mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-08 08:30:16 +00:00
970 lines
30 KiB
C++
970 lines
30 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2010 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.
|
|
*/
|
|
|
|
#define TEST_SERIALIZATION 1
|
|
//#undef DESERIALIZE_SOFT_BODIES
|
|
|
|
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
|
|
#define CREATE_NEW_BULLETFILE 1
|
|
#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
|
|
|
|
///create 125 (5x5x5) dynamic object
|
|
#define ARRAY_SIZE_X 5
|
|
#define ARRAY_SIZE_Y 5
|
|
#define ARRAY_SIZE_Z 5
|
|
|
|
//maximum number of objects (and allow user to shoot additional boxes)
|
|
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
|
|
|
|
///scaling of the objects (0.1 = 20 centimeter boxes )
|
|
#define SCALING 1.
|
|
#define START_POS_X -5
|
|
#define START_POS_Y -5
|
|
#define START_POS_Z -3
|
|
|
|
#include "SerializeDemo.h"
|
|
#include "GlutStuff.h"
|
|
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
|
#include "btBulletDynamicsCommon.h"
|
|
#ifdef TEST_SERIALIZATION
|
|
#include "LinearMath/btSerializer.h"
|
|
#include "btBulletFile.h"
|
|
#include "btBulletWorldImporter.h"
|
|
#endif //TEST_SERIALIZATION
|
|
|
|
#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
|
|
#include <stdio.h> //printf debugging
|
|
|
|
|
|
|
|
#ifdef DESERIALIZE_SOFT_BODIES
|
|
#include "BulletSoftBody/btSoftBodySolvers.h"
|
|
|
|
|
|
#ifdef USE_AMD_OPENCL
|
|
#include <BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h>
|
|
#include <BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h>
|
|
#include "../SharedOpenCL/btOpenCLUtils.h"
|
|
|
|
extern cl_context g_cxMainContext;
|
|
extern cl_device_id g_cdDevice;
|
|
extern cl_command_queue g_cqCommandQue;
|
|
#endif
|
|
|
|
btSoftBodySolver* fSoftBodySolver=0;
|
|
|
|
#include "BulletSoftBody/btSoftBodyHelpers.h"
|
|
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
|
|
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
|
|
#endif
|
|
|
|
void SerializeDemo::keyboardCallback(unsigned char key, int x, int y)
|
|
{
|
|
btAlignedObjectArray<btRigidBody*> bodies;
|
|
if (key == 'g')
|
|
{
|
|
int numManifolds = getDynamicsWorld()->getDispatcher()->getNumManifolds();
|
|
|
|
for (int i=0;i<numManifolds;i++)
|
|
{
|
|
btPersistentManifold* manifold = getDynamicsWorld()->getDispatcher()->getManifoldByIndexInternal(i);
|
|
if (!manifold->getNumContacts())
|
|
continue;
|
|
|
|
btScalar minDist = 1e30f;
|
|
int minIndex = -1;
|
|
for (int v=0;v<manifold->getNumContacts();v++)
|
|
{
|
|
if (minDist >manifold->getContactPoint(v).getDistance())
|
|
{
|
|
minDist = manifold->getContactPoint(v).getDistance();
|
|
minIndex = v;
|
|
}
|
|
}
|
|
if (minDist>0.)
|
|
continue;
|
|
|
|
btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0();
|
|
btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
|
|
// int tag0 = (colObj0)->getIslandTag();
|
|
// int tag1 = (colObj1)->getIslandTag();
|
|
btRigidBody* body0 = btRigidBody::upcast(colObj0);
|
|
btRigidBody* body1 = btRigidBody::upcast(colObj1);
|
|
if (bodies.findLinearSearch(body0)==bodies.size())
|
|
bodies.push_back(body0);
|
|
if (bodies.findLinearSearch(body1)==bodies.size())
|
|
bodies.push_back(body1);
|
|
|
|
if (body0 && body1)
|
|
{
|
|
if (!colObj0->isStaticOrKinematicObject() && !colObj1->isStaticOrKinematicObject())
|
|
{
|
|
if (body0->checkCollideWithOverride(body1))
|
|
{
|
|
{
|
|
btTransform trA,trB;
|
|
trA.setIdentity();
|
|
trB.setIdentity();
|
|
btVector3 contactPosWorld = manifold->getContactPoint(minIndex).m_positionWorldOnA;
|
|
btTransform globalFrame;
|
|
globalFrame.setIdentity();
|
|
globalFrame.setOrigin(contactPosWorld);
|
|
|
|
trA = body0->getWorldTransform().inverse()*globalFrame;
|
|
trB = body1->getWorldTransform().inverse()*globalFrame;
|
|
|
|
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body0,*body1,trA,trB,true);
|
|
dof6->setOverrideNumSolverIterations(100);
|
|
|
|
dof6->setBreakingImpulseThreshold(35);
|
|
|
|
for (int i=0;i<6;i++)
|
|
dof6->setLimit(i,0,0);
|
|
getDynamicsWorld()->addConstraint(dof6,true);
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
for (int i=0;i<bodies.size();i++)
|
|
{
|
|
getDynamicsWorld()->removeRigidBody(bodies[i]);
|
|
getDynamicsWorld()->addRigidBody(bodies[i]);
|
|
}
|
|
}else
|
|
{
|
|
PlatformDemoApplication::keyboardCallback(key,x,y);
|
|
}
|
|
}
|
|
|
|
|
|
void SerializeDemo::clientMoveAndDisplay()
|
|
{
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
//simple dynamics world doesn't handle fixed-time-stepping
|
|
float ms = getDeltaTimeMicroseconds();
|
|
|
|
///step the simulation
|
|
if (m_dynamicsWorld)
|
|
{
|
|
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
|
|
|
|
|
#ifdef DESERIALIZE_SOFT_BODIES
|
|
if (fSoftBodySolver)
|
|
fSoftBodySolver->copyBackToSoftBodies();
|
|
#endif
|
|
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
#ifdef DESERIALIZE_SOFT_BODIES
|
|
if (m_dynamicsWorld->getWorldType()==BT_SOFT_RIGID_DYNAMICS_WORLD)
|
|
{
|
|
//optional but useful: debug drawing
|
|
btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
|
|
|
|
for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
|
|
{
|
|
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
|
|
if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
|
|
{
|
|
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
|
|
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
|
|
}
|
|
}
|
|
}
|
|
#endif //DESERIALIZE_SOFT_BODIES
|
|
|
|
}
|
|
|
|
renderme();
|
|
|
|
glFlush();
|
|
|
|
swapBuffers();
|
|
|
|
}
|
|
#ifdef USE_AMD_OPENCL
|
|
|
|
///the CachingCLFuncs class will try to create/load precompiled binary programs, instead of the slow on-line compilation of programs
|
|
class CachingCLFuncs : public CLFunctions
|
|
{
|
|
cl_device_id m_device;
|
|
|
|
public:
|
|
|
|
CachingCLFuncs (cl_command_queue cqCommandQue, cl_context cxMainContext, cl_device_id device)
|
|
:CLFunctions(cqCommandQue,cxMainContext),
|
|
m_device(device)
|
|
{
|
|
}
|
|
|
|
virtual cl_kernel compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros, const char* srcFileNameForCaching)
|
|
{
|
|
|
|
cl_int pErrNum;
|
|
cl_program prog;
|
|
|
|
prog = btOpenCLUtils::compileCLProgramFromFile( m_cxMainContext,m_device, &pErrNum,additionalMacros ,srcFileNameForCaching);
|
|
if (!prog)
|
|
{
|
|
printf("Using embedded kernel source instead:\n");
|
|
prog = btOpenCLUtils::compileCLProgramFromString( m_cxMainContext,m_device, kernelSource, &pErrNum,additionalMacros);
|
|
}
|
|
|
|
return btOpenCLUtils::compileCLKernelFromString( m_cxMainContext,m_device, kernelSource, kernelName, &pErrNum, prog,additionalMacros);
|
|
}
|
|
|
|
};
|
|
#endif
|
|
|
|
|
|
void SerializeDemo::displayCallback(void) {
|
|
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
if (m_dynamicsWorld->getWorldType()==BT_SOFT_RIGID_DYNAMICS_WORLD)
|
|
{
|
|
#ifdef DESERIALIZE_SOFT_BODIES
|
|
|
|
//optional but useful: debug drawing
|
|
btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
|
|
|
|
for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
|
|
{
|
|
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
|
|
if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
|
|
{
|
|
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
|
|
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
|
|
}
|
|
}
|
|
#endif //DESERIALIZE_SOFT_BODIES
|
|
}
|
|
|
|
renderme();
|
|
|
|
//optional but useful: debug drawing to detect problems
|
|
if (m_dynamicsWorld)
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
glFlush();
|
|
swapBuffers();
|
|
}
|
|
|
|
enum SolverType
|
|
{
|
|
kSolverAccelerationOpenCL_CPU = 1,
|
|
kSolverAccelerationOpenCL_GPU = 2,
|
|
kSolverAccelerationNone = 3
|
|
};
|
|
|
|
|
|
void SerializeDemo::setupEmptyDynamicsWorld()
|
|
{
|
|
///collision configuration contains default setup for memory, collision setup
|
|
//m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
|
#ifdef DESERIALIZE_SOFT_BODIES
|
|
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
|
|
#else
|
|
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
|
#endif //DESERIALIZE_SOFT_BODIES
|
|
|
|
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
|
|
|
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
|
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
|
btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher);
|
|
|
|
m_broadphase = new btDbvtBroadphase();
|
|
|
|
|
|
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
|
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
|
m_solver = sol;
|
|
|
|
#ifdef DESERIALIZE_SOFT_BODIES
|
|
|
|
|
|
|
|
#ifdef USE_AMD_OPENCL
|
|
|
|
int solverAccel = kSolverAccelerationOpenCL_GPU;
|
|
|
|
if ( 1 ) {
|
|
switch (solverAccel)
|
|
{
|
|
case kSolverAccelerationOpenCL_GPU:
|
|
{
|
|
btOpenCLSoftBodySolverSIMDAware* softSolv= new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext );
|
|
//btOpenCLSoftBodySolver* softSolv= new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
|
|
fSoftBodySolver = softSolv;
|
|
|
|
CLFunctions* funcs = new CachingCLFuncs(g_cqCommandQue, g_cxMainContext,g_cdDevice);
|
|
softSolv->setCLFunctions(funcs);
|
|
|
|
|
|
break;
|
|
}
|
|
case kSolverAccelerationOpenCL_CPU:
|
|
{
|
|
//fSoftBodySolver = new btCPUSoftBodySolver();
|
|
break;
|
|
};
|
|
case kSolverAccelerationNone:
|
|
default:
|
|
{
|
|
fSoftBodySolver = NULL;
|
|
}
|
|
};
|
|
}
|
|
else
|
|
{
|
|
if ( solverAccel != kSolverAccelerationNone )
|
|
{
|
|
}
|
|
else
|
|
{
|
|
}
|
|
fSoftBodySolver = NULL;
|
|
}
|
|
#else
|
|
|
|
fSoftBodySolver = NULL;
|
|
#endif
|
|
|
|
btSoftRigidDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver,
|
|
m_collisionConfiguration, fSoftBodySolver);
|
|
m_dynamicsWorld = world;
|
|
|
|
|
|
//world->setDrawFlags(world->getDrawFlags()^fDrawFlags::Clusters);
|
|
#else
|
|
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
|
//m_dynamicsWorld ->getSolverInfo().m_solverMode|=SOLVER_RANDMIZE_ORDER;
|
|
//m_dynamicsWorld->getDispatchInfo().m_enableSatConvex = true;
|
|
//m_dynamicsWorld->getSolverInfo().m_splitImpulse=true;
|
|
#endif //DESERIALIZE_SOFT_BODIES
|
|
|
|
//btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
|
|
|
|
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
|
|
|
}
|
|
|
|
|
|
#ifdef DESERIALIZE_SOFT_BODIES
|
|
#include "BulletSoftBody/btSoftBodyData.h"
|
|
class MySoftBulletWorldImporter : public btBulletWorldImporter
|
|
{
|
|
|
|
btSoftRigidDynamicsWorld* m_softRigidWorld;
|
|
|
|
btHashMap<btHashPtr,btSoftBody::Material*> m_materialMap;
|
|
|
|
btHashMap<btHashPtr,btSoftBody*> m_clusterBodyMap;
|
|
btHashMap<btHashPtr,btSoftBody*> m_softBodyMap;
|
|
|
|
|
|
|
|
public:
|
|
|
|
MySoftBulletWorldImporter(btSoftRigidDynamicsWorld* world)
|
|
:btBulletWorldImporter(world),
|
|
m_softRigidWorld(world)
|
|
{
|
|
|
|
}
|
|
|
|
virtual ~MySoftBulletWorldImporter()
|
|
{
|
|
|
|
}
|
|
|
|
virtual bool convertAllObjects( bParse::btBulletFile* bulletFile2)
|
|
{
|
|
bool result = btBulletWorldImporter::convertAllObjects(bulletFile2);
|
|
int i;
|
|
//now the soft bodies
|
|
for (i=0;i<bulletFile2->m_softBodies.size();i++)
|
|
{
|
|
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
|
|
{
|
|
btAssert(0); //not yet
|
|
//btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
|
|
} else
|
|
{
|
|
btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
|
|
int i;
|
|
int numNodes = softBodyData->m_numNodes;
|
|
|
|
|
|
btSoftBody* psb=new btSoftBody(&m_softRigidWorld->getWorldInfo());
|
|
m_softBodyMap.insert(softBodyData,psb);
|
|
|
|
//materials
|
|
for (i=0;i<softBodyData->m_numMaterials;i++)
|
|
{
|
|
SoftBodyMaterialData* matData = softBodyData->m_materials[i];
|
|
btSoftBody::Material** matPtr = m_materialMap.find(matData);
|
|
btSoftBody::Material* mat = 0;
|
|
if (matPtr&& *matPtr)
|
|
{
|
|
mat = *matPtr;
|
|
} else
|
|
{
|
|
mat = psb->appendMaterial();
|
|
mat->m_flags = matData->m_flags;
|
|
mat->m_kAST = matData->m_angularStiffness;
|
|
mat->m_kLST = matData->m_linearStiffness;
|
|
mat->m_kVST = matData->m_volumeStiffness;
|
|
m_materialMap.insert(matData,mat);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
for (i=0;i<numNodes;i++)
|
|
{
|
|
SoftBodyNodeData& nodeData = softBodyData->m_nodes[i];
|
|
btVector3 position;
|
|
position.deSerializeFloat(nodeData.m_position);
|
|
btScalar mass = nodeData.m_inverseMass? 1./nodeData.m_inverseMass : 0.f;
|
|
psb->appendNode(position,mass);
|
|
btSoftBody::Node* node = &psb->m_nodes[psb->m_nodes.size()-1];
|
|
node->m_area = nodeData.m_area;
|
|
node->m_battach = nodeData.m_attach;
|
|
node->m_f.deSerializeFloat(nodeData.m_accumulatedForce);
|
|
node->m_im = nodeData.m_inverseMass;
|
|
|
|
btSoftBody::Material** matPtr = m_materialMap.find(nodeData.m_material);
|
|
if (matPtr && *matPtr)
|
|
{
|
|
node->m_material = *matPtr;
|
|
} else
|
|
{
|
|
printf("no mat?\n");
|
|
}
|
|
|
|
node->m_n.deSerializeFloat(nodeData.m_normal);
|
|
node->m_q = node->m_x;
|
|
node->m_v.deSerializeFloat(nodeData.m_velocity);
|
|
|
|
}
|
|
|
|
for (i=0;i<softBodyData->m_numLinks;i++)
|
|
{
|
|
SoftBodyLinkData& linkData = softBodyData->m_links[i];
|
|
btSoftBody::Material** matPtr = m_materialMap.find(linkData.m_material);
|
|
if (matPtr && *matPtr)
|
|
{
|
|
psb->appendLink(linkData.m_nodeIndices[0],linkData.m_nodeIndices[1],*matPtr);
|
|
} else
|
|
{
|
|
psb->appendLink(linkData.m_nodeIndices[0],linkData.m_nodeIndices[1]);
|
|
}
|
|
btSoftBody::Link* link = &psb->m_links[psb->m_links.size()-1];
|
|
link->m_bbending = linkData.m_bbending;
|
|
link->m_rl = linkData.m_restLength;
|
|
}
|
|
|
|
for (i=0;i<softBodyData->m_numFaces;i++)
|
|
{
|
|
SoftBodyFaceData& faceData = softBodyData->m_faces[i];
|
|
btSoftBody::Material** matPtr = m_materialMap.find(faceData.m_material);
|
|
if (matPtr && *matPtr)
|
|
{
|
|
psb->appendFace(faceData.m_nodeIndices[0],faceData.m_nodeIndices[1],faceData.m_nodeIndices[2],*matPtr);
|
|
} else
|
|
{
|
|
psb->appendFace(faceData.m_nodeIndices[0],faceData.m_nodeIndices[1],faceData.m_nodeIndices[2]);
|
|
}
|
|
btSoftBody::Face* face = &psb->m_faces[psb->m_faces.size()-1];
|
|
face->m_normal.deSerializeFloat(faceData.m_normal);
|
|
face->m_ra = faceData.m_restArea;
|
|
}
|
|
|
|
|
|
|
|
//anchors
|
|
for (i=0;i<softBodyData->m_numAnchors;i++)
|
|
{
|
|
btCollisionObject** colAptr = m_bodyMap.find(softBodyData->m_anchors[i].m_rigidBody);
|
|
if (colAptr && *colAptr)
|
|
{
|
|
btRigidBody* body = btRigidBody::upcast(*colAptr);
|
|
if (body)
|
|
{
|
|
bool disableCollision = false;
|
|
btVector3 localPivot;
|
|
localPivot.deSerializeFloat(softBodyData->m_anchors[i].m_localFrame);
|
|
psb->appendAnchor(softBodyData->m_anchors[i].m_nodeIndex,body,localPivot, disableCollision);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (softBodyData->m_pose)
|
|
{
|
|
psb->m_pose.m_aqq.deSerializeFloat( softBodyData->m_pose->m_aqq);
|
|
psb->m_pose.m_bframe = (softBodyData->m_pose->m_bframe!=0);
|
|
psb->m_pose.m_bvolume = (softBodyData->m_pose->m_bvolume!=0);
|
|
psb->m_pose.m_com.deSerializeFloat(softBodyData->m_pose->m_com);
|
|
|
|
psb->m_pose.m_pos.resize(softBodyData->m_pose->m_numPositions);
|
|
for (i=0;i<softBodyData->m_pose->m_numPositions;i++)
|
|
{
|
|
psb->m_pose.m_pos[i].deSerializeFloat(softBodyData->m_pose->m_positions[i]);
|
|
}
|
|
psb->m_pose.m_rot.deSerializeFloat(softBodyData->m_pose->m_rot);
|
|
psb->m_pose.m_scl.deSerializeFloat(softBodyData->m_pose->m_scale);
|
|
psb->m_pose.m_wgh.resize(softBodyData->m_pose->m_numWeigts);
|
|
for (i=0;i<softBodyData->m_pose->m_numWeigts;i++)
|
|
{
|
|
psb->m_pose.m_wgh[i] = softBodyData->m_pose->m_weights[i];
|
|
}
|
|
psb->m_pose.m_volume = softBodyData->m_pose->m_restVolume;
|
|
}
|
|
|
|
#if 1
|
|
psb->m_cfg.piterations=softBodyData->m_config.m_positionIterations;
|
|
psb->m_cfg.diterations=softBodyData->m_config.m_driftIterations;
|
|
psb->m_cfg.citerations=softBodyData->m_config.m_clusterIterations;
|
|
psb->m_cfg.viterations=softBodyData->m_config.m_velocityIterations;
|
|
|
|
//psb->setTotalMass(0.1);
|
|
psb->m_cfg.aeromodel = (btSoftBody::eAeroModel::_)softBodyData->m_config.m_aeroModel;
|
|
psb->m_cfg.kLF = softBodyData->m_config.m_lift;
|
|
psb->m_cfg.kDG = softBodyData->m_config.m_drag;
|
|
psb->m_cfg.kMT = softBodyData->m_config.m_poseMatch;
|
|
psb->m_cfg.collisions = softBodyData->m_config.m_collisionFlags;
|
|
psb->m_cfg.kDF = 1.f;//softBodyData->m_config.m_dynamicFriction;
|
|
psb->m_cfg.kDP = softBodyData->m_config.m_damping;
|
|
psb->m_cfg.kPR = softBodyData->m_config.m_pressure;
|
|
psb->m_cfg.kVC = softBodyData->m_config.m_volume;
|
|
psb->m_cfg.kAHR = softBodyData->m_config.m_anchorHardness;
|
|
psb->m_cfg.kKHR = softBodyData->m_config.m_kineticContactHardness;
|
|
psb->m_cfg.kSHR = softBodyData->m_config.m_softContactHardness;
|
|
psb->m_cfg.kSRHR_CL = softBodyData->m_config.m_softRigidClusterHardness;
|
|
psb->m_cfg.kSKHR_CL = softBodyData->m_config.m_softKineticClusterHardness;
|
|
psb->m_cfg.kSSHR_CL = softBodyData->m_config.m_softSoftClusterHardness;
|
|
#endif
|
|
|
|
// pm->m_kLST = 1;
|
|
|
|
#if 1
|
|
//clusters
|
|
if (softBodyData->m_numClusters)
|
|
{
|
|
m_clusterBodyMap.insert(softBodyData->m_clusters,psb);
|
|
int j;
|
|
psb->m_clusters.resize(softBodyData->m_numClusters);
|
|
for (i=0;i<softBodyData->m_numClusters;i++)
|
|
{
|
|
psb->m_clusters[i] = new(btAlignedAlloc(sizeof(btSoftBody::Cluster),16)) btSoftBody::Cluster();
|
|
psb->m_clusters[i]->m_adamping = softBodyData->m_clusters[i].m_adamping;
|
|
psb->m_clusters[i]->m_av.deSerializeFloat(softBodyData->m_clusters[i].m_av);
|
|
psb->m_clusters[i]->m_clusterIndex = softBodyData->m_clusters[i].m_clusterIndex;
|
|
psb->m_clusters[i]->m_collide = (softBodyData->m_clusters[i].m_collide!=0);
|
|
psb->m_clusters[i]->m_com.deSerializeFloat(softBodyData->m_clusters[i].m_com);
|
|
psb->m_clusters[i]->m_containsAnchor = (softBodyData->m_clusters[i].m_containsAnchor!=0);
|
|
psb->m_clusters[i]->m_dimpulses[0].deSerializeFloat(softBodyData->m_clusters[i].m_dimpulses[0]);
|
|
psb->m_clusters[i]->m_dimpulses[1].deSerializeFloat(softBodyData->m_clusters[i].m_dimpulses[1]);
|
|
|
|
psb->m_clusters[i]->m_framerefs.resize(softBodyData->m_clusters[i].m_numFrameRefs);
|
|
for (j=0;j<softBodyData->m_clusters[i].m_numFrameRefs;j++)
|
|
{
|
|
psb->m_clusters[i]->m_framerefs[j].deSerializeFloat(softBodyData->m_clusters[i].m_framerefs[j]);
|
|
}
|
|
psb->m_clusters[i]->m_nodes.resize(softBodyData->m_clusters[i].m_numNodes);
|
|
for (j=0;j<softBodyData->m_clusters[i].m_numNodes;j++)
|
|
{
|
|
int nodeIndex = softBodyData->m_clusters[i].m_nodeIndices[j];
|
|
psb->m_clusters[i]->m_nodes[j] = &psb->m_nodes[nodeIndex];
|
|
}
|
|
|
|
psb->m_clusters[i]->m_masses.resize(softBodyData->m_clusters[i].m_numMasses);
|
|
for (j=0;j<softBodyData->m_clusters[i].m_numMasses;j++)
|
|
{
|
|
psb->m_clusters[i]->m_masses[j] = softBodyData->m_clusters[i].m_masses[j];
|
|
}
|
|
psb->m_clusters[i]->m_framexform.deSerializeFloat(softBodyData->m_clusters[i].m_framexform);
|
|
psb->m_clusters[i]->m_idmass = softBodyData->m_clusters[i].m_idmass;
|
|
psb->m_clusters[i]->m_imass = softBodyData->m_clusters[i].m_imass;
|
|
psb->m_clusters[i]->m_invwi.deSerializeFloat(softBodyData->m_clusters[i].m_invwi);
|
|
psb->m_clusters[i]->m_ldamping = softBodyData->m_clusters[i].m_ldamping;
|
|
psb->m_clusters[i]->m_locii.deSerializeFloat(softBodyData->m_clusters[i].m_locii);
|
|
psb->m_clusters[i]->m_lv.deSerializeFloat(softBodyData->m_clusters[i].m_lv);
|
|
psb->m_clusters[i]->m_matching = softBodyData->m_clusters[i].m_matching;
|
|
psb->m_clusters[i]->m_maxSelfCollisionImpulse = 0;//softBodyData->m_clusters[i].m_maxSelfCollisionImpulse;
|
|
psb->m_clusters[i]->m_ndamping = softBodyData->m_clusters[i].m_ndamping;
|
|
psb->m_clusters[i]->m_ndimpulses = softBodyData->m_clusters[i].m_ndimpulses;
|
|
psb->m_clusters[i]->m_nvimpulses = softBodyData->m_clusters[i].m_nvimpulses;
|
|
psb->m_clusters[i]->m_selfCollisionImpulseFactor = softBodyData->m_clusters[i].m_selfCollisionImpulseFactor;
|
|
psb->m_clusters[i]->m_vimpulses[0].deSerializeFloat(softBodyData->m_clusters[i].m_vimpulses[0]);
|
|
psb->m_clusters[i]->m_vimpulses[1].deSerializeFloat(softBodyData->m_clusters[i].m_vimpulses[1]);
|
|
|
|
}
|
|
//psb->initializeClusters();
|
|
//psb->updateClusters();
|
|
|
|
}
|
|
#else
|
|
|
|
psb->m_cfg.piterations = 2;
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS;
|
|
//psb->setTotalMass(50,true);
|
|
//psb->generateClusters(64);
|
|
//psb->m_cfg.kDF=1;
|
|
psb->generateClusters(8);
|
|
|
|
|
|
#endif //
|
|
|
|
|
|
|
|
psb->updateConstants();
|
|
m_softRigidWorld->getWorldInfo().m_dispatcher = m_softRigidWorld->getDispatcher();
|
|
|
|
m_softRigidWorld->addSoftBody(psb);
|
|
|
|
|
|
}
|
|
}
|
|
|
|
|
|
//now the soft body joints
|
|
for (i=0;i<bulletFile2->m_softBodies.size();i++)
|
|
{
|
|
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
|
|
{
|
|
btAssert(0); //not yet
|
|
//btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
|
|
} else
|
|
{
|
|
btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
|
|
btSoftBody** sbp = m_softBodyMap.find(softBodyData);
|
|
if (sbp && *sbp)
|
|
{
|
|
btSoftBody* sb = *sbp;
|
|
for (int i=0;i<softBodyData->m_numJoints;i++)
|
|
{
|
|
btSoftBodyJointData* sbjoint = &softBodyData->m_joints[i];
|
|
|
|
|
|
btSoftBody::Body bdyB;
|
|
|
|
btSoftBody* sbB = 0;
|
|
btTransform transA;
|
|
transA.setIdentity();
|
|
transA = sb->m_clusters[0]->m_framexform;
|
|
|
|
btCollisionObject** colBptr = m_bodyMap.find(sbjoint->m_bodyB);
|
|
if (colBptr && *colBptr)
|
|
{
|
|
btRigidBody* rbB = btRigidBody::upcast(*colBptr);
|
|
if (rbB)
|
|
{
|
|
bdyB = rbB;
|
|
} else
|
|
{
|
|
bdyB = *colBptr;
|
|
}
|
|
}
|
|
|
|
|
|
btSoftBody** bodyBptr = m_clusterBodyMap.find(sbjoint->m_bodyB);
|
|
if (bodyBptr && *bodyBptr )
|
|
{
|
|
sbB = *bodyBptr;
|
|
bdyB = sbB->m_clusters[0];
|
|
}
|
|
|
|
|
|
if (sbjoint->m_jointType==btSoftBody::Joint::eType::Linear)
|
|
{
|
|
btSoftBody::LJoint::Specs specs;
|
|
specs.cfm = sbjoint->m_cfm;
|
|
specs.erp = sbjoint->m_erp;
|
|
specs.split = sbjoint->m_split;
|
|
btVector3 relA;
|
|
relA.deSerializeFloat(sbjoint->m_refs[0]);
|
|
specs.position = transA*relA;
|
|
sb->appendLinearJoint(specs,sb->m_clusters[0],bdyB);
|
|
}
|
|
|
|
if (sbjoint->m_jointType==btSoftBody::Joint::eType::Angular)
|
|
{
|
|
btSoftBody::AJoint::Specs specs;
|
|
specs.cfm = sbjoint->m_cfm;
|
|
specs.erp = sbjoint->m_erp;
|
|
specs.split = sbjoint->m_split;
|
|
btVector3 relA;
|
|
relA.deSerializeFloat(sbjoint->m_refs[0]);
|
|
specs.axis = transA.getBasis()*relA;
|
|
sb->appendAngularJoint(specs,sb->m_clusters[0],bdyB);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
return result;
|
|
|
|
}
|
|
};
|
|
#endif //DESERIALIZE_SOFT_BODIES
|
|
|
|
SerializeDemo::SerializeDemo()
|
|
:m_verboseMode(0),
|
|
m_fileName("testFile.bullet")
|
|
{
|
|
m_idle=true;
|
|
|
|
}
|
|
SerializeDemo::~SerializeDemo()
|
|
{
|
|
m_fileLoader->deleteAllData();
|
|
delete m_fileLoader;
|
|
exitPhysics();
|
|
}
|
|
|
|
void SerializeDemo::initPhysics()
|
|
{
|
|
setTexturing(true);
|
|
setShadows(false);//true);
|
|
|
|
setCameraDistance(btScalar(SCALING*30.));
|
|
|
|
setupEmptyDynamicsWorld();
|
|
|
|
#ifdef DESERIALIZE_SOFT_BODIES
|
|
m_fileLoader = new MySoftBulletWorldImporter((btSoftRigidDynamicsWorld*)m_dynamicsWorld);
|
|
#else
|
|
m_fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
|
|
#endif //DESERIALIZE_SOFT_BODIES
|
|
|
|
m_fileLoader->setVerboseMode(m_verboseMode);
|
|
|
|
const char* filename = "testFile.bullet";
|
|
|
|
const char* prefix[]={"./","../","../../","../../../","../../../../", "SerializeDemo/", "Demos/SerializeDemo/",
|
|
"../Demos/SerializeDemo/","../../Demos/SerializeDemo/"};
|
|
int numPrefixes = sizeof(prefix)/sizeof(const char*);
|
|
char relativeFileName[1024];
|
|
bool fileFound = false;
|
|
|
|
for (int i=0;i<numPrefixes;i++)
|
|
{
|
|
sprintf(relativeFileName,"%s%s",prefix[i],filename);
|
|
FILE* f = fopen(relativeFileName,"r");
|
|
if (f)
|
|
{
|
|
fclose(f);
|
|
fileFound = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
if (!m_fileLoader->loadFile(relativeFileName, "testFileSwappedEndianness.bullet"))
|
|
// if (!m_fileLoader->loadFile("../SoftDemo/testFile.bullet"))
|
|
{
|
|
///create a few basic rigid bodies and save them to testFile.bullet
|
|
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
|
|
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
|
btCollisionObject* groundObject = 0;
|
|
|
|
|
|
m_collisionShapes.push_back(groundShape);
|
|
|
|
btTransform groundTransform;
|
|
groundTransform.setIdentity();
|
|
groundTransform.setOrigin(btVector3(0,-50,0));
|
|
|
|
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
|
{
|
|
btScalar mass(0.);
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
btVector3 localInertia(0,0,0);
|
|
if (isDynamic)
|
|
groundShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
|
btRigidBody* body = new btRigidBody(rbInfo);
|
|
|
|
//add the body to the dynamics world
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
groundObject = body;
|
|
}
|
|
|
|
|
|
{
|
|
//create a few dynamic rigidbodies
|
|
// Re-using the same collision is better for memory usage and performance
|
|
|
|
int numSpheres = 2;
|
|
btVector3 positions[2] = {btVector3(0.1f,0.2f,0.3f),btVector3(0.4f,0.5f,0.6f)};
|
|
btScalar radii[2] = {0.3f,0.4f};
|
|
|
|
btMultiSphereShape* colShape = new btMultiSphereShape(positions,radii,numSpheres);
|
|
|
|
//btCollisionShape* colShape = new btCapsuleShapeZ(SCALING*1,SCALING*1);
|
|
//btCollisionShape* colShape = new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,SCALING*1));
|
|
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
|
|
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
|
m_collisionShapes.push_back(colShape);
|
|
|
|
/// Create Dynamic Objects
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
|
|
btScalar mass(1.f);
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
btVector3 localInertia(0,0,0);
|
|
if (isDynamic)
|
|
colShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
float start_x = START_POS_X - ARRAY_SIZE_X/2;
|
|
float start_y = START_POS_Y;
|
|
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
|
|
|
|
for (int k=0;k<ARRAY_SIZE_Y;k++)
|
|
{
|
|
for (int i=0;i<ARRAY_SIZE_X;i++)
|
|
{
|
|
for(int j = 0;j<ARRAY_SIZE_Z;j++)
|
|
{
|
|
startTransform.setOrigin(SCALING*btVector3(
|
|
btScalar(2.0*i + start_x),
|
|
btScalar(20+2.0*k + start_y),
|
|
btScalar(2.0*j + start_z)));
|
|
|
|
|
|
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
|
|
btRigidBody* body = new btRigidBody(rbInfo);
|
|
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
//body->setActivationState(ISLAND_SLEEPING);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
int maxSerializeBufferSize = 1024*1024*5;
|
|
|
|
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
|
|
|
|
static const char* groundName = "GroundName";
|
|
serializer->registerNameForPointer(groundObject, groundName);
|
|
|
|
for (int i=0;i<m_collisionShapes.size();i++)
|
|
{
|
|
char* name = new char[20];
|
|
|
|
sprintf(name,"name%d",i);
|
|
serializer->registerNameForPointer(m_collisionShapes[i],name);
|
|
}
|
|
|
|
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*(btRigidBody*)getDynamicsWorld()->getCollisionObjectArray()[2],btVector3(0,1,0));
|
|
m_dynamicsWorld->addConstraint(p2p);
|
|
|
|
const char* name = "constraintje";
|
|
serializer->registerNameForPointer(p2p,name);
|
|
|
|
m_dynamicsWorld->serialize(serializer);
|
|
#if 1
|
|
FILE* f2 = fopen("testFile.bullet","wb");
|
|
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
|
|
fclose(f2);
|
|
#endif
|
|
|
|
}
|
|
|
|
//clientResetScene();
|
|
|
|
}
|
|
|
|
|
|
void SerializeDemo::exitPhysics()
|
|
{
|
|
|
|
//cleanup in the reverse order of creation/initialization
|
|
//removed/delete constraints
|
|
int i;
|
|
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
|
|
{
|
|
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
|
|
m_dynamicsWorld->removeConstraint(constraint);
|
|
delete constraint;
|
|
}
|
|
|
|
//remove the rigidbodies from the dynamics world and delete them
|
|
|
|
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
|
{
|
|
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
|
btRigidBody* body = btRigidBody::upcast(obj);
|
|
if (body && body->getMotionState())
|
|
{
|
|
delete body->getMotionState();
|
|
}
|
|
m_dynamicsWorld->removeCollisionObject( obj );
|
|
delete obj;
|
|
}
|
|
|
|
//delete collision shapes
|
|
for (int j=0;j<m_collisionShapes.size();j++)
|
|
{
|
|
btCollisionShape* shape = m_collisionShapes[j];
|
|
delete shape;
|
|
}
|
|
|
|
m_collisionShapes.clear();
|
|
|
|
delete m_dynamicsWorld;
|
|
|
|
delete m_solver;
|
|
|
|
delete m_broadphase;
|
|
|
|
delete m_dispatcher;
|
|
|
|
delete m_collisionConfiguration;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|