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diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
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-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
-
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- 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.
- */
-
-#ifndef BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
-#define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
-
-#include "btSoftMultiBodyDynamicsWorld.h"
-#include "btDeformableLagrangianForce.h"
-#include "btDeformableMassSpringForce.h"
-#include "btDeformableBodySolver.h"
-#include "btDeformableMultiBodyConstraintSolver.h"
-#include "btSoftBodyHelpers.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-#include <functional>
-typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
-
-class btDeformableBodySolver;
-class btDeformableLagrangianForce;
-struct MultiBodyInplaceSolverIslandCallback;
-struct DeformableBodyInplaceSolverIslandCallback;
-class btDeformableMultiBodyConstraintSolver;
-
-typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
-
-class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
-{
- typedef btAlignedObjectArray<btVector3> TVStack;
- ///Solver classes that encapsulate multiple deformable bodies for solving
- btDeformableBodySolver* m_deformableBodySolver;
- btSoftBodyArray m_softBodies;
- int m_drawFlags;
- bool m_drawNodeTree;
- bool m_drawFaceTree;
- bool m_drawClusterTree;
- btSoftBodyWorldInfo m_sbi;
- btScalar m_internalTime;
- int m_ccdIterations;
- bool m_implicit;
- bool m_lineSearch;
- bool m_useProjection;
- DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback;
-
- typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
- btSolverCallback m_solverCallback;
-
-protected:
- virtual void internalSingleStepSimulation(btScalar timeStep);
-
- virtual void integrateTransforms(btScalar timeStep);
-
- void positionCorrection(btScalar timeStep);
-
- void solveConstraints(btScalar timeStep);
-
- void updateActivationState(btScalar timeStep);
-
- void clearGravity();
-
-public:
- btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0);
-
- virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
-
- virtual void debugDrawWorld();
-
- void setSolverCallback(btSolverCallback cb)
- {
- m_solverCallback = cb;
- }
-
- virtual ~btDeformableMultiBodyDynamicsWorld();
-
- virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld()
- {
- return (btMultiBodyDynamicsWorld*)(this);
- }
-
- virtual const btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() const
- {
- return (const btMultiBodyDynamicsWorld*)(this);
- }
-
- virtual btDynamicsWorldType getWorldType() const
- {
- return BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD;
- }
-
- virtual void predictUnconstraintMotion(btScalar timeStep);
-
- virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
-
- btSoftBodyArray& getSoftBodyArray()
- {
- return m_softBodies;
- }
-
- const btSoftBodyArray& getSoftBodyArray() const
- {
- return m_softBodies;
- }
-
- btSoftBodyWorldInfo& getWorldInfo()
- {
- return m_sbi;
- }
-
- const btSoftBodyWorldInfo& getWorldInfo() const
- {
- return m_sbi;
- }
-
- void reinitialize(btScalar timeStep);
-
- void applyRigidBodyGravity(btScalar timeStep);
-
- void beforeSolverCallbacks(btScalar timeStep);
-
- void afterSolverCallbacks(btScalar timeStep);
-
- void addForce(btSoftBody* psb, btDeformableLagrangianForce* force);
-
- void removeForce(btSoftBody* psb, btDeformableLagrangianForce* force);
-
- void removeSoftBodyForce(btSoftBody* psb);
-
- void removeSoftBody(btSoftBody* body);
-
- void removeCollisionObject(btCollisionObject* collisionObject);
-
- int getDrawFlags() const { return (m_drawFlags); }
- void setDrawFlags(int f) { m_drawFlags = f; }
-
- void setupConstraints();
-
- void performDeformableCollisionDetection();
-
- void solveMultiBodyConstraints();
-
- void solveContactConstraints();
-
- void sortConstraints();
-
- void softBodySelfCollision();
-
- void setImplicit(bool implicit)
- {
- m_implicit = implicit;
- }
-
- void setLineSearch(bool lineSearch)
- {
- m_lineSearch = lineSearch;
- }
-
- void setUseProjection(bool useProjection)
- {
- m_useProjection = useProjection;
- }
-
- void applyRepulsionForce(btScalar timeStep);
-
- void performGeometricCollisions(btScalar timeStep);
-
- struct btDeformableSingleRayCallback : public btBroadphaseRayCallback
- {
- btVector3 m_rayFromWorld;
- btVector3 m_rayToWorld;
- btTransform m_rayFromTrans;
- btTransform m_rayToTrans;
- btVector3 m_hitNormal;
-
- const btDeformableMultiBodyDynamicsWorld* m_world;
- btCollisionWorld::RayResultCallback& m_resultCallback;
-
- btDeformableSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btDeformableMultiBodyDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
- : m_rayFromWorld(rayFromWorld),
- m_rayToWorld(rayToWorld),
- m_world(world),
- m_resultCallback(resultCallback)
- {
- m_rayFromTrans.setIdentity();
- m_rayFromTrans.setOrigin(m_rayFromWorld);
- m_rayToTrans.setIdentity();
- m_rayToTrans.setOrigin(m_rayToWorld);
-
- btVector3 rayDir = (rayToWorld - rayFromWorld);
-
- rayDir.normalize();
- ///what about division by zero? --> just set rayDirection[i] to INF/1e30
- m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
- m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
- m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
- m_signs[0] = m_rayDirectionInverse[0] < 0.0;
- m_signs[1] = m_rayDirectionInverse[1] < 0.0;
- m_signs[2] = m_rayDirectionInverse[2] < 0.0;
-
- m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
- }
-
- virtual bool process(const btBroadphaseProxy* proxy)
- {
- ///terminate further ray tests, once the closestHitFraction reached zero
- if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
- return false;
-
- btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
-
- //only perform raycast if filterMask matches
- if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
- {
- //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
- //btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-#if 0
-#ifdef RECALCULATE_AABB
- btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
- collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-#else
- //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
- const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
- const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
-#endif
-#endif
- //btScalar hitLambda = m_resultCallback.m_closestHitFraction;
- //culling already done by broadphase
- //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
- {
- m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
- collisionObject,
- collisionObject->getCollisionShape(),
- collisionObject->getWorldTransform(),
- m_resultCallback);
- }
- }
- return true;
- }
- };
-
- void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
- {
- BT_PROFILE("rayTest");
- /// use the broadphase to accelerate the search for objects, based on their aabb
- /// and for each object with ray-aabb overlap, perform an exact ray test
- btDeformableSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
-
-#ifndef USE_BRUTEFORCE_RAYBROADPHASE
- m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
-#else
- for (int i = 0; i < this->getNumCollisionObjects(); i++)
- {
- rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
- }
-#endif //USE_BRUTEFORCE_RAYBROADPHASE
- }
-
- void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
- btCollisionObject* collisionObject,
- const btCollisionShape* collisionShape,
- const btTransform& colObjWorldTransform,
- RayResultCallback& resultCallback) const
- {
- if (collisionShape->isSoftBody())
- {
- btSoftBody* softBody = btSoftBody::upcast(collisionObject);
- if (softBody)
- {
- btSoftBody::sRayCast softResult;
- if (softBody->rayFaceTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
- {
- if (softResult.fraction <= resultCallback.m_closestHitFraction)
- {
- btCollisionWorld::LocalShapeInfo shapeInfo;
- shapeInfo.m_shapePart = 0;
- shapeInfo.m_triangleIndex = softResult.index;
- // get the normal
- btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
- btVector3 normal = -rayDir;
- normal.normalize();
- {
- normal = softBody->m_faces[softResult.index].m_normal;
- if (normal.dot(rayDir) > 0)
- {
- // normal always point toward origin of the ray
- normal = -normal;
- }
- }
-
- btCollisionWorld::LocalRayResult rayResult(collisionObject,
- &shapeInfo,
- normal,
- softResult.fraction);
- bool normalInWorldSpace = true;
- resultCallback.addSingleResult(rayResult, normalInWorldSpace);
- }
- }
- }
- }
- else
- {
- btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
- }
- }
-};
-
-#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H
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