diff options
Diffstat (limited to 'extern/bullet2/BulletSoftBody/btSoftBodyHelpers.cpp')
| -rw-r--r-- | extern/bullet2/BulletSoftBody/btSoftBodyHelpers.cpp | 1019 |
1 files changed, 0 insertions, 1019 deletions
diff --git a/extern/bullet2/BulletSoftBody/btSoftBodyHelpers.cpp b/extern/bullet2/BulletSoftBody/btSoftBodyHelpers.cpp deleted file mode 100644 index 516485bf4e5..00000000000 --- a/extern/bullet2/BulletSoftBody/btSoftBodyHelpers.cpp +++ /dev/null @@ -1,1019 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -///btSoftBodyHelpers.cpp by Nathanael Presson - -#include "btSoftBodyInternals.h" -#include <stdio.h> -#include <string.h> -#include "btSoftBodyHelpers.h" -#include "LinearMath/btConvexHull.h" - -// -static void drawVertex( btIDebugDraw* idraw, - const btVector3& x,btScalar s,const btVector3& c) -{ - idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c); - idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c); - idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c); -} - -// -static void drawBox( btIDebugDraw* idraw, - const btVector3& mins, - const btVector3& maxs, - const btVector3& color) -{ - const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()), - btVector3(maxs.x(),mins.y(),mins.z()), - btVector3(maxs.x(),maxs.y(),mins.z()), - btVector3(mins.x(),maxs.y(),mins.z()), - btVector3(mins.x(),mins.y(),maxs.z()), - btVector3(maxs.x(),mins.y(),maxs.z()), - btVector3(maxs.x(),maxs.y(),maxs.z()), - btVector3(mins.x(),maxs.y(),maxs.z())}; - idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color); - idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color); - idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color); - idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color); - idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color); - idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color); -} - -// -static void drawTree( btIDebugDraw* idraw, - const btDbvtNode* node, - int depth, - const btVector3& ncolor, - const btVector3& lcolor, - int mindepth, - int maxdepth) -{ - if(node) - { - if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0))) - { - drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth); - drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth); - } - if(depth>=mindepth) - { - const btScalar scl=(btScalar)(node->isinternal()?1:1); - const btVector3 mi=node->volume.Center()-node->volume.Extents()*scl; - const btVector3 mx=node->volume.Center()+node->volume.Extents()*scl; - drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor); - } - } -} - -// -template <typename T> -static inline T sum(const btAlignedObjectArray<T>& items) -{ - T v; - if(items.size()) - { - v=items[0]; - for(int i=1,ni=items.size();i<ni;++i) - { - v+=items[i]; - } - } - return(v); -} - -// -template <typename T,typename Q> -static inline void add(btAlignedObjectArray<T>& items,const Q& value) -{ - for(int i=0,ni=items.size();i<ni;++i) - { - items[i]+=value; - } -} - -// -template <typename T,typename Q> -static inline void mul(btAlignedObjectArray<T>& items,const Q& value) -{ - for(int i=0,ni=items.size();i<ni;++i) - { - items[i]*=value; - } -} - -// -template <typename T> -static inline T average(const btAlignedObjectArray<T>& items) -{ - const btScalar n=(btScalar)(items.size()>0?items.size():1); - return(sum(items)/n); -} - -// -static inline btScalar tetravolume(const btVector3& x0, - const btVector3& x1, - const btVector3& x2, - const btVector3& x3) -{ - const btVector3 a=x1-x0; - const btVector3 b=x2-x0; - const btVector3 c=x3-x0; - return(btDot(a,btCross(b,c))); -} - -// -#if 0 -static btVector3 stresscolor(btScalar stress) -{ - static const btVector3 spectrum[]= { btVector3(1,0,1), - btVector3(0,0,1), - btVector3(0,1,1), - btVector3(0,1,0), - btVector3(1,1,0), - btVector3(1,0,0), - btVector3(1,0,0)}; - static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1; - static const btScalar one=1; - stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors; - const int sel=(int)stress; - const btScalar frc=stress-sel; - return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc); -} -#endif - -// -void btSoftBodyHelpers::Draw( btSoftBody* psb, - btIDebugDraw* idraw, - int drawflags) -{ - const btScalar scl=(btScalar)0.1; - const btScalar nscl=scl*5; - const btVector3 lcolor=btVector3(0,0,0); - const btVector3 ncolor=btVector3(1,1,1); - const btVector3 ccolor=btVector3(1,0,0); - int i,j,nj; - - /* Nodes */ - if(0!=(drawflags&fDrawFlags::Nodes)) - { - for(i=0;i<psb->m_nodes.size();++i) - { - const btSoftBody::Node& n=psb->m_nodes[i]; - if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; - idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0)); - idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0)); - idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1)); - } - } - /* Links */ - if(0!=(drawflags&fDrawFlags::Links)) - { - for(i=0;i<psb->m_links.size();++i) - { - const btSoftBody::Link& l=psb->m_links[i]; - if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; - idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor); - } - } - /* Normals */ - if(0!=(drawflags&fDrawFlags::Normals)) - { - for(i=0;i<psb->m_nodes.size();++i) - { - const btSoftBody::Node& n=psb->m_nodes[i]; - if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; - const btVector3 d=n.m_n*nscl; - idraw->drawLine(n.m_x,n.m_x+d,ncolor); - idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5); - } - } - /* Contacts */ - if(0!=(drawflags&fDrawFlags::Contacts)) - { - static const btVector3 axis[]={btVector3(1,0,0), - btVector3(0,1,0), - btVector3(0,0,1)}; - for(i=0;i<psb->m_rcontacts.size();++i) - { - const btSoftBody::RContact& c=psb->m_rcontacts[i]; - const btVector3 o= c.m_node->m_x-c.m_cti.m_normal* - (btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset); - const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized(); - const btVector3 y=btCross(x,c.m_cti.m_normal).normalized(); - idraw->drawLine(o-x*nscl,o+x*nscl,ccolor); - idraw->drawLine(o-y*nscl,o+y*nscl,ccolor); - idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0)); - } - } - /* Anchors */ - if(0!=(drawflags&fDrawFlags::Anchors)) - { - for(i=0;i<psb->m_anchors.size();++i) - { - const btSoftBody::Anchor& a=psb->m_anchors[i]; - const btVector3 q=a.m_body->getWorldTransform()*a.m_local; - drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0)); - drawVertex(idraw,q,0.25,btVector3(0,1,0)); - idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1)); - } - for(i=0;i<psb->m_nodes.size();++i) - { - const btSoftBody::Node& n=psb->m_nodes[i]; - if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; - if(n.m_im<=0) - { - drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0)); - } - } - } - /* Faces */ - if(0!=(drawflags&fDrawFlags::Faces)) - { - const btScalar scl=(btScalar)0.8; - const btScalar alp=(btScalar)1; - const btVector3 col(0,(btScalar)0.7,0); - for(i=0;i<psb->m_faces.size();++i) - { - const btSoftBody::Face& f=psb->m_faces[i]; - if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; - const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x}; - const btVector3 c=(x[0]+x[1]+x[2])/3; - idraw->drawTriangle((x[0]-c)*scl+c, - (x[1]-c)*scl+c, - (x[2]-c)*scl+c, - col,alp); - } - } - /* Clusters */ - if(0!=(drawflags&fDrawFlags::Clusters)) - { - srand(1806); - for(i=0;i<psb->m_clusters.size();++i) - { - if(psb->m_clusters[i]->m_collide) - { - btVector3 color( rand()/(btScalar)RAND_MAX, - rand()/(btScalar)RAND_MAX, - rand()/(btScalar)RAND_MAX); - color=color.normalized()*0.75; - btAlignedObjectArray<btVector3> vertices; - vertices.resize(psb->m_clusters[i]->m_nodes.size()); - for(j=0,nj=vertices.size();j<nj;++j) - { - vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x; - } - HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]); - HullResult hres; - HullLibrary hlib; - hdsc.mMaxVertices=vertices.size(); - hlib.CreateConvexHull(hdsc,hres); - const btVector3 center=average(hres.m_OutputVertices); - add(hres.m_OutputVertices,-center); - mul(hres.m_OutputVertices,(btScalar)1); - add(hres.m_OutputVertices,center); - for(j=0;j<(int)hres.mNumFaces;++j) - { - const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]}; - idraw->drawTriangle(hres.m_OutputVertices[idx[0]], - hres.m_OutputVertices[idx[1]], - hres.m_OutputVertices[idx[2]], - color,1); - } - hlib.ReleaseResult(hres); - } - /* Velocities */ -#if 0 - for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j) - { - const btSoftBody::Cluster& c=psb->m_clusters[i]; - const btVector3 r=c.m_nodes[j]->m_x-c.m_com; - const btVector3 v=c.m_lv+btCross(c.m_av,r); - idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0)); - } -#endif - /* Frame */ - btSoftBody::Cluster& c=*psb->m_clusters[i]; - idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0)); - idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0)); - idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1)); - } - } - - /* Tetras */ - if(0!=(drawflags&fDrawFlags::Tetras)) - { - const btScalar scl=(btScalar)0.8; - const btScalar alp=(btScalar)1; - const btVector3 col((btScalar)0.7,(btScalar)0.7,(btScalar)0.7); - for(int i=0;i<psb->m_tetras.size();++i) - { - const btSoftBody::Tetra& t=psb->m_tetras[i]; - if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; - const btVector3 x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x}; - const btVector3 c=(x[0]+x[1]+x[2]+x[3])/4; - idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp); - idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp); - idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp); - idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp); - } - } - - /* Notes */ - if(0!=(drawflags&fDrawFlags::Notes)) - { - for(i=0;i<psb->m_notes.size();++i) - { - const btSoftBody::Note& n=psb->m_notes[i]; - btVector3 p=n.m_offset; - for(int j=0;j<n.m_rank;++j) - { - p+=n.m_nodes[j]->m_x*n.m_coords[j]; - } - idraw->draw3dText(p,n.m_text); - } - } - /* Node tree */ - if(0!=(drawflags&fDrawFlags::NodeTree)) DrawNodeTree(psb,idraw); - /* Face tree */ - if(0!=(drawflags&fDrawFlags::FaceTree)) DrawFaceTree(psb,idraw); - /* Cluster tree */ - if(0!=(drawflags&fDrawFlags::ClusterTree)) DrawClusterTree(psb,idraw); - /* Joints */ - if(0!=(drawflags&fDrawFlags::Joints)) - { - for(i=0;i<psb->m_joints.size();++i) - { - const btSoftBody::Joint* pj=psb->m_joints[i]; - switch(pj->Type()) - { - case btSoftBody::Joint::eType::Linear: - { - const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj; - const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0]; - const btVector3 a1=pj->m_bodies[1].xform()*pjl->m_refs[1]; - idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0)); - idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1)); - drawVertex(idraw,a0,0.25,btVector3(1,1,0)); - drawVertex(idraw,a1,0.25,btVector3(0,1,1)); - } - break; - case btSoftBody::Joint::eType::Angular: - { - //const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj; - const btVector3 o0=pj->m_bodies[0].xform().getOrigin(); - const btVector3 o1=pj->m_bodies[1].xform().getOrigin(); - const btVector3 a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0]; - const btVector3 a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1]; - idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0)); - idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0)); - idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1)); - idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1)); - break; - } - default: - { - } - - } - } - } -} - -// -void btSoftBodyHelpers::DrawInfos( btSoftBody* psb, - btIDebugDraw* idraw, - bool masses, - bool areas, - bool /*stress*/) -{ - for(int i=0;i<psb->m_nodes.size();++i) - { - const btSoftBody::Node& n=psb->m_nodes[i]; - char text[2048]={0}; - char buff[1024]; - if(masses) - { - sprintf(buff," M(%.2f)",1/n.m_im); - strcat(text,buff); - } - if(areas) - { - sprintf(buff," A(%.2f)",n.m_area); - strcat(text,buff); - } - if(text[0]) idraw->draw3dText(n.m_x,text); - } -} - -// -void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb, - btIDebugDraw* idraw, - int mindepth, - int maxdepth) -{ - drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth); -} - -// -void btSoftBodyHelpers::DrawFaceTree( btSoftBody* psb, - btIDebugDraw* idraw, - int mindepth, - int maxdepth) -{ - drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth); -} - -// -void btSoftBodyHelpers::DrawClusterTree( btSoftBody* psb, - btIDebugDraw* idraw, - int mindepth, - int maxdepth) -{ - drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth); -} - -// -void btSoftBodyHelpers::DrawFrame( btSoftBody* psb, - btIDebugDraw* idraw) -{ - if(psb->m_pose.m_bframe) - { - static const btScalar ascl=10; - static const btScalar nscl=(btScalar)0.1; - const btVector3 com=psb->m_pose.m_com; - const btMatrix3x3 trs=psb->m_pose.m_rot*psb->m_pose.m_scl; - const btVector3 Xaxis=(trs*btVector3(1,0,0)).normalized(); - const btVector3 Yaxis=(trs*btVector3(0,1,0)).normalized(); - const btVector3 Zaxis=(trs*btVector3(0,0,1)).normalized(); - idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0)); - idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0)); - idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1)); - for(int i=0;i<psb->m_pose.m_pos.size();++i) - { - const btVector3 x=com+trs*psb->m_pose.m_pos[i]; - drawVertex(idraw,x,nscl,btVector3(1,0,1)); - } - } -} - -// -btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, const btVector3& from, - const btVector3& to, - int res, - int fixeds) -{ - /* Create nodes */ - const int r=res+2; - btVector3* x=new btVector3[r]; - btScalar* m=new btScalar[r]; - int i; - - for(i=0;i<r;++i) - { - const btScalar t=i/(btScalar)(r-1); - x[i]=lerp(from,to,t); - m[i]=1; - } - btSoftBody* psb= new btSoftBody(&worldInfo,r,x,m); - if(fixeds&1) psb->setMass(0,0); - if(fixeds&2) psb->setMass(r-1,0); - delete[] x; - delete[] m; - /* Create links */ - for(i=1;i<r;++i) - { - psb->appendLink(i-1,i); - } - /* Finished */ - return(psb); -} - -// -btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00, - const btVector3& corner10, - const btVector3& corner01, - const btVector3& corner11, - int resx, - int resy, - int fixeds, - bool gendiags) -{ -#define IDX(_x_,_y_) ((_y_)*rx+(_x_)) - /* Create nodes */ - if((resx<2)||(resy<2)) return(0); - const int rx=resx; - const int ry=resy; - const int tot=rx*ry; - btVector3* x=new btVector3[tot]; - btScalar* m=new btScalar[tot]; - int iy; - - for(iy=0;iy<ry;++iy) - { - const btScalar ty=iy/(btScalar)(ry-1); - const btVector3 py0=lerp(corner00,corner01,ty); - const btVector3 py1=lerp(corner10,corner11,ty); - for(int ix=0;ix<rx;++ix) - { - const btScalar tx=ix/(btScalar)(rx-1); - x[IDX(ix,iy)]=lerp(py0,py1,tx); - m[IDX(ix,iy)]=1; - } - } - btSoftBody* psb=new btSoftBody(&worldInfo,tot,x,m); - if(fixeds&1) psb->setMass(IDX(0,0),0); - if(fixeds&2) psb->setMass(IDX(rx-1,0),0); - if(fixeds&4) psb->setMass(IDX(0,ry-1),0); - if(fixeds&8) psb->setMass(IDX(rx-1,ry-1),0); - delete[] x; - delete[] m; - /* Create links and faces */ - for(iy=0;iy<ry;++iy) - { - for(int ix=0;ix<rx;++ix) - { - const int idx=IDX(ix,iy); - const bool mdx=(ix+1)<rx; - const bool mdy=(iy+1)<ry; - if(mdx) psb->appendLink(idx,IDX(ix+1,iy)); - if(mdy) psb->appendLink(idx,IDX(ix,iy+1)); - if(mdx&&mdy) - { - if((ix+iy)&1) - { - psb->appendFace(IDX(ix,iy),IDX(ix+1,iy),IDX(ix+1,iy+1)); - psb->appendFace(IDX(ix,iy),IDX(ix+1,iy+1),IDX(ix,iy+1)); - if(gendiags) - { - psb->appendLink(IDX(ix,iy),IDX(ix+1,iy+1)); - } - } - else - { - psb->appendFace(IDX(ix,iy+1),IDX(ix,iy),IDX(ix+1,iy)); - psb->appendFace(IDX(ix,iy+1),IDX(ix+1,iy),IDX(ix+1,iy+1)); - if(gendiags) - { - psb->appendLink(IDX(ix+1,iy),IDX(ix,iy+1)); - } - } - } - } - } - /* Finished */ -#undef IDX - return(psb); -} - -// -btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo, - const btVector3& corner00, - const btVector3& corner10, - const btVector3& corner01, - const btVector3& corner11, - int resx, - int resy, - int fixeds, - bool gendiags, - float* tex_coords) -{ - - /* - * - * corners: - * - * [0][0] corner00 ------- corner01 [resx][0] - * | | - * | | - * [0][resy] corner10 -------- corner11 [resx][resy] - * - * - * - * - * - * - * "fixedgs" map: - * - * corner00 --> +1 - * corner01 --> +2 - * corner10 --> +4 - * corner11 --> +8 - * upper middle --> +16 - * left middle --> +32 - * right middle --> +64 - * lower middle --> +128 - * center --> +256 - * - * - * tex_coords size (resx-1)*(resy-1)*12 - * - * - * - * SINGLE QUAD INTERNALS - * - * 1) btSoftBody's nodes and links, - * diagonal link is optional ("gendiags") - * - * - * node00 ------ node01 - * | . - * | . - * | . - * | . - * | . - * node10 node11 - * - * - * - * 2) Faces: - * two triangles, - * UV Coordinates (hier example for single quad) - * - * (0,1) (0,1) (1,1) - * 1 |\ 3 \-----| 2 - * | \ \ | - * | \ \ | - * | \ \ | - * | \ \ | - * 2 |-----\ 3 \| 1 - * (0,0) (1,0) (1,0) - * - * - * - * - * - * - */ - -#define IDX(_x_,_y_) ((_y_)*rx+(_x_)) - /* Create nodes */ - if((resx<2)||(resy<2)) return(0); - const int rx=resx; - const int ry=resy; - const int tot=rx*ry; - btVector3* x=new btVector3[tot]; - btScalar* m=new btScalar[tot]; - - int iy; - - for(iy=0;iy<ry;++iy) - { - const btScalar ty=iy/(btScalar)(ry-1); - const btVector3 py0=lerp(corner00,corner01,ty); - const btVector3 py1=lerp(corner10,corner11,ty); - for(int ix=0;ix<rx;++ix) - { - const btScalar tx=ix/(btScalar)(rx-1); - x[IDX(ix,iy)]=lerp(py0,py1,tx); - m[IDX(ix,iy)]=1; - } - } - btSoftBody* psb=new btSoftBody(&worldInfo,tot,x,m); - if(fixeds&1) psb->setMass(IDX(0,0),0); - if(fixeds&2) psb->setMass(IDX(rx-1,0),0); - if(fixeds&4) psb->setMass(IDX(0,ry-1),0); - if(fixeds&8) psb->setMass(IDX(rx-1,ry-1),0); - if(fixeds&16) psb->setMass(IDX((rx-1)/2,0),0); - if(fixeds&32) psb->setMass(IDX(0,(ry-1)/2),0); - if(fixeds&64) psb->setMass(IDX(rx-1,(ry-1)/2),0); - if(fixeds&128) psb->setMass(IDX((rx-1)/2,ry-1),0); - if(fixeds&256) psb->setMass(IDX((rx-1)/2,(ry-1)/2),0); - delete[] x; - delete[] m; - - - int z = 0; - /* Create links and faces */ - for(iy=0;iy<ry;++iy) - { - for(int ix=0;ix<rx;++ix) - { - const bool mdx=(ix+1)<rx; - const bool mdy=(iy+1)<ry; - - int node00=IDX(ix,iy); - int node01=IDX(ix+1,iy); - int node10=IDX(ix,iy+1); - int node11=IDX(ix+1,iy+1); - - if(mdx) psb->appendLink(node00,node01); - if(mdy) psb->appendLink(node00,node10); - if(mdx&&mdy) - { - psb->appendFace(node00,node10,node11); - if (tex_coords) { - tex_coords[z+0]=CalculateUV(resx,resy,ix,iy,0); - tex_coords[z+1]=CalculateUV(resx,resy,ix,iy,1); - tex_coords[z+2]=CalculateUV(resx,resy,ix,iy,0); - tex_coords[z+3]=CalculateUV(resx,resy,ix,iy,2); - tex_coords[z+4]=CalculateUV(resx,resy,ix,iy,3); - tex_coords[z+5]=CalculateUV(resx,resy,ix,iy,2); - } - psb->appendFace(node11,node01,node00); - if (tex_coords) { - tex_coords[z+6 ]=CalculateUV(resx,resy,ix,iy,3); - tex_coords[z+7 ]=CalculateUV(resx,resy,ix,iy,2); - tex_coords[z+8 ]=CalculateUV(resx,resy,ix,iy,3); - tex_coords[z+9 ]=CalculateUV(resx,resy,ix,iy,1); - tex_coords[z+10]=CalculateUV(resx,resy,ix,iy,0); - tex_coords[z+11]=CalculateUV(resx,resy,ix,iy,1); - } - if (gendiags) psb->appendLink(node00,node11); - z += 12; - } - } - } - /* Finished */ -#undef IDX - return(psb); -} - -float btSoftBodyHelpers::CalculateUV(int resx,int resy,int ix,int iy,int id) -{ - - /* - * - * - * node00 --- node01 - * | | - * node10 --- node11 - * - * - * ID map: - * - * node00 s --> 0 - * node00 t --> 1 - * - * node01 s --> 3 - * node01 t --> 1 - * - * node10 s --> 0 - * node10 t --> 2 - * - * node11 s --> 3 - * node11 t --> 2 - * - * - */ - - float tc=0.0f; - if (id == 0) { - tc = (1.0f/((resx-1))*ix); - } - else if (id==1) { - tc = (1.0f/((resy-1))*(resy-1-iy)); - } - else if (id==2) { - tc = (1.0f/((resy-1))*(resy-1-iy-1)); - } - else if (id==3) { - tc = (1.0f/((resx-1))*(ix+1)); - } - return tc; -} -// -btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center, - const btVector3& radius, - int res) -{ - struct Hammersley - { - static void Generate(btVector3* x,int n) - { - for(int i=0;i<n;i++) - { - btScalar p=0.5,t=0; - for(int j=i;j;p*=0.5,j>>=1) if(j&1) t+=p; - btScalar w=2*t-1; - btScalar a=(SIMD_PI+2*i*SIMD_PI)/n; - btScalar s=btSqrt(1-w*w); - *x++=btVector3(s*btCos(a),s*btSin(a),w); - } - } - }; - btAlignedObjectArray<btVector3> vtx; - vtx.resize(3+res); - Hammersley::Generate(&vtx[0],vtx.size()); - for(int i=0;i<vtx.size();++i) - { - vtx[i]=vtx[i]*radius+center; - } - return(CreateFromConvexHull(worldInfo,&vtx[0],vtx.size())); -} - - - -// -btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar* vertices, - const int* triangles, - int ntriangles, bool randomizeConstraints) -{ - int maxidx=0; - int i,j,ni; - - for(i=0,ni=ntriangles*3;i<ni;++i) - { - maxidx=btMax(triangles[i],maxidx); - } - ++maxidx; - btAlignedObjectArray<bool> chks; - btAlignedObjectArray<btVector3> vtx; - chks.resize(maxidx*maxidx,false); - vtx.resize(maxidx); - for(i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3) - { - vtx[j]=btVector3(vertices[i],vertices[i+1],vertices[i+2]); - } - btSoftBody* psb=new btSoftBody(&worldInfo,vtx.size(),&vtx[0],0); - for( i=0,ni=ntriangles*3;i<ni;i+=3) - { - const int idx[]={triangles[i],triangles[i+1],triangles[i+2]}; -#define IDX(_x_,_y_) ((_y_)*maxidx+(_x_)) - for(int j=2,k=0;k<3;j=k++) - { - if(!chks[IDX(idx[j],idx[k])]) - { - chks[IDX(idx[j],idx[k])]=true; - chks[IDX(idx[k],idx[j])]=true; - psb->appendLink(idx[j],idx[k]); - } - } -#undef IDX - psb->appendFace(idx[0],idx[1],idx[2]); - } - - if (randomizeConstraints) - { - psb->randomizeConstraints(); - } - - return(psb); -} - -// -btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices, - int nvertices, bool randomizeConstraints) -{ - HullDesc hdsc(QF_TRIANGLES,nvertices,vertices); - HullResult hres; - HullLibrary hlib;/*??*/ - hdsc.mMaxVertices=nvertices; - hlib.CreateConvexHull(hdsc,hres); - btSoftBody* psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices, - &hres.m_OutputVertices[0],0); - for(int i=0;i<(int)hres.mNumFaces;++i) - { - const int idx[]={ hres.m_Indices[i*3+0], - hres.m_Indices[i*3+1], - hres.m_Indices[i*3+2]}; - if(idx[0]<idx[1]) psb->appendLink( idx[0],idx[1]); - if(idx[1]<idx[2]) psb->appendLink( idx[1],idx[2]); - if(idx[2]<idx[0]) psb->appendLink( idx[2],idx[0]); - psb->appendFace(idx[0],idx[1],idx[2]); - } - hlib.ReleaseResult(hres); - if (randomizeConstraints) - { - psb->randomizeConstraints(); - } - return(psb); -} - - - - -static int nextLine(const char* buffer) -{ - int numBytesRead=0; - - while (*buffer != '\n') - { - buffer++; - numBytesRead++; - } - - - if (buffer[0]==0x0a) - { - buffer++; - numBytesRead++; - } - return numBytesRead; -} - -/* Create from TetGen .ele, .face, .node data */ -btSoftBody* btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo, - const char* ele, - const char* face, - const char* node, - bool bfacelinks, - bool btetralinks, - bool bfacesfromtetras) -{ -btAlignedObjectArray<btVector3> pos; -int nnode=0; -int ndims=0; -int nattrb=0; -int hasbounds=0; -int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds); -result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds); -node += nextLine(node); - -pos.resize(nnode); -for(int i=0;i<pos.size();++i) - { - int index=0; - //int bound=0; - float x,y,z; - sscanf(node,"%d %f %f %f",&index,&x,&y,&z); - -// sn>>index; -// sn>>x;sn>>y;sn>>z; - node += nextLine(node); - - //for(int j=0;j<nattrb;++j) - // sn>>a; - - //if(hasbounds) - // sn>>bound; - - pos[index].setX(btScalar(x)); - pos[index].setY(btScalar(y)); - pos[index].setZ(btScalar(z)); - } -btSoftBody* psb=new btSoftBody(&worldInfo,nnode,&pos[0],0); -#if 0 -if(face&&face[0]) - { - int nface=0; - sf>>nface;sf>>hasbounds; - for(int i=0;i<nface;++i) - { - int index=0; - int bound=0; - int ni[3]; - sf>>index; - sf>>ni[0];sf>>ni[1];sf>>ni[2]; - sf>>bound; - psb->appendFace(ni[0],ni[1],ni[2]); - if(btetralinks) - { - psb->appendLink(ni[0],ni[1],0,true); - psb->appendLink(ni[1],ni[2],0,true); - psb->appendLink(ni[2],ni[0],0,true); - } - } - } -#endif - -if(ele&&ele[0]) - { - int ntetra=0; - int ncorner=0; - int neattrb=0; - sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb); - ele += nextLine(ele); - - //se>>ntetra;se>>ncorner;se>>neattrb; - for(int i=0;i<ntetra;++i) - { - int index=0; - int ni[4]; - - //se>>index; - //se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3]; - sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]); - ele+=nextLine(ele); - //for(int j=0;j<neattrb;++j) - // se>>a; - psb->appendTetra(ni[0],ni[1],ni[2],ni[3]); - if(btetralinks) - { - psb->appendLink(ni[0],ni[1],0,true); - psb->appendLink(ni[1],ni[2],0,true); - psb->appendLink(ni[2],ni[0],0,true); - psb->appendLink(ni[0],ni[3],0,true); - psb->appendLink(ni[1],ni[3],0,true); - psb->appendLink(ni[2],ni[3],0,true); - } - } - } -printf("Nodes: %u\r\n",psb->m_nodes.size()); -printf("Links: %u\r\n",psb->m_links.size()); -printf("Faces: %u\r\n",psb->m_faces.size()); -printf("Tetras: %u\r\n",psb->m_tetras.size()); -return(psb); -} - |