1220 lines
34 KiB
C++
1220 lines
34 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///btSoftBodyHelpers.cpp by Nathanael Presson
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#include "btSoftBodyInternals.h"
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#include <stdio.h>
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#include <string.h>
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#include "btSoftBodyHelpers.h"
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#include "LinearMath/btConvexHull.h"
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#include "LinearMath/btConvexHullComputer.h"
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//
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static void drawVertex( btIDebugDraw* idraw,
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const btVector3& x,btScalar s,const btVector3& c)
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{
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idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
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idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
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idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
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}
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//
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static void drawBox( btIDebugDraw* idraw,
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const btVector3& mins,
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const btVector3& maxs,
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const btVector3& color)
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{
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const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
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btVector3(maxs.x(),mins.y(),mins.z()),
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btVector3(maxs.x(),maxs.y(),mins.z()),
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btVector3(mins.x(),maxs.y(),mins.z()),
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btVector3(mins.x(),mins.y(),maxs.z()),
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btVector3(maxs.x(),mins.y(),maxs.z()),
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btVector3(maxs.x(),maxs.y(),maxs.z()),
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btVector3(mins.x(),maxs.y(),maxs.z())};
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idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
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idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
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idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
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idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
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idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
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idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
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}
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//
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static void drawTree( btIDebugDraw* idraw,
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const btDbvtNode* node,
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int depth,
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const btVector3& ncolor,
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const btVector3& lcolor,
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int mindepth,
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int maxdepth)
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{
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if(node)
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{
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if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
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{
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drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
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drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
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}
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if(depth>=mindepth)
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{
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const btScalar scl=(btScalar)(node->isinternal()?1:1);
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const btVector3 mi=node->volume.Center()-node->volume.Extents()*scl;
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const btVector3 mx=node->volume.Center()+node->volume.Extents()*scl;
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drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
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}
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}
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}
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//
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template <typename T>
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static inline T sum(const btAlignedObjectArray<T>& items)
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{
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T v;
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if(items.size())
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{
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v=items[0];
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for(int i=1,ni=items.size();i<ni;++i)
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{
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v+=items[i];
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}
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}
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return(v);
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}
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//
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template <typename T,typename Q>
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static inline void add(btAlignedObjectArray<T>& items,const Q& value)
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{
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for(int i=0,ni=items.size();i<ni;++i)
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{
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items[i]+=value;
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}
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}
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//
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template <typename T,typename Q>
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static inline void mul(btAlignedObjectArray<T>& items,const Q& value)
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{
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for(int i=0,ni=items.size();i<ni;++i)
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{
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items[i]*=value;
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}
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}
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//
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template <typename T>
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static inline T average(const btAlignedObjectArray<T>& items)
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{
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const btScalar n=(btScalar)(items.size()>0?items.size():1);
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return(sum(items)/n);
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}
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#if 0
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//
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inline static btScalar tetravolume(const btVector3& x0,
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const btVector3& x1,
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const btVector3& x2,
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const btVector3& x3)
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{
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const btVector3 a=x1-x0;
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const btVector3 b=x2-x0;
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const btVector3 c=x3-x0;
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return(btDot(a,btCross(b,c)));
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}
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#endif
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//
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#if 0
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static btVector3 stresscolor(btScalar stress)
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{
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static const btVector3 spectrum[]= { btVector3(1,0,1),
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btVector3(0,0,1),
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btVector3(0,1,1),
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btVector3(0,1,0),
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btVector3(1,1,0),
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btVector3(1,0,0),
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btVector3(1,0,0)};
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static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
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static const btScalar one=1;
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stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
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const int sel=(int)stress;
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const btScalar frc=stress-sel;
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return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
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}
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#endif
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//
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void btSoftBodyHelpers::Draw( btSoftBody* psb,
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btIDebugDraw* idraw,
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int drawflags)
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{
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const btScalar scl=(btScalar)0.1;
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const btScalar nscl=scl*5;
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const btVector3 lcolor=btVector3(0,0,0);
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const btVector3 ncolor=btVector3(1,1,1);
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const btVector3 ccolor=btVector3(1,0,0);
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int i,j,nj;
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/* Clusters */
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if(0!=(drawflags&fDrawFlags::Clusters))
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{
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srand(1806);
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for(i=0;i<psb->m_clusters.size();++i)
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{
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if(psb->m_clusters[i]->m_collide)
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{
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btVector3 color( rand()/(btScalar)RAND_MAX,
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rand()/(btScalar)RAND_MAX,
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rand()/(btScalar)RAND_MAX);
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color=color.normalized()*0.75;
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btAlignedObjectArray<btVector3> vertices;
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vertices.resize(psb->m_clusters[i]->m_nodes.size());
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for(j=0,nj=vertices.size();j<nj;++j)
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{
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vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
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}
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#define USE_NEW_CONVEX_HULL_COMPUTER
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#ifdef USE_NEW_CONVEX_HULL_COMPUTER
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btConvexHullComputer computer;
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int stride = sizeof(btVector3);
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int count = vertices.size();
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btScalar shrink=0.f;
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btScalar shrinkClamp=0.f;
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computer.compute(&vertices[0].getX(),stride,count,shrink,shrinkClamp);
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for (int i=0;i<computer.faces.size();i++)
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{
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int face = computer.faces[i];
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//printf("face=%d\n",face);
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const btConvexHullComputer::Edge* firstEdge = &computer.edges[face];
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const btConvexHullComputer::Edge* edge = firstEdge->getNextEdgeOfFace();
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int v0 = firstEdge->getSourceVertex();
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int v1 = firstEdge->getTargetVertex();
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while (edge!=firstEdge)
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{
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int v2 = edge->getTargetVertex();
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idraw->drawTriangle(computer.vertices[v0],computer.vertices[v1],computer.vertices[v2],color,1);
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edge = edge->getNextEdgeOfFace();
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v0=v1;
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v1=v2;
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};
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}
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#else
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HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
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HullResult hres;
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HullLibrary hlib;
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hdsc.mMaxVertices=vertices.size();
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hlib.CreateConvexHull(hdsc,hres);
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const btVector3 center=average(hres.m_OutputVertices);
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add(hres.m_OutputVertices,-center);
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mul(hres.m_OutputVertices,(btScalar)1);
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add(hres.m_OutputVertices,center);
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for(j=0;j<(int)hres.mNumFaces;++j)
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{
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const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
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idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
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hres.m_OutputVertices[idx[1]],
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hres.m_OutputVertices[idx[2]],
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color,1);
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}
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hlib.ReleaseResult(hres);
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#endif
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}
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/* Velocities */
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#if 0
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for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
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{
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const btSoftBody::Cluster& c=psb->m_clusters[i];
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const btVector3 r=c.m_nodes[j]->m_x-c.m_com;
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const btVector3 v=c.m_lv+btCross(c.m_av,r);
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idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
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}
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#endif
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/* Frame */
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// btSoftBody::Cluster& c=*psb->m_clusters[i];
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// idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
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// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
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// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
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}
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}
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else
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{
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/* Nodes */
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if(0!=(drawflags&fDrawFlags::Nodes))
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{
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for(i=0;i<psb->m_nodes.size();++i)
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{
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const btSoftBody::Node& n=psb->m_nodes[i];
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if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
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idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
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idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
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}
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}
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/* Links */
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if(0!=(drawflags&fDrawFlags::Links))
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{
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for(i=0;i<psb->m_links.size();++i)
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{
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const btSoftBody::Link& l=psb->m_links[i];
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if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
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}
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}
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/* Normals */
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if(0!=(drawflags&fDrawFlags::Normals))
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{
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for(i=0;i<psb->m_nodes.size();++i)
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{
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const btSoftBody::Node& n=psb->m_nodes[i];
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if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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const btVector3 d=n.m_n*nscl;
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idraw->drawLine(n.m_x,n.m_x+d,ncolor);
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idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
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}
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}
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/* Contacts */
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if(0!=(drawflags&fDrawFlags::Contacts))
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{
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static const btVector3 axis[]={btVector3(1,0,0),
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btVector3(0,1,0),
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btVector3(0,0,1)};
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for(i=0;i<psb->m_rcontacts.size();++i)
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{
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const btSoftBody::RContact& c=psb->m_rcontacts[i];
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const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
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(btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
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const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
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const btVector3 y=btCross(x,c.m_cti.m_normal).normalized();
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idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
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idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
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idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
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}
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}
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/* Faces */
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if(0!=(drawflags&fDrawFlags::Faces))
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||
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{
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const btScalar scl=(btScalar)0.8;
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const btScalar alp=(btScalar)1;
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const btVector3 col(0,(btScalar)0.7,0);
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for(i=0;i<psb->m_faces.size();++i)
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{
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const btSoftBody::Face& f=psb->m_faces[i];
|
||
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if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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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)0.3,(btScalar)0.3,(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))
|
||
|
|
{
|
||
|
|
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));
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
default:
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
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);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
//The btSoftBody object from the BulletSDK includes an array of Nodes and Links. These links appear
|
||
|
|
// to be first set up to connect a node to between 5 and 6 of its neighbors [480 links],
|
||
|
|
//and then to the rest of the nodes after the execution of the Floyd-Warshall graph algorithm
|
||
|
|
//[another 930 links].
|
||
|
|
//The way the links are stored by default, we have a number of cases where adjacent links share a node in common
|
||
|
|
// - this leads to the creation of a data dependency through memory.
|
||
|
|
//The PSolve_Links() function reads and writes nodes as it iterates over each link.
|
||
|
|
//So, we now have the possibility of a data dependency between iteration X
|
||
|
|
//that processes link L with iteration X+1 that processes link L+1
|
||
|
|
//because L and L+1 have one node in common, and iteration X updates the positions of that node,
|
||
|
|
//and iteration X+1 reads in the position of that shared node.
|
||
|
|
//
|
||
|
|
//Such a memory dependency limits the ability of a modern CPU to speculate beyond
|
||
|
|
//a certain point because it has to respect a possible dependency
|
||
|
|
//- this prevents the CPU from making full use of its out-of-order resources.
|
||
|
|
//If we re-order the links such that we minimize the cases where a link L and L+1 share a common node,
|
||
|
|
//we create a temporal gap between when the node position is written,
|
||
|
|
//and when it is subsequently read. This in turn allows the CPU to continue execution without
|
||
|
|
//risking a dependency violation. Such a reordering would result in significant speedups on
|
||
|
|
//modern CPUs with lots of execution resources.
|
||
|
|
//In our testing, we see it have a tremendous impact not only on the A7,
|
||
|
|
//but also on all x86 cores that ship with modern Macs.
|
||
|
|
//The attached source file includes a single function (ReoptimizeLinkOrder) which can be called on a
|
||
|
|
//btSoftBody object in the solveConstraints() function before the actual solver is invoked,
|
||
|
|
//or right after generateBendingConstraints() once we have all 1410 links.
|
||
|
|
|
||
|
|
|
||
|
|
//===================================================================
|
||
|
|
//
|
||
|
|
//
|
||
|
|
// This function takes in a list of interdependent Links and tries
|
||
|
|
// to maximize the distance between calculation
|
||
|
|
// of dependent links. This increases the amount of parallelism that can
|
||
|
|
// be exploited by out-of-order instruction processors with large but
|
||
|
|
// (inevitably) finite instruction windows.
|
||
|
|
//
|
||
|
|
//===================================================================
|
||
|
|
|
||
|
|
// A small structure to track lists of dependent link calculations
|
||
|
|
class LinkDeps_t {
|
||
|
|
public:
|
||
|
|
int value; // A link calculation that is dependent on this one
|
||
|
|
// Positive values = "input A" while negative values = "input B"
|
||
|
|
LinkDeps_t *next; // Next dependence in the list
|
||
|
|
};
|
||
|
|
typedef LinkDeps_t *LinkDepsPtr_t;
|
||
|
|
|
||
|
|
// Dependency list constants
|
||
|
|
#define REOP_NOT_DEPENDENT -1
|
||
|
|
#define REOP_NODE_COMPLETE -2 // Must be less than REOP_NOT_DEPENDENT
|
||
|
|
|
||
|
|
|
||
|
|
void btSoftBodyHelpers::ReoptimizeLinkOrder(btSoftBody *psb /* This can be replaced by a btSoftBody pointer */)
|
||
|
|
{
|
||
|
|
int i, nLinks=psb->m_links.size(), nNodes=psb->m_nodes.size();
|
||
|
|
btSoftBody::Link *lr;
|
||
|
|
int ar, br;
|
||
|
|
btSoftBody::Node *node0 = &(psb->m_nodes[0]);
|
||
|
|
btSoftBody::Node *node1 = &(psb->m_nodes[1]);
|
||
|
|
LinkDepsPtr_t linkDep;
|
||
|
|
int readyListHead, readyListTail, linkNum, linkDepFrees, depLink;
|
||
|
|
|
||
|
|
// Allocate temporary buffers
|
||
|
|
int *nodeWrittenAt = new int[nNodes+1]; // What link calculation produced this node's current values?
|
||
|
|
int *linkDepA = new int[nLinks]; // Link calculation input is dependent upon prior calculation #N
|
||
|
|
int *linkDepB = new int[nLinks];
|
||
|
|
int *readyList = new int[nLinks]; // List of ready-to-process link calculations (# of links, maximum)
|
||
|
|
LinkDeps_t *linkDepFreeList = new LinkDeps_t[2*nLinks]; // Dependent-on-me list elements (2x# of links, maximum)
|
||
|
|
LinkDepsPtr_t *linkDepListStarts = new LinkDepsPtr_t[nLinks]; // Start nodes of dependent-on-me lists, one for each link
|
||
|
|
|
||
|
|
// Copy the original, unsorted links to a side buffer
|
||
|
|
btSoftBody::Link *linkBuffer = new btSoftBody::Link[nLinks];
|
||
|
|
memcpy(linkBuffer, &(psb->m_links[0]), sizeof(btSoftBody::Link)*nLinks);
|
||
|
|
|
||
|
|
// Clear out the node setup and ready list
|
||
|
|
for (i=0; i < nNodes+1; i++) {
|
||
|
|
nodeWrittenAt[i] = REOP_NOT_DEPENDENT;
|
||
|
|
}
|
||
|
|
for (i=0; i < nLinks; i++) {
|
||
|
|
linkDepListStarts[i] = NULL;
|
||
|
|
}
|
||
|
|
readyListHead = readyListTail = linkDepFrees = 0;
|
||
|
|
|
||
|
|
// Initial link analysis to set up data structures
|
||
|
|
for (i=0; i < nLinks; i++) {
|
||
|
|
|
||
|
|
// Note which prior link calculations we are dependent upon & build up dependence lists
|
||
|
|
lr = &(psb->m_links[i]);
|
||
|
|
ar = (lr->m_n[0] - node0)/(node1 - node0);
|
||
|
|
br = (lr->m_n[1] - node0)/(node1 - node0);
|
||
|
|
if (nodeWrittenAt[ar] > REOP_NOT_DEPENDENT) {
|
||
|
|
linkDepA[i] = nodeWrittenAt[ar];
|
||
|
|
linkDep = &linkDepFreeList[linkDepFrees++];
|
||
|
|
linkDep->value = i;
|
||
|
|
linkDep->next = linkDepListStarts[nodeWrittenAt[ar]];
|
||
|
|
linkDepListStarts[nodeWrittenAt[ar]] = linkDep;
|
||
|
|
} else {
|
||
|
|
linkDepA[i] = REOP_NOT_DEPENDENT;
|
||
|
|
}
|
||
|
|
if (nodeWrittenAt[br] > REOP_NOT_DEPENDENT) {
|
||
|
|
linkDepB[i] = nodeWrittenAt[br];
|
||
|
|
linkDep = &linkDepFreeList[linkDepFrees++];
|
||
|
|
linkDep->value = -(i+1);
|
||
|
|
linkDep->next = linkDepListStarts[nodeWrittenAt[br]];
|
||
|
|
linkDepListStarts[nodeWrittenAt[br]] = linkDep;
|
||
|
|
} else {
|
||
|
|
linkDepB[i] = REOP_NOT_DEPENDENT;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Add this link to the initial ready list, if it is not dependent on any other links
|
||
|
|
if ((linkDepA[i] == REOP_NOT_DEPENDENT) && (linkDepB[i] == REOP_NOT_DEPENDENT)) {
|
||
|
|
readyList[readyListTail++] = i;
|
||
|
|
linkDepA[i] = linkDepB[i] = REOP_NODE_COMPLETE; // Probably not needed now
|
||
|
|
}
|
||
|
|
|
||
|
|
// Update the nodes to mark which ones are calculated by this link
|
||
|
|
nodeWrittenAt[ar] = nodeWrittenAt[br] = i;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Process the ready list and create the sorted list of links
|
||
|
|
// -- By treating the ready list as a queue, we maximize the distance between any
|
||
|
|
// inter-dependent node calculations
|
||
|
|
// -- All other (non-related) nodes in the ready list will automatically be inserted
|
||
|
|
// in between each set of inter-dependent link calculations by this loop
|
||
|
|
i = 0;
|
||
|
|
while (readyListHead != readyListTail) {
|
||
|
|
// Use ready list to select the next link to process
|
||
|
|
linkNum = readyList[readyListHead++];
|
||
|
|
// Copy the next-to-calculate link back into the original link array
|
||
|
|
psb->m_links[i++] = linkBuffer[linkNum];
|
||
|
|
|
||
|
|
// Free up any link inputs that are dependent on this one
|
||
|
|
linkDep = linkDepListStarts[linkNum];
|
||
|
|
while (linkDep) {
|
||
|
|
depLink = linkDep->value;
|
||
|
|
if (depLink >= 0) {
|
||
|
|
linkDepA[depLink] = REOP_NOT_DEPENDENT;
|
||
|
|
} else {
|
||
|
|
depLink = -depLink - 1;
|
||
|
|
linkDepB[depLink] = REOP_NOT_DEPENDENT;
|
||
|
|
}
|
||
|
|
// Add this dependent link calculation to the ready list if *both* inputs are clear
|
||
|
|
if ((linkDepA[depLink] == REOP_NOT_DEPENDENT) && (linkDepB[depLink] == REOP_NOT_DEPENDENT)) {
|
||
|
|
readyList[readyListTail++] = depLink;
|
||
|
|
linkDepA[depLink] = linkDepB[depLink] = REOP_NODE_COMPLETE; // Probably not needed now
|
||
|
|
}
|
||
|
|
linkDep = linkDep->next;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Delete the temporary buffers
|
||
|
|
delete [] nodeWrittenAt;
|
||
|
|
delete [] linkDepA;
|
||
|
|
delete [] linkDepB;
|
||
|
|
delete [] readyList;
|
||
|
|
delete [] linkDepFreeList;
|
||
|
|
delete [] linkDepListStarts;
|
||
|
|
delete [] linkBuffer;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
//
|
||
|
|
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::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)
|
||
|
|
{
|
||
|
|
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, bool randomizeConstraints)
|
||
|
|
{
|
||
|
|
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[j])]=true;
|
||
|
|
psb->appendLink(idx[j],idx[k]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#undef IDX
|
||
|
|
psb->appendFace(idx[0],idx[1],idx[2]);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (randomizeConstraints)
|
||
|
|
{
|
||
|
|
psb->randomizeConstraints();
|
||
|
|
}
|
||
|
|
|
||
|
|
return(psb);
|
||
|
|
}
|
||
|
|
|
||
|
|
//
|
||
|
|
btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
|
||
|
|
int nvertices, bool randomizeConstraints)
|
||
|
|
{
|
||
|
|
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[]={ static_cast<int>(hres.m_Indices[i*3+0]),
|
||
|
|
static_cast<int>(hres.m_Indices[i*3+1]),
|
||
|
|
static_cast<int>(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);
|
||
|
|
if (randomizeConstraints)
|
||
|
|
{
|
||
|
|
psb->randomizeConstraints();
|
||
|
|
}
|
||
|
|
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);
|
||
|
|
}
|
||
|
|
|