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path: root/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp')
-rw-r--r--extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp355
1 files changed, 256 insertions, 99 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
index 61aac5b4ce5..1a271066497 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -130,7 +130,7 @@ static inline btScalar tetravolume(const btVector3& x0,
const btVector3 a=x1-x0;
const btVector3 b=x2-x0;
const btVector3 c=x3-x0;
- return(dot(a,cross(b,c)));
+ return(btDot(a,btCross(b,c)));
}
//
@@ -165,98 +165,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
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 */
+ /* Clusters */
if(0!=(drawflags&fDrawFlags::Clusters))
{
srand(1806);
@@ -299,17 +208,131 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
{
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);
+ const btVector3 v=c.m_lv+btCross(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));
+ // 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));
}
}
+ else
+ {
+ /* 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*
+ (btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
+ const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
+ const btVector3 y=btCross(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));
+ }
+ }
+ /* 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);
+ }
+ }
+ /* Tetras */
+ if(0!=(drawflags&fDrawFlags::Tetras))
+ {
+ const btScalar scl=(btScalar)0.8;
+ const btScalar alp=(btScalar)1;
+ const btVector3 col((btScalar)0.7,(btScalar)0.7,(btScalar)0.7);
+ for(int i=0;i<psb->m_tetras.size();++i)
+ {
+ const btSoftBody::Tetra& t=psb->m_tetras[i];
+ if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
+ const btVector3 x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x};
+ const btVector3 c=(x[0]+x[1]+x[2]+x[3])/4;
+ idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp);
+ idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
+ idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
+ idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
+ }
+ }
+ }
+ /* 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));
+ }
+ }
+ }
+
+
/* Notes */
if(0!=(drawflags&fDrawFlags::Notes))
{
@@ -351,7 +374,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
break;
case btSoftBody::Joint::eType::Angular:
{
- const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj;
+ //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];
@@ -360,7 +383,12 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
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));
+ break;
+ }
+ default:
+ {
}
+
}
}
}
@@ -828,10 +856,12 @@ btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo
#undef IDX
psb->appendFace(idx[0],idx[1],idx[2]);
}
+
if (randomizeConstraints)
{
psb->randomizeConstraints();
}
+
return(psb);
}
@@ -863,3 +893,130 @@ btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldI
}
return(psb);
}
+
+
+
+
+static int nextLine(const char* buffer)
+{
+ int numBytesRead=0;
+
+ while (*buffer != '\n')
+ {
+ buffer++;
+ numBytesRead++;
+ }
+
+
+ if (buffer[0]==0x0a)
+ {
+ buffer++;
+ numBytesRead++;
+ }
+ return numBytesRead;
+}
+
+/* Create from TetGen .ele, .face, .node data */
+btSoftBody* btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
+ const char* ele,
+ const char* face,
+ const char* node,
+ bool bfacelinks,
+ bool btetralinks,
+ bool bfacesfromtetras)
+{
+btAlignedObjectArray<btVector3> pos;
+int nnode=0;
+int ndims=0;
+int nattrb=0;
+int hasbounds=0;
+int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
+result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
+node += nextLine(node);
+
+pos.resize(nnode);
+for(int i=0;i<pos.size();++i)
+ {
+ int index=0;
+ //int bound=0;
+ float x,y,z;
+ sscanf(node,"%d %f %f %f",&index,&x,&y,&z);
+
+// sn>>index;
+// sn>>x;sn>>y;sn>>z;
+ node += nextLine(node);
+
+ //for(int j=0;j<nattrb;++j)
+ // sn>>a;
+
+ //if(hasbounds)
+ // sn>>bound;
+
+ pos[index].setX(btScalar(x));
+ pos[index].setY(btScalar(y));
+ pos[index].setZ(btScalar(z));
+ }
+btSoftBody* psb=new btSoftBody(&worldInfo,nnode,&pos[0],0);
+#if 0
+if(face&&face[0])
+ {
+ int nface=0;
+ sf>>nface;sf>>hasbounds;
+ for(int i=0;i<nface;++i)
+ {
+ int index=0;
+ int bound=0;
+ int ni[3];
+ sf>>index;
+ sf>>ni[0];sf>>ni[1];sf>>ni[2];
+ sf>>bound;
+ psb->appendFace(ni[0],ni[1],ni[2]);
+ if(btetralinks)
+ {
+ psb->appendLink(ni[0],ni[1],0,true);
+ psb->appendLink(ni[1],ni[2],0,true);
+ psb->appendLink(ni[2],ni[0],0,true);
+ }
+ }
+ }
+#endif
+
+if(ele&&ele[0])
+ {
+ int ntetra=0;
+ int ncorner=0;
+ int neattrb=0;
+ sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb);
+ ele += nextLine(ele);
+
+ //se>>ntetra;se>>ncorner;se>>neattrb;
+ for(int i=0;i<ntetra;++i)
+ {
+ int index=0;
+ int ni[4];
+
+ //se>>index;
+ //se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
+ sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
+ ele+=nextLine(ele);
+ //for(int j=0;j<neattrb;++j)
+ // se>>a;
+ psb->appendTetra(ni[0],ni[1],ni[2],ni[3]);
+ if(btetralinks)
+ {
+ psb->appendLink(ni[0],ni[1],0,true);
+ psb->appendLink(ni[1],ni[2],0,true);
+ psb->appendLink(ni[2],ni[0],0,true);
+ psb->appendLink(ni[0],ni[3],0,true);
+ psb->appendLink(ni[1],ni[3],0,true);
+ psb->appendLink(ni[2],ni[3],0,true);
+ }
+ }
+ }
+printf("Nodes: %u\r\n",psb->m_nodes.size());
+printf("Links: %u\r\n",psb->m_links.size());
+printf("Faces: %u\r\n",psb->m_faces.size());
+printf("Tetras: %u\r\n",psb->m_tetras.size());
+return(psb);
+}
+
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-27 16:33:36 +0300