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some minor work on soft body, to make it easier to integrate into apps.

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This commit is contained in:
erwin.coumans 2008-09-24 02:41:50 +00:00
parent d7b635cabf
commit 752eb583d0
10 changed files with 161 additions and 107 deletions
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1
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@ -46,6 +46,7 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
CONCAVE_SHAPES_START_HERE,
//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
TRIANGLE_MESH_SHAPE_PROXYTYPE,
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
///used for demo integration FAST/Swift collision library and Bullet
FAST_CONCAVE_MESH_PROXYTYPE,
//terrain

2
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
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@ -117,5 +117,5 @@ const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
///don't make this a movable object!
btAssert(0);
// btAssert(0);
}

12
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
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@ -39,7 +39,7 @@ public:
virtual int getShapeType() const
{
//use un-used 'FAST_CONCAVE_MESH_PROXYTYPE' for now, later add SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE to btBroadphaseProxy.h
return FAST_CONCAVE_MESH_PROXYTYPE;
return SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
@ -49,6 +49,16 @@ public:
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
btBvhTriangleMeshShape* getChildShape()
{
return m_bvhTriMeshShape;
}
const btBvhTriangleMeshShape* getChildShape() const
{
return m_bvhTriMeshShape;
}
//debugging
virtual const char* getName()const {return "SCALEDBVHTRIANGLEMESH";}

124
src/BulletCollision/CollisionShapes/btTriangleBuffer.h
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@ -1,34 +1,34 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_TRIANGLE_BUFFER_H
#define BT_TRIANGLE_BUFFER_H
#include "btTriangleCallback.h"
#include "LinearMath/btAlignedObjectArray.h"
struct btTriangle
{
btVector3 m_vertex0;
btVector3 m_vertex1;
btVector3 m_vertex2;
int m_partId;
int m_triangleIndex;
};
///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_TRIANGLE_BUFFER_H
#define BT_TRIANGLE_BUFFER_H
#include "btTriangleCallback.h"
#include "LinearMath/btAlignedObjectArray.h"
struct btTriangle
{
btVector3 m_vertex0;
btVector3 m_vertex1;
btVector3 m_vertex2;
int m_partId;
int m_triangleIndex;
};
///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
///Example usage of this class:
/// btTriangleBuffer triBuf;
/// concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax);
@ -36,34 +36,34 @@ struct btTriangle
/// {
/// const btTriangle& tri = triBuf.getTriangle(i);
/// //do something useful here with the triangle
/// }
class btTriangleBuffer : public btTriangleCallback
{
btAlignedObjectArray<btTriangle> m_triangleBuffer;
public:
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
int getNumTriangles() const
{
return int(m_triangleBuffer.size());
}
const btTriangle& getTriangle(int index) const
{
return m_triangleBuffer[index];
}
void clearBuffer()
{
m_triangleBuffer.clear();
}
};
#endif //BT_TRIANGLE_BUFFER_H
/// }
class btTriangleBuffer : public btTriangleCallback
{
btAlignedObjectArray<btTriangle> m_triangleBuffer;
public:
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
int getNumTriangles() const
{
return int(m_triangleBuffer.size());
}
const btTriangle& getTriangle(int index) const
{
return m_triangleBuffer[index];
}
void clearBuffer()
{
m_triangleBuffer.clear();
}
};
#endif //BT_TRIANGLE_BUFFER_H

5
src/BulletSoftBody/btSoftBody.h
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@ -29,7 +29,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
class btBroadphaseInterface;
class btCollisionDispatcher;
class btDispatcher;
/* btSoftBodyWorldInfo */
struct btSoftBodyWorldInfo
@ -39,7 +39,7 @@ struct btSoftBodyWorldInfo
btScalar water_offset;
btVector3 water_normal;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btDispatcher* m_dispatcher;
btVector3 m_gravity;
btSparseSdf<3> m_sparsesdf;
};
@ -607,6 +607,7 @@ public:
virtual ~btSoftBody();
/* Check for existing link */
btAlignedObjectArray<int> m_userIndexMapping;
virtual void setCollisionShape(btCollisionShape* collisionShape)
{

9
src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
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@ -21,6 +21,10 @@ subject to the following restrictions:
#include "btSoftBody.h"
#include "btSoftBodyHelpers.h"
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
{
@ -28,6 +32,11 @@ m_drawFlags = fDrawFlags::Std;
m_drawNodeTree = true;
m_drawFaceTree = false;
m_drawClusterTree = false;
m_sbi.m_broadphase = pairCache;
m_sbi.m_dispatcher = dispatcher;
m_sbi.m_sparsesdf.Initialize();
m_sbi.m_sparsesdf.Reset();
}
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()

19
src/BulletSoftBody/btSoftRigidDynamicsWorld.h
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@ -13,12 +13,12 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
#define BT_SOFT_RIGID_DYNAMICS_WORLD_H
class btSoftBody;
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "btSoftBody.h"
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
@ -29,7 +29,8 @@ class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
bool m_drawNodeTree;
bool m_drawFaceTree;
bool m_drawClusterTree;
btSoftBodyWorldInfo m_sbi;
protected:
virtual void predictUnconstraintMotion(btScalar timeStep);
@ -40,7 +41,6 @@ protected:
void solveSoftBodiesConstraints();
public:
@ -57,6 +57,15 @@ public:
int getDrawFlags() const { return(m_drawFlags); }
void setDrawFlags(int f) { m_drawFlags=f; }
btSoftBodyWorldInfo& getWorldInfo()
{
return m_sbi;
}
const btSoftBodyWorldInfo& getWorldInfo() const
{
return m_sbi;
}
btSoftBodyArray& getSoftBodyArray()
{

70
src/LinearMath/CMakeLists.txt
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@ -1,35 +1,35 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src }
)
ADD_LIBRARY(LibLinearMath
btAlignedObjectArray.h
btList.h
btPoolAllocator.h
btRandom.h
btVector3.h
btDefaultMotionState.h
btMatrix3x3.h
btQuadWord.h
btHashMap.h
btScalar.h
btAabbUtil2.h
btConvexHull.h
btConvexHull.cpp
btMinMax.h
btQuaternion.h
btStackAlloc.h
btGeometryUtil.h
btMotionState.h
btTransform.h
btAlignedAllocator.h
btIDebugDraw.h
btPoint3.h
btQuickprof.h
btTransformUtil.h
btQuickprof.cpp
btGeometryUtil.cpp
btAlignedAllocator.cpp
)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src }
)
ADD_LIBRARY(LibLinearMath
btAlignedObjectArray.h
btList.h
btPoolAllocator.h
btRandom.h
btVector3.h
btDefaultMotionState.h
btMatrix3x3.h
btQuadWord.h
btHashMap.h
btScalar.h
btAabbUtil2.h
btConvexHull.h
btConvexHull.cpp
btMinMax.h
btQuaternion.h
btStackAlloc.h
btGeometryUtil.h
btMotionState.h
btTransform.h
btAlignedAllocator.h
btIDebugDraw.h
btPoint3.h
btQuickprof.h
btTransformUtil.h
btQuickprof.cpp
btGeometryUtil.cpp
btAlignedAllocator.cpp
)

23
src/LinearMath/btConvexHull.cpp
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@ -869,6 +869,8 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
{
if ( svcount == 0 ) return false;
m_vertexIndexMapping.resize(0);
#define EPSILON btScalar(0.000001) /* close enough to consider two btScalaring point numbers to be 'the same'. */
@ -1027,6 +1029,7 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
v[0] = px;
v[1] = py;
v[2] = pz;
}
break;
@ -1041,6 +1044,7 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
dest[2] = pz;
vcount++;
}
m_vertexIndexMapping.push_back(j);
}
}
@ -1116,13 +1120,22 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount)
{
btAlignedObjectArray<int>tmpIndices;
tmpIndices.resize(m_vertexIndexMapping.size());
int i;
for (i=0;i<m_vertexIndexMapping.size();i++)
{
tmpIndices[i] = m_vertexIndexMapping[i];
}
TUIntArray usedIndices;
usedIndices.resize(static_cast<int>(vcount));
memset(&usedIndices[0],0,sizeof(unsigned int)*vcount);
ocount = 0;
for (unsigned int i=0; i<indexcount; i++)
for (i=0; i<indexcount; i++)
{
unsigned int v = indices[i]; // original array index
@ -1141,11 +1154,19 @@ void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, b
overts[ocount][1] = verts[v][1];
overts[ocount][2] = verts[v][2];
for (int k=0;k<m_vertexIndexMapping.size();k++)
{
if (tmpIndices[k]==v)
m_vertexIndexMapping[k]=ocount;
}
ocount++; // increment output vert count
btAssert( ocount >=0 && ocount <= vcount );
usedIndices[static_cast<int>(v)] = ocount; // assign new index remapping
}
}

3
src/LinearMath/btConvexHull.h
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@ -192,6 +192,9 @@ class HullLibrary
public:
btAlignedObjectArray<int> m_vertexIndexMapping;
HullError CreateConvexHull(const HullDesc& desc, // describes the input request
HullResult& result); // contains the resulst
HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.