage * btScalar(0.4f);
rb->applyCentralImpulse (dt * scaled_mu * -rb->getLinearVelocity());
rb->applyTorqueImpulse (dt * scaled_mu * -rb->getAngularVelocity());
#endif
#endif
}
void btHfFluidRigidCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
//needs fixing after btCollisionObjectWrapper introduction
#if 0
processGround (dispatchInfo, resultOut);
btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
if (rb)
{
btScalar mass = btScalar(1.0f) / rb->getInvMass ();
btScalar volume = buoyantShape->getTotalVolume ();
btScalar density = mass / volume;
btScalar floatyness = buoyantShape->getFloatyness ();
btScalar submerged_volume = processFluid (dispatchInfo, density, floatyness);
if (submerged_volume > btScalar(0.0))
{
btScalar submerged_percentage = submerged_volume/buoyantShape->getTotalVolume();
//printf("%f\n", submerged_percentage);
btScalar mu = btScalar(6.0f);
applyFluidFriction (mu, submerged_percentage);
}
}
#endif
}
btScalar btHfFluidRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
return btScalar(1.0);
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#ifndef HF_FLUID_RIGID_COLLISION_ALGORITHM_H
#define HF_FLUID_RIGID_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "LinearMath/btVector3.h"
class btHfFluid;
///experimental buyancy fluid demo
/// btHfFluidRigidCollisionAlgorithm provides collision detection between btHfFluid and btRigidBody
class btHfFluidRigidCollisionAlgorithm : public btCollisionAlgorithm
{
btPersistentManifold* m_manifoldPtr;
const btHfFluid* m_hfFluid;
const btCollisionObject* m_rigidCollisionObject;
///for rigid versus fluid (instead of fluid versus rigid), we use this swapped boolean
bool m_isSwapped;
btConvexTriangleCallback m_convexTrianglecallback;
void processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void applyFluidFriction (btScalar mu, btScalar submerged_percentage);
btScalar processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness);
public:
btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped);
virtual ~btHfFluidRigidCollisionAlgorithm();
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
manifoldArray.push_back (m_manifoldPtr);
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btHfFluidRigidCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btHfFluidRigidCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
} else
{
return new(mem) btHfFluidRigidCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
}
}
};
};
#endif //HF_FLUID_RIGID_COLLISION_ALGORITHM_H

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#include "btHfFluidRigidCollisionConfiguration.h"
#include "btHfFluidRigidCollisionAlgorithm.h"
#include "btHfFluidBuoyantShapeCollisionAlgorithm.h"
#include "LinearMath/btPoolAllocator.h"
btHfFluidRigidCollisionConfiguration::btHfFluidRigidCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
:btDefaultCollisionConfiguration(constructionInfo)
{
void* mem;
mem = btAlignedAlloc(sizeof(btHfFluidRigidCollisionAlgorithm::CreateFunc),16);
m_hfFluidRigidConvexCreateFunc = new(mem) btHfFluidRigidCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btHfFluidRigidCollisionAlgorithm::CreateFunc),16);
m_swappedHfFluidRigidConvexCreateFunc = new(mem) btHfFluidRigidCollisionAlgorithm::CreateFunc;
m_swappedHfFluidRigidConvexCreateFunc->m_swapped = true;
mem = btAlignedAlloc(sizeof(btHfFluidBuoyantShapeCollisionAlgorithm::CreateFunc),16);
m_hfFluidBuoyantShapeCollisionCreateFunc = new(mem) btHfFluidBuoyantShapeCollisionAlgorithm::CreateFunc(m_simplexSolver, m_pdSolver);
if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
{
int curElemSize = m_collisionAlgorithmPool->getElementSize();
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
int maxSize0 = sizeof(btHfFluidRigidCollisionAlgorithm);
int maxSize1 = 0;
int maxSize2 = 0;
int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
if (collisionAlgorithmMaxElementSize > curElemSize)
{
m_collisionAlgorithmPool->~btPoolAllocator();
btAlignedFree(m_collisionAlgorithmPool);
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
}
}
}
btHfFluidRigidCollisionConfiguration::~btHfFluidRigidCollisionConfiguration()
{
m_hfFluidRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
m_swappedHfFluidRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_hfFluidRigidConvexCreateFunc);
btAlignedFree(m_swappedHfFluidRigidConvexCreateFunc);
}
btCollisionAlgorithmCreateFunc* btHfFluidRigidCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
{
if ((proxyType0 == HFFLUID_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE))
{
return m_hfFluidRigidConvexCreateFunc;
}
if ((proxyType0 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_SHAPE_PROXYTYPE))
{
return m_swappedHfFluidRigidConvexCreateFunc;
}
if ((proxyType0 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE))
{
return m_hfFluidBuoyantShapeCollisionCreateFunc;
}
///fallback to the regular rigid collision shape
return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#ifndef BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
#define BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
class btVoronoiSimplexSolver;
class btGjkEpaPenetrationDepthSolver;
///experimental buyancy fluid demo
///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration
class btHfFluidRigidCollisionConfiguration : public btDefaultCollisionConfiguration
{
//default CreationFunctions, filling the m_doubleDispatch table
btCollisionAlgorithmCreateFunc* m_hfFluidRigidConvexCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedHfFluidRigidConvexCreateFunc;
btCollisionAlgorithmCreateFunc* m_hfFluidBuoyantShapeCollisionCreateFunc;
public:
btHfFluidRigidCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
virtual ~btHfFluidRigidCollisionConfiguration();
///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
};
#endif //BT_HFFLUID_RIGID_COLLISION_CONFIGURATION

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#include <stdio.h>
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
// height field fluid
#include "btHfFluid.h"
#include "btHfFluidBuoyantConvexShape.h"
#include "btHfFluidRigidDynamicsWorld.h"
btHfFluidRigidDynamicsWorld::btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
{
m_drawMode = DRAWMODE_NORMAL;
m_bodyDrawMode = BODY_DRAWMODE_NORMAL;
}
btHfFluidRigidDynamicsWorld::~btHfFluidRigidDynamicsWorld()
{
}
void btHfFluidRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
for ( int i=0;i<m_hfFluids.size();++i)
{
btHfFluid* phff = m_hfFluids[i];
// XXX: phff->predictMotion(timeStep);
}
}
void btHfFluidRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
{
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
updateFluids (timeStep);
solveFluidConstraints (timeStep);
}
void btHfFluidRigidDynamicsWorld::updateFluids(btScalar timeStep)
{
BT_PROFILE("updateFluids");
for ( int i=0;i<m_hfFluids.size();i++)
{
btHfFluid* phff=(btHfFluid*)m_hfFluids[i];
phff->predictMotion (timeStep);
}
}
void btHfFluidRigidDynamicsWorld::solveFluidConstraints(btScalar timeStep)
{
BT_PROFILE("solve Fluid Contacts");
#if 0
if(m_hfFluids.size())
{
btHfFluid::solveClusters(m_hfFluids);
}
for(int i=0;i<m_hfFluids.size();++i)
{
btHfFluid* psb=(btHfFluid*)m_hfFluids[i];
psb->solveConstraints();
}
#endif
}
void btHfFluidRigidDynamicsWorld::addHfFluid(btHfFluid* body)
{
m_hfFluids.push_back(body);
btCollisionWorld::addCollisionObject(body,
btBroadphaseProxy::DefaultFilter,
btBroadphaseProxy::AllFilter);
}
void btHfFluidRigidDynamicsWorld::removeHfFluid(btHfFluid* body)
{
m_hfFluids.remove(body);
btCollisionWorld::removeCollisionObject(body);
}
void btHfFluidRigidDynamicsWorld::drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid)
{
const btScalar* ground = fluid->getGroundArray ();
btVector3 com = fluid->getWorldTransform().getOrigin();
btVector3 color = btVector3(btScalar(0.13f), btScalar(0.13f), btScalar(0.0));
for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
{
for (int j = 1; j < fluid->getNumNodesLength()-1; j++)
{
int sw = fluid->arrayIndex (i, j);
int se = fluid->arrayIndex (i+1, j);
int nw = fluid->arrayIndex (i, j+1);
int ne = fluid->arrayIndex (i+1, j+1);
btVector3 swV = btVector3 (fluid->widthPos (i), ground[sw], fluid->lengthPos (j));
btVector3 seV = btVector3 (fluid->widthPos (i+1), ground[se], fluid->lengthPos (j));
btVector3 nwV = btVector3 (fluid->widthPos (i), ground[nw], fluid->lengthPos (j+1));
btVector3 neV = btVector3 (fluid->widthPos (i+1), ground[ne], fluid->lengthPos (j+1));
debugDraw->drawTriangle (swV+com, seV+com, nwV+com, color, btScalar(1.0f));
debugDraw->drawTriangle (seV+com, neV+com, nwV+com, color, btScalar(1.0f));
}
}
}
void btHfFluidRigidDynamicsWorld::drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid)
{
btScalar alpha(0.7f);
const btScalar* height = fluid->getHeightArray ();
btVector3 com = fluid->getWorldTransform().getOrigin();
btVector3 red = btVector3(btScalar(1.0f), btScalar(0.0f), btScalar(0.0));
btVector3 green = btVector3(btScalar(0.0f), btScalar(1.0f), btScalar(0.0));
const bool* flags = fluid->getFlagsArray ();
for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
{
for (int j = 1; j < fluid->getNumNodesLength()-1; j++)
{
int index = fluid->arrayIndex (i, j);
if (!flags[index])
continue;
btVector3 from = btVector3 (fluid->widthPos (i), height[index]+btScalar(0.1f), fluid->lengthPos (j));
btVector3 velocity;
velocity.setX (fluid->getVelocityUArray()[index]);
velocity.setY (btScalar(0.0f));
velocity.setZ (fluid->getVelocityVArray()[index]);
velocity.normalize();
btVector3 to = from + velocity;
debugDraw->drawLine (from+com, to+com, red, green);
}
}
}
void btHfFluidRigidDynamicsWorld::drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw)
{
if (voxelDraw)
{
btTransform xform = object->getWorldTransform();
for (int i = 0; i < buoyantShape->getNumVoxels(); i++)
{
btVector3 p = buoyantShape->getVoxelPositionsArray()[i];
p = xform.getBasis() * p;
p += xform.getOrigin();
debugDrawer->drawSphere (p, buoyantShape->getVoxelRadius(), btVector3(1.0, 0.0, 0.0));
}
} else {
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
switch(object->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
case ISLAND_SLEEPING:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
case DISABLE_DEACTIVATION:
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
default:
{
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
}
};
const btConvexShape* convexShape = ((const btHfFluidBuoyantConvexShape*)object->getCollisionShape())->getConvexShape();
debugDrawObject(object->getWorldTransform(),(btCollisionShape*)convexShape,color);
}
}
void btHfFluidRigidDynamicsWorld::drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid)
{
int colIndex = 0;
btVector3 col[2];
col[0] = btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(1.0));
col[1] = btVector3(btScalar(0.0f), btScalar(0.5f), btScalar(0.5));
btScalar alpha(0.7f);
const btScalar* height = fluid->getHeightArray ();
const btScalar* eta = fluid->getEtaArray ();
const btScalar* ground = fluid->getGroundArray ();
btVector3 com = fluid->getWorldTransform().getOrigin();
const bool* flags = fluid->getFlagsArray ();
for (int i = 0; i < fluid->getNumNodesWidth()-1; i++)
{
for (int j = 0; j < fluid->getNumNodesLength()-1; j++)
{
int sw = fluid->arrayIndex (i, j);
int se = fluid->arrayIndex (i+1, j);
int nw = fluid->arrayIndex (i, j+1);
int ne = fluid->arrayIndex (i+1, j+1);
btScalar h = eta[sw];
btScalar g = ground[sw];
if (h < btScalar(0.05f))
continue;
if (h <= btScalar(0.01f))
continue;
btVector3 boxMin = btVector3(fluid->widthPos (i), g, fluid->lengthPos(j));
btVector3 boxMax = btVector3(fluid->widthPos(i+1), g+h, fluid->lengthPos(j+1));
boxMin += com;
boxMax += com;
debugDraw->drawBox (boxMin, boxMax, btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f)));
}
}
}
void btHfFluidRigidDynamicsWorld::debugDrawWorld()
{
if (getDebugDrawer())
{
int i;
for ( i=0;i<this->m_hfFluids.size();i++)
{
btHfFluid* phh=(btHfFluid*)this->m_hfFluids[i];
switch (m_drawMode)
{
case DRAWMODE_NORMAL:
drawHfFluidGround (m_debugDrawer, phh);
//drawHfFluidNormal (m_debugDrawer, phh);
break;
case DRAWMODE_VELOCITY:
drawHfFluidGround (m_debugDrawer, phh);
//drawHfFluidNormal (m_debugDrawer, phh);
drawHfFluidVelocity (m_debugDrawer, phh);
break;
default:
btAssert (0);
break;
}
}
for (i = 0; i < this->m_collisionObjects.size(); i++)
{
btCollisionShape* shape = m_collisionObjects[i]->getCollisionShape();
if (shape->getShapeType() == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE)
{
btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)shape;
drawHfFluidBuoyantConvexShape (m_debugDrawer, m_collisionObjects[i], buoyantShape, m_bodyDrawMode);
}
}
}
btDiscreteDynamicsWorld::debugDrawWorld();
}

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Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.h
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#ifndef BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
#define BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
class btHfFluid;
typedef btAlignedObjectArray<btHfFluid*> btHfFluidArray;
#define DRAWMODE_NORMAL 0
#define DRAWMODE_VELOCITY 1
#define DRAWMODE_MAX 2
#define BODY_DRAWMODE_NORMAL 0
#define BODY_DRAWMODE_VOXEL 1
#define BODY_DRAWMODE_MAX 2
class btHfFluidBuoyantConvexShape;
///experimental buyancy fluid demo
class btHfFluidRigidDynamicsWorld : public btDiscreteDynamicsWorld
{
btHfFluidArray m_hfFluids;
int m_drawMode;
int m_bodyDrawMode;
protected:
virtual void predictUnconstraintMotion(btScalar timeStep);
virtual void internalSingleStepSimulation( btScalar timeStep);
void updateFluids(btScalar timeStep);
void solveFluidConstraints(btScalar timeStep);
virtual void debugDrawWorld();
void drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid);
void drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid);
void drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw);
void drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid);
public:
btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btHfFluidRigidDynamicsWorld();
void addHfFluid(btHfFluid* fluid);
void removeHfFluid(btHfFluid* fluid);
void setDrawMode (int drawMode)
{
m_drawMode = drawMode;
}
void setBodyDrawMode (int bodyDrawMode)
{
m_bodyDrawMode = bodyDrawMode;
}
btHfFluidArray& getHfFluidArray()
{
return m_hfFluids;
}
const btHfFluidArray& getHfFluidArray() const
{
return m_hfFluids;
}
};
#endif //BT_HFFLUID_RIGID_DYNAMICS_WORLD_H

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Demos/HeightFieldFluidDemo/CMakeLists.txt
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppHfFluidDemo
HfFluidDemo_GL_ShapeDrawer.cpp
BulletHfFluid/btHfFluid.cpp
BulletHfFluid/btHfFluidBuoyantConvexShape.cpp
BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.cpp
BulletHfFluid/btHfFluidCollisionShape.cpp
BulletHfFluid/btHfFluidRigidCollisionAlgorithm.cpp
BulletHfFluid/btHfFluidRigidCollisionConfiguration.cpp
BulletHfFluid/btHfFluidRigidDynamicsWorld.cpp
main.cpp
HfFluidDemo.cpp
)

1457
Demos/HeightFieldFluidDemo/HfFluidDemo.cpp
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152
Demos/HeightFieldFluidDemo/HfFluidDemo.h
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#ifndef HFFLUID_DEMO_H
#define HFFLUID_DEMO_H
#include "GlutDemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletHfFluid/btHfFluid.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class btHfFluidRigidDynamicsWorld;
///collisions between a btSoftBody and a btRigidBody
class btFluidRididCollisionAlgorithm;
///experimental buyancy fluid demo
///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
class HfFluidDemo : public GlutDemoApplication
{
public:
btAlignedObjectArray<btFluidRididCollisionAlgorithm*> m_FluidRigidCollisionAlgorithms;
bool m_autocam;
bool m_cutting;
bool m_raycast;
btScalar m_animtime;
btClock m_clock;
int m_lastmousepos[2];
btVector3 m_impact;
btVector3 m_goal;
bool m_drag;
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
btDefaultCollisionConfiguration* m_collisionConfiguration;
public:
void initPhysics();
void exitPhysics();
HfFluidDemo ();
virtual ~HfFluidDemo()
{
exitPhysics();
}
virtual void setDrawClusters(bool drawClusters)
{
}
virtual void setShootBoxShape ();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
void createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos );
static DemoApplication* Create()
{
HfFluidDemo* demo = new HfFluidDemo;
demo->myinit();
demo->initPhysics();
return demo;
}
virtual const btHfFluidRigidDynamicsWorld* getHfFluidDynamicsWorld() const
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btHfFluidRigidDynamicsWorld*) m_dynamicsWorld;
}
virtual btHfFluidRigidDynamicsWorld* getHfFluidDynamicsWorld()
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btHfFluidRigidDynamicsWorld*) m_dynamicsWorld;
}
//
void clientResetScene();
void renderme();
void keyboardCallback(unsigned char key, int x, int y);
void mouseFunc(int button, int state, int x, int y);
void mouseMotionFunc(int x,int y);
};
#define MACRO_SOFT_DEMO(a) class HfFluidDemo##a : public HfFluidDemo\
{\
public:\
static DemoApplication* Create()\
{\
HfFluidDemo* demo = new HfFluidDemo##a;\
extern unsigned int current_demo;\
current_demo=a;\
demo->myinit();\
demo->initPhysics();\
return demo;\
}\
};
MACRO_SOFT_DEMO(0) //Init_Drops
MACRO_SOFT_DEMO(1) //Init_Wave
MACRO_SOFT_DEMO(2) //Init_RandomDrops
MACRO_SOFT_DEMO(3)
#endif //CCD_PHYSICS_DEMO_H

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#ifdef _WIN32 //needed for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include "GlutStuff.h"
#include "HfFluidDemo_GL_ShapeDrawer.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
///
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#include "BulletHfFluid/btHfFluidBuoyantConvexShape.h"
#include "BulletHfFluid/btHfFluid.h"
#include "BulletHfFluid/btHfFluidCollisionShape.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btIDebugDraw.h"
//for debugmodes
#include <stdio.h> //printf debugging
#include <map>
using namespace std;
class GlDrawcallback : public btTriangleCallback
{
public:
bool m_wireframe;
GlDrawcallback()
:m_wireframe(false)
{
}
virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
(void)triangleIndex;
(void)partId;
if (m_wireframe)
{
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 1, 0);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 0, 1);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
} else
{
glBegin(GL_TRIANGLES);
//glColor3f(1, 1, 1);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
}
}
};
class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
{
public:
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
(void)triangleIndex;
(void)partId;
glBegin(GL_TRIANGLES);//LINES);
glColor3f(1, 0, 0);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 1, 0);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 0, 1);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
}
};
void HfFluidDemo_GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{
glPushMatrix();
btglMultMatrix(m);
if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
{
const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
const btConvexShape* convexShape = scalingShape->getChildShape();
float scalingFactor = (float)scalingShape->getUniformScalingFactor();
{
btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
{0,scalingFactor,0,0},
{0,0,scalingFactor,0},
{0,0,0,1}};
drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
}
glPopMatrix();
return;
}
if (shape->getShapeType() == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE)
{
const btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)shape)->getConvexShape();
btTransform I;
I.setIdentity();
btScalar mat[16];
I.getOpenGLMatrix (&mat[0]);
drawOpenGL (mat, convexShape, color, debugMode, worldBoundsMin, worldBoundsMax);
return;
}
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* colShape = compoundShape->getChildShape(i);
btScalar childMat[16];
childTrans.getOpenGLMatrix(childMat);
drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
}
} else
{
if(m_textureenabled&&(!m_textureinitialized))
{
GLubyte* image=new GLubyte[256*256*3];
for(int y=0;y<256;++y)
{
const int t=y>>4;
GLubyte* pi=image+y*256*3;
for(int x=0;x<256;++x)
{
const int s=x>>4;
const GLubyte b=180;
GLubyte c=b+((s+t&1)&1)*(255-b);
pi[0]=pi[1]=pi[2]=c;pi+=3;
}
}
glGenTextures(1,(GLuint*)&m_texturehandle);
glBindTexture(GL_TEXTURE_2D,m_texturehandle);
glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE);
glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR);
glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT);
glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT);
gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image);
delete[] image;
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
glScalef(0.025,0.025,0.025);
static const GLfloat planex[]={1,0,0,0};
static const GLfloat planey[]={0,1,0,0};
static const GLfloat planez[]={0,0,1,0};
glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
glEnable(GL_TEXTURE_GEN_S);
glEnable(GL_TEXTURE_GEN_T);
glEnable(GL_TEXTURE_GEN_R);
m_textureinitialized=true;
}
//drawCoordSystem();
//glPushMatrix();
glEnable(GL_COLOR_MATERIAL);
if(m_textureenabled)
{
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,m_texturehandle);
} else
{
glDisable(GL_TEXTURE_2D);
}
glColor3f(color.x(),color.y(), color.z());
bool useWireframeFallback = true;
if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
{
///you can comment out any of the specific cases, and use the default
///the benefit of 'default' is that it approximates the actual collision shape including collision margin
int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
switch (shapetype)
{
case BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
glutSolidCube(1.0);
useWireframeFallback = false;
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
glutSolidSphere(radius,10,10);
useWireframeFallback = false;
break;
}
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
int upIndex = coneShape->getConeUpIndex();
float radius = coneShape->getRadius();//+coneShape->getMargin();
float height = coneShape->getHeight();//+coneShape->getMargin();
switch (upIndex)
{
case 0:
glRotatef(90.0, 0.0, 1.0, 0.0);
break;
case 1:
glRotatef(-90.0, 1.0, 0.0, 0.0);
break;
case 2:
break;
default:
{
}
};
glTranslatef(0.0, 0.0, -0.5*height);
glutSolidCone(radius,height,10,10);
useWireframeFallback = false;
break;
}
case STATIC_PLANE_PROXYTYPE:
{
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
btVector3 planeOrigin = planeNormal * planeConst;
btVector3 vec0,vec1;
btPlaneSpace1(planeNormal,vec0,vec1);
btScalar vecLen = 100.f;
btVector3 pt0 = planeOrigin + vec0*vecLen;
btVector3 pt1 = planeOrigin - vec0*vecLen;
btVector3 pt2 = planeOrigin + vec1*vecLen;
btVector3 pt3 = planeOrigin - vec1*vecLen;
glBegin(GL_LINES);
glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ());
glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ());
glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ());
glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ());
glEnd();
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->getUpAxis();
float radius = cylinder->getRadius();
float halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
drawCylinder(radius,halfHeight,upAxis);
break;
}
default:
{
if (shape->isConvex())
{
ShapeCache* sc=cache((btConvexShape*)shape);
//if (shape->getUserPointer())
{
//glutSolidCube(1.0);
btShapeHull* hull = &sc->m_shapehull/*(btShapeHull*)shape->getUserPointer()*/;
if (hull->numTriangles () > 0)
{
int index = 0;
const unsigned int* idx = hull->getIndexPointer();
const btVector3* vtx = hull->getVertexPointer();
glBegin (GL_TRIANGLES);
for (int i = 0; i < hull->numTriangles (); i++)
{
int i1 = index++;
int i2 = index++;
int i3 = index++;
btAssert(i1 < hull->numIndices () &&
i2 < hull->numIndices () &&
i3 < hull->numIndices ());
int index1 = idx[i1];
int index2 = idx[i2];
int index3 = idx[i3];
btAssert(index1 < hull->numVertices () &&
index2 < hull->numVertices () &&
index3 < hull->numVertices ());
btVector3 v1 = vtx[index1];
btVector3 v2 = vtx[index2];
btVector3 v3 = vtx[index3];
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
}
glEnd ();
}
}
}
}
}
}
/// for polyhedral shapes
if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))
{
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
{
glRasterPos3f(0.0, 0.0, 0.0);
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
glColor3f(1.f, 1.f, 1.f);
int i;
for (i=0;i<polyshape->getNumVertices();i++)
{
btVector3 vtx;
polyshape->getVertex(i,vtx);
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
char buf[12];
sprintf(buf," %d",i);
// BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
for (i=0;i<polyshape->getNumPlanes();i++)
{
btVector3 normal;
btVector3 vtx;
polyshape->getPlane(normal,vtx,i);
btScalar d = vtx.dot(normal);
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
char buf[12];
sprintf(buf," plane %d",i);
// BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
}
}
#ifdef USE_DISPLAY_LISTS
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
{
GLuint dlist = OGL_get_displaylist_for_shape((btCollisionShape * )shape);
if (dlist)
{
glCallList(dlist);
}
else
{
#else
if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
GlDrawcallback drawCallback;
drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
}
if (shape->getShapeType() == HFFLUID_SHAPE_PROXYTYPE)
{
btHfFluidCollisionShape* hfFluidShape = (btHfFluidCollisionShape*)shape;
btHfFluid* fluid = hfFluidShape->m_fluid;
GlDrawcallback drawCallback;
drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe) != 0;
fluid->foreachSurfaceTriangle (&drawCallback, worldBoundsMin, worldBoundsMax);
}
#endif
#ifdef USE_DISPLAY_LISTS
}
}
#endif
/*
if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
{
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT));
TriangleGlDrawcallback drawCallback;
convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
}
*/
glDisable(GL_DEPTH_TEST);
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
if (debugMode&btIDebugDraw::DBG_DrawText)
{
// BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getName());
}
if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
{
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
}
glEnable(GL_DEPTH_TEST);
// glPopMatrix();
if(m_textureenabled) glDisable(GL_TEXTURE_2D);
}
glPopMatrix();
}
//
void HfFluidDemo_GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{
glPushMatrix();
btglMultMatrix(m);
if(shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
{
const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
const btConvexShape* convexShape = scalingShape->getChildShape();
float scalingFactor = (float)scalingShape->getUniformScalingFactor();
btScalar tmpScaling[4][4]={ {scalingFactor,0,0,0},
{0,scalingFactor,0,0},
{0,0,scalingFactor,0},
{0,0,0,1}};
drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax);
glPopMatrix();
return;
}
else if(shape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* colShape = compoundShape->getChildShape(i);
btScalar childMat[16];
childTrans.getOpenGLMatrix(childMat);
drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax);
}
}
else
{
bool useWireframeFallback = true;
if (shape->isConvex())
{
ShapeCache* sc=cache((btConvexShape*)shape);
btShapeHull* hull =&sc->m_shapehull;
glBegin(GL_QUADS);
for(int i=0;i<sc->m_edges.size();++i)
{
const btScalar d=btDot(sc->m_edges[i].n[0],extrusion);
if((d*btDot(sc->m_edges[i].n[1],extrusion))<0)
{
const int q= d<0?1:0;
const btVector3& a= hull->getVertexPointer()[sc->m_edges[i].v[q]];
const btVector3& b= hull->getVertexPointer()[sc->m_edges[i].v[1-q]];
glVertex3f(a[0],a[1],a[2]);
glVertex3f(b[0],b[1],b[2]);
glVertex3f(b[0]+extrusion[0],b[1]+extrusion[1],b[2]+extrusion[2]);
glVertex3f(a[0]+extrusion[0],a[1]+extrusion[1],a[2]+extrusion[2]);
}
}
glEnd();
}
}
if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
GlDrawcallback drawCallback;
drawCallback.m_wireframe = false;
concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
}
glPopMatrix();
}
//
HfFluidDemo_GL_ShapeDrawer::HfFluidDemo_GL_ShapeDrawer()
{
m_texturehandle = 0;
m_textureenabled = true;
m_textureinitialized = false;
}
HfFluidDemo_GL_ShapeDrawer::~HfFluidDemo_GL_ShapeDrawer()
{
}

37
Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.h
View File

@ -1,37 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#ifndef HFFLUID_GL_SHAPE_DRAWER_H
#define HFFLUID_GL_SHAPE_DRAWER_H
#include "GL_ShapeDrawer.h"
///experimental buyancy fluid demo
/// OpenGL shape drawing
class HfFluidDemo_GL_ShapeDrawer : public GL_ShapeDrawer
{
public:
HfFluidDemo_GL_ShapeDrawer();
virtual ~HfFluidDemo_GL_ShapeDrawer();
///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
virtual void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
virtual void drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
};
#endif //HFFLUID_GL_SHAPE_DRAWER_H

39
Demos/HeightFieldFluidDemo/main.cpp
View File

@ -1,39 +0,0 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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.
Experimental Buoyancy fluid demo written by John McCutchan
*/
#include "HfFluidDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
GLDebugDrawer gDebugDrawer;
int main(int argc,char** argv)
{
HfFluidDemo* fluidDemo = new HfFluidDemo();
fluidDemo->initPhysics();
fluidDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",fluidDemo);
delete fluidDemo;
return 0;
}

19
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
View File

@ -107,6 +107,12 @@ public:
#endif // #endif //
SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;} SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;}
/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
void setNumContacts(int cachedPoints)
{
m_cachedPoints = cachedPoints;
}
SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
{ {
@ -128,6 +134,19 @@ public:
return m_contactProcessingThreshold; return m_contactProcessingThreshold;
} }
void setContactBreakingThreshold(btScalar contactBreakingThreshold)
{
m_contactBreakingThreshold = contactBreakingThreshold;
}
void setContactProcessingThreshold(btScalar contactProcessingThreshold)
{
m_contactProcessingThreshold = contactProcessingThreshold;
}
int getCacheEntry(const btManifoldPoint& newPoint) const; int getCacheEntry(const btManifoldPoint& newPoint) const;
int addManifoldPoint( const btManifoldPoint& newPoint); int addManifoldPoint( const btManifoldPoint& newPoint);

4
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
View File

@ -49,6 +49,7 @@ struct btContactSolverInfoData
btScalar m_globalCfm;//constraint force mixing btScalar m_globalCfm;//constraint force mixing
int m_splitImpulse; int m_splitImpulse;
btScalar m_splitImpulsePenetrationThreshold; btScalar m_splitImpulsePenetrationThreshold;
btScalar m_splitImpulseTurnErp;
btScalar m_linearSlop; btScalar m_linearSlop;
btScalar m_warmstartingFactor; btScalar m_warmstartingFactor;
@ -73,12 +74,13 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_restitution = btScalar(0.); m_restitution = btScalar(0.);
m_maxErrorReduction = btScalar(20.); m_maxErrorReduction = btScalar(20.);
m_numIterations = 10; m_numIterations = 10;
m_erp = btScalar(0.2); m_erp = btScalar(0.1);
m_erp2 = btScalar(0.1); m_erp2 = btScalar(0.1);
m_globalCfm = btScalar(0.); m_globalCfm = btScalar(0.);
m_sor = btScalar(1.); m_sor = btScalar(1.);
m_splitImpulse = true; m_splitImpulse = true;
m_splitImpulsePenetrationThreshold = -.04f; m_splitImpulsePenetrationThreshold = -.04f;
m_splitImpulseTurnErp = 0.1f;
m_linearSlop = btScalar(0.0); m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85); m_warmstartingFactor=btScalar(0.85);
//m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;

2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@ -1317,7 +1317,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
if (body) if (body)
{ {
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep); m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity); m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity); m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);

4
src/BulletDynamics/ConstraintSolver/btSolverBody.h
View File

@ -263,7 +263,7 @@ ATTRIBUTE_ALIGNED64 (struct) btSolverBody
} }
void writebackVelocityAndTransform(btScalar timeStep) void writebackVelocityAndTransform(btScalar timeStep, btScalar splitImpulseTurnErp)
{ {
(void) timeStep; (void) timeStep;
if (m_originalBody) if (m_originalBody)
@ -276,7 +276,7 @@ ATTRIBUTE_ALIGNED64 (struct) btSolverBody
if (m_pushVelocity[0]!=0.f || m_pushVelocity[1]!=0 || m_pushVelocity[2]!=0 || m_turnVelocity[0]!=0.f || m_turnVelocity[1]!=0 || m_turnVelocity[2]!=0) if (m_pushVelocity[0]!=0.f || m_pushVelocity[1]!=0 || m_pushVelocity[2]!=0 || m_turnVelocity[0]!=0.f || m_turnVelocity[1]!=0 || m_turnVelocity[2]!=0)
{ {
btQuaternion orn = m_worldTransform.getRotation(); btQuaternion orn = m_worldTransform.getRotation();
btTransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity,timeStep,newTransform); btTransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform);
m_worldTransform = newTransform; m_worldTransform = newTransform;
} }
//m_worldTransform.setRotation(orn); //m_worldTransform.setRotation(orn);