diff options
Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp | 478 |
1 files changed, 342 insertions, 136 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp index d9919967233..6ab93c16402 100644 --- a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -22,57 +22,57 @@ subject to the following restrictions: // 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); - } + 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& 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); + 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) + const btDbvtNode* node, + int depth, + const btVector3& ncolor, + const btVector3& lcolor, + int mindepth, + int maxdepth) { -if(node) + if(node) { - if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0))) + 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); + 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) + 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); + 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); } } } @@ -81,25 +81,25 @@ if(node) template <typename T> static inline T sum(const btAlignedObjectArray<T>& items) { -T v; -if(items.size()) + T v; + if(items.size()) { - v=items[0]; - for(int i=1,ni=items.size();i<ni;++i) + v=items[0]; + for(int i=1,ni=items.size();i<ni;++i) { - v+=items[i]; + v+=items[i]; } } -return(v); + 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) + for(int i=0,ni=items.size();i<ni;++i) { - items[i]+=value; + items[i]+=value; } } @@ -107,9 +107,9 @@ for(int i=0,ni=items.size();i<ni;++i) 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) + for(int i=0,ni=items.size();i<ni;++i) { - items[i]*=value; + items[i]*=value; } } @@ -117,8 +117,8 @@ for(int i=0,ni=items.size();i<ni;++i) 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); + const btScalar n=(btScalar)(items.size()>0?items.size():1); + return(sum(items)/n); } // @@ -136,27 +136,27 @@ static inline btScalar tetravolume(const btVector3& x0, // #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)}; + 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) + btIDebugDraw* idraw, + int drawflags) { const btScalar scl=(btScalar)0.1; const btScalar nscl=scl*5; @@ -251,29 +251,29 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb, 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); + (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); + 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; @@ -284,32 +284,32 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb, 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); + hres.m_OutputVertices[idx[1]], + hres.m_OutputVertices[idx[2]], + color,1); } + hlib.ReleaseResult(hres); + } /* Velocities */ - #if 0 +#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+cross(c.m_av,r); idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0)); - } - #endif + } +#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)); - } } + } /* Notes */ if(0!=(drawflags&fDrawFlags::Notes)) { @@ -318,9 +318,9 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb, 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); } } @@ -333,33 +333,33 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb, /* Joints */ if(0!=(drawflags&fDrawFlags::Joints)) { - for(i=0;i<psb->m_joints.size();++i) + for(i=0;i<psb->m_joints.size();++i) { - const btSoftBody::Joint* pj=psb->m_joints[i]; - switch(pj->Type()) + 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)); + 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; + 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)); + 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)); } } } @@ -368,10 +368,10 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb, // void btSoftBodyHelpers::DrawInfos( btSoftBody* psb, - btIDebugDraw* idraw, - bool masses, - bool areas, - bool /*stress*/) + btIDebugDraw* idraw, + bool masses, + bool areas, + bool /*stress*/) { for(int i=0;i<psb->m_nodes.size();++i) { @@ -394,34 +394,34 @@ void btSoftBodyHelpers::DrawInfos( btSoftBody* psb, // void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb, - btIDebugDraw* idraw, - int mindepth, - int maxdepth) + btIDebugDraw* idraw, + int mindepth, + int maxdepth) { -drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,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) + btIDebugDraw* idraw, + int mindepth, + int maxdepth) { -drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,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) + btIDebugDraw* idraw, + int mindepth, + int maxdepth) { -drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,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) + btIDebugDraw* idraw) { if(psb->m_pose.m_bframe) { @@ -445,9 +445,9 @@ void btSoftBodyHelpers::DrawFrame( btSoftBody* psb, // btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, const btVector3& from, - const btVector3& to, - int res, - int fixeds) + const btVector3& to, + int res, + int fixeds) { /* Create nodes */ const int r=res+2; @@ -477,13 +477,13 @@ btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, cons // 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) + 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 */ @@ -553,9 +553,215 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const } // +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) + const btVector3& radius, + int res) { struct Hammersley { @@ -586,8 +792,8 @@ btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,c // btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar* vertices, - const int* triangles, - int ntriangles) + const int* triangles, + int ntriangles) { int maxidx=0; int i,j,ni; @@ -615,7 +821,7 @@ btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo if(!chks[IDX(idx[j],idx[k])]) { chks[IDX(idx[j],idx[k])]=true; - chks[IDX(idx[k],idx[k])]=true; + chks[IDX(idx[k],idx[j])]=true; psb->appendLink(idx[j],idx[k]); } } @@ -628,7 +834,7 @@ btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo // btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices, - int nvertices) + int nvertices) { HullDesc hdsc(QF_TRIANGLES,nvertices,vertices); HullResult hres; |