diff options
Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBody.h')
| -rw-r--r-- | extern/bullet2/src/BulletSoftBody/btSoftBody.h | 166 |
1 files changed, 151 insertions, 15 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.h b/extern/bullet2/src/BulletSoftBody/btSoftBody.h index a62c21883c8..87247c3c1c0 100644 --- a/extern/bullet2/src/BulletSoftBody/btSoftBody.h +++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.h @@ -27,8 +27,17 @@ subject to the following restrictions: #include "btSparseSDF.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h" +//#ifdef BT_USE_DOUBLE_PRECISION +//#define btRigidBodyData btRigidBodyDoubleData +//#define btRigidBodyDataName "btRigidBodyDoubleData" +//#else +#define btSoftBodyData btSoftBodyFloatData +#define btSoftBodyDataName "btSoftBodyFloatData" +//#endif //BT_USE_DOUBLE_PRECISION + class btBroadphaseInterface; class btDispatcher; +class btSoftBodySolver; /* btSoftBodyWorldInfo */ struct btSoftBodyWorldInfo @@ -41,6 +50,17 @@ struct btSoftBodyWorldInfo btDispatcher* m_dispatcher; btVector3 m_gravity; btSparseSdf<3> m_sparsesdf; + + btSoftBodyWorldInfo() + :air_density((btScalar)1.2), + water_density(0), + water_offset(0), + water_normal(0,0,0), + m_broadphase(0), + m_dispatcher(0), + m_gravity(0,-10,0) + { + } }; @@ -51,6 +71,9 @@ class btSoftBody : public btCollisionObject public: btAlignedObjectArray<class btCollisionObject*> m_collisionDisabledObjects; + // The solver object that handles this soft body + btSoftBodySolver *m_softBodySolver; + // // Enumerations // @@ -110,9 +133,10 @@ public: SDF_RS = 0x0001, ///SDF based rigid vs soft CL_RS = 0x0002, ///Cluster vs convex rigid vs soft - SVSmask = 0x00f0, ///Rigid versus soft mask + SVSmask = 0x0030, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling + CL_SELF = 0x0040, ///Cluster soft body self collision /* presets */ Default = SDF_RS, END @@ -181,12 +205,14 @@ public: btScalar m_kAST; // Area/Angular stiffness coefficient [0,1] btScalar m_kVST; // Volume stiffness coefficient [0,1] int m_flags; // Flags + Material() : Element() {} }; /* Feature */ struct Feature : Element { Material* m_material; // Material + Feature() : Element() {} }; /* Node */ struct Node : Feature @@ -200,6 +226,7 @@ public: btScalar m_area; // Area btDbvtNode* m_leaf; // Leaf data int m_battach:1; // Attached + Node() : Feature() {} }; /* Link */ struct Link : Feature @@ -211,6 +238,7 @@ public: btScalar m_c1; // rl^2 btScalar m_c2; // |gradient|^2/c0 btVector3 m_c3; // gradient + Link() : Feature() {} }; /* Face */ struct Face : Feature @@ -219,6 +247,18 @@ public: btVector3 m_normal; // Normal btScalar m_ra; // Rest area btDbvtNode* m_leaf; // Leaf data + Face() : Feature() {} + }; + /* Tetra */ + struct Tetra : Feature + { + Node* m_n[4]; // Node pointers + btScalar m_rv; // Rest volume + btDbvtNode* m_leaf; // Leaf data + btVector3 m_c0[4]; // gradients + btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3) + btScalar m_c2; // m_c1/sum(|g0..3|^2) + Tetra() : Feature() {} }; /* RContact */ struct RContact @@ -260,6 +300,7 @@ public: int m_rank; // Rank Node* m_nodes[4]; // Nodes btScalar m_coords[4]; // Coordinates + Note() : Element() {} }; /* Pose */ struct Pose @@ -276,9 +317,9 @@ public: }; /* Cluster */ struct Cluster - { - btAlignedObjectArray<Node*> m_nodes; + { tScalarArray m_masses; + btAlignedObjectArray<Node*> m_nodes; tVector3Array m_framerefs; btTransform m_framexform; btScalar m_idmass; @@ -297,9 +338,16 @@ public: btScalar m_ldamping; /* Linear damping */ btScalar m_adamping; /* Angular damping */ btScalar m_matching; + btScalar m_maxSelfCollisionImpulse; + btScalar m_selfCollisionImpulseFactor; + bool m_containsAnchor; bool m_collide; int m_clusterIndex; - Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) {} + Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) + ,m_maxSelfCollisionImpulse(100.f), + m_selfCollisionImpulseFactor(0.01f), + m_containsAnchor(false) + {} }; /* Impulse */ struct Impulse @@ -340,7 +388,11 @@ public: void activate() const { - if(m_rigid) m_rigid->activate(); + if(m_rigid) + m_rigid->activate(); + if (m_collisionObject) + m_collisionObject->activate(); + } const btMatrix3x3& invWorldInertia() const { @@ -358,7 +410,7 @@ public: const btTransform& xform() const { static const btTransform identity=btTransform::getIdentity(); - if(m_collisionObject) return(m_collisionObject->getInterpolationWorldTransform()); + if(m_collisionObject) return(m_collisionObject->getWorldTransform()); if(m_soft) return(m_soft->m_framexform); return(identity); } @@ -370,8 +422,8 @@ public: } 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)); + if(m_rigid) return(btCross(m_rigid->getAngularVelocity(),rpos)); + if(m_soft) return(btCross(m_soft->m_av,rpos)); return(btVector3(0,0,0)); } btVector3 angularVelocity() const @@ -396,8 +448,16 @@ public: } 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); + if(impulse.m_asVelocity) + { +// printf("impulse.m_velocity = %f,%f,%f\n",impulse.m_velocity.getX(),impulse.m_velocity.getY(),impulse.m_velocity.getZ()); + applyVImpulse(impulse.m_velocity,rpos); + } + if(impulse.m_asDrift) + { +// printf("impulse.m_drift = %f,%f,%f\n",impulse.m_drift.getX(),impulse.m_drift.getY(),impulse.m_drift.getZ()); + applyDImpulse(impulse.m_drift,rpos); + } } void applyVAImpulse(const btVector3& impulse) const { @@ -424,7 +484,7 @@ public: struct Joint { struct eType { enum _ { - Linear, + Linear=0, Angular, Contact };}; @@ -563,7 +623,7 @@ public: }; // - // Typedef's + // Typedefs // typedef void (*psolver_t)(btSoftBody*,btScalar,btScalar); @@ -574,6 +634,7 @@ public: typedef btAlignedObjectArray<btDbvtNode*> tLeafArray; typedef btAlignedObjectArray<Link> tLinkArray; typedef btAlignedObjectArray<Face> tFaceArray; + typedef btAlignedObjectArray<Tetra> tTetraArray; typedef btAlignedObjectArray<Anchor> tAnchorArray; typedef btAlignedObjectArray<RContact> tRContactArray; typedef btAlignedObjectArray<SContact> tSContactArray; @@ -594,6 +655,7 @@ public: tNodeArray m_nodes; // Nodes tLinkArray m_links; // Links tFaceArray m_faces; // Faces + tTetraArray m_tetras; // Tetras tAnchorArray m_anchors; // Anchors tRContactArray m_rcontacts; // Rigid contacts tSContactArray m_scontacts; // Soft contacts @@ -611,14 +673,19 @@ public: btTransform m_initialWorldTransform; + btVector3 m_windVelocity; // // Api // /* ctor */ - btSoftBody( btSoftBodyWorldInfo* worldInfo,int node_count, - const btVector3* x, - const btScalar* m); + btSoftBody( btSoftBodyWorldInfo* worldInfo,int node_count, const btVector3* x, const btScalar* m); + + /* ctor */ + btSoftBody( btSoftBodyWorldInfo* worldInfo); + + void initDefaults(); + /* dtor */ virtual ~btSoftBody(); /* Check for existing link */ @@ -681,9 +748,19 @@ public: int node1, int node2, Material* mat=0); + void appendTetra(int model,Material* mat); + // + void appendTetra(int node0, + int node1, + int node2, + int node3, + Material* mat=0); + + /* Append anchor */ void appendAnchor( int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false); + void appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,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()); @@ -718,6 +795,10 @@ public: bool fromfaces=false); /* Set total density */ void setTotalDensity(btScalar density); + /* Set volume mass (using tetrahedrons) */ + void setVolumeMass( btScalar mass); + /* Set volume density (using tetrahedrons) */ + void setVolumeDensity( btScalar density); /* Transform */ void transform( const btTransform& trs); /* Translate */ @@ -755,6 +836,8 @@ public: void releaseCluster(int index); void releaseClusters(); /* Generate clusters (K-mean) */ + ///generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle + ///otherwise an approximation will be used (better performance) int generateClusters(int k,int maxiterations=8192); /* Refine */ void refine(ImplicitFn* ifn,btScalar accurary,bool cut); @@ -784,6 +867,49 @@ public: void defaultCollisionHandler(btCollisionObject* pco); void defaultCollisionHandler(btSoftBody* psb); + + + // + // Functionality to deal with new accelerated solvers. + // + + /** + * Set a wind velocity for interaction with the air. + */ + void setWindVelocity( const btVector3 &velocity ); + + + /** + * Return the wind velocity for interaction with the air. + */ + const btVector3& getWindVelocity(); + + // + // Set the solver that handles this soft body + // Should not be allowed to get out of sync with reality + // Currently called internally on addition to the world + void setSoftBodySolver( btSoftBodySolver *softBodySolver ) + { + m_softBodySolver = softBodySolver; + } + + // + // Return the solver that handles this soft body + // + btSoftBodySolver *getSoftBodySolver() + { + return m_softBodySolver; + } + + // + // Return the solver that handles this soft body + // + btSoftBodySolver *getSoftBodySolver() const + { + return m_softBodySolver; + } + + // // Cast // @@ -841,8 +967,18 @@ public: static psolver_t getSolver(ePSolver::_ solver); static vsolver_t getSolver(eVSolver::_ solver); + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + + //virtual void serializeSingleObject(class btSerializer* serializer) const; + + }; + #endif //_BT_SOFT_BODY_H |