From 9d3c77ec6277b28993f76804cd975b3684a304e9 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 26 Sep 2008 06:25:35 +0000 Subject: support concave soft bodies, preliminary. could be used for cloth too. need vertex pinning/constraint attach to other objects. --- .../CollisionShapes/btTriangleMesh.cpp | 86 +++++++----- .../CollisionShapes/btTriangleMesh.h | 8 +- .../gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp | 3 + .../Physics/Bullet/CcdPhysicsController.cpp | 151 ++++++++++++--------- .../Physics/Bullet/CcdPhysicsController.h | 17 ++- 5 files changed, 162 insertions(+), 103 deletions(-) diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp index bcea97052d6..29d26316316 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp @@ -19,7 +19,8 @@ subject to the following restrictions: btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices) :m_use32bitIndices(use32bitIndices), -m_use4componentVertices(use4componentVertices) +m_use4componentVertices(use4componentVertices), +m_weldingThreshold(0.0) { btIndexedMesh meshIndex; meshIndex.m_numTriangles = 0; @@ -60,49 +61,66 @@ m_use4componentVertices(use4componentVertices) } - -void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2) +void btTriangleMesh::addIndex(int index) { - m_indexedMeshes[0].m_numTriangles++; - m_indexedMeshes[0].m_numVertices+=3; - - if (m_use4componentVertices) + if (m_use32bitIndices) { - m_4componentVertices.push_back(vertex0); - m_4componentVertices.push_back(vertex1); - m_4componentVertices.push_back(vertex2); - m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0]; + m_32bitIndices.push_back(index); + m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0]; } else { - m_3componentVertices.push_back(vertex0.getX()); - m_3componentVertices.push_back(vertex0.getY()); - m_3componentVertices.push_back(vertex0.getZ()); - - m_3componentVertices.push_back(vertex1.getX()); - m_3componentVertices.push_back(vertex1.getY()); - m_3componentVertices.push_back(vertex1.getZ()); - - m_3componentVertices.push_back(vertex2.getX()); - m_3componentVertices.push_back(vertex2.getY()); - m_3componentVertices.push_back(vertex2.getZ()); - m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; + m_16bitIndices.push_back(index); + m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0]; } +} - if (m_use32bitIndices) +int btTriangleMesh::findOrAddVertex(const btVector3& vertex) +{ + //return index of new/existing vertex + //todo: could use acceleration structure for this + if (m_use4componentVertices) { - int curIndex = m_32bitIndices.size(); - m_32bitIndices.push_back(curIndex++); - m_32bitIndices.push_back(curIndex++); - m_32bitIndices.push_back(curIndex++); - m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0]; + for (int i=0;i< m_4componentVertices.size();i++) + { + if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold) + { + return i; + } + } + m_indexedMeshes[0].m_numVertices++; + m_4componentVertices.push_back(vertex); + m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0]; + + return m_4componentVertices.size()-1; + } else { - short curIndex = static_cast(m_16bitIndices.size()); - m_16bitIndices.push_back(curIndex++); - m_16bitIndices.push_back(curIndex++); - m_16bitIndices.push_back(curIndex++); - m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0]; + + for (int i=0;i< m_3componentVertices.size();i+=3) + { + btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]); + if ((vtx-vertex).length2() <= m_weldingThreshold) + { + return i/3; + } + } + m_3componentVertices.push_back(vertex.getX()); + m_3componentVertices.push_back(vertex.getY()); + m_3componentVertices.push_back(vertex.getZ()); + m_indexedMeshes[0].m_numVertices++; + m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; + return (m_3componentVertices.size()/3)-1; } + +} + +void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2) +{ + m_indexedMeshes[0].m_numTriangles++; + + addIndex(findOrAddVertex(vertex0)); + addIndex(findOrAddVertex(vertex1)); + addIndex(findOrAddVertex(vertex2)); } int btTriangleMesh::getNumTriangles() const diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h index e4d41d5ede0..1f51b2f2c87 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h @@ -25,6 +25,7 @@ subject to the following restrictions: ///It allows either 32bit or 16bit indices, and 4 (x-y-z-w) or 3 (x-y-z) component vertices. ///If you want to share triangle/index data between graphics mesh and collision mesh (btBvhTriangleMeshShape), you can directly use btTriangleIndexVertexArray or derive your own class from btStridingMeshInterface. ///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a btBvhTriangleMeshShape is the same. +///It has a brute-force option to weld together closeby vertices. class btTriangleMesh : public btTriangleIndexVertexArray { btAlignedObjectArray m_4componentVertices; @@ -34,11 +35,16 @@ class btTriangleMesh : public btTriangleIndexVertexArray btAlignedObjectArray m_16bitIndices; bool m_use32bitIndices; bool m_use4componentVertices; - + public: + btScalar m_weldingThreshold; + btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true); + int findOrAddVertex(const btVector3& vertex); + void addIndex(int index); + bool getUse32bitIndices() const { return m_use32bitIndices; diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index ddf1f402431..c5dbabe24fc 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -881,6 +881,9 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, { shapeInfo->SetMesh(meshobj, false,false); } + if (objprop->m_softbody) + shapeInfo->setVertexWeldingThreshold(0.01f); //todo: expose this to the UI + bm = shapeInfo->CreateBulletShape(); //no moving concave meshes, so don't bother calculating inertia //bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index d552cb3dc9e..f1e30b4a1e3 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -160,9 +160,9 @@ void CcdPhysicsController::CreateRigidbody() //disable soft body until first sneak preview is ready if (m_cci.m_bSoft && m_cci.m_collisionShape && - (shapeType == CONVEX_HULL_SHAPE_PROXYTYPE)) - //(shapeType == TRIANGLE_MESH_SHAPE_PROXYTYPE) | - //(shapeType == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE))) + (shapeType == CONVEX_HULL_SHAPE_PROXYTYPE)| + (shapeType == TRIANGLE_MESH_SHAPE_PROXYTYPE) | + (shapeType == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)) { btRigidBody::btRigidBodyConstructionInfo rbci(m_cci.m_mass,m_bulletMotionState,m_collisionShape,m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); rbci.m_linearDamping = m_cci.m_linearDamping; @@ -221,57 +221,7 @@ void CcdPhysicsController::CreateRigidbody() psb->appendFace(idx[0],idx[1],idx[2]); } - ///create a mapping between graphics mesh vertices and soft body vertices - { - RAS_MeshObject* rasMesh= GetShapeInfo()->GetMesh(); - - if (rasMesh && !m_softbodyMappingDone) - { - - //printf("apply\n"); - RAS_MeshSlot::iterator it; - RAS_MeshMaterial *mmat; - RAS_MeshSlot *slot; - size_t i; - - //for each material - for (int m=0;mNumMaterials();m++) - { - // The vertex cache can only be updated for this deformer: - // Duplicated objects with more than one ploymaterial (=multiple mesh slot per object) - // share the same mesh (=the same cache). As the rendering is done per polymaterial - // cycling through the objects, the entire mesh cache cannot be updated in one shot. - mmat = rasMesh->GetMeshMaterial(m); - - slot = mmat->m_baseslot; - for(slot->begin(it); !slot->end(it); slot->next(it)) - { - int index = 0; - for(i=it.startvertex; isetSoftBodyIndex(0); - btScalar maxDistSqr = 1e30; - btSoftBody::tNodeArray& nodes(psb->m_nodes); - btVector3 xyz = btVector3(vertex->getXYZ()[0],vertex->getXYZ()[1],vertex->getXYZ()[2]); - for (int n=0;nsetSoftBodyIndex(n); - } - } - } - } - } - } - } + hlib.ReleaseResult(hres); @@ -285,7 +235,9 @@ void CcdPhysicsController::CreateRigidbody() } else { - /* + + btSoftBodyWorldInfo& sbi= softDynaWorld->getWorldInfo(); + if (m_cci.m_collisionShape->getShapeType() ==SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) { btScaledBvhTriangleMeshShape* scaledtrimeshshape = (btScaledBvhTriangleMeshShape*) m_cci.m_collisionShape; @@ -328,16 +280,15 @@ void CcdPhysicsController::CreateRigidbody() //psb = btSoftBodyHelpers::CreateFromTriMesh(sbi,&pts[0].getX(),triangles,numtriangles); } - */ } - - m_softbodyMappingDone = true; + + m_object = psb; //psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS;//btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS; - psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS + btSoftBody::fCollision::CL_SS; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS + btSoftBody::fCollision::VF_SS;//CL_SS; //psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS; //btSoftBody::Material* pm=psb->appendMaterial(); @@ -352,10 +303,10 @@ void CcdPhysicsController::CreateRigidbody() //pm->m_kAST = 0.01f; //pm->m_kVST = 0.001f; psb->generateBendingConstraints(2,pm); - //psb->m_cfg.piterations = 4; - //psb->m_cfg.viterations = 4; - //psb->m_cfg.diterations = 4; - //psb->m_cfg.citerations = 4; + psb->m_cfg.piterations = 4; + psb->m_cfg.viterations = 4; + psb->m_cfg.diterations = 4; + psb->m_cfg.citerations = 4; if (m_cci.m_gamesoftFlag & 2)//OB_SB_GOAL) { psb->setPose(false,true);// @@ -365,7 +316,7 @@ void CcdPhysicsController::CreateRigidbody() } psb->m_cfg.kDF = 0.5; - psb->m_cfg.kMT = 0.05; + //psb->m_cfg.kMT = 0.05; psb->m_cfg.piterations = 5; psb->m_cfg.piterations = 5; @@ -392,8 +343,72 @@ void CcdPhysicsController::CreateRigidbody() //psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9; psb->setTotalMass(m_cci.m_mass); - psb->generateClusters(8);//(64); + psb->generateClusters(64); psb->setCollisionFlags(0); + + + + + + ///create a mapping between graphics mesh vertices and soft body vertices + { + RAS_MeshObject* rasMesh= GetShapeInfo()->GetMesh(); + + if (rasMesh && !m_softbodyMappingDone) + { + + //printf("apply\n"); + RAS_MeshSlot::iterator it; + RAS_MeshMaterial *mmat; + RAS_MeshSlot *slot; + size_t i; + + //for each material + for (int m=0;mNumMaterials();m++) + { + // The vertex cache can only be updated for this deformer: + // Duplicated objects with more than one ploymaterial (=multiple mesh slot per object) + // share the same mesh (=the same cache). As the rendering is done per polymaterial + // cycling through the objects, the entire mesh cache cannot be updated in one shot. + mmat = rasMesh->GetMeshMaterial(m); + + slot = mmat->m_baseslot; + for(slot->begin(it); !slot->end(it); slot->next(it)) + { + int index = 0; + for(i=it.startvertex; isetSoftBodyIndex(0); + btScalar maxDistSqr = 1e30; + btSoftBody::tNodeArray& nodes(psb->m_nodes); + btVector3 xyz = btVector3(vertex->getXYZ()[0],vertex->getXYZ()[1],vertex->getXYZ()[2]); + for (int n=0;nsetSoftBodyIndex(n); + } + } + } + } + } + } + } + + m_softbodyMappingDone = true; + + + + + + // m_object->setCollisionShape(rbci.m_collisionShape); btTransform startTrans; @@ -1391,6 +1406,8 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() if (m_useGimpact) { collisionMeshData = new btTriangleMesh(); + + // m_vertexArray is necessarily a multiple of 3 for (std::vector::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); ) { @@ -1405,7 +1422,9 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() { if (!m_unscaledShape) { - collisionMeshData = new btTriangleMesh(); + collisionMeshData = new btTriangleMesh(true,false); + collisionMeshData->m_weldingThreshold = m_weldingThreshold; + // m_vertexArray is necessarily a multiple of 3 for (std::vector::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); ) { diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 5d35482dd46..60c734838f3 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -43,6 +43,8 @@ class btCollisionShape; class CcdShapeConstructionInfo { public: + + static CcdShapeConstructionInfo* FindMesh(RAS_MeshObject* mesh, bool polytope); CcdShapeConstructionInfo() : @@ -54,7 +56,8 @@ public: m_refCount(1), m_meshObject(NULL), m_unscaledShape(NULL), - m_useGimpact(false) + m_useGimpact(false), + m_weldingThreshold(0.f) { m_childTrans.setIdentity(); } @@ -111,6 +114,14 @@ public: // original mesh that correspond to shape triangles. // only set for concave mesh shape. + void setVertexWeldingThreshold(float threshold) + { + m_weldingThreshold = threshold; + } + float getVertexWeldingThreshold() const + { + return m_weldingThreshold; + } protected: static std::map m_meshShapeMap; int m_refCount; // this class is shared between replicas @@ -119,7 +130,9 @@ protected: btBvhTriangleMeshShape* m_unscaledShape;// holds the shared unscale BVH mesh shape, // the actual shape is of type btScaledBvhTriangleMeshShape std::vector m_shapeArray; // for compound shapes - bool m_useGimpact; + bool m_useGimpact; //use gimpact for concave dynamic/moving collision detection + float m_weldingThreshold; //welding closeby vertices together can improve softbody stability etc. + }; struct CcdConstructionInfo -- cgit v1.2.3