diff options
Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBody.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletSoftBody/btSoftBody.cpp | 292 |
1 files changed, 211 insertions, 81 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp index 0d19fd193e7..9c06841801c 100644 --- a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp +++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp @@ -19,9 +19,10 @@ subject to the following restrictions: #include "btSoftBodyData.h" #include "LinearMath/btSerializer.h" + // btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btVector3* x, const btScalar* m) -:m_worldInfo(worldInfo),m_softBodySolver(0) +:m_softBodySolver(0),m_worldInfo(worldInfo) { /* Init */ initDefaults(); @@ -357,14 +358,14 @@ void btSoftBody::appendTetra(int node0, // -void btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies) +void btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies,btScalar influence) { btVector3 local = body->getWorldTransform().inverse()*m_nodes[node].m_x; - appendAnchor(node,body,local,disableCollisionBetweenLinkedBodies); + appendAnchor(node,body,local,disableCollisionBetweenLinkedBodies,influence); } // -void btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies) +void btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies,btScalar influence) { if (disableCollisionBetweenLinkedBodies) { @@ -379,6 +380,7 @@ void btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& loc a.m_body = body; a.m_local = localPivot; a.m_node->m_battach = 1; + a.m_influence = influence; m_anchors.push_back(a); } @@ -451,6 +453,167 @@ void btSoftBody::addForce(const btVector3& force,int node) } } +void btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeIndex) +{ + btAssert(nodeIndex >= 0 && nodeIndex < m_nodes.size()); + + const btScalar dt = m_sst.sdt; + const btScalar kLF = m_cfg.kLF; + const btScalar kDG = m_cfg.kDG; + const btScalar kPR = m_cfg.kPR; + const btScalar kVC = m_cfg.kVC; + const bool as_lift = kLF>0; + const bool as_drag = kDG>0; + const bool as_aero = as_lift || as_drag; + const bool as_vaero = as_aero && (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided); + + Node& n = m_nodes[nodeIndex]; + + if( n.m_im>0 ) + { + btSoftBody::sMedium medium; + + EvaluateMedium(m_worldInfo, n.m_x, medium); + medium.m_velocity = windVelocity; + medium.m_density = m_worldInfo->air_density; + + /* Aerodynamics */ + if(as_vaero) + { + const btVector3 rel_v = n.m_v - medium.m_velocity; + const btScalar rel_v_len = rel_v.length(); + const btScalar rel_v2 = rel_v.length2(); + + if(rel_v2>SIMD_EPSILON) + { + const btVector3 rel_v_nrm = rel_v.normalized(); + btVector3 nrm = n.m_n; + + if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSidedLiftDrag) + { + nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); + btVector3 fDrag(0, 0, 0); + btVector3 fLift(0, 0, 0); + + btScalar n_dot_v = nrm.dot(rel_v_nrm); + btScalar tri_area = 0.5f * n.m_area; + + fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); + + // Check angle of attack + // cos(10º) = 0.98480 + if ( 0 < n_dot_v && n_dot_v < 0.98480f) + fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); + + n.m_f += fDrag; + n.m_f += fLift; + } + else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided) + { + if (btSoftBody::eAeroModel::V_TwoSided) + nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); + + const btScalar dvn = btDot(rel_v,nrm); + /* Compute forces */ + if(dvn>0) + { + btVector3 force(0,0,0); + const btScalar c0 = n.m_area * dvn * rel_v2/2; + const btScalar c1 = c0 * medium.m_density; + force += nrm*(-c1*kLF); + force += rel_v.normalized() * (-c1 * kDG); + ApplyClampedForce(n, force, dt); + } + } + } + } + } +} + +void btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceIndex) +{ + const btScalar dt = m_sst.sdt; + const btScalar kLF = m_cfg.kLF; + const btScalar kDG = m_cfg.kDG; + const btScalar kPR = m_cfg.kPR; + const btScalar kVC = m_cfg.kVC; + const bool as_lift = kLF>0; + const bool as_drag = kDG>0; + const bool as_aero = as_lift || as_drag; + const bool as_faero = as_aero && (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided); + + if(as_faero) + { + btSoftBody::Face& f=m_faces[faceIndex]; + + btSoftBody::sMedium medium; + + const btVector3 v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3; + const btVector3 x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3; + EvaluateMedium(m_worldInfo,x,medium); + medium.m_velocity = windVelocity; + medium.m_density = m_worldInfo->air_density; + const btVector3 rel_v=v-medium.m_velocity; + const btScalar rel_v_len = rel_v.length(); + const btScalar rel_v2=rel_v.length2(); + + if(rel_v2>SIMD_EPSILON) + { + const btVector3 rel_v_nrm = rel_v.normalized(); + btVector3 nrm = f.m_normal; + + if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSidedLiftDrag) + { + nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); + + btVector3 fDrag(0, 0, 0); + btVector3 fLift(0, 0, 0); + + btScalar n_dot_v = nrm.dot(rel_v_nrm); + btScalar tri_area = 0.5f * f.m_ra; + + fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); + + // Check angle of attack + // cos(10º) = 0.98480 + if ( 0 < n_dot_v && n_dot_v < 0.98480f) + fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); + + fDrag /= 3; + fLift /= 3; + + for(int j=0;j<3;++j) + { + if (f.m_n[j]->m_im>0) + { + f.m_n[j]->m_f += fDrag; + f.m_n[j]->m_f += fLift; + } + } + } + else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided) + { + if (btSoftBody::eAeroModel::F_TwoSided) + nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); + + const btScalar dvn=btDot(rel_v,nrm); + /* Compute forces */ + if(dvn>0) + { + btVector3 force(0,0,0); + const btScalar c0 = f.m_ra*dvn*rel_v2; + const btScalar c1 = c0*medium.m_density; + force += nrm*(-c1*kLF); + force += rel_v.normalized()*(-c1*kDG); + force /= 3; + for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt); + } + } + } + } + +} + // void btSoftBody::addVelocity(const btVector3& velocity) { @@ -1820,7 +1983,7 @@ btScalar btSoftBody::RayFromToCaster::rayFromToTriangle( const btVector3& rayF void btSoftBody::pointersToIndices() { #define PTR2IDX(_p_,_b_) reinterpret_cast<btSoftBody::Node*>((_p_)-(_b_)) - btSoftBody::Node* base=&m_nodes[0]; + btSoftBody::Node* base=m_nodes.size() ? &m_nodes[0] : 0; int i,ni; for(i=0,ni=m_nodes.size();i<ni;++i) @@ -1864,7 +2027,7 @@ void btSoftBody::indicesToPointers(const int* map) { #define IDX2PTR(_p_,_b_) map?(&(_b_)[map[(((char*)_p_)-(char*)0)]]): \ (&(_b_)[(((char*)_p_)-(char*)0)]) - btSoftBody::Node* base=&m_nodes[0]; + btSoftBody::Node* base=m_nodes.size() ? &m_nodes[0]:0; int i,ni; for(i=0,ni=m_nodes.size();i<ni;++i) @@ -1908,11 +2071,12 @@ int btSoftBody::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const { int cnt=0; + btVector3 dir = rayTo-rayFrom; + + if(bcountonly||m_fdbvt.empty()) {/* Full search */ - btVector3 dir = rayTo-rayFrom; - dir.normalize(); - + for(int i=0,ni=m_faces.size();i<ni;++i) { const btSoftBody::Face& f=m_faces[i]; @@ -1947,6 +2111,37 @@ int btSoftBody::rayTest(const btVector3& rayFrom,const btVector3& rayTo, cnt=1; } } + + for (int i=0;i<m_tetras.size();i++) + { + const btSoftBody::Tetra& tet = m_tetras[i]; + int tetfaces[4][3] = {{0,1,2},{0,1,3},{1,2,3},{0,2,3}}; + for (int f=0;f<4;f++) + { + + int index0=tetfaces[f][0]; + int index1=tetfaces[f][1]; + int index2=tetfaces[f][2]; + btVector3 v0=tet.m_n[index0]->m_x; + btVector3 v1=tet.m_n[index1]->m_x; + btVector3 v2=tet.m_n[index2]->m_x; + + + const btScalar t=RayFromToCaster::rayFromToTriangle( rayFrom,rayTo,dir, + v0,v1,v2, + mint); + if(t>0) + { + ++cnt; + if(!bcountonly) + { + feature=btSoftBody::eFeature::Tetra; + index=i; + mint=t; + } + } + } + } return(cnt); } @@ -2660,44 +2855,8 @@ void btSoftBody::applyForces() { if(use_medium) { - EvaluateMedium(m_worldInfo, n.m_x, medium); - medium.m_velocity = m_windVelocity; - medium.m_density = m_worldInfo->air_density; - /* Aerodynamics */ - if(as_vaero) - { - const btVector3 rel_v = n.m_v - medium.m_velocity; - const btScalar rel_v2 = rel_v.length2(); - if(rel_v2>SIMD_EPSILON) - { - btVector3 nrm = n.m_n; - /* Setup normal */ - switch(m_cfg.aeromodel) - { - case btSoftBody::eAeroModel::V_Point: - nrm = NormalizeAny(rel_v); - break; - case btSoftBody::eAeroModel::V_TwoSided: - nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); - break; - default: - { - } - } - const btScalar dvn = btDot(rel_v,nrm); - /* Compute forces */ - if(dvn>0) - { - btVector3 force(0,0,0); - const btScalar c0 = n.m_area * dvn * rel_v2/2; - const btScalar c1 = c0 * medium.m_density; - force += nrm*(-c1*kLF); - force += rel_v.normalized() * (-c1 * kDG); - ApplyClampedForce(n, force, dt); - } - } - } + addAeroForceToNode(m_windVelocity, i); } /* Pressure */ if(as_pressure) @@ -2711,43 +2870,14 @@ void btSoftBody::applyForces() } } } + /* Per face forces */ for(i=0,ni=m_faces.size();i<ni;++i) { btSoftBody::Face& f=m_faces[i]; - if(as_faero) - { - const btVector3 v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3; - const btVector3 x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3; - EvaluateMedium(m_worldInfo,x,medium); - const btVector3 rel_v=v-medium.m_velocity; - const btScalar rel_v2=rel_v.length2(); - if(rel_v2>SIMD_EPSILON) - { - btVector3 nrm=f.m_normal; - /* Setup normal */ - switch(m_cfg.aeromodel) - { - case btSoftBody::eAeroModel::F_TwoSided: - nrm*=(btScalar)(btDot(nrm,rel_v)<0?-1:+1);break; - default: - { - } - } - const btScalar dvn=btDot(rel_v,nrm); - /* Compute forces */ - if(dvn>0) - { - btVector3 force(0,0,0); - const btScalar c0 = f.m_ra*dvn*rel_v2; - const btScalar c1 = c0*medium.m_density; - force += nrm*(-c1*kLF); - force += rel_v.normalized()*(-c1*kDG); - force /= 3; - for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt); - } - } - } + + /* Aerodynamics */ + addAeroForceToFace(m_windVelocity, i); } } @@ -2765,7 +2895,7 @@ void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti) const btVector3 va=a.m_body->getVelocityInLocalPoint(a.m_c1)*dt; const btVector3 vb=n.m_x-n.m_q; const btVector3 vr=(va-vb)+(wa-n.m_x)*kAHR; - const btVector3 impulse=a.m_c0*vr; + const btVector3 impulse=a.m_c0*vr*a.m_influence; n.m_x+=impulse*a.m_c2; a.m_body->applyImpulse(-impulse,a.m_c1); } @@ -3196,7 +3326,7 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ sbd->m_config.m_softRigidClusterImpulseSplit = m_cfg.kSR_SPLT_CL; sbd->m_config.m_softKineticClusterImpulseSplit = m_cfg.kSK_SPLT_CL; sbd->m_config.m_softSoftClusterImpulseSplit = m_cfg.kSS_SPLT_CL; - + //pose for shape matching { sbd->m_pose = (SoftBodyPoseData*)serializer->getUniquePointer((void*)&m_pose); |