diff options
Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp')
-rw-r--r-- | extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp | 135 |
1 files changed, 135 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp new file mode 100644 index 00000000000..b363a2efbc1 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp @@ -0,0 +1,135 @@ +/* +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. +*/ + + +#include "btSoftRigidDynamicsWorld.h" +#include "LinearMath/btQuickprof.h" + +//softbody & helpers +#include "btSoftBody.h" +#include "btSoftBodyHelpers.h" + + + + + +btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration) +:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration) +{ +m_drawFlags = fDrawFlags::Std; +m_drawNodeTree = true; +m_drawFaceTree = false; +m_drawClusterTree = false; +m_sbi.m_broadphase = pairCache; +m_sbi.m_dispatcher = dispatcher; +m_sbi.m_sparsesdf.Initialize(); +m_sbi.m_sparsesdf.Reset(); + +} + +btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld() +{ + +} + +void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep); + + for ( int i=0;i<m_softBodies.size();++i) + { + btSoftBody* psb= m_softBodies[i]; + + psb->predictMotion(timeStep); + } +} + +void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep) +{ + btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep ); + + ///solve soft bodies constraints + solveSoftBodiesConstraints(); + + ///update soft bodies + updateSoftBodies(); + +} + +void btSoftRigidDynamicsWorld::updateSoftBodies() +{ + BT_PROFILE("updateSoftBodies"); + + for ( int i=0;i<m_softBodies.size();i++) + { + btSoftBody* psb=(btSoftBody*)m_softBodies[i]; + psb->integrateMotion(); + } +} + +void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints() +{ + BT_PROFILE("solveSoftConstraints"); + + if(m_softBodies.size()) + { + btSoftBody::solveClusters(m_softBodies); + } + + for(int i=0;i<m_softBodies.size();++i) + { + btSoftBody* psb=(btSoftBody*)m_softBodies[i]; + psb->solveConstraints(); + } +} + +void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body) +{ + m_softBodies.push_back(body); + + btCollisionWorld::addCollisionObject(body, + btBroadphaseProxy::DefaultFilter, + btBroadphaseProxy::AllFilter); + +} + +void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body) +{ + m_softBodies.remove(body); + + btCollisionWorld::removeCollisionObject(body); +} + +void btSoftRigidDynamicsWorld::debugDrawWorld() +{ + btDiscreteDynamicsWorld::debugDrawWorld(); + + if (getDebugDrawer()) + { + int i; + for ( i=0;i<this->m_softBodies.size();i++) + { + btSoftBody* psb=(btSoftBody*)this->m_softBodies[i]; + btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer); + btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags); + if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + if(m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer); + if(m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer); + if(m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer); + } + } + } +} |