147 lines
5.1 KiB
C++
147 lines
5.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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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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#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "btDefaultSoftBodySolver.h"
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#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
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#include "BulletSoftBody/btSoftBody.h"
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btDefaultSoftBodySolver::btDefaultSoftBodySolver()
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{
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// Initial we will clearly need to update solver constants
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// For now this is global for the cloths linked with this solver - we should probably make this body specific
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// for performance in future once we understand more clearly when constants need to be updated
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m_updateSolverConstants = true;
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}
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btDefaultSoftBodySolver::~btDefaultSoftBodySolver()
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{
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}
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// In this case the data is already in the soft bodies so there is no need for us to do anything
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void btDefaultSoftBodySolver::copyBackToSoftBodies(bool bMove)
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{
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}
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void btDefaultSoftBodySolver::optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate)
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{
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m_softBodySet.copyFromArray(softBodies);
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}
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void btDefaultSoftBodySolver::updateSoftBodies()
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{
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for (int i = 0; i < m_softBodySet.size(); i++)
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{
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btSoftBody *psb = (btSoftBody *)m_softBodySet[i];
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if (psb->isActive())
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{
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psb->integrateMotion();
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}
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}
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} // updateSoftBodies
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bool btDefaultSoftBodySolver::checkInitialized()
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{
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return true;
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}
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void btDefaultSoftBodySolver::solveConstraints(btScalar solverdt)
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{
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// Solve constraints for non-solver softbodies
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for (int i = 0; i < m_softBodySet.size(); ++i)
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{
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btSoftBody *psb = static_cast<btSoftBody *>(m_softBodySet[i]);
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if (psb->isActive())
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{
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psb->solveConstraints();
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}
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}
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} // btDefaultSoftBodySolver::solveConstraints
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void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer)
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{
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// Currently only support CPU output buffers
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// TODO: check for DX11 buffers. Take all offsets into the same DX11 buffer
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// and use them together on a single kernel call if possible by setting up a
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// per-cloth target buffer array for the copy kernel.
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if (vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER)
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{
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const btAlignedObjectArray<btSoftBody::Node> &clothVertices(softBody->m_nodes);
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int numVertices = clothVertices.size();
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const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast<btCPUVertexBufferDescriptor *>(vertexBuffer);
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float *basePointer = cpuVertexBuffer->getBasePointer();
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if (vertexBuffer->hasVertexPositions())
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{
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const int vertexOffset = cpuVertexBuffer->getVertexOffset();
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const int vertexStride = cpuVertexBuffer->getVertexStride();
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float *vertexPointer = basePointer + vertexOffset;
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for (int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex)
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{
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btVector3 position = clothVertices[vertexIndex].m_x;
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*(vertexPointer + 0) = (float)position.getX();
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*(vertexPointer + 1) = (float)position.getY();
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*(vertexPointer + 2) = (float)position.getZ();
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vertexPointer += vertexStride;
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}
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}
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if (vertexBuffer->hasNormals())
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{
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const int normalOffset = cpuVertexBuffer->getNormalOffset();
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const int normalStride = cpuVertexBuffer->getNormalStride();
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float *normalPointer = basePointer + normalOffset;
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for (int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex)
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{
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btVector3 normal = clothVertices[vertexIndex].m_n;
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*(normalPointer + 0) = (float)normal.getX();
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*(normalPointer + 1) = (float)normal.getY();
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*(normalPointer + 2) = (float)normal.getZ();
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normalPointer += normalStride;
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}
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}
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}
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} // btDefaultSoftBodySolver::copySoftBodyToVertexBuffer
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void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, btSoftBody *otherSoftBody)
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{
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softBody->defaultCollisionHandler(otherSoftBody);
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}
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// For the default solver just leave the soft body to do its collision processing
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void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, const btCollisionObjectWrapper *collisionObjectWrap)
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{
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softBody->defaultCollisionHandler(collisionObjectWrap);
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} // btDefaultSoftBodySolver::processCollision
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void btDefaultSoftBodySolver::predictMotion(btScalar timeStep)
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{
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for (int i = 0; i < m_softBodySet.size(); ++i)
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{
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btSoftBody *psb = m_softBodySet[i];
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if (psb->isActive())
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{
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psb->predictMotion(timeStep);
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}
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}
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}
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