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Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp | 653 |
1 files changed, 653 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp new file mode 100644 index 00000000000..d9919967233 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -0,0 +1,653 @@ +/* +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(dot(a,cross(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* + (dot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset); + const btVector3 x=cross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized(); + const btVector3 y=cross(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+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 + /* 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)) + { + 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)); + } + } + } + } +} + +// +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::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) +{ + 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[k])]=true; + psb->appendLink(idx[j],idx[k]); + } + } +#undef IDX + psb->appendFace(idx[0],idx[1],idx[2]); + } + psb->randomizeConstraints(); + return(psb); +} + +// +btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices, + int nvertices) +{ + 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); + psb->randomizeConstraints(); + return(psb); +} |