mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 13:20:07 +00:00
2358 lines
59 KiB
C++
2358 lines
59 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///btSoftBody implementation by Nathanael Presson
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
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#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BunnyMesh.h"
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#include "TorusMesh.h"
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#include <stdio.h> //printf debugging
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#include "LinearMath/btConvexHull.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "SoftDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "BulletSoftBody/btSoftBody.h"
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class btBroadphaseInterface;
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class btCollisionShape;
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class btOverlappingPairCache;
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class btCollisionDispatcher;
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class btConstraintSolver;
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struct btCollisionAlgorithmCreateFunc;
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class btDefaultCollisionConfiguration;
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///collisions between two btSoftBody's
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class btSoftSoftCollisionAlgorithm;
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///collisions between a btSoftBody and a btRigidBody
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class btSoftRididCollisionAlgorithm;
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class btSoftRigidDynamicsWorld;
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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class SoftDemo : public CommonRigidBodyBase
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{
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public:
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btAlignedObjectArray<btSoftSoftCollisionAlgorithm*> m_SoftSoftCollisionAlgorithms;
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btAlignedObjectArray<btSoftRididCollisionAlgorithm*> m_SoftRigidCollisionAlgorithms;
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btSoftBodyWorldInfo m_softBodyWorldInfo;
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bool m_autocam;
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bool m_cutting;
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bool m_raycast;
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btScalar m_animtime;
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btClock m_clock;
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int m_lastmousepos[2];
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btVector3 m_impact;
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btSoftBody::sRayCast m_results;
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btSoftBody::Node* m_node;
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btVector3 m_goal;
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bool m_drag;
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btConstraintSolver* m_solver;
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btCollisionAlgorithmCreateFunc* m_boxBoxCF;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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public:
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void initPhysics();
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void exitPhysics();
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virtual void resetCamera()
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{
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//@todo depends on current_demo?
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float dist = 45;
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float pitch = 27;
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float yaw = 31;
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float targetPos[3]={10-1,0};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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SoftDemo(struct GUIHelperInterface* helper)
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: CommonRigidBodyBase(helper),
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m_drag(false)
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{
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}
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virtual ~SoftDemo()
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{
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btAssert(m_dynamicsWorld==0);
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}
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//virtual void clientMoveAndDisplay();
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//virtual void displayCallback();
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void createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos );
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virtual void setDrawClusters(bool drawClusters);
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virtual const btSoftRigidDynamicsWorld* getSoftDynamicsWorld() const
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{
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///just make it a btSoftRigidDynamicsWorld please
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///or we will add type checking
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return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
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}
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virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld()
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{
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///just make it a btSoftRigidDynamicsWorld please
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///or we will add type checking
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return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
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}
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//
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//void clientResetScene();
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void renderme();
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void keyboardCallback(unsigned char key, int x, int y);
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void mouseFunc(int button, int state, int x, int y);
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void mouseMotionFunc(int x,int y);
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GUIHelperInterface* getGUIHelper()
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{
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return m_guiHelper;
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}
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virtual void renderScene()
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{
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CommonRigidBodyBase::renderScene();
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btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
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for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
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{
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btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
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if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
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{
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btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
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}
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}
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}
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};
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#define MACRO_SOFT_DEMO(a) class SoftDemo##a : public SoftDemo\
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{\
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public:\
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static DemoApplication* Create()\
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{\
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SoftDemo* demo = new SoftDemo##a;\
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extern int current_demo;\
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current_demo=a;\
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demo->initPhysics();\
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return demo;\
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}\
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};
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//MACRO_SOFT_DEMO(0) //Init_Cloth
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#if 0
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MACRO_SOFT_DEMO(1) //Init_Pressure
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MACRO_SOFT_DEMO(2)//Init_Volume
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MACRO_SOFT_DEMO(3)//Init_Ropes
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MACRO_SOFT_DEMO(4)//Init_Ropes_Attach
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MACRO_SOFT_DEMO(5)//Init_ClothAttach
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MACRO_SOFT_DEMO(6)//Init_Sticks
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MACRO_SOFT_DEMO(7)//Init_Collide
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MACRO_SOFT_DEMO(8)//Init_Collide2
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MACRO_SOFT_DEMO(9)//Init_Collide3
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MACRO_SOFT_DEMO(10)//Init_Impact
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MACRO_SOFT_DEMO(11)//Init_Aero
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MACRO_SOFT_DEMO(12)//Init_Friction
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MACRO_SOFT_DEMO(13)//Init_Torus
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MACRO_SOFT_DEMO(14)//Init_TorusMatch
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MACRO_SOFT_DEMO(15)//Init_Bunny
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MACRO_SOFT_DEMO(16)//Init_BunnyMatch
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MACRO_SOFT_DEMO(17)//Init_Cutting1
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MACRO_SOFT_DEMO(18)//Init_ClusterDeform
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MACRO_SOFT_DEMO(19)//Init_ClusterCollide1
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MACRO_SOFT_DEMO(20)//Init_ClusterCollide2
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MACRO_SOFT_DEMO(21)//Init_ClusterSocket
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MACRO_SOFT_DEMO(22)//Init_ClusterHinge
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MACRO_SOFT_DEMO(23)//Init_ClusterCombine
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MACRO_SOFT_DEMO(24)//Init_ClusterCar
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MACRO_SOFT_DEMO(25)//Init_ClusterRobot
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MACRO_SOFT_DEMO(26)//Init_ClusterStackSoft
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MACRO_SOFT_DEMO(27)//Init_ClusterStackMixed
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MACRO_SOFT_DEMO(28)//Init_TetraCube
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MACRO_SOFT_DEMO(29)//Init_TetraBunny
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#endif
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extern float eye[3];
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extern int glutScreenWidth;
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extern int glutScreenHeight;
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static bool sDemoMode = false;
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const int maxProxies = 32766;
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const int maxOverlap = 65535;
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static btVector3* gGroundVertices=0;
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static int* gGroundIndices=0;
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static btBvhTriangleMeshShape* trimeshShape =0;
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static btRigidBody* staticBody = 0;
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static float waveheight = 5.f;
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const float TRIANGLE_SIZE=8.f;
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int current_demo=20;
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#define DEMO_MODE_TIMEOUT 15.f //15 seconds for each demo
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#ifdef _DEBUG
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const int gNumObjects = 1;
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#else
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const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
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#endif
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const int maxNumObjects = 32760;
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#define CUBE_HALF_EXTENTS 1.5
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#define EXTRA_HEIGHT -10.f
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//
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void SoftDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
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{
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btTransform trans;
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trans.setIdentity();
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for(int i=0; i<size; i++)
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{
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// This constructs a row, from left to right
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int rowSize = size - i;
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for(int j=0; j< rowSize; j++)
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{
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btVector3 pos;
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pos.setValue(
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-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
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halfCubeSize + i * halfCubeSize * 2.0f,
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zPos);
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trans.setOrigin(pos);
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btScalar mass = 1.f;
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btRigidBody* body = 0;
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body = createRigidBody(mass,trans,boxShape);
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}
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}
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}
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////////////////////////////////////
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extern int gNumManifold;
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extern int gOverlappingPairs;
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///for mouse picking
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void pickingPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
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{
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SoftDemo* softDemo = (SoftDemo*)world->getWorldUserInfo();
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if(softDemo->m_drag)
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{
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const int x=softDemo->m_lastmousepos[0];
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const int y=softDemo->m_lastmousepos[1];
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float rf[3];
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softDemo->getGUIHelper()->getRenderInterface()->getActiveCamera()->getCameraPosition(rf);
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float target[3];
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softDemo->getGUIHelper()->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(target);
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btVector3 cameraTargetPosition(target[0],target[1],target[2]);
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const btVector3 cameraPosition(rf[0],rf[1],rf[2]);
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const btVector3 rayFrom=cameraPosition;
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const btVector3 rayTo=softDemo->getRayTo(x,y);
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const btVector3 rayDir=(rayTo-rayFrom).normalized();
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const btVector3 N=(cameraTargetPosition-cameraPosition).normalized();
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const btScalar O=btDot(softDemo->m_impact,N);
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const btScalar den=btDot(N,rayDir);
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if((den*den)>0)
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{
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const btScalar num=O-btDot(N,rayFrom);
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const btScalar hit=num/den;
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if((hit>0)&&(hit<1500))
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{
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softDemo->m_goal=rayFrom+rayDir*hit;
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}
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}
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btVector3 delta=softDemo->m_goal-softDemo->m_node->m_x;
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static const btScalar maxdrag=10;
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if(delta.length2()>(maxdrag*maxdrag))
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{
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delta=delta.normalized()*maxdrag;
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}
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softDemo->m_node->m_v+=delta/timeStep;
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}
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}
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//
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// ImplicitShape
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//
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//
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struct ImplicitSphere : btSoftBody::ImplicitFn
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{
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btVector3 center;
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btScalar sqradius;
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ImplicitSphere() {}
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ImplicitSphere(const btVector3& c,btScalar r) : center(c),sqradius(r*r) {}
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btScalar Eval(const btVector3& x)
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{
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return((x-center).length2()-sqradius);
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}
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};
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//
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// Tetra meshes
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//
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struct TetraBunny
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{
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#include "bunny.inl"
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};
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struct TetraCube
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{
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#include "cube.inl"
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};
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//
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// Random
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//
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static inline btScalar UnitRand()
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{
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return(rand()/(btScalar)RAND_MAX);
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}
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static inline btScalar SignedUnitRand()
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{
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return(UnitRand()*2-1);
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}
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static inline btVector3 Vector3Rand()
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{
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const btVector3 p=btVector3(SignedUnitRand(),SignedUnitRand(),SignedUnitRand());
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return(p.normalized());
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}
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//
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// Rb rain
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//
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static void Ctor_RbUpStack(SoftDemo* pdemo,int count)
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{
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float mass=10;
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btCompoundShape* cylinderCompound = new btCompoundShape;
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btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(4,1,1));
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btCollisionShape* boxShape = new btBoxShape(btVector3(4,1,1));
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btTransform localTransform;
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localTransform.setIdentity();
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cylinderCompound->addChildShape(localTransform,boxShape);
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btQuaternion orn(SIMD_HALF_PI,0,0);
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localTransform.setRotation(orn);
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// localTransform.setOrigin(btVector3(1,1,1));
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cylinderCompound->addChildShape(localTransform,cylinderShape);
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btCollisionShape* shape[]={cylinderCompound,
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new btBoxShape(btVector3(1,1,1)),
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new btSphereShape(1.5)
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};
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static const int nshapes=sizeof(shape)/sizeof(shape[0]);
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for(int i=0;i<count;++i)
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{
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,2+6*i,0));
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pdemo->createRigidBody(mass,startTransform,shape[i%nshapes]);
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//pdemo->createRigidBody(mass,startTransform,shape[0]);
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}
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}
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//
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// Big ball
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//
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static void Ctor_BigBall(SoftDemo* pdemo,btScalar mass=10)
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{
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,13,0));
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pdemo->createRigidBody(mass,startTransform,new btSphereShape(3));
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}
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//
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// Big plate
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//
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static btRigidBody* Ctor_BigPlate(SoftDemo* pdemo,btScalar mass=15,btScalar height=4)
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{
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,height,0.5));
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btRigidBody* body=pdemo->createRigidBody(mass,startTransform,new btBoxShape(btVector3(5,1,5)));
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body->setFriction(1);
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return(body);
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}
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//
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// Linear stair
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//
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static void Ctor_LinearStair(SoftDemo* pdemo,const btVector3& org,const btVector3& sizes,btScalar angle,int count)
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{
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btBoxShape* shape=new btBoxShape(sizes);
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for(int i=0;i<count;++i)
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{
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(org+btVector3(sizes.x()*i*2,sizes.y()*i*2,0));
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btRigidBody* body=pdemo->createRigidBody(0,startTransform,shape);
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body->setFriction(1);
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}
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}
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//
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// Softbox
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//
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static btSoftBody* Ctor_SoftBox(SoftDemo* pdemo,const btVector3& p,const btVector3& s)
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{
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const btVector3 h=s*0.5;
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const btVector3 c[]={ p+h*btVector3(-1,-1,-1),
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p+h*btVector3(+1,-1,-1),
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p+h*btVector3(-1,+1,-1),
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p+h*btVector3(+1,+1,-1),
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p+h*btVector3(-1,-1,+1),
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p+h*btVector3(+1,-1,+1),
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p+h*btVector3(-1,+1,+1),
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p+h*btVector3(+1,+1,+1)};
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btSoftBody* psb=btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo,c,8);
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psb->generateBendingConstraints(2);
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pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
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return(psb);
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}
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//
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// SoftBoulder
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//
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static btSoftBody* Ctor_SoftBoulder(SoftDemo* pdemo,const btVector3& p,const btVector3& s,int np,int id)
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{
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btAlignedObjectArray<btVector3> pts;
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if(id) srand(id);
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for(int i=0;i<np;++i)
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{
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pts.push_back(Vector3Rand()*s+p);
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}
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btSoftBody* psb=btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo,&pts[0],pts.size());
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psb->generateBendingConstraints(2);
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pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
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return(psb);
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}
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//#define TRACEDEMO { pdemo->demoname=__FUNCTION__+5;printf("Launching demo: " __FUNCTION__ "\r\n"); }
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//
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// Basic ropes
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//
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static void Init_Ropes(SoftDemo* pdemo)
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{
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//TRACEDEMO
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const int n=15;
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for(int i=0;i<n;++i)
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{
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btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, btVector3(-10,0,i*0.25),
|
|
btVector3(10,0,i*0.25),
|
|
16,
|
|
1+2);
|
|
psb->m_cfg.piterations = 4;
|
|
psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9;
|
|
psb->setTotalMass(20);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
|
|
}
|
|
}
|
|
|
|
//
|
|
// Rope attach
|
|
//
|
|
static void Init_RopeAttach(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
pdemo->m_softBodyWorldInfo.m_sparsesdf.RemoveReferences(0);
|
|
struct Functors
|
|
{
|
|
static btSoftBody* CtorRope(SoftDemo* pdemo,const btVector3& p)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo,p,p+btVector3(10,0,0),8,1);
|
|
psb->setTotalMass(50);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
return(psb);
|
|
}
|
|
};
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
startTransform.setOrigin(btVector3(12,8,0));
|
|
btRigidBody* body=pdemo->createRigidBody(50,startTransform,new btBoxShape(btVector3(2,6,2)));
|
|
btSoftBody* psb0=Functors::CtorRope(pdemo,btVector3(0,8,-1));
|
|
btSoftBody* psb1=Functors::CtorRope(pdemo,btVector3(0,8,+1));
|
|
psb0->appendAnchor(psb0->m_nodes.size()-1,body);
|
|
psb1->appendAnchor(psb1->m_nodes.size()-1,body);
|
|
}
|
|
|
|
//
|
|
// Cloth attach
|
|
//
|
|
static void Init_ClothAttach(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
const btScalar s=4;
|
|
const btScalar h=6;
|
|
const int r=9;
|
|
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,btVector3(-s,h,-s),
|
|
btVector3(+s,h,-s),
|
|
btVector3(-s,h,+s),
|
|
btVector3(+s,h,+s),r,r,4+8,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
startTransform.setOrigin(btVector3(0,h,-(s+3.5)));
|
|
btRigidBody* body=pdemo->createRigidBody(20,startTransform,new btBoxShape(btVector3(s,1,3)));
|
|
psb->appendAnchor(0,body);
|
|
psb->appendAnchor(r-1,body);
|
|
pdemo->m_cutting=true;
|
|
}
|
|
|
|
//
|
|
// Impact
|
|
//
|
|
static void Init_Impact(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, btVector3(0,0,0),
|
|
btVector3(0,-1,0),
|
|
0,
|
|
1);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
psb->m_cfg.kCHR=0.5;
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
startTransform.setOrigin(btVector3(0,20,0));
|
|
pdemo->createRigidBody(10,startTransform,new btBoxShape(btVector3(2,2,2)));
|
|
}
|
|
|
|
static void Init_CapsuleCollision(SoftDemo* pdemo)
|
|
{
|
|
#ifdef USE_AMD_OPENCL
|
|
btAlignedObjectArray<btSoftBody*> emptyArray;
|
|
if (g_openCLSIMDSolver)
|
|
g_openCLSIMDSolver->optimize(emptyArray);
|
|
#endif //USE_AMD_OPENCL
|
|
|
|
//TRACEDEMO
|
|
const btScalar s=4;
|
|
const btScalar h=6;
|
|
const int r=20;
|
|
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
startTransform.setOrigin(btVector3(0,h-2,0));
|
|
|
|
btCollisionShape* capsuleShape= new btCapsuleShapeX(1,5);
|
|
capsuleShape->setMargin( 0.5 );
|
|
|
|
// capsule->setLocalScaling(btVector3(5,1,1));
|
|
// btRigidBody* body=pdemo->createRigidBody(20,startTransform,capsuleShape);
|
|
btRigidBody* body=pdemo->createRigidBody(0,startTransform,capsuleShape);
|
|
body->setFriction( 0.8f );
|
|
|
|
int fixed=0;//4+8;
|
|
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,btVector3(-s,h,-s),
|
|
btVector3(+s,h,-s),
|
|
btVector3(-s,h,+s),
|
|
btVector3(+s,h,+s),r,r,fixed,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
psb->setTotalMass(0.1);
|
|
|
|
psb->m_cfg.piterations = 10;
|
|
psb->m_cfg.citerations = 10;
|
|
psb->m_cfg.diterations = 10;
|
|
// psb->m_cfg.viterations = 10;
|
|
|
|
|
|
// psb->appendAnchor(0,body);
|
|
// psb->appendAnchor(r-1,body);
|
|
// pdemo->m_cutting=true;
|
|
}
|
|
|
|
//
|
|
// Collide
|
|
//
|
|
static void Init_Collide(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
struct Functor
|
|
{
|
|
static btSoftBody* Create(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVertices,
|
|
&gIndices[0][0],
|
|
NUM_TRIANGLES);
|
|
psb->generateBendingConstraints(2);
|
|
psb->m_cfg.piterations=2;
|
|
psb->m_cfg.collisions|=btSoftBody::fCollision::VF_SS;
|
|
psb->randomizeConstraints();
|
|
btMatrix3x3 m;
|
|
m.setEulerZYX(a.x(),a.y(),a.z());
|
|
psb->transform(btTransform(m,x));
|
|
psb->scale(btVector3(2,2,2));
|
|
psb->setTotalMass(50,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
return(psb);
|
|
}
|
|
};
|
|
for(int i=0;i<3;++i)
|
|
{
|
|
Functor::Create(pdemo,btVector3(3*i,2,0),btVector3(SIMD_PI/2*(1-(i&1)),SIMD_PI/2*(i&1),0));
|
|
}
|
|
pdemo->m_cutting=true;
|
|
}
|
|
|
|
//
|
|
// Collide2
|
|
//
|
|
static void Init_Collide2(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
struct Functor
|
|
{
|
|
static btSoftBody* Create(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,
|
|
&gIndicesBunny[0][0],
|
|
BUNNY_NUM_TRIANGLES);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_kLST = 0.5;
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->generateBendingConstraints(2,pm);
|
|
psb->m_cfg.piterations = 2;
|
|
psb->m_cfg.kDF = 0.5;
|
|
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
|
|
psb->randomizeConstraints();
|
|
btMatrix3x3 m;
|
|
m.setEulerZYX(a.x(),a.y(),a.z());
|
|
psb->transform(btTransform(m,x));
|
|
psb->scale(btVector3(6,6,6));
|
|
psb->setTotalMass(100,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
return(psb);
|
|
}
|
|
};
|
|
for(int i=0;i<3;++i)
|
|
{
|
|
Functor::Create(pdemo,btVector3(0,-1+5*i,0),btVector3(0,SIMD_PI/2*(i&1),0));
|
|
}
|
|
pdemo->m_cutting=true;
|
|
}
|
|
|
|
//
|
|
// Collide3
|
|
//
|
|
static void Init_Collide3(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
{
|
|
const btScalar s=8;
|
|
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,btVector3(-s,0,-s),
|
|
btVector3(+s,0,-s),
|
|
btVector3(-s,0,+s),
|
|
btVector3(+s,0,+s),
|
|
15,15,1+2+4+8,true);
|
|
psb->m_materials[0]->m_kLST = 0.4;
|
|
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
|
|
psb->setTotalMass(150);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
}
|
|
{
|
|
const btScalar s=4;
|
|
const btVector3 o=btVector3(5,10,0);
|
|
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,
|
|
btVector3(-s,0,-s)+o,
|
|
btVector3(+s,0,-s)+o,
|
|
btVector3(-s,0,+s)+o,
|
|
btVector3(+s,0,+s)+o,
|
|
7,7,0,true);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_kLST = 0.1;
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->generateBendingConstraints(2,pm);
|
|
psb->m_materials[0]->m_kLST = 0.5;
|
|
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
|
|
psb->setTotalMass(150);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
pdemo->m_cutting=true;
|
|
}
|
|
}
|
|
|
|
//
|
|
// Aerodynamic forces, 50x1g flyers
|
|
//
|
|
static void Init_Aero(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
const btScalar s=2;
|
|
const btScalar h=10;
|
|
const int segments=6;
|
|
const int count=50;
|
|
for(int i=0;i<count;++i)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,btVector3(-s,h,-s),
|
|
btVector3(+s,h,-s),
|
|
btVector3(-s,h,+s),
|
|
btVector3(+s,h,+s),
|
|
segments,segments,
|
|
0,true);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->generateBendingConstraints(2,pm);
|
|
psb->m_cfg.kLF = 0.004;
|
|
psb->m_cfg.kDG = 0.0003;
|
|
psb->m_cfg.aeromodel = btSoftBody::eAeroModel::V_TwoSided;
|
|
btTransform trs;
|
|
btQuaternion rot;
|
|
btVector3 ra=Vector3Rand()*0.1;
|
|
btVector3 rp=Vector3Rand()*15+btVector3(0,20,80);
|
|
rot.setEuler(SIMD_PI/8+ra.x(),-SIMD_PI/7+ra.y(),ra.z());
|
|
trs.setIdentity();
|
|
trs.setOrigin(rp);
|
|
trs.setRotation(rot);
|
|
psb->transform(trs);
|
|
psb->setTotalMass(0.1);
|
|
psb->addForce(btVector3(0,2,0),0);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
|
|
}
|
|
pdemo->m_autocam=true;
|
|
}
|
|
|
|
static void Init_Aero2(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
const btScalar s=5;
|
|
//psb->getWorldInfo()->m_gravity.setValue(0,0,0);
|
|
|
|
const int segments=10;
|
|
const int count=5;
|
|
btVector3 pos(-s*segments, 0, 0);
|
|
btScalar gap = 0.5;
|
|
|
|
for(int i=0;i<count;++i)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,btVector3(-s,0,-s*3),
|
|
btVector3(+s,0,-s*3),
|
|
btVector3(-s,0,+s),
|
|
btVector3(+s,0,+s),
|
|
segments,segments*3,
|
|
1+2,true);
|
|
|
|
psb->getCollisionShape()->setMargin(0.5);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_kLST = 0.0004;
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->generateBendingConstraints(2,pm);
|
|
|
|
psb->m_cfg.kLF = 0.05;
|
|
psb->m_cfg.kDG = 0.01;
|
|
|
|
//psb->m_cfg.kLF = 0.004;
|
|
//psb->m_cfg.kDG = 0.0003;
|
|
|
|
psb->m_cfg.piterations = 2;
|
|
psb->m_cfg.aeromodel = btSoftBody::eAeroModel::V_TwoSidedLiftDrag;
|
|
|
|
|
|
psb->setWindVelocity(btVector3(4, -12.0, -25.0));
|
|
|
|
btTransform trs;
|
|
btQuaternion rot;
|
|
pos += btVector3(s*2 + gap, 0, 0);
|
|
rot.setRotation(btVector3(1, 0, 0), btScalar(SIMD_PI/2));
|
|
trs.setIdentity();
|
|
trs.setOrigin(pos);
|
|
trs.setRotation(rot);
|
|
psb->transform(trs);
|
|
psb->setTotalMass(2.0);
|
|
|
|
|
|
|
|
//this could help performance in some cases
|
|
btSoftBodyHelpers::ReoptimizeLinkOrder(psb);
|
|
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
}
|
|
|
|
pdemo->m_autocam=true;
|
|
}
|
|
|
|
//
|
|
// Friction
|
|
//
|
|
static void Init_Friction(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
const btScalar bs=2;
|
|
const btScalar ts=bs+bs/4;
|
|
for(int i=0,ni=20;i<ni;++i)
|
|
{
|
|
const btVector3 p(-ni*ts/2+i*ts,-10+bs,40);
|
|
btSoftBody* psb=Ctor_SoftBox(pdemo,p,btVector3(bs,bs,bs));
|
|
psb->m_cfg.kDF = 0.1 * ((i+1)/(btScalar)ni);
|
|
psb->addVelocity(btVector3(0,0,-10));
|
|
}
|
|
}
|
|
|
|
//
|
|
// Pressure
|
|
//
|
|
static void Init_Pressure(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,btVector3(35,25,0),
|
|
btVector3(1,1,1)*3,
|
|
512);
|
|
psb->m_materials[0]->m_kLST = 0.1;
|
|
psb->m_cfg.kDF = 1;
|
|
psb->m_cfg.kDP = 0.001; // fun factor...
|
|
psb->m_cfg.kPR = 2500;
|
|
psb->setTotalMass(30,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
|
|
Ctor_BigPlate(pdemo);
|
|
Ctor_LinearStair(pdemo,btVector3(0,0,0),btVector3(2,1,5),0,10);
|
|
pdemo->m_autocam=true;
|
|
|
|
}
|
|
|
|
//
|
|
// Volume conservation
|
|
//
|
|
static void Init_Volume(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,btVector3(35,25,0),
|
|
btVector3(1,1,1)*3,
|
|
512);
|
|
psb->m_materials[0]->m_kLST = 0.45;
|
|
psb->m_cfg.kVC = 20;
|
|
psb->setTotalMass(50,true);
|
|
psb->setPose(true,false);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
|
|
Ctor_BigPlate(pdemo);
|
|
Ctor_LinearStair(pdemo,btVector3(0,0,0),btVector3(2,1,5),0,10);
|
|
pdemo->m_autocam=true;
|
|
|
|
}
|
|
|
|
//
|
|
// Stick+Bending+Rb's
|
|
//
|
|
static void Init_Sticks(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
const int n=16;
|
|
const int sg=4;
|
|
const btScalar sz=5;
|
|
const btScalar hg=4;
|
|
const btScalar in=1/(btScalar)(n-1);
|
|
for(int y=0;y<n;++y)
|
|
{
|
|
for(int x=0;x<n;++x)
|
|
{
|
|
const btVector3 org(-sz+sz*2*x*in,
|
|
-10,
|
|
-sz+sz*2*y*in);
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateRope( pdemo->m_softBodyWorldInfo, org,
|
|
org+btVector3(hg*0.001,hg,0),
|
|
sg,
|
|
1);
|
|
psb->m_cfg.kDP = 0.005;
|
|
psb->m_cfg.kCHR = 0.1;
|
|
for(int i=0;i<3;++i)
|
|
{
|
|
psb->generateBendingConstraints(2+i);
|
|
}
|
|
psb->setMass(1,0);
|
|
psb->setTotalMass(0.01);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
|
|
}
|
|
}
|
|
Ctor_BigBall(pdemo);
|
|
}
|
|
|
|
//
|
|
// Bending
|
|
//
|
|
static void Init_Bending(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
const btScalar s=4;
|
|
const btVector3 x[]={ btVector3(-s,0,-s),
|
|
btVector3(+s,0,-s),
|
|
btVector3(+s,0,+s),
|
|
btVector3(-s,0,+s)};
|
|
const btScalar m[]={ 0,0,0,1};
|
|
btSoftBody* psb=new btSoftBody(&pdemo->m_softBodyWorldInfo,4,x,m);
|
|
psb->appendLink(0,1);
|
|
psb->appendLink(1,2);
|
|
psb->appendLink(2,3);
|
|
psb->appendLink(3,0);
|
|
psb->appendLink(0,2);
|
|
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
}
|
|
|
|
//
|
|
// 100kg cloth locked at corners, 10 falling 10kg rb's.
|
|
//
|
|
static void Init_Cloth(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
const btScalar s=8;
|
|
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,btVector3(-s,0,-s),
|
|
btVector3(+s,0,-s),
|
|
btVector3(-s,0,+s),
|
|
btVector3(+s,0,+s),
|
|
31,31,
|
|
// 31,31,
|
|
1+2+4+8,true);
|
|
|
|
psb->getCollisionShape()->setMargin(0.5);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_kLST = 0.4;
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->generateBendingConstraints(2,pm);
|
|
psb->setTotalMass(150);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
|
|
Ctor_RbUpStack(pdemo,10);
|
|
pdemo->m_cutting=true;
|
|
}
|
|
|
|
//
|
|
// 100kg Stanford's bunny
|
|
//
|
|
static void Init_Bunny(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,
|
|
&gIndicesBunny[0][0],
|
|
BUNNY_NUM_TRIANGLES);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_kLST = 0.5;
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->generateBendingConstraints(2,pm);
|
|
psb->m_cfg.piterations = 2;
|
|
psb->m_cfg.kDF = 0.5;
|
|
psb->randomizeConstraints();
|
|
psb->scale(btVector3(6,6,6));
|
|
psb->setTotalMass(100,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
pdemo->m_cutting=true;
|
|
|
|
}
|
|
|
|
//
|
|
// 100kg Stanford's bunny with pose matching
|
|
//
|
|
static void Init_BunnyMatch(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVerticesBunny,
|
|
&gIndicesBunny[0][0],
|
|
BUNNY_NUM_TRIANGLES);
|
|
psb->m_cfg.kDF = 0.5;
|
|
psb->m_cfg.kMT = 0.05;
|
|
psb->m_cfg.piterations = 5;
|
|
psb->randomizeConstraints();
|
|
psb->scale(btVector3(6,6,6));
|
|
psb->setTotalMass(100,true);
|
|
psb->setPose(false,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
|
|
}
|
|
|
|
//
|
|
// 50Kg Torus
|
|
//
|
|
static void Init_Torus(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh( pdemo->m_softBodyWorldInfo, gVertices,
|
|
&gIndices[0][0],
|
|
NUM_TRIANGLES);
|
|
psb->generateBendingConstraints(2);
|
|
psb->m_cfg.piterations=2;
|
|
psb->randomizeConstraints();
|
|
btMatrix3x3 m;
|
|
m.setEulerZYX(SIMD_PI/2,0,0);
|
|
psb->transform(btTransform(m,btVector3(0,4,0)));
|
|
psb->scale(btVector3(2,2,2));
|
|
psb->setTotalMass(50,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
pdemo->m_cutting=true;
|
|
|
|
|
|
}
|
|
|
|
//
|
|
// 50Kg Torus with pose matching
|
|
//
|
|
static void Init_TorusMatch(SoftDemo* pdemo)
|
|
{
|
|
//TRACEDEMO
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVertices,
|
|
&gIndices[0][0],
|
|
NUM_TRIANGLES);
|
|
psb->m_materials[0]->m_kLST = 0.1;
|
|
psb->m_cfg.kMT = 0.05;
|
|
psb->randomizeConstraints();
|
|
btMatrix3x3 m;
|
|
m.setEulerZYX(SIMD_PI/2,0,0);
|
|
psb->transform(btTransform(m,btVector3(0,4,0)));
|
|
psb->scale(btVector3(2,2,2));
|
|
psb->setTotalMass(50,true);
|
|
psb->setPose(false,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
}
|
|
|
|
//
|
|
// Cutting1
|
|
//
|
|
static void Init_Cutting1(SoftDemo* pdemo)
|
|
{
|
|
const btScalar s=6;
|
|
const btScalar h=2;
|
|
const int r=16;
|
|
const btVector3 p[]={ btVector3(+s,h,-s),
|
|
btVector3(-s,h,-s),
|
|
btVector3(+s,h,+s),
|
|
btVector3(-s,h,+s)};
|
|
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,p[0],p[1],p[2],p[3],r,r,1+2+4+8,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
psb->m_cfg.piterations=1;
|
|
pdemo->m_cutting=true;
|
|
}
|
|
|
|
//
|
|
// Clusters
|
|
//
|
|
|
|
//
|
|
static void Ctor_Gear(SoftDemo* pdemo,const btVector3& pos,btScalar speed)
|
|
{
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
startTransform.setOrigin(pos);
|
|
btCompoundShape* shape=new btCompoundShape();
|
|
#if 1
|
|
shape->addChildShape(btTransform(btQuaternion(0,0,0)),new btBoxShape(btVector3(5,1,6)));
|
|
shape->addChildShape(btTransform(btQuaternion(0,0,SIMD_HALF_PI)),new btBoxShape(btVector3(5,1,6)));
|
|
#else
|
|
shape->addChildShape(btTransform(btQuaternion(0,0,0)),new btCylinderShapeZ(btVector3(5,1,7)));
|
|
shape->addChildShape(btTransform(btQuaternion(0,0,SIMD_HALF_PI)),new btBoxShape(btVector3(4,1,8)));
|
|
#endif
|
|
btRigidBody* body=pdemo->createRigidBody(10,startTransform,shape);
|
|
body->setFriction(1);
|
|
btDynamicsWorld* world=pdemo->getDynamicsWorld();
|
|
btHingeConstraint* hinge=new btHingeConstraint(*body,btTransform::getIdentity());
|
|
if(speed!=0) hinge->enableAngularMotor(true,speed,3);
|
|
world->addConstraint(hinge);
|
|
}
|
|
|
|
//
|
|
static btSoftBody* Ctor_ClusterBunny(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,&gIndicesBunny[0][0],BUNNY_NUM_TRIANGLES);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_kLST = 1;
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->generateBendingConstraints(2,pm);
|
|
psb->m_cfg.piterations = 2;
|
|
psb->m_cfg.kDF = 1;
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+
|
|
btSoftBody::fCollision::CL_RS;
|
|
psb->randomizeConstraints();
|
|
btMatrix3x3 m;
|
|
m.setEulerZYX(a.x(),a.y(),a.z());
|
|
psb->transform(btTransform(m,x));
|
|
psb->scale(btVector3(8,8,8));
|
|
psb->setTotalMass(150,true);
|
|
psb->generateClusters(1);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
return(psb);
|
|
}
|
|
|
|
//
|
|
static btSoftBody* Ctor_ClusterTorus(SoftDemo* pdemo,const btVector3& x,const btVector3& a,const btVector3& s=btVector3(2,2,2))
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVertices,&gIndices[0][0],NUM_TRIANGLES);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_kLST = 1;
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->generateBendingConstraints(2,pm);
|
|
psb->m_cfg.piterations = 2;
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+
|
|
btSoftBody::fCollision::CL_RS;
|
|
psb->randomizeConstraints();
|
|
psb->scale(s);
|
|
psb->rotate(btQuaternion(a[0],a[1],a[2]));
|
|
psb->translate(x);
|
|
psb->setTotalMass(50,true);
|
|
psb->generateClusters(64);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
return(psb);
|
|
}
|
|
|
|
//
|
|
static struct MotorControl : btSoftBody::AJoint::IControl
|
|
{
|
|
MotorControl()
|
|
{
|
|
goal=0;
|
|
maxtorque=0;
|
|
}
|
|
btScalar Speed(btSoftBody::AJoint*,btScalar current)
|
|
{
|
|
return(current+btMin(maxtorque,btMax(-maxtorque,goal-current)));
|
|
}
|
|
btScalar goal;
|
|
btScalar maxtorque;
|
|
} motorcontrol;
|
|
|
|
//
|
|
struct SteerControl : btSoftBody::AJoint::IControl
|
|
{
|
|
SteerControl(btScalar s)
|
|
{
|
|
angle=0;
|
|
sign=s;
|
|
}
|
|
void Prepare(btSoftBody::AJoint* joint)
|
|
{
|
|
joint->m_refs[0][0]=btCos(angle*sign);
|
|
joint->m_refs[0][2]=btSin(angle*sign);
|
|
}
|
|
btScalar Speed(btSoftBody::AJoint* joint,btScalar current)
|
|
{
|
|
return(motorcontrol.Speed(joint,current));
|
|
}
|
|
btScalar angle;
|
|
btScalar sign;
|
|
};
|
|
|
|
static SteerControl steercontrol_f(+1);
|
|
static SteerControl steercontrol_r(-1);
|
|
|
|
//
|
|
static void Init_ClusterDeform(SoftDemo* pdemo)
|
|
{
|
|
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,0,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI));
|
|
psb->generateClusters(8);
|
|
psb->m_cfg.kDF=1;
|
|
}
|
|
|
|
//
|
|
static void Init_ClusterCollide1(SoftDemo* pdemo)
|
|
{
|
|
const btScalar s=8;
|
|
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,btVector3(-s,0,-s),
|
|
btVector3(+s,0,-s),
|
|
btVector3(-s,0,+s),
|
|
btVector3(+s,0,+s),
|
|
17,17,//9,9,//31,31,
|
|
1+2+4+8,
|
|
true);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_kLST = 0.4;
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->m_cfg.kDF = 1;
|
|
psb->m_cfg.kSRHR_CL = 1;
|
|
psb->m_cfg.kSR_SPLT_CL = 0;
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+
|
|
|
|
btSoftBody::fCollision::CL_RS;
|
|
psb->generateBendingConstraints(2,pm);
|
|
|
|
psb->getCollisionShape()->setMargin(0.05);
|
|
psb->setTotalMass(50);
|
|
|
|
///pass zero in generateClusters to create cluster for each tetrahedron or triangle
|
|
psb->generateClusters(0);
|
|
//psb->generateClusters(64);
|
|
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
|
|
Ctor_RbUpStack(pdemo,10);
|
|
}
|
|
|
|
//
|
|
static void Init_ClusterCollide2(SoftDemo* pdemo)
|
|
{
|
|
struct Functor
|
|
{
|
|
static btSoftBody* Create(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVertices,
|
|
&gIndices[0][0],
|
|
NUM_TRIANGLES);
|
|
btSoftBody::Material* pm=psb->appendMaterial();
|
|
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
|
|
psb->generateBendingConstraints(2,pm);
|
|
psb->m_cfg.piterations=2;
|
|
psb->m_cfg.kDF =1;
|
|
psb->m_cfg.kSSHR_CL =1;
|
|
psb->m_cfg.kSS_SPLT_CL =0;
|
|
psb->m_cfg.kSKHR_CL =0.1f;
|
|
psb->m_cfg.kSK_SPLT_CL =1;
|
|
psb->m_cfg.collisions= btSoftBody::fCollision::CL_SS+
|
|
btSoftBody::fCollision::CL_RS;
|
|
psb->randomizeConstraints();
|
|
btMatrix3x3 m;
|
|
m.setEulerZYX(a.x(),a.y(),a.z());
|
|
psb->transform(btTransform(m,x));
|
|
psb->scale(btVector3(2,2,2));
|
|
psb->setTotalMass(50,true);
|
|
psb->generateClusters(16);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
return(psb);
|
|
}
|
|
};
|
|
for(int i=0;i<3;++i)
|
|
{
|
|
Functor::Create(pdemo,btVector3(3*i,2,0),btVector3(SIMD_PI/2*(1-(i&1)),SIMD_PI/2*(i&1),0));
|
|
}
|
|
}
|
|
|
|
//
|
|
static void Init_ClusterSocket(SoftDemo* pdemo)
|
|
{
|
|
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,0,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI));
|
|
btRigidBody* prb=Ctor_BigPlate(pdemo,50,8);
|
|
psb->m_cfg.kDF=1;
|
|
btSoftBody::LJoint::Specs lj;
|
|
lj.position = btVector3(0,5,0);
|
|
psb->appendLinearJoint(lj,prb);
|
|
}
|
|
|
|
//
|
|
static void Init_ClusterHinge(SoftDemo* pdemo)
|
|
{
|
|
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,0,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI));
|
|
btRigidBody* prb=Ctor_BigPlate(pdemo,50,8);
|
|
psb->m_cfg.kDF=1;
|
|
btSoftBody::AJoint::Specs aj;
|
|
aj.axis = btVector3(0,0,1);
|
|
psb->appendAngularJoint(aj,prb);
|
|
}
|
|
|
|
//
|
|
static void Init_ClusterCombine(SoftDemo* pdemo)
|
|
{
|
|
const btVector3 sz(2,4,2);
|
|
btSoftBody* psb0=Ctor_ClusterTorus(pdemo,btVector3(0,8,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI),sz);
|
|
btSoftBody* psb1=Ctor_ClusterTorus(pdemo,btVector3(0,8,10),btVector3(SIMD_PI/2,0,SIMD_HALF_PI),sz);
|
|
btSoftBody* psbs[]={psb0,psb1};
|
|
for(int j=0;j<2;++j)
|
|
{
|
|
psbs[j]->m_cfg.kDF=1;
|
|
psbs[j]->m_cfg.kDP=0;
|
|
psbs[j]->m_cfg.piterations=1;
|
|
psbs[j]->m_clusters[0]->m_matching = 0.05;
|
|
psbs[j]->m_clusters[0]->m_ndamping = 0.05;
|
|
}
|
|
btSoftBody::AJoint::Specs aj;
|
|
aj.axis = btVector3(0,0,1);
|
|
aj.icontrol = &motorcontrol;
|
|
psb0->appendAngularJoint(aj,psb1);
|
|
|
|
btSoftBody::LJoint::Specs lj;
|
|
lj.position = btVector3(0,8,5);
|
|
psb0->appendLinearJoint(lj,psb1);
|
|
}
|
|
|
|
//
|
|
static void Init_ClusterCar(SoftDemo* pdemo)
|
|
{
|
|
// pdemo->setAzi(180);
|
|
const btVector3 origin(100,80,0);
|
|
const btQuaternion orientation(-SIMD_PI/2,0,0);
|
|
const btScalar widthf=8;
|
|
const btScalar widthr=9;
|
|
const btScalar length=8;
|
|
const btScalar height=4;
|
|
const btVector3 wheels[]= {
|
|
btVector3(+widthf,-height,+length), // Front left
|
|
btVector3(-widthf,-height,+length), // Front right
|
|
btVector3(+widthr,-height,-length), // Rear left
|
|
btVector3(-widthr,-height,-length), // Rear right
|
|
};
|
|
btSoftBody* pa=Ctor_ClusterBunny(pdemo,btVector3(0,0,0),btVector3(0,0,0));
|
|
btSoftBody* pfl=Ctor_ClusterTorus(pdemo,wheels[0],btVector3(0,0,SIMD_HALF_PI),btVector3(2,4,2));
|
|
btSoftBody* pfr=Ctor_ClusterTorus(pdemo,wheels[1],btVector3(0,0,SIMD_HALF_PI),btVector3(2,4,2));
|
|
btSoftBody* prl=Ctor_ClusterTorus(pdemo,wheels[2],btVector3(0,0,SIMD_HALF_PI),btVector3(2,5,2));
|
|
btSoftBody* prr=Ctor_ClusterTorus(pdemo,wheels[3],btVector3(0,0,SIMD_HALF_PI),btVector3(2,5,2));
|
|
|
|
pfl->m_cfg.kDF =
|
|
pfr->m_cfg.kDF =
|
|
prl->m_cfg.kDF =
|
|
prr->m_cfg.kDF = 1;
|
|
|
|
btSoftBody::LJoint::Specs lspecs;
|
|
lspecs.cfm = 1;
|
|
lspecs.erp = 1;
|
|
lspecs.position = btVector3(0,0,0);
|
|
|
|
lspecs.position=wheels[0];pa->appendLinearJoint(lspecs,pfl);
|
|
lspecs.position=wheels[1];pa->appendLinearJoint(lspecs,pfr);
|
|
lspecs.position=wheels[2];pa->appendLinearJoint(lspecs,prl);
|
|
lspecs.position=wheels[3];pa->appendLinearJoint(lspecs,prr);
|
|
|
|
btSoftBody::AJoint::Specs aspecs;
|
|
aspecs.cfm = 1;
|
|
aspecs.erp = 1;
|
|
aspecs.axis = btVector3(1,0,0);
|
|
|
|
aspecs.icontrol = &steercontrol_f;
|
|
pa->appendAngularJoint(aspecs,pfl);
|
|
pa->appendAngularJoint(aspecs,pfr);
|
|
|
|
aspecs.icontrol = &motorcontrol;
|
|
pa->appendAngularJoint(aspecs,prl);
|
|
pa->appendAngularJoint(aspecs,prr);
|
|
|
|
pa->rotate(orientation);
|
|
pfl->rotate(orientation);
|
|
pfr->rotate(orientation);
|
|
prl->rotate(orientation);
|
|
prr->rotate(orientation);
|
|
pa->translate(origin);
|
|
pfl->translate(origin);
|
|
pfr->translate(origin);
|
|
prl->translate(origin);
|
|
prr->translate(origin);
|
|
pfl->m_cfg.piterations =
|
|
pfr->m_cfg.piterations =
|
|
prl->m_cfg.piterations =
|
|
prr->m_cfg.piterations = 1;
|
|
pfl->m_clusters[0]->m_matching =
|
|
pfr->m_clusters[0]->m_matching =
|
|
prl->m_clusters[0]->m_matching =
|
|
prr->m_clusters[0]->m_matching = 0.05;
|
|
pfl->m_clusters[0]->m_ndamping =
|
|
pfr->m_clusters[0]->m_ndamping =
|
|
prl->m_clusters[0]->m_ndamping =
|
|
prr->m_clusters[0]->m_ndamping = 0.05;
|
|
|
|
Ctor_LinearStair(pdemo,btVector3(0,-8,0),btVector3(3,2,40),0,20);
|
|
Ctor_RbUpStack(pdemo,50);
|
|
pdemo->m_autocam=true;
|
|
|
|
}
|
|
|
|
//
|
|
static void Init_ClusterRobot(SoftDemo* pdemo)
|
|
{
|
|
struct Functor
|
|
{
|
|
static btSoftBody* CreateBall(SoftDemo* pdemo,const btVector3& pos)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,pos,btVector3(1,1,1)*3,512);
|
|
psb->m_materials[0]->m_kLST = 0.45;
|
|
psb->m_cfg.kVC = 20;
|
|
psb->setTotalMass(50,true);
|
|
psb->setPose(true,false);
|
|
psb->generateClusters(1);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
return(psb);
|
|
}
|
|
};
|
|
const btVector3 base=btVector3(0,25,8);
|
|
btSoftBody* psb0=Functor::CreateBall(pdemo,base+btVector3(-8,0,0));
|
|
btSoftBody* psb1=Functor::CreateBall(pdemo,base+btVector3(+8,0,0));
|
|
btSoftBody* psb2=Functor::CreateBall(pdemo,base+btVector3(0,0,+8*btSqrt(2)));
|
|
const btVector3 ctr=(psb0->clusterCom(0)+psb1->clusterCom(0)+psb2->clusterCom(0))/3;
|
|
btCylinderShape* pshp=new btCylinderShape(btVector3(8,1,8));
|
|
btRigidBody* prb=pdemo->createRigidBody(50,btTransform(btQuaternion(0,0,0),ctr+btVector3(0,5,0)),pshp);
|
|
btSoftBody::LJoint::Specs ls;
|
|
ls.erp=0.5f;
|
|
ls.position=psb0->clusterCom(0);psb0->appendLinearJoint(ls,prb);
|
|
ls.position=psb1->clusterCom(0);psb1->appendLinearJoint(ls,prb);
|
|
ls.position=psb2->clusterCom(0);psb2->appendLinearJoint(ls,prb);
|
|
|
|
btBoxShape* pbox=new btBoxShape(btVector3(20,1,40));
|
|
btRigidBody* pgrn=pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
|
|
|
|
pdemo->m_autocam=true;
|
|
|
|
}
|
|
|
|
//
|
|
static void Init_ClusterStackSoft(SoftDemo* pdemo)
|
|
{
|
|
for(int i=0;i<10;++i)
|
|
{
|
|
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,-9+8.25*i,0),btVector3(0,0,0));
|
|
psb->m_cfg.kDF=1;
|
|
}
|
|
}
|
|
|
|
//
|
|
static void Init_ClusterStackMixed(SoftDemo* pdemo)
|
|
{
|
|
for(int i=0;i<10;++i)
|
|
{
|
|
if((i+1)&1)
|
|
{
|
|
Ctor_BigPlate(pdemo,50,-9+4.25*i);
|
|
}
|
|
else
|
|
{
|
|
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,-9+4.25*i,0),btVector3(0,0,0));
|
|
psb->m_cfg.kDF=1;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
//
|
|
// TetraBunny
|
|
//
|
|
static void Init_TetraBunny(SoftDemo* pdemo)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
|
|
TetraBunny::getElements(),
|
|
0,
|
|
TetraBunny::getNodes(),
|
|
false,true,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
psb->rotate(btQuaternion(SIMD_PI/2,0,0));
|
|
psb->setVolumeMass(150);
|
|
psb->m_cfg.piterations=2;
|
|
//psb->m_cfg.piterations=1;
|
|
pdemo->m_cutting=false;
|
|
//psb->getCollisionShape()->setMargin(0.01);
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS
|
|
//+ btSoftBody::fCollision::CL_SELF
|
|
;
|
|
|
|
///pass zero in generateClusters to create cluster for each tetrahedron or triangle
|
|
psb->generateClusters(0);
|
|
//psb->m_materials[0]->m_kLST=.2;
|
|
psb->m_cfg.kDF = 10. ;
|
|
|
|
|
|
}
|
|
|
|
//
|
|
// TetraCube
|
|
//
|
|
static void Init_TetraCube(SoftDemo* pdemo)
|
|
{
|
|
btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
|
|
TetraCube::getElements(),
|
|
0,
|
|
TetraCube::getNodes(),
|
|
false,true,true);
|
|
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
|
|
psb->scale(btVector3(4,4,4));
|
|
psb->translate(btVector3(0,5,0));
|
|
psb->setVolumeMass(300);
|
|
|
|
|
|
///fix one vertex
|
|
//psb->setMass(0,0);
|
|
//psb->setMass(10,0);
|
|
//psb->setMass(20,0);
|
|
psb->m_cfg.piterations=1;
|
|
//psb->generateClusters(128);
|
|
psb->generateClusters(16);
|
|
//psb->getCollisionShape()->setMargin(0.5);
|
|
|
|
psb->getCollisionShape()->setMargin(0.01);
|
|
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS
|
|
//+ btSoftBody::fCollision::CL_SELF
|
|
;
|
|
psb->m_materials[0]->m_kLST=0.8;
|
|
pdemo->m_cutting=false;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* Init */
|
|
void (*demofncs[])(SoftDemo*)=
|
|
{
|
|
Init_Cloth,
|
|
Init_Pressure,
|
|
Init_Volume,
|
|
Init_Ropes,
|
|
Init_RopeAttach,
|
|
Init_ClothAttach,
|
|
Init_Sticks,
|
|
Init_CapsuleCollision,
|
|
Init_Collide,
|
|
Init_Collide2,
|
|
Init_Collide3,
|
|
Init_Impact,
|
|
Init_Aero,
|
|
Init_Aero2,
|
|
Init_Friction,
|
|
Init_Torus,
|
|
Init_TorusMatch,
|
|
Init_Bunny,
|
|
Init_BunnyMatch,
|
|
Init_Cutting1,
|
|
Init_ClusterDeform,
|
|
Init_ClusterCollide1,
|
|
Init_ClusterCollide2,
|
|
Init_ClusterSocket,
|
|
Init_ClusterHinge,
|
|
Init_ClusterCombine,
|
|
Init_ClusterCar,
|
|
Init_ClusterRobot,
|
|
Init_ClusterStackSoft,
|
|
Init_ClusterStackMixed,
|
|
Init_TetraCube,
|
|
Init_TetraBunny,
|
|
};
|
|
|
|
#if 0
|
|
void SoftDemo::clientResetScene()
|
|
{
|
|
m_azi = 0;
|
|
m_cameraDistance = 30.f;
|
|
m_cameraTargetPosition.setValue(0,0,0);
|
|
|
|
|
|
/* Clean up */
|
|
for(int 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();
|
|
}
|
|
while(m_dynamicsWorld->getNumConstraints())
|
|
{
|
|
btTypedConstraint* pc=m_dynamicsWorld->getConstraint(0);
|
|
m_dynamicsWorld->removeConstraint(pc);
|
|
delete pc;
|
|
}
|
|
btSoftBody* softBody = btSoftBody::upcast(obj);
|
|
if (softBody)
|
|
{
|
|
getSoftDynamicsWorld()->removeSoftBody(softBody);
|
|
} else
|
|
{
|
|
btRigidBody* body = btRigidBody::upcast(obj);
|
|
if (body)
|
|
m_dynamicsWorld->removeRigidBody(body);
|
|
else
|
|
m_dynamicsWorld->removeCollisionObject(obj);
|
|
}
|
|
delete obj;
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
#if 0
|
|
void SoftDemo::clientMoveAndDisplay()
|
|
{
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
|
|
|
|
|
|
|
|
|
|
float ms = getDeltaTimeMicroseconds();
|
|
float dt = ms / 1000000.f;//1.0/60.;
|
|
|
|
|
|
|
|
if (m_dynamicsWorld)
|
|
{
|
|
|
|
if (sDemoMode)
|
|
{
|
|
static float demoCounter = DEMO_MODE_TIMEOUT;
|
|
demoCounter-= dt;
|
|
if (demoCounter<0)
|
|
{
|
|
|
|
demoCounter=DEMO_MODE_TIMEOUT;
|
|
current_demo++;
|
|
current_demo=current_demo%(sizeof(demofncs)/sizeof(demofncs[0]));
|
|
clientResetScene();
|
|
}
|
|
}
|
|
|
|
|
|
//#define FIXED_STEP
|
|
#ifdef FIXED_STEP
|
|
m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
|
|
|
|
#else
|
|
//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
|
|
// int maxSimSubSteps = m_idle ? 1 : 4;
|
|
//if (m_idle)
|
|
// dt = 1.0/420.f;
|
|
|
|
int numSimSteps;
|
|
numSimSteps = m_dynamicsWorld->stepSimulation(dt);
|
|
//numSimSteps = m_dynamicsWorld->stepSimulation(dt,10,1./240.f);
|
|
|
|
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
|
|
if (!numSimSteps)
|
|
printf("Interpolated transforms\n");
|
|
else
|
|
{
|
|
if (numSimSteps > maxSimSubSteps)
|
|
{
|
|
//detect dropping frames
|
|
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
|
|
} else
|
|
{
|
|
printf("Simulated (%i) steps\n",numSimSteps);
|
|
}
|
|
}
|
|
#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
|
|
|
|
#endif
|
|
|
|
#ifdef USE_AMD_OPENCL
|
|
if (g_openCLSIMDSolver)
|
|
g_openCLSIMDSolver->copyBackToSoftBodies();
|
|
#endif //USE_AMD_OPENCL
|
|
|
|
if(m_drag)
|
|
{
|
|
m_node->m_v*=0;
|
|
}
|
|
|
|
m_softBodyWorldInfo.m_sparsesdf.GarbageCollect();
|
|
|
|
//optional but useful: debug drawing
|
|
|
|
}
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::beginBlock("render");
|
|
#endif //USE_QUICKPROF
|
|
|
|
renderme();
|
|
|
|
//render the graphics objects, with center of mass shift
|
|
|
|
updateCamera();
|
|
|
|
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::endBlock("render");
|
|
#endif
|
|
glFlush();
|
|
//some additional debugging info
|
|
#ifdef PRINT_CONTACT_STATISTICS
|
|
printf("num manifolds: %i\n",gNumManifold);
|
|
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
|
|
|
|
#endif //PRINT_CONTACT_STATISTICS
|
|
|
|
|
|
swapBuffers();
|
|
|
|
}
|
|
#endif
|
|
|
|
|
|
#if 0
|
|
void SoftDemo::renderme()
|
|
{
|
|
btIDebugDraw* idraw=m_dynamicsWorld->getDebugDrawer();
|
|
|
|
glDisable(GL_TEXTURE_2D);
|
|
glDisable(GL_LIGHTING);
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
//int debugMode = m_dynamicsWorld->getDebugDrawer()? m_dynamicsWorld->getDebugDrawer()->getDebugMode() : -1;
|
|
|
|
btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
|
|
//btIDebugDraw* sdraw = softWorld ->getDebugDrawer();
|
|
|
|
|
|
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());
|
|
}
|
|
}
|
|
|
|
/* Bodies */
|
|
btVector3 ps(0,0,0);
|
|
int nps=0;
|
|
|
|
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
|
|
for(int ib=0;ib<sbs.size();++ib)
|
|
{
|
|
btSoftBody* psb=sbs[ib];
|
|
nps+=psb->m_nodes.size();
|
|
for(int i=0;i<psb->m_nodes.size();++i)
|
|
{
|
|
ps+=psb->m_nodes[i].m_x;
|
|
}
|
|
}
|
|
ps/=nps;
|
|
if(m_autocam)
|
|
m_cameraTargetPosition+=(ps-m_cameraTargetPosition)*0.05;
|
|
/* Anm */
|
|
if(!isIdle())
|
|
m_animtime=m_clock.getTimeMilliseconds()/1000.f;
|
|
/* Ray cast */
|
|
if(m_raycast)
|
|
{
|
|
/* Prepare rays */
|
|
const int res=64;
|
|
const btScalar fres=res-1;
|
|
const btScalar size=8;
|
|
const btScalar dist=10;
|
|
btTransform trs;
|
|
trs.setOrigin(ps);
|
|
btScalar rayLength = 1000.f;
|
|
|
|
const btScalar angle=m_animtime*0.2;
|
|
trs.setRotation(btQuaternion(angle,SIMD_PI/4,0));
|
|
btVector3 dir=trs.getBasis()*btVector3(0,-1,0);
|
|
trs.setOrigin(ps-dir*dist);
|
|
btAlignedObjectArray<btVector3> origins;
|
|
btAlignedObjectArray<btScalar> fractions;
|
|
origins.resize(res*res);
|
|
fractions.resize(res*res,1.f);
|
|
for(int y=0;y<res;++y)
|
|
{
|
|
for(int x=0;x<res;++x)
|
|
{
|
|
const int idx=y*res+x;
|
|
origins[idx]=trs*btVector3(-size+size*2*x/fres,dist,-size+size*2*y/fres);
|
|
}
|
|
}
|
|
/* Cast rays */
|
|
{
|
|
m_clock.reset();
|
|
if (sbs.size())
|
|
{
|
|
btVector3* org=&origins[0];
|
|
btScalar* fraction=&fractions[0];
|
|
btSoftBody** psbs=&sbs[0];
|
|
btSoftBody::sRayCast results;
|
|
for(int i=0,ni=origins.size(),nb=sbs.size();i<ni;++i)
|
|
{
|
|
for(int ib=0;ib<nb;++ib)
|
|
{
|
|
btVector3 rayFrom = *org;
|
|
btVector3 rayTo = rayFrom+dir*rayLength;
|
|
if(psbs[ib]->rayTest(rayFrom,rayTo,results))
|
|
{
|
|
*fraction=results.fraction;
|
|
}
|
|
}
|
|
++org;++fraction;
|
|
}
|
|
long ms=btMax<long>(m_clock.getTimeMilliseconds(),1);
|
|
long rayperseconds=(1000*(origins.size()*sbs.size()))/ms;
|
|
printf("%d ms (%d rays/s)\r\n",int(ms),int(rayperseconds));
|
|
}
|
|
}
|
|
/* Draw rays */
|
|
const btVector3 c[]={ origins[0],
|
|
origins[res-1],
|
|
origins[res*(res-1)],
|
|
origins[res*(res-1)+res-1]};
|
|
idraw->drawLine(c[0],c[1],btVector3(0,0,0));
|
|
idraw->drawLine(c[1],c[3],btVector3(0,0,0));
|
|
idraw->drawLine(c[3],c[2],btVector3(0,0,0));
|
|
idraw->drawLine(c[2],c[0],btVector3(0,0,0));
|
|
for(int i=0,ni=origins.size();i<ni;++i)
|
|
{
|
|
const btScalar fraction=fractions[i];
|
|
const btVector3& org=origins[i];
|
|
if(fraction<1.f)
|
|
{
|
|
idraw->drawLine(org,org+dir*rayLength*fraction,btVector3(1,0,0));
|
|
}
|
|
else
|
|
{
|
|
idraw->drawLine(org,org-dir*rayLength*0.1,btVector3(0,0,0));
|
|
}
|
|
}
|
|
#undef RES
|
|
}
|
|
/* Water level */
|
|
static const btVector3 axis[]={btVector3(1,0,0),
|
|
btVector3(0,1,0),
|
|
btVector3(0,0,1)};
|
|
if(m_softBodyWorldInfo.water_density>0)
|
|
{
|
|
const btVector3 c= btVector3((btScalar)0.25,(btScalar)0.25,1);
|
|
const btScalar a= (btScalar)0.5;
|
|
const btVector3 n= m_softBodyWorldInfo.water_normal;
|
|
const btVector3 o= -n*m_softBodyWorldInfo.water_offset;
|
|
const btVector3 x= btCross(n,axis[n.minAxis()]).normalized();
|
|
const btVector3 y= btCross(x,n).normalized();
|
|
const btScalar s= 25;
|
|
idraw->drawTriangle(o-x*s-y*s,o+x*s-y*s,o+x*s+y*s,c,a);
|
|
idraw->drawTriangle(o-x*s-y*s,o+x*s+y*s,o-x*s+y*s,c,a);
|
|
}
|
|
//
|
|
|
|
int lineWidth=280;
|
|
int xStart = m_glutScreenWidth - lineWidth;
|
|
int yStart = 20;
|
|
|
|
if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0)
|
|
{
|
|
setOrthographicProjection();
|
|
glDisable(GL_LIGHTING);
|
|
glColor3f(0, 0, 0);
|
|
char buf[124];
|
|
|
|
glRasterPos3f(xStart, yStart, 0);
|
|
if (sDemoMode)
|
|
{
|
|
sprintf(buf,"d to toggle demo mode (on)");
|
|
} else
|
|
{
|
|
sprintf(buf,"d to toggle demo mode (off)");
|
|
}
|
|
GLDebugDrawString(xStart,20,buf);
|
|
glRasterPos3f(xStart, yStart, 0);
|
|
sprintf(buf,"] for next demo (%d)",current_demo);
|
|
yStart+=20;
|
|
GLDebugDrawString(xStart,yStart,buf);
|
|
glRasterPos3f(xStart, yStart, 0);
|
|
sprintf(buf,"c to visualize clusters");
|
|
yStart+=20;
|
|
GLDebugDrawString(xStart,yStart,buf);
|
|
glRasterPos3f(xStart, yStart, 0);
|
|
sprintf(buf,"; to toggle camera mode");
|
|
yStart+=20;
|
|
GLDebugDrawString(xStart,yStart,buf);
|
|
glRasterPos3f(xStart, yStart, 0);
|
|
sprintf(buf,"n,m,l,k for power and steering");
|
|
yStart+=20;
|
|
GLDebugDrawString(xStart,yStart,buf);
|
|
|
|
|
|
resetPerspectiveProjection();
|
|
glEnable(GL_LIGHTING);
|
|
}
|
|
|
|
DemoApplication::renderme();
|
|
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
void SoftDemo::setDrawClusters(bool drawClusters)
|
|
{
|
|
if (drawClusters)
|
|
{
|
|
getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()|fDrawFlags::Clusters);
|
|
} else
|
|
{
|
|
getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()& (~fDrawFlags::Clusters));
|
|
}
|
|
}
|
|
|
|
|
|
#if 0
|
|
void SoftDemo::keyboardCallback(unsigned char key, int x, int y)
|
|
{
|
|
switch(key)
|
|
{
|
|
case 'd': sDemoMode = !sDemoMode; break;
|
|
case 'n': motorcontrol.maxtorque=10;motorcontrol.goal+=1;break;
|
|
case 'm': motorcontrol.maxtorque=10;motorcontrol.goal-=1;break;
|
|
case 'l': steercontrol_f.angle+=0.1;steercontrol_r.angle+=0.1;break;
|
|
case 'k': steercontrol_f.angle-=0.1;steercontrol_r.angle-=0.1;break;
|
|
case ']': ++current_demo;clientResetScene();break;
|
|
case '[': --current_demo;clientResetScene();break;
|
|
case ',': m_raycast=!m_raycast;break;
|
|
case ';': m_autocam=!m_autocam;break;
|
|
case 'c': getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()^fDrawFlags::Clusters);break;
|
|
case '`':
|
|
{
|
|
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
|
|
for(int ib=0;ib<sbs.size();++ib)
|
|
{
|
|
btSoftBody* psb=sbs[ib];
|
|
psb->staticSolve(128);
|
|
}
|
|
}
|
|
break;
|
|
default: DemoApplication::keyboardCallback(key,x,y);
|
|
}
|
|
}
|
|
#endif
|
|
//
|
|
void SoftDemo::mouseMotionFunc(int x,int y)
|
|
{
|
|
if(m_node&&(m_results.fraction<1.f))
|
|
{
|
|
if(!m_drag)
|
|
{
|
|
#define SQ(_x_) (_x_)*(_x_)
|
|
if((SQ(x-m_lastmousepos[0])+SQ(y-m_lastmousepos[1]))>6)
|
|
{
|
|
m_drag=true;
|
|
}
|
|
#undef SQ
|
|
}
|
|
if(m_drag)
|
|
{
|
|
m_lastmousepos[0] = x;
|
|
m_lastmousepos[1] = y;
|
|
}
|
|
}
|
|
}
|
|
|
|
#if 0
|
|
//
|
|
void SoftDemo::mouseFunc(int button, int state, int x, int y)
|
|
{
|
|
if(button==0)
|
|
{
|
|
switch(state)
|
|
{
|
|
case 0:
|
|
{
|
|
m_results.fraction=1.f;
|
|
DemoApplication::mouseFunc(button,state,x,y);
|
|
if(!m_pickConstraint)
|
|
{
|
|
const btVector3 rayFrom=m_cameraPosition;
|
|
const btVector3 rayTo=getRayTo(x,y);
|
|
const btVector3 rayDir=(rayTo-rayFrom).normalized();
|
|
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
|
|
for(int ib=0;ib<sbs.size();++ib)
|
|
{
|
|
btSoftBody* psb=sbs[ib];
|
|
btSoftBody::sRayCast res;
|
|
if(psb->rayTest(rayFrom,rayTo,res))
|
|
{
|
|
m_results=res;
|
|
}
|
|
}
|
|
if(m_results.fraction<1.f)
|
|
{
|
|
m_impact = rayFrom+(rayTo-rayFrom)*m_results.fraction;
|
|
m_drag = m_cutting ? false : true;
|
|
m_lastmousepos[0] = x;
|
|
m_lastmousepos[1] = y;
|
|
m_node = 0;
|
|
switch(m_results.feature)
|
|
{
|
|
case btSoftBody::eFeature::Tetra:
|
|
{
|
|
btSoftBody::Tetra& tet=m_results.body->m_tetras[m_results.index];
|
|
m_node=tet.m_n[0];
|
|
for(int i=1;i<4;++i)
|
|
{
|
|
if( (m_node->m_x-m_impact).length2()>
|
|
(tet.m_n[i]->m_x-m_impact).length2())
|
|
{
|
|
m_node=tet.m_n[i];
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case btSoftBody::eFeature::Face:
|
|
{
|
|
btSoftBody::Face& f=m_results.body->m_faces[m_results.index];
|
|
m_node=f.m_n[0];
|
|
for(int i=1;i<3;++i)
|
|
{
|
|
if( (m_node->m_x-m_impact).length2()>
|
|
(f.m_n[i]->m_x-m_impact).length2())
|
|
{
|
|
m_node=f.m_n[i];
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
if(m_node) m_goal=m_node->m_x;
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
case 1:
|
|
if((!m_drag)&&m_cutting&&(m_results.fraction<1.f))
|
|
{
|
|
ImplicitSphere isphere(m_impact,1);
|
|
printf("Mass before: %f\r\n",m_results.body->getTotalMass());
|
|
m_results.body->refine(&isphere,0.0001,true);
|
|
printf("Mass after: %f\r\n",m_results.body->getTotalMass());
|
|
}
|
|
m_results.fraction=1.f;
|
|
m_drag=false;
|
|
DemoApplication::mouseFunc(button,state,x,y);
|
|
break;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
DemoApplication::mouseFunc(button,state,x,y);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void SoftDemo::initPhysics()
|
|
{
|
|
///create concave ground mesh
|
|
|
|
m_guiHelper->setUpAxis(1);
|
|
// m_azi = 0;
|
|
|
|
//reset and disable motorcontrol at the start
|
|
motorcontrol.goal = 0;
|
|
motorcontrol.maxtorque = 0;
|
|
|
|
btCollisionShape* groundShape = 0;
|
|
{
|
|
int i;
|
|
int j;
|
|
|
|
const int NUM_VERTS_X = 30;
|
|
const int NUM_VERTS_Y = 30;
|
|
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
|
|
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
|
|
|
|
gGroundVertices = new btVector3[totalVerts];
|
|
gGroundIndices = new int[totalTriangles*3];
|
|
|
|
btScalar offset(-50);
|
|
|
|
for ( i=0;i<NUM_VERTS_X;i++)
|
|
{
|
|
for (j=0;j<NUM_VERTS_Y;j++)
|
|
{
|
|
gGroundVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
|
|
//0.f,
|
|
waveheight*sinf((float)i)*cosf((float)j+offset),
|
|
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
|
|
}
|
|
}
|
|
|
|
int vertStride = sizeof(btVector3);
|
|
int indexStride = 3*sizeof(int);
|
|
|
|
int index=0;
|
|
for ( i=0;i<NUM_VERTS_X-1;i++)
|
|
{
|
|
for (int j=0;j<NUM_VERTS_Y-1;j++)
|
|
{
|
|
gGroundIndices[index++] = j*NUM_VERTS_X+i;
|
|
gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
|
|
gGroundIndices[index++] = j*NUM_VERTS_X+i+1;;
|
|
|
|
gGroundIndices[index++] = j*NUM_VERTS_X+i;
|
|
gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i;
|
|
gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
|
|
}
|
|
}
|
|
|
|
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
|
|
gGroundIndices,
|
|
indexStride,
|
|
totalVerts,(btScalar*) &gGroundVertices[0].x(),vertStride);
|
|
|
|
bool useQuantizedAabbCompression = true;
|
|
|
|
groundShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
|
|
groundShape->setMargin(0.5);
|
|
}
|
|
|
|
m_collisionShapes.push_back(groundShape);
|
|
|
|
btCollisionShape* groundBox = new btBoxShape (btVector3(100,CUBE_HALF_EXTENTS,100));
|
|
m_collisionShapes.push_back(groundBox);
|
|
|
|
btCompoundShape* cylinderCompound = new btCompoundShape;
|
|
btCollisionShape* cylinderShape = new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
|
|
btTransform localTransform;
|
|
localTransform.setIdentity();
|
|
cylinderCompound->addChildShape(localTransform,cylinderShape);
|
|
btQuaternion orn(btVector3(0,1,0),SIMD_PI);
|
|
localTransform.setRotation(orn);
|
|
cylinderCompound->addChildShape(localTransform,cylinderShape);
|
|
|
|
m_collisionShapes.push_back(cylinderCompound);
|
|
|
|
m_dispatcher=0;
|
|
|
|
///register some softbody collision algorithms on top of the default btDefaultCollisionConfiguration
|
|
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
|
|
|
|
|
|
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
|
m_softBodyWorldInfo.m_dispatcher = m_dispatcher;
|
|
|
|
////////////////////////////
|
|
///Register softbody versus softbody collision algorithm
|
|
|
|
|
|
///Register softbody versus rigidbody collision algorithm
|
|
|
|
|
|
////////////////////////////
|
|
|
|
btVector3 worldAabbMin(-1000,-1000,-1000);
|
|
btVector3 worldAabbMax(1000,1000,1000);
|
|
|
|
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
|
|
|
|
m_softBodyWorldInfo.m_broadphase = m_broadphase;
|
|
|
|
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
|
|
|
|
m_solver = solver;
|
|
|
|
btSoftBodySolver* softBodySolver = 0;
|
|
#ifdef USE_AMD_OPENCL
|
|
|
|
static bool once = true;
|
|
if (once)
|
|
{
|
|
once=false;
|
|
initCL(0,0);
|
|
}
|
|
|
|
if( g_openCLSIMDSolver )
|
|
delete g_openCLSIMDSolver;
|
|
if( g_softBodyOutput )
|
|
delete g_softBodyOutput;
|
|
|
|
if (1)
|
|
{
|
|
g_openCLSIMDSolver = new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext);
|
|
// g_openCLSIMDSolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
|
|
g_openCLSIMDSolver->setCLFunctions(new CachingCLFunctions(g_cqCommandQue, g_cxMainContext));
|
|
}
|
|
|
|
|
|
|
|
softBodySolver = g_openCLSIMDSolver;
|
|
g_softBodyOutput = new btSoftBodySolverOutputCLtoCPU;
|
|
#endif //USE_AMD_OPENCL
|
|
|
|
btDiscreteDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration,softBodySolver);
|
|
m_dynamicsWorld = world;
|
|
m_dynamicsWorld->setInternalTickCallback(pickingPreTickCallback,this,true);
|
|
|
|
|
|
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
|
|
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
|
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
|
|
m_guiHelper->createPhysicsDebugDrawer(world);
|
|
// clientResetScene();
|
|
|
|
m_softBodyWorldInfo.m_sparsesdf.Initialize();
|
|
// clientResetScene();
|
|
|
|
//create ground object
|
|
btTransform tr;
|
|
tr.setIdentity();
|
|
tr.setOrigin(btVector3(0,-12,0));
|
|
|
|
btCollisionObject* newOb = new btCollisionObject();
|
|
newOb->setWorldTransform(tr);
|
|
newOb->setInterpolationWorldTransform( tr);
|
|
int lastDemo = (sizeof(demofncs)/sizeof(demofncs[0]))-1;
|
|
|
|
if (current_demo<0)
|
|
current_demo = lastDemo;
|
|
if (current_demo > lastDemo)
|
|
current_demo =0;
|
|
|
|
|
|
if (current_demo>19)
|
|
{
|
|
newOb->setCollisionShape(m_collisionShapes[0]);
|
|
} else
|
|
{
|
|
newOb->setCollisionShape(m_collisionShapes[1]);
|
|
}
|
|
|
|
m_dynamicsWorld->addCollisionObject(newOb);
|
|
|
|
m_softBodyWorldInfo.m_sparsesdf.Reset();
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
motorcontrol.goal = 0;
|
|
motorcontrol.maxtorque = 0;
|
|
|
|
|
|
|
|
m_softBodyWorldInfo.air_density = (btScalar)1.2;
|
|
m_softBodyWorldInfo.water_density = 0;
|
|
m_softBodyWorldInfo.water_offset = 0;
|
|
m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
|
|
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
|
|
|
|
|
|
m_autocam = false;
|
|
m_raycast = false;
|
|
m_cutting = false;
|
|
m_results.fraction = 1.f;
|
|
|
|
demofncs[current_demo](this);
|
|
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void SoftDemo::exitPhysics()
|
|
{
|
|
|
|
//cleanup in the reverse order of creation/initialization
|
|
|
|
//remove the rigidbodies from the dynamics world and delete them
|
|
int i;
|
|
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];
|
|
m_collisionShapes[j] = 0;
|
|
delete shape;
|
|
}
|
|
|
|
//delete dynamics world
|
|
delete m_dynamicsWorld;
|
|
m_dynamicsWorld = 0;
|
|
|
|
//delete solver
|
|
delete m_solver;
|
|
|
|
//delete broadphase
|
|
delete m_broadphase;
|
|
|
|
//delete dispatcher
|
|
delete m_dispatcher;
|
|
|
|
|
|
|
|
delete m_collisionConfiguration;
|
|
|
|
|
|
}
|
|
|
|
|
|
class CommonExampleInterface* SoftDemoCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
current_demo = options.m_option;
|
|
return new SoftDemo(options.m_guiHelper);
|
|
}
|
|
|
|
|
|
|