diff options
Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBody.h')
| -rw-r--r-- | extern/bullet2/src/BulletSoftBody/btSoftBody.h | 291 |
1 files changed, 153 insertions, 138 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.h b/extern/bullet2/src/BulletSoftBody/btSoftBody.h index 743462d259a..a62c21883c8 100644 --- a/extern/bullet2/src/BulletSoftBody/btSoftBody.h +++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.h @@ -18,7 +18,6 @@ subject to the following restrictions: #define _BT_SOFT_BODY_H #include "LinearMath/btAlignedObjectArray.h" -#include "LinearMath/btPoint3.h" #include "LinearMath/btTransform.h" #include "LinearMath/btIDebugDraw.h" #include "BulletDynamics/Dynamics/btRigidBody.h" @@ -45,7 +44,8 @@ struct btSoftBodyWorldInfo }; -/// btSoftBody is work-in-progress +///The btSoftBody is an class to simulate cloth and volumetric soft bodies. +///There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject. class btSoftBody : public btCollisionObject { public: @@ -64,13 +64,13 @@ public: F_OneSided, ///Face normals are taken as it is END };}; - + ///eVSolver : velocities solvers struct eVSolver { enum _ { Linear, ///Linear solver END };}; - + ///ePSolver : positions solvers struct ePSolver { enum _ { Linear, ///Linear solver @@ -79,7 +79,7 @@ public: SContacts, ///Soft contacts solver END };}; - + ///eSolverPresets struct eSolverPresets { enum _ { Positions, @@ -87,7 +87,7 @@ public: Default = Positions, END };}; - + ///eFeature struct eFeature { enum _ { None, @@ -96,20 +96,20 @@ public: Face, END };}; - + typedef btAlignedObjectArray<eVSolver::_> tVSolverArray; typedef btAlignedObjectArray<ePSolver::_> tPSolverArray; - + // // Flags // - + ///fCollision struct fCollision { enum _ { RVSmask = 0x000f, ///Rigid versus soft mask SDF_RS = 0x0001, ///SDF based rigid vs soft CL_RS = 0x0002, ///Cluster vs convex rigid vs soft - + SVSmask = 0x00f0, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling @@ -117,7 +117,7 @@ public: Default = SDF_RS, END };}; - + ///fMaterial struct fMaterial { enum _ { DebugDraw = 0x0001, /// Enable debug draw @@ -125,26 +125,26 @@ public: Default = DebugDraw, END };}; - + // // API Types // - + /* sRayCast */ struct sRayCast { btSoftBody* body; /// soft body eFeature::_ feature; /// feature type int index; /// feature index - btScalar time; /// time of impact (rayorg+raydir*time) + btScalar fraction; /// time of impact fraction (rayorg+(rayto-rayfrom)*fraction) }; - + /* ImplicitFn */ struct ImplicitFn { virtual btScalar Eval(const btVector3& x)=0; }; - + // // Internal types // @@ -155,7 +155,7 @@ public: /* sCti is Softbody contact info */ struct sCti { - btRigidBody* m_body; /* Rigid body */ + btCollisionObject* m_colObj; /* Rigid body */ btVector3 m_normal; /* Outward normal */ btScalar m_offset; /* Offset from origin */ }; @@ -182,7 +182,7 @@ public: btScalar m_kVST; // Volume stiffness coefficient [0,1] int m_flags; // Flags }; - + /* Feature */ struct Feature : Element { @@ -293,12 +293,13 @@ public: btVector3 m_lv; btVector3 m_av; btDbvtNode* m_leaf; - btScalar m_ndamping; - btScalar m_ldamping; - btScalar m_adamping; + btScalar m_ndamping; /* Node damping */ + btScalar m_ldamping; /* Linear damping */ + btScalar m_adamping; /* Angular damping */ btScalar m_matching; bool m_collide; - Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) {} + int m_clusterIndex; + Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) {} }; /* Impulse */ struct Impulse @@ -309,109 +310,115 @@ public: int m_asDrift:1; Impulse() : m_velocity(0,0,0),m_drift(0,0,0),m_asVelocity(0),m_asDrift(0) {} Impulse operator -() const - { + { Impulse i=*this; i.m_velocity=-i.m_velocity; i.m_drift=-i.m_drift; return(i); - } + } Impulse operator*(btScalar x) const - { + { Impulse i=*this; i.m_velocity*=x; i.m_drift*=x; return(i); - } + } }; /* Body */ struct Body { - Cluster* m_soft; - btRigidBody* m_rigid; - Body() : m_soft(0),m_rigid(0) {} - Body(Cluster* p) : m_soft(p),m_rigid(0) {} - Body(btRigidBody* p) : m_soft(0),m_rigid(p) {} + Cluster* m_soft; + btRigidBody* m_rigid; + btCollisionObject* m_collisionObject; + + Body() : m_soft(0),m_rigid(0),m_collisionObject(0) {} + Body(Cluster* p) : m_soft(p),m_rigid(0),m_collisionObject(0) {} + Body(btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj) + { + m_rigid = btRigidBody::upcast(m_collisionObject); + } + void activate() const - { + { if(m_rigid) m_rigid->activate(); - } + } const btMatrix3x3& invWorldInertia() const - { + { static const btMatrix3x3 iwi(0,0,0,0,0,0,0,0,0); if(m_rigid) return(m_rigid->getInvInertiaTensorWorld()); if(m_soft) return(m_soft->m_invwi); return(iwi); - } + } btScalar invMass() const - { + { if(m_rigid) return(m_rigid->getInvMass()); if(m_soft) return(m_soft->m_imass); return(0); - } + } const btTransform& xform() const - { + { static const btTransform identity=btTransform::getIdentity(); - if(m_rigid) return(m_rigid->getInterpolationWorldTransform()); + if(m_collisionObject) return(m_collisionObject->getInterpolationWorldTransform()); if(m_soft) return(m_soft->m_framexform); return(identity); - } + } btVector3 linearVelocity() const - { + { if(m_rigid) return(m_rigid->getLinearVelocity()); if(m_soft) return(m_soft->m_lv); return(btVector3(0,0,0)); - } + } btVector3 angularVelocity(const btVector3& rpos) const - { + { if(m_rigid) return(cross(m_rigid->getAngularVelocity(),rpos)); if(m_soft) return(cross(m_soft->m_av,rpos)); return(btVector3(0,0,0)); - } + } btVector3 angularVelocity() const - { + { if(m_rigid) return(m_rigid->getAngularVelocity()); if(m_soft) return(m_soft->m_av); return(btVector3(0,0,0)); - } + } btVector3 velocity(const btVector3& rpos) const - { + { return(linearVelocity()+angularVelocity(rpos)); - } + } void applyVImpulse(const btVector3& impulse,const btVector3& rpos) const - { + { if(m_rigid) m_rigid->applyImpulse(impulse,rpos); if(m_soft) btSoftBody::clusterVImpulse(m_soft,rpos,impulse); - } + } void applyDImpulse(const btVector3& impulse,const btVector3& rpos) const - { + { if(m_rigid) m_rigid->applyImpulse(impulse,rpos); if(m_soft) btSoftBody::clusterDImpulse(m_soft,rpos,impulse); - } + } void applyImpulse(const Impulse& impulse,const btVector3& rpos) const - { + { if(impulse.m_asVelocity) applyVImpulse(impulse.m_velocity,rpos); if(impulse.m_asDrift) applyDImpulse(impulse.m_drift,rpos); - } + } void applyVAImpulse(const btVector3& impulse) const - { + { if(m_rigid) m_rigid->applyTorqueImpulse(impulse); if(m_soft) btSoftBody::clusterVAImpulse(m_soft,impulse); - } + } void applyDAImpulse(const btVector3& impulse) const - { + { if(m_rigid) m_rigid->applyTorqueImpulse(impulse); if(m_soft) btSoftBody::clusterDAImpulse(m_soft,impulse); - } + } void applyAImpulse(const Impulse& impulse) const - { + { if(impulse.m_asVelocity) applyVAImpulse(impulse.m_velocity); if(impulse.m_asDrift) applyDAImpulse(impulse.m_drift); - } + } void applyDCImpulse(const btVector3& impulse) const - { + { if(m_rigid) m_rigid->applyCentralImpulse(impulse); if(m_soft) btSoftBody::clusterDCImpulse(m_soft,impulse); - } + } }; /* Joint */ struct Joint @@ -419,15 +426,15 @@ public: struct eType { enum _ { Linear, Angular, - Contact, + Contact };}; struct Specs - { - Specs() : erp(1),cfm(1),split(1) {} + { + Specs() : erp(1),cfm(1),split(1) {} btScalar erp; btScalar cfm; btScalar split; - }; + }; Body m_bodies[2]; btVector3 m_refs[2]; btScalar m_cfm; @@ -438,7 +445,7 @@ public: btMatrix3x3 m_massmatrix; bool m_delete; virtual ~Joint() {} - Joint() : m_delete(false) {} + Joint() : m_delete(false) {} virtual void Prepare(btScalar dt,int iterations); virtual void Solve(btScalar dt,btScalar sor)=0; virtual void Terminate(btScalar dt)=0; @@ -448,9 +455,9 @@ public: struct LJoint : Joint { struct Specs : Joint::Specs - { + { btVector3 position; - }; + }; btVector3 m_rpos[2]; void Prepare(btScalar dt,int iterations); void Solve(btScalar dt,btScalar sor); @@ -461,17 +468,17 @@ public: struct AJoint : Joint { struct IControl - { + { virtual void Prepare(AJoint*) {} virtual btScalar Speed(AJoint*,btScalar current) { return(current); } static IControl* Default() { static IControl def;return(&def); } - }; + }; struct Specs : Joint::Specs - { - Specs() : icontrol(IControl::Default()) {} + { + Specs() : icontrol(IControl::Default()) {} btVector3 axis; IControl* icontrol; - }; + }; btVector3 m_axis[2]; IControl* m_icontrol; void Prepare(btScalar dt,int iterations); @@ -534,23 +541,26 @@ public: btScalar radmrg; // radial margin btScalar updmrg; // Update margin }; - /* RayCaster */ - struct RayCaster : btDbvt::ICollide - { - btVector3 o; - btVector3 d; - btScalar mint; - Face* face; - int tests; - RayCaster(const btVector3& org,const btVector3& dir,btScalar mxt); + /// RayFromToCaster takes a ray from, ray to (instead of direction!) + struct RayFromToCaster : btDbvt::ICollide + { + btVector3 m_rayFrom; + btVector3 m_rayTo; + btVector3 m_rayNormalizedDirection; + btScalar m_mint; + Face* m_face; + int m_tests; + RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt); void Process(const btDbvtNode* leaf); - static inline btScalar rayTriangle(const btVector3& org, - const btVector3& dir, - const btVector3& a, - const btVector3& b, - const btVector3& c, - btScalar maxt=SIMD_INFINITY); - }; + + static inline btScalar rayFromToTriangle(const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& rayNormalizedDirection, + const btVector3& a, + const btVector3& b, + const btVector3& c, + btScalar maxt=SIMD_INFINITY); + }; // // Typedef's @@ -596,16 +606,19 @@ public: btDbvt m_fdbvt; // Faces tree btDbvt m_cdbvt; // Clusters tree tClusterArray m_clusters; // Clusters - - btTransform m_initialWorldTransform; //used to attach constraints etc. + + btAlignedObjectArray<bool>m_clusterConnectivity;//cluster connectivity, for self-collision + + btTransform m_initialWorldTransform; + // // Api // - + /* ctor */ btSoftBody( btSoftBodyWorldInfo* worldInfo,int node_count, - const btVector3* x, - const btScalar* m); + const btVector3* x, + const btScalar* m); /* dtor */ virtual ~btSoftBody(); /* Check for existing link */ @@ -617,59 +630,60 @@ public: return m_worldInfo; } + ///@todo: avoid internal softbody shape hack and move collision code to collision library virtual void setCollisionShape(btCollisionShape* collisionShape) { - //don't do anything, due to the internal shape hack: todo: fix this + } bool checkLink( int node0, int node1) const; bool checkLink( const Node* node0, - const Node* node1) const; + const Node* node1) const; /* Check for existring face */ bool checkFace( int node0, - int node1, - int node2) const; + int node1, + int node2) const; /* Append material */ Material* appendMaterial(); /* Append note */ void appendNote( const char* text, - const btVector3& o, - const btVector4& c=btVector4(1,0,0,0), - Node* n0=0, - Node* n1=0, - Node* n2=0, - Node* n3=0); + const btVector3& o, + const btVector4& c=btVector4(1,0,0,0), + Node* n0=0, + Node* n1=0, + Node* n2=0, + Node* n3=0); void appendNote( const char* text, - const btVector3& o, - Node* feature); + const btVector3& o, + Node* feature); void appendNote( const char* text, - const btVector3& o, - Link* feature); + const btVector3& o, + Link* feature); void appendNote( const char* text, - const btVector3& o, - Face* feature); + const btVector3& o, + Face* feature); /* Append node */ void appendNode( const btVector3& x,btScalar m); /* Append link */ void appendLink(int model=-1,Material* mat=0); void appendLink( int node0, - int node1, - Material* mat=0, - bool bcheckexist=false); + int node1, + Material* mat=0, + bool bcheckexist=false); void appendLink( Node* node0, - Node* node1, - Material* mat=0, - bool bcheckexist=false); + Node* node1, + Material* mat=0, + bool bcheckexist=false); /* Append face */ void appendFace(int model=-1,Material* mat=0); void appendFace( int node0, - int node1, - int node2, - Material* mat=0); + int node1, + int node2, + Material* mat=0); /* Append anchor */ void appendAnchor( int node, - btRigidBody* body,bool disableCollision); + btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false); /* Append linear joint */ void appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1); void appendLinearJoint(const LJoint::Specs& specs,Body body=Body()); @@ -682,7 +696,7 @@ public: void addForce( const btVector3& force); /* Add force (or gravity) to a node of the body */ void addForce( const btVector3& force, - int node); + int node); /* Add velocity to the entire body */ void addVelocity( const btVector3& velocity); @@ -691,17 +705,17 @@ public: /* Add velocity to a node of the body */ void addVelocity( const btVector3& velocity, - int node); + int node); /* Set mass */ void setMass( int node, - btScalar mass); + btScalar mass); /* Get mass */ btScalar getMass( int node) const; /* Get total mass */ btScalar getTotalMass() const; /* Set total mass (weighted by previous masses) */ void setTotalMass( btScalar mass, - bool fromfaces=false); + bool fromfaces=false); /* Set total density */ void setTotalDensity(btScalar density); /* Transform */ @@ -714,7 +728,7 @@ public: void scale( const btVector3& scl); /* Set current state as pose */ void setPose( bool bvolume, - bool bframe); + bool bframe); /* Return the volume */ btScalar getVolume() const; /* Cluster count */ @@ -734,7 +748,7 @@ public: static void clusterDCImpulse(Cluster* cluster,const btVector3& impulse); /* Generate bending constraints based on distance in the adjency graph */ int generateBendingConstraints( int distance, - Material* mat=0); + Material* mat=0); /* Randomize constraints to reduce solver bias */ void randomizeConstraints(); /* Release clusters */ @@ -747,11 +761,11 @@ public: /* CutLink */ bool cutLink(int node0,int node1,btScalar position); bool cutLink(const Node* node0,const Node* node1,btScalar position); - /* Ray casting */ - bool rayCast(const btVector3& org, - const btVector3& dir, - sRayCast& results, - btScalar maxtime=SIMD_INFINITY); + + ///Ray casting using rayFrom and rayTo in worldspace, (not direction!) + bool rayTest(const btVector3& rayFrom, + const btVector3& rayTo, + sRayCast& results); /* Solver presets */ void setSolver(eSolverPresets::_ preset); /* predictMotion */ @@ -769,11 +783,11 @@ public: /* defaultCollisionHandlers */ void defaultCollisionHandler(btCollisionObject* pco); void defaultCollisionHandler(btSoftBody* psb); - + // // Cast // - + static const btSoftBody* upcast(const btCollisionObject* colObj) { if (colObj->getInternalType()==CO_SOFT_BODY) @@ -801,11 +815,12 @@ public: // void pointersToIndices(); void indicesToPointers(const int* map=0); - int rayCast(const btVector3& org,const btVector3& dir, - btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const; + + int rayTest(const btVector3& rayFrom,const btVector3& rayTo, + btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const; void initializeFaceTree(); btVector3 evaluateCom() const; - bool checkContact(btRigidBody* prb,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const; + bool checkContact(btCollisionObject* colObj,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); void updatePose(); @@ -825,7 +840,7 @@ public: static void VSolve_Links(btSoftBody* psb,btScalar kst); static psolver_t getSolver(ePSolver::_ solver); static vsolver_t getSolver(eVSolver::_ solver); - + }; |