diff options
Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp | 69 |
1 files changed, 32 insertions, 37 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp index 9c20403074..8b7ff9abcd 100644 --- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp +++ b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp @@ -21,11 +21,10 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btCapsuleShape.h" #include "BulletSoftBody/btSoftBody.h" - btDefaultSoftBodySolver::btDefaultSoftBodySolver() { // Initial we will clearly need to update solver constants - // For now this is global for the cloths linked with this solver - we should probably make this body specific + // For now this is global for the cloths linked with this solver - we should probably make this body specific // for performance in future once we understand more clearly when constants need to be updated m_updateSolverConstants = true; } @@ -37,67 +36,65 @@ btDefaultSoftBodySolver::~btDefaultSoftBodySolver() // In this case the data is already in the soft bodies so there is no need for us to do anything void btDefaultSoftBodySolver::copyBackToSoftBodies(bool bMove) { - } -void btDefaultSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate) +void btDefaultSoftBodySolver::optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate) { - m_softBodySet.copyFromArray( softBodies ); + m_softBodySet.copyFromArray(softBodies); } -void btDefaultSoftBodySolver::updateSoftBodies( ) +void btDefaultSoftBodySolver::updateSoftBodies() { - for ( int i=0; i < m_softBodySet.size(); i++) + for (int i = 0; i < m_softBodySet.size(); i++) { - btSoftBody* psb=(btSoftBody*)m_softBodySet[i]; + btSoftBody *psb = (btSoftBody *)m_softBodySet[i]; if (psb->isActive()) { - psb->integrateMotion(); + psb->integrateMotion(); } } -} // updateSoftBodies +} // updateSoftBodies bool btDefaultSoftBodySolver::checkInitialized() { return true; } -void btDefaultSoftBodySolver::solveConstraints( float solverdt ) +void btDefaultSoftBodySolver::solveConstraints(float solverdt) { // Solve constraints for non-solver softbodies - for(int i=0; i < m_softBodySet.size(); ++i) + for (int i = 0; i < m_softBodySet.size(); ++i) { - btSoftBody* psb = static_cast<btSoftBody*>(m_softBodySet[i]); + btSoftBody *psb = static_cast<btSoftBody *>(m_softBodySet[i]); if (psb->isActive()) { psb->solveConstraints(); } - } -} // btDefaultSoftBodySolver::solveConstraints - + } +} // btDefaultSoftBodySolver::solveConstraints -void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer ) +void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) { // Currently only support CPU output buffers // TODO: check for DX11 buffers. Take all offsets into the same DX11 buffer // and use them together on a single kernel call if possible by setting up a // per-cloth target buffer array for the copy kernel. - if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER ) + if (vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER) { - const btAlignedObjectArray<btSoftBody::Node> &clothVertices( softBody->m_nodes ); + const btAlignedObjectArray<btSoftBody::Node> &clothVertices(softBody->m_nodes); int numVertices = clothVertices.size(); - const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer); - float *basePointer = cpuVertexBuffer->getBasePointer(); + const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast<btCPUVertexBufferDescriptor *>(vertexBuffer); + float *basePointer = cpuVertexBuffer->getBasePointer(); - if( vertexBuffer->hasVertexPositions() ) + if (vertexBuffer->hasVertexPositions()) { const int vertexOffset = cpuVertexBuffer->getVertexOffset(); const int vertexStride = cpuVertexBuffer->getVertexStride(); float *vertexPointer = basePointer + vertexOffset; - for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) + for (int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex) { btVector3 position = clothVertices[vertexIndex].m_x; *(vertexPointer + 0) = (float)position.getX(); @@ -106,13 +103,13 @@ void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *cons vertexPointer += vertexStride; } } - if( vertexBuffer->hasNormals() ) + if (vertexBuffer->hasNormals()) { const int normalOffset = cpuVertexBuffer->getNormalOffset(); const int normalStride = cpuVertexBuffer->getNormalStride(); float *normalPointer = basePointer + normalOffset; - for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) + for (int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex) { btVector3 normal = clothVertices[vertexIndex].m_n; *(normalPointer + 0) = (float)normal.getX(); @@ -122,30 +119,28 @@ void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *cons } } } -} // btDefaultSoftBodySolver::copySoftBodyToVertexBuffer +} // btDefaultSoftBodySolver::copySoftBodyToVertexBuffer -void btDefaultSoftBodySolver::processCollision( btSoftBody* softBody, btSoftBody* otherSoftBody) +void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, btSoftBody *otherSoftBody) { - softBody->defaultCollisionHandler( otherSoftBody); + softBody->defaultCollisionHandler(otherSoftBody); } // For the default solver just leave the soft body to do its collision processing -void btDefaultSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObjectWrap ) +void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, const btCollisionObjectWrapper *collisionObjectWrap) { - softBody->defaultCollisionHandler( collisionObjectWrap ); -} // btDefaultSoftBodySolver::processCollision - + softBody->defaultCollisionHandler(collisionObjectWrap); +} // btDefaultSoftBodySolver::processCollision -void btDefaultSoftBodySolver::predictMotion( float timeStep ) +void btDefaultSoftBodySolver::predictMotion(float timeStep) { - for ( int i=0; i < m_softBodySet.size(); ++i) + for (int i = 0; i < m_softBodySet.size(); ++i) { - btSoftBody* psb = m_softBodySet[i]; + btSoftBody *psb = m_softBodySet[i]; if (psb->isActive()) { - psb->predictMotion(timeStep); + psb->predictMotion(timeStep); } } } - |