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Saxum/extern/bullet/Demos/SoftDemo/SoftDemo.cpp
Fabian Klemp aeb6218d2d Renaming.
2014-10-24 11:49:46 +02:00

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/*
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.
*/
///btSoftBody implementation by Nathanael Presson
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "../GimpactTestDemo/BunnyMesh.h"
#include "../GimpactTestDemo/TorusMesh.h"
#include <stdio.h> //printf debugging
#include "LinearMath/btConvexHull.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "SoftDemo.h"
#include "GL_ShapeDrawer.h"
#include "GLDebugFont.h"
#include "GlutStuff.h"
extern float eye[3];
extern int glutScreenWidth;
extern int glutScreenHeight;
static bool sDemoMode = false;
const int maxProxies = 32766;
const int maxOverlap = 65535;
static btVector3* gGroundVertices=0;
static int* gGroundIndices=0;
static btBvhTriangleMeshShape* trimeshShape =0;
static btRigidBody* staticBody = 0;
static float waveheight = 5.f;
const float TRIANGLE_SIZE=8.f;
int current_demo=20;
#define DEMO_MODE_TIMEOUT 15.f //15 seconds for each demo
#ifdef _DEBUG
const int gNumObjects = 1;
#else
const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
#endif
const int maxNumObjects = 32760;
#define CUBE_HALF_EXTENTS 1.5
#define EXTRA_HEIGHT -10.f
#ifdef USE_AMD_OPENCL
#include "btOpenCLUtils.h"
#include "BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h"
#include "BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h"
#include "BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h"
btOpenCLSoftBodySolver* g_openCLSIMDSolver=0;
btSoftBodySolverOutputCLtoCPU* g_softBodyOutput = 0;
cl_context g_cxMainContext;
cl_device_id g_cdDevice;
cl_command_queue g_cqCommandQue;
void initCL( void* glCtx, void* glDC )
{
int ciErrNum = 0;
#if defined(CL_PLATFORM_MINI_CL)
cl_device_type deviceType = CL_DEVICE_TYPE_CPU;//or use CL_DEVICE_TYPE_DEBUG to debug MiniCL
#elif defined(CL_PLATFORM_INTEL)
cl_device_type deviceType = CL_DEVICE_TYPE_CPU;
#elif defined(CL_PLATFORM_AMD)
cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
#elif defined(CL_PLATFORM_NVIDIA)
cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
#else
#ifdef __APPLE__
cl_device_type deviceType = CL_DEVICE_TYPE_ALL;//GPU;
#else
cl_device_type deviceType = CL_DEVICE_TYPE_CPU;//CL_DEVICE_TYPE_ALL
#endif//__APPLE__
#endif
g_cxMainContext = btOpenCLUtils::createContextFromType(deviceType, &ciErrNum, glCtx, glDC);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
int numDev = btOpenCLUtils::getNumDevices(g_cxMainContext);
if (!numDev)
{
btAssert(0);
exit(0);//this is just a demo, exit now
}
g_cdDevice = btOpenCLUtils::getDevice(g_cxMainContext,0);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
btOpenCLDeviceInfo clInfo;
btOpenCLUtils::getDeviceInfo(g_cdDevice,clInfo);
btOpenCLUtils::printDeviceInfo(g_cdDevice);
// create a command-queue
g_cqCommandQue = clCreateCommandQueue(g_cxMainContext, g_cdDevice, 0, &ciErrNum);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
class CachingCLFunctions : public CLFunctions
{
protected:
cl_device_id m_device;
const char* strip(const char* name, const char* pattern);
public:
CachingCLFunctions(cl_command_queue cqCommandQue, cl_context cxMainContext) :
CLFunctions(cqCommandQue,cxMainContext)
{
size_t actualSize;
cl_int retval = clGetCommandQueueInfo ( cqCommandQue, CL_QUEUE_DEVICE, sizeof(cl_device_id),
&m_device, &actualSize);
}
/**
* Compile a compute shader kernel from a string and return the appropriate cl_kernel object.
*/
virtual cl_kernel compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros , const char* orgSrcFileNameForCaching)
{
char srcFileNameForCaching[1024];
sprintf(srcFileNameForCaching,"%s/%s","../../src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL",orgSrcFileNameForCaching);
btAssert(additionalMacros);
btAssert(srcFileNameForCaching && strlen(srcFileNameForCaching));
printf("compiling kernelName: %s ",kernelName);
cl_kernel kernel=0;
cl_int ciErrNum;
size_t program_length = strlen(kernelSource);
cl_program m_cpProgram = btOpenCLUtils::compileCLProgramFromString(m_cxMainContext, m_device, kernelSource, &ciErrNum, additionalMacros);
// Create the kernel
kernel = clCreateKernel(m_cpProgram, kernelName, &ciErrNum);
if (ciErrNum != CL_SUCCESS)
{
const char* msg = "";
switch(ciErrNum)
{
case CL_INVALID_PROGRAM:
msg = "Program is not a valid program object.";
break;
case CL_INVALID_PROGRAM_EXECUTABLE:
msg = "There is no successfully built executable for program.";
break;
case CL_INVALID_KERNEL_NAME:
msg = "kernel_name is not found in program.";
break;
case CL_INVALID_KERNEL_DEFINITION:
msg = "the function definition for __kernel function given by kernel_name such as the number of arguments, the argument types are not the same for all devices for which the program executable has been built.";
break;
case CL_INVALID_VALUE:
msg = "kernel_name is NULL.";
break;
case CL_OUT_OF_HOST_MEMORY:
msg = "Failure to allocate resources required by the OpenCL implementation on the host.";
break;
default:
{
}
}
printf("Error in clCreateKernel for kernel '%s', error is \"%s\", Line %u in file %s !!!\n\n", kernelName, msg, __LINE__, __FILE__);
#ifndef BT_SUPPRESS_OPENCL_ASSERTS
btAssert(0);
#endif //BT_SUPPRESS_OPENCL_ASSERTS
m_kernelCompilationFailures++;
return 0;
}
printf("ready. \n");
if (!kernel)
m_kernelCompilationFailures++;
return kernel;
}
};
#endif //USE_AMD_OPENCL
//
void SoftDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
{
btTransform trans;
trans.setIdentity();
for(int i=0; i<size; i++)
{
// This constructs a row, from left to right
int rowSize = size - i;
for(int j=0; j< rowSize; j++)
{
btVector3 pos;
pos.setValue(
-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
halfCubeSize + i * halfCubeSize * 2.0f,
zPos);
trans.setOrigin(pos);
btScalar mass = 1.f;
btRigidBody* body = 0;
body = localCreateRigidBody(mass,trans,boxShape);
}
}
}
////////////////////////////////////
extern int gNumManifold;
extern int gOverlappingPairs;
///for mouse picking
void pickingPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
{
SoftDemo* softDemo = (SoftDemo*)world->getWorldUserInfo();
if(softDemo->m_drag)
{
const int x=softDemo->m_lastmousepos[0];
const int y=softDemo->m_lastmousepos[1];
const btVector3 rayFrom=softDemo->getCameraPosition();
const btVector3 rayTo=softDemo->getRayTo(x,y);
const btVector3 rayDir=(rayTo-rayFrom).normalized();
const btVector3 N=(softDemo->getCameraTargetPosition()-softDemo->getCameraPosition()).normalized();
const btScalar O=btDot(softDemo->m_impact,N);
const btScalar den=btDot(N,rayDir);
if((den*den)>0)
{
const btScalar num=O-btDot(N,rayFrom);
const btScalar hit=num/den;
if((hit>0)&&(hit<1500))
{
softDemo->m_goal=rayFrom+rayDir*hit;
}
}
btVector3 delta=softDemo->m_goal-softDemo->m_node->m_x;
static const btScalar maxdrag=10;
if(delta.length2()>(maxdrag*maxdrag))
{
delta=delta.normalized()*maxdrag;
}
softDemo->m_node->m_v+=delta/timeStep;
}
}
void SoftDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
glFlush();
swapBuffers();
}
//
// ImplicitShape
//
//
struct ImplicitSphere : btSoftBody::ImplicitFn
{
btVector3 center;
btScalar sqradius;
ImplicitSphere() {}
ImplicitSphere(const btVector3& c,btScalar r) : center(c),sqradius(r*r) {}
btScalar Eval(const btVector3& x)
{
return((x-center).length2()-sqradius);
}
};
//
// Tetra meshes
//
struct TetraBunny
{
#include "bunny.inl"
};
struct TetraCube
{
#include "cube.inl"
};
//
// Random
//
static inline btScalar UnitRand()
{
return(rand()/(btScalar)RAND_MAX);
}
static inline btScalar SignedUnitRand()
{
return(UnitRand()*2-1);
}
static inline btVector3 Vector3Rand()
{
const btVector3 p=btVector3(SignedUnitRand(),SignedUnitRand(),SignedUnitRand());
return(p.normalized());
}
//
// Rb rain
//
static void Ctor_RbUpStack(SoftDemo* pdemo,int count)
{
float mass=10;
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(4,1,1));
btCollisionShape* boxShape = new btBoxShape(btVector3(4,1,1));
btTransform localTransform;
localTransform.setIdentity();
cylinderCompound->addChildShape(localTransform,boxShape);
btQuaternion orn(SIMD_HALF_PI,0,0);
localTransform.setRotation(orn);
// localTransform.setOrigin(btVector3(1,1,1));
cylinderCompound->addChildShape(localTransform,cylinderShape);
btCollisionShape* shape[]={cylinderCompound,
new btBoxShape(btVector3(1,1,1)),
new btSphereShape(1.5)
};
static const int nshapes=sizeof(shape)/sizeof(shape[0]);
for(int i=0;i<count;++i)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2+6*i,0));
pdemo->localCreateRigidBody(mass,startTransform,shape[i%nshapes]);
//pdemo->localCreateRigidBody(mass,startTransform,shape[0]);
}
}
//
// Big ball
//
static void Ctor_BigBall(SoftDemo* pdemo,btScalar mass=10)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,13,0));
pdemo->localCreateRigidBody(mass,startTransform,new btSphereShape(3));
}
//
// Big plate
//
static btRigidBody* Ctor_BigPlate(SoftDemo* pdemo,btScalar mass=15,btScalar height=4)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,height,0.5));
btRigidBody* body=pdemo->localCreateRigidBody(mass,startTransform,new btBoxShape(btVector3(5,1,5)));
body->setFriction(1);
return(body);
}
//
// Linear stair
//
static void Ctor_LinearStair(SoftDemo* pdemo,const btVector3& org,const btVector3& sizes,btScalar angle,int count)
{
btBoxShape* shape=new btBoxShape(sizes);
for(int i=0;i<count;++i)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(org+btVector3(sizes.x()*i*2,sizes.y()*i*2,0));
btRigidBody* body=pdemo->localCreateRigidBody(0,startTransform,shape);
body->setFriction(1);
}
}
//
// Softbox
//
static btSoftBody* Ctor_SoftBox(SoftDemo* pdemo,const btVector3& p,const btVector3& s)
{
const btVector3 h=s*0.5;
const btVector3 c[]={ p+h*btVector3(-1,-1,-1),
p+h*btVector3(+1,-1,-1),
p+h*btVector3(-1,+1,-1),
p+h*btVector3(+1,+1,-1),
p+h*btVector3(-1,-1,+1),
p+h*btVector3(+1,-1,+1),
p+h*btVector3(-1,+1,+1),
p+h*btVector3(+1,+1,+1)};
btSoftBody* psb=btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo,c,8);
psb->generateBendingConstraints(2);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
//
// SoftBoulder
//
static btSoftBody* Ctor_SoftBoulder(SoftDemo* pdemo,const btVector3& p,const btVector3& s,int np,int id)
{
btAlignedObjectArray<btVector3> pts;
if(id) srand(id);
for(int i=0;i<np;++i)
{
pts.push_back(Vector3Rand()*s+p);
}
btSoftBody* psb=btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo,&pts[0],pts.size());
psb->generateBendingConstraints(2);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
//#define TRACEDEMO { pdemo->demoname=__FUNCTION__+5;printf("Launching demo: " __FUNCTION__ "\r\n"); }
//
// Basic ropes
//
static void Init_Ropes(SoftDemo* pdemo)
{
//TRACEDEMO
const int n=15;
for(int i=0;i<n;++i)
{
btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, btVector3(-10,0,i*0.25),
btVector3(10,0,i*0.25),
16,
1+2);
psb->m_cfg.piterations = 4;
psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9;
psb->setTotalMass(20);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
}
//
// Rope attach
//
static void Init_RopeAttach(SoftDemo* pdemo)
{
//TRACEDEMO
pdemo->m_softBodyWorldInfo.m_sparsesdf.RemoveReferences(0);
struct Functors
{
static btSoftBody* CtorRope(SoftDemo* pdemo,const btVector3& p)
{
btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo,p,p+btVector3(10,0,0),8,1);
psb->setTotalMass(50);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
};
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(12,8,0));
btRigidBody* body=pdemo->localCreateRigidBody(50,startTransform,new btBoxShape(btVector3(2,6,2)));
btSoftBody* psb0=Functors::CtorRope(pdemo,btVector3(0,8,-1));
btSoftBody* psb1=Functors::CtorRope(pdemo,btVector3(0,8,+1));
psb0->appendAnchor(psb0->m_nodes.size()-1,body);
psb1->appendAnchor(psb1->m_nodes.size()-1,body);
}
//
// Cloth attach
//
static void Init_ClothAttach(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar s=4;
const btScalar h=6;
const int r=9;
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,btVector3(-s,h,-s),
btVector3(+s,h,-s),
btVector3(-s,h,+s),
btVector3(+s,h,+s),r,r,4+8,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,h,-(s+3.5)));
btRigidBody* body=pdemo->localCreateRigidBody(20,startTransform,new btBoxShape(btVector3(s,1,3)));
psb->appendAnchor(0,body);
psb->appendAnchor(r-1,body);
pdemo->m_cutting=true;
}
//
// Impact
//
static void Init_Impact(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, btVector3(0,0,0),
btVector3(0,-1,0),
0,
1);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->m_cfg.kCHR=0.5;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,20,0));
pdemo->localCreateRigidBody(10,startTransform,new btBoxShape(btVector3(2,2,2)));
}
static void Init_CapsuleCollision(SoftDemo* pdemo)
{
#ifdef USE_AMD_OPENCL
btAlignedObjectArray<btSoftBody*> emptyArray;
if (g_openCLSIMDSolver)
g_openCLSIMDSolver->optimize(emptyArray);
#endif //USE_AMD_OPENCL
//TRACEDEMO
const btScalar s=4;
const btScalar h=6;
const int r=20;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,h-2,0));
btCollisionShape* capsuleShape= new btCapsuleShapeX(1,5);
capsuleShape->setMargin( 0.5 );
// capsule->setLocalScaling(btVector3(5,1,1));
// btRigidBody* body=pdemo->localCreateRigidBody(20,startTransform,capsuleShape);
btRigidBody* body=pdemo->localCreateRigidBody(0,startTransform,capsuleShape);
body->setFriction( 0.8f );
int fixed=0;//4+8;
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,btVector3(-s,h,-s),
btVector3(+s,h,-s),
btVector3(-s,h,+s),
btVector3(+s,h,+s),r,r,fixed,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->setTotalMass(0.1);
psb->m_cfg.piterations = 10;
psb->m_cfg.citerations = 10;
psb->m_cfg.diterations = 10;
// psb->m_cfg.viterations = 10;
// psb->appendAnchor(0,body);
// psb->appendAnchor(r-1,body);
// pdemo->m_cutting=true;
}
//
// Collide
//
static void Init_Collide(SoftDemo* pdemo)
{
//TRACEDEMO
struct Functor
{
static btSoftBody* Create(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVertices,
&gIndices[0][0],
NUM_TRIANGLES);
psb->generateBendingConstraints(2);
psb->m_cfg.piterations=2;
psb->m_cfg.collisions|=btSoftBody::fCollision::VF_SS;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(a.x(),a.y(),a.z());
psb->transform(btTransform(m,x));
psb->scale(btVector3(2,2,2));
psb->setTotalMass(50,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
};
for(int i=0;i<3;++i)
{
Functor::Create(pdemo,btVector3(3*i,2,0),btVector3(SIMD_PI/2*(1-(i&1)),SIMD_PI/2*(i&1),0));
}
pdemo->m_cutting=true;
}
//
// Collide2
//
static void Init_Collide2(SoftDemo* pdemo)
{
//TRACEDEMO
struct Functor
{
static btSoftBody* Create(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(a.x(),a.y(),a.z());
psb->transform(btTransform(m,x));
psb->scale(btVector3(6,6,6));
psb->setTotalMass(100,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
};
for(int i=0;i<3;++i)
{
Functor::Create(pdemo,btVector3(0,-1+5*i,0),btVector3(0,SIMD_PI/2*(i&1),0));
}
pdemo->m_cutting=true;
}
//
// Collide3
//
static void Init_Collide3(SoftDemo* pdemo)
{
//TRACEDEMO
{
const btScalar s=8;
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,btVector3(-s,0,-s),
btVector3(+s,0,-s),
btVector3(-s,0,+s),
btVector3(+s,0,+s),
15,15,1+2+4+8,true);
psb->m_materials[0]->m_kLST = 0.4;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->setTotalMass(150);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
{
const btScalar s=4;
const btVector3 o=btVector3(5,10,0);
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,
btVector3(-s,0,-s)+o,
btVector3(+s,0,-s)+o,
btVector3(-s,0,+s)+o,
btVector3(+s,0,+s)+o,
7,7,0,true);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.1;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_materials[0]->m_kLST = 0.5;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->setTotalMass(150);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
pdemo->m_cutting=true;
}
}
//
// Aerodynamic forces, 50x1g flyers
//
static void Init_Aero(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar s=2;
const btScalar h=10;
const int segments=6;
const int count=50;
for(int i=0;i<count;++i)
{
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,btVector3(-s,h,-s),
btVector3(+s,h,-s),
btVector3(-s,h,+s),
btVector3(+s,h,+s),
segments,segments,
0,true);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.kLF = 0.004;
psb->m_cfg.kDG = 0.0003;
psb->m_cfg.aeromodel = btSoftBody::eAeroModel::V_TwoSided;
btTransform trs;
btQuaternion rot;
btVector3 ra=Vector3Rand()*0.1;
btVector3 rp=Vector3Rand()*15+btVector3(0,20,80);
rot.setEuler(SIMD_PI/8+ra.x(),-SIMD_PI/7+ra.y(),ra.z());
trs.setIdentity();
trs.setOrigin(rp);
trs.setRotation(rot);
psb->transform(trs);
psb->setTotalMass(0.1);
psb->addForce(btVector3(0,2,0),0);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
pdemo->m_autocam=true;
}
static void Init_Aero2(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar s=5;
const int segments=10;
const int count=5;
btVector3 pos(-s*segments, 0, 0);
btScalar gap = 0.5;
for(int i=0;i<count;++i)
{
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,btVector3(-s,0,-s*3),
btVector3(+s,0,-s*3),
btVector3(-s,0,+s),
btVector3(+s,0,+s),
segments,segments*3,
1+2,true);
psb->getCollisionShape()->setMargin(0.5);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.0004;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.kLF = 0.05;
psb->m_cfg.kDG = 0.01;
//psb->m_cfg.kLF = 0.004;
//psb->m_cfg.kDG = 0.0003;
psb->m_cfg.piterations = 2;
psb->m_cfg.aeromodel = btSoftBody::eAeroModel::V_TwoSidedLiftDrag;
psb->setWindVelocity(btVector3(4, -12.0, -25.0));
btTransform trs;
btQuaternion rot;
pos += btVector3(s*2 + gap, 0, 0);
rot.setRotation(btVector3(1, 0, 0), btScalar(SIMD_PI/2));
trs.setIdentity();
trs.setOrigin(pos);
trs.setRotation(rot);
psb->transform(trs);
psb->setTotalMass(2.0);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
pdemo->m_autocam=true;
}
//
// Friction
//
static void Init_Friction(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar bs=2;
const btScalar ts=bs+bs/4;
for(int i=0,ni=20;i<ni;++i)
{
const btVector3 p(-ni*ts/2+i*ts,-10+bs,40);
btSoftBody* psb=Ctor_SoftBox(pdemo,p,btVector3(bs,bs,bs));
psb->m_cfg.kDF = 0.1 * ((i+1)/(btScalar)ni);
psb->addVelocity(btVector3(0,0,-10));
}
}
//
// Pressure
//
static void Init_Pressure(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,btVector3(35,25,0),
btVector3(1,1,1)*3,
512);
psb->m_materials[0]->m_kLST = 0.1;
psb->m_cfg.kDF = 1;
psb->m_cfg.kDP = 0.001; // fun factor...
psb->m_cfg.kPR = 2500;
psb->setTotalMass(30,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
Ctor_BigPlate(pdemo);
Ctor_LinearStair(pdemo,btVector3(0,0,0),btVector3(2,1,5),0,10);
pdemo->m_autocam=true;
}
//
// Volume conservation
//
static void Init_Volume(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,btVector3(35,25,0),
btVector3(1,1,1)*3,
512);
psb->m_materials[0]->m_kLST = 0.45;
psb->m_cfg.kVC = 20;
psb->setTotalMass(50,true);
psb->setPose(true,false);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
Ctor_BigPlate(pdemo);
Ctor_LinearStair(pdemo,btVector3(0,0,0),btVector3(2,1,5),0,10);
pdemo->m_autocam=true;
}
//
// Stick+Bending+Rb's
//
static void Init_Sticks(SoftDemo* pdemo)
{
//TRACEDEMO
const int n=16;
const int sg=4;
const btScalar sz=5;
const btScalar hg=4;
const btScalar in=1/(btScalar)(n-1);
for(int y=0;y<n;++y)
{
for(int x=0;x<n;++x)
{
const btVector3 org(-sz+sz*2*x*in,
-10,
-sz+sz*2*y*in);
btSoftBody* psb=btSoftBodyHelpers::CreateRope( pdemo->m_softBodyWorldInfo, org,
org+btVector3(hg*0.001,hg,0),
sg,
1);
psb->m_cfg.kDP = 0.005;
psb->m_cfg.kCHR = 0.1;
for(int i=0;i<3;++i)
{
psb->generateBendingConstraints(2+i);
}
psb->setMass(1,0);
psb->setTotalMass(0.01);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
}
Ctor_BigBall(pdemo);
}
//
// Bending
//
static void Init_Bending(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar s=4;
const btVector3 x[]={ btVector3(-s,0,-s),
btVector3(+s,0,-s),
btVector3(+s,0,+s),
btVector3(-s,0,+s)};
const btScalar m[]={ 0,0,0,1};
btSoftBody* psb=new btSoftBody(&pdemo->m_softBodyWorldInfo,4,x,m);
psb->appendLink(0,1);
psb->appendLink(1,2);
psb->appendLink(2,3);
psb->appendLink(3,0);
psb->appendLink(0,2);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
//
// 100kg cloth locked at corners, 10 falling 10kg rb's.
//
static void Init_Cloth(SoftDemo* pdemo)
{
//TRACEDEMO
const btScalar s=8;
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,btVector3(-s,0,-s),
btVector3(+s,0,-s),
btVector3(-s,0,+s),
btVector3(+s,0,+s),
31,31,
// 31,31,
1+2+4+8,true);
psb->getCollisionShape()->setMargin(0.5);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.4;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->setTotalMass(150);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
Ctor_RbUpStack(pdemo,10);
pdemo->m_cutting=true;
}
//
// 100kg Stanford's bunny
//
static void Init_Bunny(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->scale(btVector3(6,6,6));
psb->setTotalMass(100,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
pdemo->m_cutting=true;
}
//
// 100kg Stanford's bunny with pose matching
//
static void Init_BunnyMatch(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVerticesBunny,
&gIndicesBunny[0][0],
BUNNY_NUM_TRIANGLES);
psb->m_cfg.kDF = 0.5;
psb->m_cfg.kMT = 0.05;
psb->m_cfg.piterations = 5;
psb->randomizeConstraints();
psb->scale(btVector3(6,6,6));
psb->setTotalMass(100,true);
psb->setPose(false,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
//
// 50Kg Torus
//
static void Init_Torus(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh( pdemo->m_softBodyWorldInfo, gVertices,
&gIndices[0][0],
NUM_TRIANGLES);
psb->generateBendingConstraints(2);
psb->m_cfg.piterations=2;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(SIMD_PI/2,0,0);
psb->transform(btTransform(m,btVector3(0,4,0)));
psb->scale(btVector3(2,2,2));
psb->setTotalMass(50,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
pdemo->m_cutting=true;
}
//
// 50Kg Torus with pose matching
//
static void Init_TorusMatch(SoftDemo* pdemo)
{
//TRACEDEMO
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVertices,
&gIndices[0][0],
NUM_TRIANGLES);
psb->m_materials[0]->m_kLST = 0.1;
psb->m_cfg.kMT = 0.05;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(SIMD_PI/2,0,0);
psb->transform(btTransform(m,btVector3(0,4,0)));
psb->scale(btVector3(2,2,2));
psb->setTotalMass(50,true);
psb->setPose(false,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}
//
// Cutting1
//
static void Init_Cutting1(SoftDemo* pdemo)
{
const btScalar s=6;
const btScalar h=2;
const int r=16;
const btVector3 p[]={ btVector3(+s,h,-s),
btVector3(-s,h,-s),
btVector3(+s,h,+s),
btVector3(-s,h,+s)};
btSoftBody* psb=btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,p[0],p[1],p[2],p[3],r,r,1+2+4+8,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->m_cfg.piterations=1;
pdemo->m_cutting=true;
}
//
// Clusters
//
//
static void Ctor_Gear(SoftDemo* pdemo,const btVector3& pos,btScalar speed)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(pos);
btCompoundShape* shape=new btCompoundShape();
#if 1
shape->addChildShape(btTransform(btQuaternion(0,0,0)),new btBoxShape(btVector3(5,1,6)));
shape->addChildShape(btTransform(btQuaternion(0,0,SIMD_HALF_PI)),new btBoxShape(btVector3(5,1,6)));
#else
shape->addChildShape(btTransform(btQuaternion(0,0,0)),new btCylinderShapeZ(btVector3(5,1,7)));
shape->addChildShape(btTransform(btQuaternion(0,0,SIMD_HALF_PI)),new btBoxShape(btVector3(4,1,8)));
#endif
btRigidBody* body=pdemo->localCreateRigidBody(10,startTransform,shape);
body->setFriction(1);
btDynamicsWorld* world=pdemo->getDynamicsWorld();
btHingeConstraint* hinge=new btHingeConstraint(*body,btTransform::getIdentity());
if(speed!=0) hinge->enableAngularMotor(true,speed,3);
world->addConstraint(hinge);
}
//
static btSoftBody* Ctor_ClusterBunny(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVerticesBunny,&gIndicesBunny[0][0],BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 1;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.kDF = 1;
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+
btSoftBody::fCollision::CL_RS;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(a.x(),a.y(),a.z());
psb->transform(btTransform(m,x));
psb->scale(btVector3(8,8,8));
psb->setTotalMass(150,true);
psb->generateClusters(1);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
//
static btSoftBody* Ctor_ClusterTorus(SoftDemo* pdemo,const btVector3& x,const btVector3& a,const btVector3& s=btVector3(2,2,2))
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVertices,&gIndices[0][0],NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 1;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+
btSoftBody::fCollision::CL_RS;
psb->randomizeConstraints();
psb->scale(s);
psb->rotate(btQuaternion(a[0],a[1],a[2]));
psb->translate(x);
psb->setTotalMass(50,true);
psb->generateClusters(64);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
//
static struct MotorControl : btSoftBody::AJoint::IControl
{
MotorControl()
{
goal=0;
maxtorque=0;
}
btScalar Speed(btSoftBody::AJoint*,btScalar current)
{
return(current+btMin(maxtorque,btMax(-maxtorque,goal-current)));
}
btScalar goal;
btScalar maxtorque;
} motorcontrol;
//
struct SteerControl : btSoftBody::AJoint::IControl
{
SteerControl(btScalar s)
{
angle=0;
sign=s;
}
void Prepare(btSoftBody::AJoint* joint)
{
joint->m_refs[0][0]=btCos(angle*sign);
joint->m_refs[0][2]=btSin(angle*sign);
}
btScalar Speed(btSoftBody::AJoint* joint,btScalar current)
{
return(motorcontrol.Speed(joint,current));
}
btScalar angle;
btScalar sign;
};
static SteerControl steercontrol_f(+1);
static SteerControl steercontrol_r(-1);
//
static void Init_ClusterDeform(SoftDemo* pdemo)
{
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,0,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI));
psb->generateClusters(8);
psb->m_cfg.kDF=1;
}
//
static void Init_ClusterCollide1(SoftDemo* pdemo)
{
const btScalar s=8;
btSoftBody* psb=btSoftBodyHelpers::CreatePatch( pdemo->m_softBodyWorldInfo,btVector3(-s,0,-s),
btVector3(+s,0,-s),
btVector3(-s,0,+s),
btVector3(+s,0,+s),
17,17,//9,9,//31,31,
1+2+4+8,
true);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.4;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->m_cfg.kDF = 1;
psb->m_cfg.kSRHR_CL = 1;
psb->m_cfg.kSR_SPLT_CL = 0;
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+
btSoftBody::fCollision::CL_RS;
psb->generateBendingConstraints(2,pm);
psb->getCollisionShape()->setMargin(0.05);
psb->setTotalMass(50);
///pass zero in generateClusters to create cluster for each tetrahedron or triangle
psb->generateClusters(0);
//psb->generateClusters(64);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
Ctor_RbUpStack(pdemo,10);
}
//
static void Init_ClusterCollide2(SoftDemo* pdemo)
{
struct Functor
{
static btSoftBody* Create(SoftDemo* pdemo,const btVector3& x,const btVector3& a)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo,gVertices,
&gIndices[0][0],
NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations=2;
psb->m_cfg.kDF =1;
psb->m_cfg.kSSHR_CL =1;
psb->m_cfg.kSS_SPLT_CL =0;
psb->m_cfg.kSKHR_CL =0.1f;
psb->m_cfg.kSK_SPLT_CL =1;
psb->m_cfg.collisions= btSoftBody::fCollision::CL_SS+
btSoftBody::fCollision::CL_RS;
psb->randomizeConstraints();
btMatrix3x3 m;
m.setEulerZYX(a.x(),a.y(),a.z());
psb->transform(btTransform(m,x));
psb->scale(btVector3(2,2,2));
psb->setTotalMass(50,true);
psb->generateClusters(16);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
};
for(int i=0;i<3;++i)
{
Functor::Create(pdemo,btVector3(3*i,2,0),btVector3(SIMD_PI/2*(1-(i&1)),SIMD_PI/2*(i&1),0));
}
}
//
static void Init_ClusterSocket(SoftDemo* pdemo)
{
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,0,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI));
btRigidBody* prb=Ctor_BigPlate(pdemo,50,8);
psb->m_cfg.kDF=1;
btSoftBody::LJoint::Specs lj;
lj.position = btVector3(0,5,0);
psb->appendLinearJoint(lj,prb);
}
//
static void Init_ClusterHinge(SoftDemo* pdemo)
{
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,0,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI));
btRigidBody* prb=Ctor_BigPlate(pdemo,50,8);
psb->m_cfg.kDF=1;
btSoftBody::AJoint::Specs aj;
aj.axis = btVector3(0,0,1);
psb->appendAngularJoint(aj,prb);
}
//
static void Init_ClusterCombine(SoftDemo* pdemo)
{
const btVector3 sz(2,4,2);
btSoftBody* psb0=Ctor_ClusterTorus(pdemo,btVector3(0,8,0),btVector3(SIMD_PI/2,0,SIMD_HALF_PI),sz);
btSoftBody* psb1=Ctor_ClusterTorus(pdemo,btVector3(0,8,10),btVector3(SIMD_PI/2,0,SIMD_HALF_PI),sz);
btSoftBody* psbs[]={psb0,psb1};
for(int j=0;j<2;++j)
{
psbs[j]->m_cfg.kDF=1;
psbs[j]->m_cfg.kDP=0;
psbs[j]->m_cfg.piterations=1;
psbs[j]->m_clusters[0]->m_matching = 0.05;
psbs[j]->m_clusters[0]->m_ndamping = 0.05;
}
btSoftBody::AJoint::Specs aj;
aj.axis = btVector3(0,0,1);
aj.icontrol = &motorcontrol;
psb0->appendAngularJoint(aj,psb1);
btSoftBody::LJoint::Specs lj;
lj.position = btVector3(0,8,5);
psb0->appendLinearJoint(lj,psb1);
}
//
static void Init_ClusterCar(SoftDemo* pdemo)
{
pdemo->setAzi(180);
const btVector3 origin(100,80,0);
const btQuaternion orientation(-SIMD_PI/2,0,0);
const btScalar widthf=8;
const btScalar widthr=9;
const btScalar length=8;
const btScalar height=4;
const btVector3 wheels[]= {
btVector3(+widthf,-height,+length), // Front left
btVector3(-widthf,-height,+length), // Front right
btVector3(+widthr,-height,-length), // Rear left
btVector3(-widthr,-height,-length), // Rear right
};
btSoftBody* pa=Ctor_ClusterBunny(pdemo,btVector3(0,0,0),btVector3(0,0,0));
btSoftBody* pfl=Ctor_ClusterTorus(pdemo,wheels[0],btVector3(0,0,SIMD_HALF_PI),btVector3(2,4,2));
btSoftBody* pfr=Ctor_ClusterTorus(pdemo,wheels[1],btVector3(0,0,SIMD_HALF_PI),btVector3(2,4,2));
btSoftBody* prl=Ctor_ClusterTorus(pdemo,wheels[2],btVector3(0,0,SIMD_HALF_PI),btVector3(2,5,2));
btSoftBody* prr=Ctor_ClusterTorus(pdemo,wheels[3],btVector3(0,0,SIMD_HALF_PI),btVector3(2,5,2));
pfl->m_cfg.kDF =
pfr->m_cfg.kDF =
prl->m_cfg.kDF =
prr->m_cfg.kDF = 1;
btSoftBody::LJoint::Specs lspecs;
lspecs.cfm = 1;
lspecs.erp = 1;
lspecs.position = btVector3(0,0,0);
lspecs.position=wheels[0];pa->appendLinearJoint(lspecs,pfl);
lspecs.position=wheels[1];pa->appendLinearJoint(lspecs,pfr);
lspecs.position=wheels[2];pa->appendLinearJoint(lspecs,prl);
lspecs.position=wheels[3];pa->appendLinearJoint(lspecs,prr);
btSoftBody::AJoint::Specs aspecs;
aspecs.cfm = 1;
aspecs.erp = 1;
aspecs.axis = btVector3(1,0,0);
aspecs.icontrol = &steercontrol_f;
pa->appendAngularJoint(aspecs,pfl);
pa->appendAngularJoint(aspecs,pfr);
aspecs.icontrol = &motorcontrol;
pa->appendAngularJoint(aspecs,prl);
pa->appendAngularJoint(aspecs,prr);
pa->rotate(orientation);
pfl->rotate(orientation);
pfr->rotate(orientation);
prl->rotate(orientation);
prr->rotate(orientation);
pa->translate(origin);
pfl->translate(origin);
pfr->translate(origin);
prl->translate(origin);
prr->translate(origin);
pfl->m_cfg.piterations =
pfr->m_cfg.piterations =
prl->m_cfg.piterations =
prr->m_cfg.piterations = 1;
pfl->m_clusters[0]->m_matching =
pfr->m_clusters[0]->m_matching =
prl->m_clusters[0]->m_matching =
prr->m_clusters[0]->m_matching = 0.05;
pfl->m_clusters[0]->m_ndamping =
pfr->m_clusters[0]->m_ndamping =
prl->m_clusters[0]->m_ndamping =
prr->m_clusters[0]->m_ndamping = 0.05;
Ctor_LinearStair(pdemo,btVector3(0,-8,0),btVector3(3,2,40),0,20);
Ctor_RbUpStack(pdemo,50);
pdemo->m_autocam=true;
}
//
static void Init_ClusterRobot(SoftDemo* pdemo)
{
struct Functor
{
static btSoftBody* CreateBall(SoftDemo* pdemo,const btVector3& pos)
{
btSoftBody* psb=btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo,pos,btVector3(1,1,1)*3,512);
psb->m_materials[0]->m_kLST = 0.45;
psb->m_cfg.kVC = 20;
psb->setTotalMass(50,true);
psb->setPose(true,false);
psb->generateClusters(1);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
return(psb);
}
};
const btVector3 base=btVector3(0,25,8);
btSoftBody* psb0=Functor::CreateBall(pdemo,base+btVector3(-8,0,0));
btSoftBody* psb1=Functor::CreateBall(pdemo,base+btVector3(+8,0,0));
btSoftBody* psb2=Functor::CreateBall(pdemo,base+btVector3(0,0,+8*btSqrt(2)));
const btVector3 ctr=(psb0->clusterCom(0)+psb1->clusterCom(0)+psb2->clusterCom(0))/3;
btCylinderShape* pshp=new btCylinderShape(btVector3(8,1,8));
btRigidBody* prb=pdemo->localCreateRigidBody(50,btTransform(btQuaternion(0,0,0),ctr+btVector3(0,5,0)),pshp);
btSoftBody::LJoint::Specs ls;
ls.erp=0.5f;
ls.position=psb0->clusterCom(0);psb0->appendLinearJoint(ls,prb);
ls.position=psb1->clusterCom(0);psb1->appendLinearJoint(ls,prb);
ls.position=psb2->clusterCom(0);psb2->appendLinearJoint(ls,prb);
btBoxShape* pbox=new btBoxShape(btVector3(20,1,40));
btRigidBody* pgrn=pdemo->localCreateRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
pdemo->m_autocam=true;
}
//
static void Init_ClusterStackSoft(SoftDemo* pdemo)
{
for(int i=0;i<10;++i)
{
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,-9+8.25*i,0),btVector3(0,0,0));
psb->m_cfg.kDF=1;
}
}
//
static void Init_ClusterStackMixed(SoftDemo* pdemo)
{
for(int i=0;i<10;++i)
{
if((i+1)&1)
{
Ctor_BigPlate(pdemo,50,-9+4.25*i);
}
else
{
btSoftBody* psb=Ctor_ClusterTorus(pdemo,btVector3(0,-9+4.25*i,0),btVector3(0,0,0));
psb->m_cfg.kDF=1;
}
}
}
//
// TetraBunny
//
static void Init_TetraBunny(SoftDemo* pdemo)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
TetraBunny::getElements(),
0,
TetraBunny::getNodes(),
false,true,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->rotate(btQuaternion(SIMD_PI/2,0,0));
psb->setVolumeMass(150);
psb->m_cfg.piterations=2;
//psb->m_cfg.piterations=1;
pdemo->m_cutting=false;
//psb->getCollisionShape()->setMargin(0.01);
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS
//+ btSoftBody::fCollision::CL_SELF
;
///pass zero in generateClusters to create cluster for each tetrahedron or triangle
psb->generateClusters(0);
//psb->m_materials[0]->m_kLST=.2;
psb->m_cfg.kDF = 10. ;
}
//
// TetraCube
//
static void Init_TetraCube(SoftDemo* pdemo)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
TetraCube::getElements(),
0,
TetraCube::getNodes(),
false,true,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
psb->scale(btVector3(4,4,4));
psb->translate(btVector3(0,5,0));
psb->setVolumeMass(300);
///fix one vertex
//psb->setMass(0,0);
//psb->setMass(10,0);
//psb->setMass(20,0);
psb->m_cfg.piterations=1;
//psb->generateClusters(128);
psb->generateClusters(16);
//psb->getCollisionShape()->setMargin(0.5);
psb->getCollisionShape()->setMargin(0.01);
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS
//+ btSoftBody::fCollision::CL_SELF
;
psb->m_materials[0]->m_kLST=0.8;
pdemo->m_cutting=false;
}
/* Init */
void (*demofncs[])(SoftDemo*)=
{
Init_Cloth,
Init_Pressure,
Init_Volume,
Init_Ropes,
Init_RopeAttach,
Init_ClothAttach,
Init_Sticks,
Init_CapsuleCollision,
Init_Collide,
Init_Collide2,
Init_Collide3,
Init_Impact,
Init_Aero,
Init_Aero2,
Init_Friction,
Init_Torus,
Init_TorusMatch,
Init_Bunny,
Init_BunnyMatch,
Init_Cutting1,
Init_ClusterDeform,
Init_ClusterCollide1,
Init_ClusterCollide2,
Init_ClusterSocket,
Init_ClusterHinge,
Init_ClusterCombine,
Init_ClusterCar,
Init_ClusterRobot,
Init_ClusterStackSoft,
Init_ClusterStackMixed,
Init_TetraCube,
Init_TetraBunny,
};
void SoftDemo::clientResetScene()
{
m_azi = 0;
m_cameraDistance = 30.f;
m_cameraTargetPosition.setValue(0,0,0);
DemoApplication::clientResetScene();
/* Clean up */
for(int i=m_dynamicsWorld->getNumCollisionObjects()-1;i>=0;i--)
{
btCollisionObject* obj=m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body=btRigidBody::upcast(obj);
if(body&&body->getMotionState())
{
delete body->getMotionState();
}
while(m_dynamicsWorld->getNumConstraints())
{
btTypedConstraint* pc=m_dynamicsWorld->getConstraint(0);
m_dynamicsWorld->removeConstraint(pc);
delete pc;
}
btSoftBody* softBody = btSoftBody::upcast(obj);
if (softBody)
{
getSoftDynamicsWorld()->removeSoftBody(softBody);
} else
{
btRigidBody* body = btRigidBody::upcast(obj);
if (body)
m_dynamicsWorld->removeRigidBody(body);
else
m_dynamicsWorld->removeCollisionObject(obj);
}
delete obj;
}
//create ground object
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-12,0));
btCollisionObject* newOb = new btCollisionObject();
newOb->setWorldTransform(tr);
newOb->setInterpolationWorldTransform( tr);
int lastDemo = (sizeof(demofncs)/sizeof(demofncs[0]))-1;
if (current_demo<0)
current_demo = lastDemo;
if (current_demo > lastDemo)
current_demo =0;
if (current_demo>19)
{
newOb->setCollisionShape(m_collisionShapes[0]);
} else
{
newOb->setCollisionShape(m_collisionShapes[1]);
}
m_dynamicsWorld->addCollisionObject(newOb);
m_softBodyWorldInfo.m_sparsesdf.Reset();
motorcontrol.goal = 0;
motorcontrol.maxtorque = 0;
m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_softBodyWorldInfo.water_density = 0;
m_softBodyWorldInfo.water_offset = 0;
m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
m_autocam = false;
m_raycast = false;
m_cutting = false;
m_results.fraction = 1.f;
demofncs[current_demo](this);
}
void SoftDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
float ms = getDeltaTimeMicroseconds();
float dt = ms / 1000000.f;//1.0/60.;
if (m_dynamicsWorld)
{
if (sDemoMode)
{
static float demoCounter = DEMO_MODE_TIMEOUT;
demoCounter-= dt;
if (demoCounter<0)
{
demoCounter=DEMO_MODE_TIMEOUT;
current_demo++;
current_demo=current_demo%(sizeof(demofncs)/sizeof(demofncs[0]));
clientResetScene();
}
}
//#define FIXED_STEP
#ifdef FIXED_STEP
m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
#else
//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
// int maxSimSubSteps = m_idle ? 1 : 4;
//if (m_idle)
// dt = 1.0/420.f;
int numSimSteps;
numSimSteps = m_dynamicsWorld->stepSimulation(dt);
//numSimSteps = m_dynamicsWorld->stepSimulation(dt,10,1./240.f);
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
#endif
#ifdef USE_AMD_OPENCL
if (g_openCLSIMDSolver)
g_openCLSIMDSolver->copyBackToSoftBodies();
#endif //USE_AMD_OPENCL
if(m_drag)
{
m_node->m_v*=0;
}
m_softBodyWorldInfo.m_sparsesdf.GarbageCollect();
//optional but useful: debug drawing
}
#ifdef USE_QUICKPROF
btProfiler::beginBlock("render");
#endif //USE_QUICKPROF
renderme();
//render the graphics objects, with center of mass shift
updateCamera();
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num manifolds: %i\n",gNumManifold);
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
#endif //PRINT_CONTACT_STATISTICS
swapBuffers();
}
void SoftDemo::renderme()
{
btIDebugDraw* idraw=m_dynamicsWorld->getDebugDrawer();
glDisable(GL_TEXTURE_2D);
glDisable(GL_LIGHTING);
m_dynamicsWorld->debugDrawWorld();
//int debugMode = m_dynamicsWorld->getDebugDrawer()? m_dynamicsWorld->getDebugDrawer()->getDebugMode() : -1;
btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
//btIDebugDraw* sdraw = softWorld ->getDebugDrawer();
for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
{
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
}
}
/* Bodies */
btVector3 ps(0,0,0);
int nps=0;
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
for(int ib=0;ib<sbs.size();++ib)
{
btSoftBody* psb=sbs[ib];
nps+=psb->m_nodes.size();
for(int i=0;i<psb->m_nodes.size();++i)
{
ps+=psb->m_nodes[i].m_x;
}
}
ps/=nps;
if(m_autocam)
m_cameraTargetPosition+=(ps-m_cameraTargetPosition)*0.05;
/* Anm */
if(!isIdle())
m_animtime=m_clock.getTimeMilliseconds()/1000.f;
/* Ray cast */
if(m_raycast)
{
/* Prepare rays */
const int res=64;
const btScalar fres=res-1;
const btScalar size=8;
const btScalar dist=10;
btTransform trs;
trs.setOrigin(ps);
btScalar rayLength = 1000.f;
const btScalar angle=m_animtime*0.2;
trs.setRotation(btQuaternion(angle,SIMD_PI/4,0));
btVector3 dir=trs.getBasis()*btVector3(0,-1,0);
trs.setOrigin(ps-dir*dist);
btAlignedObjectArray<btVector3> origins;
btAlignedObjectArray<btScalar> fractions;
origins.resize(res*res);
fractions.resize(res*res,1.f);
for(int y=0;y<res;++y)
{
for(int x=0;x<res;++x)
{
const int idx=y*res+x;
origins[idx]=trs*btVector3(-size+size*2*x/fres,dist,-size+size*2*y/fres);
}
}
/* Cast rays */
{
m_clock.reset();
if (sbs.size())
{
btVector3* org=&origins[0];
btScalar* fraction=&fractions[0];
btSoftBody** psbs=&sbs[0];
btSoftBody::sRayCast results;
for(int i=0,ni=origins.size(),nb=sbs.size();i<ni;++i)
{
for(int ib=0;ib<nb;++ib)
{
btVector3 rayFrom = *org;
btVector3 rayTo = rayFrom+dir*rayLength;
if(psbs[ib]->rayTest(rayFrom,rayTo,results))
{
*fraction=results.fraction;
}
}
++org;++fraction;
}
long ms=btMax<long>(m_clock.getTimeMilliseconds(),1);
long rayperseconds=(1000*(origins.size()*sbs.size()))/ms;
printf("%d ms (%d rays/s)\r\n",int(ms),int(rayperseconds));
}
}
/* Draw rays */
const btVector3 c[]={ origins[0],
origins[res-1],
origins[res*(res-1)],
origins[res*(res-1)+res-1]};
idraw->drawLine(c[0],c[1],btVector3(0,0,0));
idraw->drawLine(c[1],c[3],btVector3(0,0,0));
idraw->drawLine(c[3],c[2],btVector3(0,0,0));
idraw->drawLine(c[2],c[0],btVector3(0,0,0));
for(int i=0,ni=origins.size();i<ni;++i)
{
const btScalar fraction=fractions[i];
const btVector3& org=origins[i];
if(fraction<1.f)
{
idraw->drawLine(org,org+dir*rayLength*fraction,btVector3(1,0,0));
}
else
{
idraw->drawLine(org,org-dir*rayLength*0.1,btVector3(0,0,0));
}
}
#undef RES
}
/* Water level */
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
if(m_softBodyWorldInfo.water_density>0)
{
const btVector3 c= btVector3((btScalar)0.25,(btScalar)0.25,1);
const btScalar a= (btScalar)0.5;
const btVector3 n= m_softBodyWorldInfo.water_normal;
const btVector3 o= -n*m_softBodyWorldInfo.water_offset;
const btVector3 x= btCross(n,axis[n.minAxis()]).normalized();
const btVector3 y= btCross(x,n).normalized();
const btScalar s= 25;
idraw->drawTriangle(o-x*s-y*s,o+x*s-y*s,o+x*s+y*s,c,a);
idraw->drawTriangle(o-x*s-y*s,o+x*s+y*s,o-x*s+y*s,c,a);
}
//
int lineWidth=280;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
glRasterPos3f(xStart, yStart, 0);
if (sDemoMode)
{
sprintf(buf,"d to toggle demo mode (on)");
} else
{
sprintf(buf,"d to toggle demo mode (off)");
}
GLDebugDrawString(xStart,20,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"] for next demo (%d)",current_demo);
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"c to visualize clusters");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"; to toggle camera mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"n,m,l,k for power and steering");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
DemoApplication::renderme();
}
void SoftDemo::setDrawClusters(bool drawClusters)
{
if (drawClusters)
{
getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()|fDrawFlags::Clusters);
} else
{
getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()& (~fDrawFlags::Clusters));
}
}
void SoftDemo::keyboardCallback(unsigned char key, int x, int y)
{
switch(key)
{
case 'd': sDemoMode = !sDemoMode; break;
case 'n': motorcontrol.maxtorque=10;motorcontrol.goal+=1;break;
case 'm': motorcontrol.maxtorque=10;motorcontrol.goal-=1;break;
case 'l': steercontrol_f.angle+=0.1;steercontrol_r.angle+=0.1;break;
case 'k': steercontrol_f.angle-=0.1;steercontrol_r.angle-=0.1;break;
case ']': ++current_demo;clientResetScene();break;
case '[': --current_demo;clientResetScene();break;
case ',': m_raycast=!m_raycast;break;
case ';': m_autocam=!m_autocam;break;
case 'c': getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()^fDrawFlags::Clusters);break;
case '`':
{
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
for(int ib=0;ib<sbs.size();++ib)
{
btSoftBody* psb=sbs[ib];
psb->staticSolve(128);
}
}
break;
default: DemoApplication::keyboardCallback(key,x,y);
}
}
//
void SoftDemo::mouseMotionFunc(int x,int y)
{
if(m_node&&(m_results.fraction<1.f))
{
if(!m_drag)
{
#define SQ(_x_) (_x_)*(_x_)
if((SQ(x-m_lastmousepos[0])+SQ(y-m_lastmousepos[1]))>6)
{
m_drag=true;
}
#undef SQ
}
if(m_drag)
{
m_lastmousepos[0] = x;
m_lastmousepos[1] = y;
}
}
else
{
DemoApplication::mouseMotionFunc(x,y);
}
}
//
void SoftDemo::mouseFunc(int button, int state, int x, int y)
{
if(button==0)
{
switch(state)
{
case 0:
{
m_results.fraction=1.f;
DemoApplication::mouseFunc(button,state,x,y);
if(!m_pickConstraint)
{
const btVector3 rayFrom=m_cameraPosition;
const btVector3 rayTo=getRayTo(x,y);
const btVector3 rayDir=(rayTo-rayFrom).normalized();
btSoftBodyArray& sbs=getSoftDynamicsWorld()->getSoftBodyArray();
for(int ib=0;ib<sbs.size();++ib)
{
btSoftBody* psb=sbs[ib];
btSoftBody::sRayCast res;
if(psb->rayTest(rayFrom,rayTo,res))
{
m_results=res;
}
}
if(m_results.fraction<1.f)
{
m_impact = rayFrom+(rayTo-rayFrom)*m_results.fraction;
m_drag = m_cutting ? false : true;
m_lastmousepos[0] = x;
m_lastmousepos[1] = y;
m_node = 0;
switch(m_results.feature)
{
case btSoftBody::eFeature::Tetra:
{
btSoftBody::Tetra& tet=m_results.body->m_tetras[m_results.index];
m_node=tet.m_n[0];
for(int i=1;i<4;++i)
{
if( (m_node->m_x-m_impact).length2()>
(tet.m_n[i]->m_x-m_impact).length2())
{
m_node=tet.m_n[i];
}
}
break;
}
case btSoftBody::eFeature::Face:
{
btSoftBody::Face& f=m_results.body->m_faces[m_results.index];
m_node=f.m_n[0];
for(int i=1;i<3;++i)
{
if( (m_node->m_x-m_impact).length2()>
(f.m_n[i]->m_x-m_impact).length2())
{
m_node=f.m_n[i];
}
}
}
break;
}
if(m_node) m_goal=m_node->m_x;
return;
}
}
}
break;
case 1:
if((!m_drag)&&m_cutting&&(m_results.fraction<1.f))
{
ImplicitSphere isphere(m_impact,1);
printf("Mass before: %f\r\n",m_results.body->getTotalMass());
m_results.body->refine(&isphere,0.0001,true);
printf("Mass after: %f\r\n",m_results.body->getTotalMass());
}
m_results.fraction=1.f;
m_drag=false;
DemoApplication::mouseFunc(button,state,x,y);
break;
}
}
else
{
DemoApplication::mouseFunc(button,state,x,y);
}
}
void SoftDemo::initPhysics()
{
///create concave ground mesh
m_azi = 0;
//reset and disable motorcontrol at the start
motorcontrol.goal = 0;
motorcontrol.maxtorque = 0;
btCollisionShape* groundShape = 0;
{
int i;
int j;
const int NUM_VERTS_X = 30;
const int NUM_VERTS_Y = 30;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
gGroundVertices = new btVector3[totalVerts];
gGroundIndices = new int[totalTriangles*3];
btScalar offset(-50);
for ( i=0;i<NUM_VERTS_X;i++)
{
for (j=0;j<NUM_VERTS_Y;j++)
{
gGroundVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gGroundIndices[index++] = j*NUM_VERTS_X+i;
gGroundIndices[index++] = j*NUM_VERTS_X+i+1;
gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gGroundIndices[index++] = j*NUM_VERTS_X+i;
gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gGroundIndices,
indexStride,
totalVerts,(btScalar*) &gGroundVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
groundShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
groundShape->setMargin(0.5);
}
m_collisionShapes.push_back(groundShape);
btCollisionShape* groundBox = new btBoxShape (btVector3(100,CUBE_HALF_EXTENTS,100));
m_collisionShapes.push_back(groundBox);
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
btTransform localTransform;
localTransform.setIdentity();
cylinderCompound->addChildShape(localTransform,cylinderShape);
btQuaternion orn(btVector3(0,1,0),SIMD_PI);
localTransform.setRotation(orn);
cylinderCompound->addChildShape(localTransform,cylinderShape);
m_collisionShapes.push_back(cylinderCompound);
m_dispatcher=0;
///register some softbody collision algorithms on top of the default btDefaultCollisionConfiguration
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_softBodyWorldInfo.m_dispatcher = m_dispatcher;
////////////////////////////
///Register softbody versus softbody collision algorithm
///Register softbody versus rigidbody collision algorithm
////////////////////////////
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
m_softBodyWorldInfo.m_broadphase = m_broadphase;
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_solver = solver;
btSoftBodySolver* softBodySolver = 0;
#ifdef USE_AMD_OPENCL
static bool once = true;
if (once)
{
once=false;
initCL(0,0);
}
if( g_openCLSIMDSolver )
delete g_openCLSIMDSolver;
if( g_softBodyOutput )
delete g_softBodyOutput;
if (1)
{
g_openCLSIMDSolver = new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext);
// g_openCLSIMDSolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
g_openCLSIMDSolver->setCLFunctions(new CachingCLFunctions(g_cqCommandQue, g_cxMainContext));
}
softBodySolver = g_openCLSIMDSolver;
g_softBodyOutput = new btSoftBodySolverOutputCLtoCPU;
#endif //USE_AMD_OPENCL
btDiscreteDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration,softBodySolver);
m_dynamicsWorld = world;
m_dynamicsWorld->setInternalTickCallback(pickingPreTickCallback,this,true);
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
// clientResetScene();
m_softBodyWorldInfo.m_sparsesdf.Initialize();
clientResetScene();
}
void SoftDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
m_collisionShapes[j] = 0;
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}
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