/* 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. */ #include "btSoftMultiBodyDynamicsWorld.h" #include "LinearMath/btQuickprof.h" //softbody & helpers #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btSoftBodySolvers.h" #include "BulletSoftBody/btDefaultSoftBodySolver.h" #include "LinearMath/btSerializer.h" btSoftMultiBodyDynamicsWorld::btSoftMultiBodyDynamicsWorld( btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver ) : btMultiBodyDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration), m_softBodySolver( softBodySolver ), m_ownsSolver(false) { if( !m_softBodySolver ) { void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver),16); m_softBodySolver = new(ptr) btDefaultSoftBodySolver(); m_ownsSolver = true; } m_drawFlags = fDrawFlags::Std; m_drawNodeTree = true; m_drawFaceTree = false; m_drawClusterTree = false; m_sbi.m_broadphase = pairCache; m_sbi.m_dispatcher = dispatcher; m_sbi.m_sparsesdf.Initialize(); m_sbi.m_sparsesdf.Reset(); m_sbi.air_density = (btScalar)1.2; m_sbi.water_density = 0; m_sbi.water_offset = 0; m_sbi.water_normal = btVector3(0,0,0); m_sbi.m_gravity.setValue(0,-10,0); m_sbi.m_sparsesdf.Initialize(); } btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld() { if (m_ownsSolver) { m_softBodySolver->~btSoftBodySolver(); btAlignedFree(m_softBodySolver); } } void btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep ); { BT_PROFILE("predictUnconstraintMotionSoftBody"); m_softBodySolver->predictMotion( float(timeStep) ); } } void btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation( btScalar timeStep ) { // Let the solver grab the soft bodies and if necessary optimize for it m_softBodySolver->optimize( getSoftBodyArray() ); if( !m_softBodySolver->checkInitialized() ) { btAssert( "Solver initialization failed\n" ); } btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep ); ///solve soft bodies constraints solveSoftBodiesConstraints( timeStep ); //self collisions for ( int i=0;idefaultCollisionHandler(psb); } ///update soft bodies m_softBodySolver->updateSoftBodies( ); // End solver-wise simulation step // /////////////////////////////// } void btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints( btScalar timeStep ) { BT_PROFILE("solveSoftConstraints"); if(m_softBodies.size()) { btSoftBody::solveClusters(m_softBodies); } // Solve constraints solver-wise m_softBodySolver->solveConstraints( timeStep * m_softBodySolver->getTimeScale() ); } void btSoftMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) { m_softBodies.push_back(body); // Set the soft body solver that will deal with this body // to be the world's solver body->setSoftBodySolver( m_softBodySolver ); btCollisionWorld::addCollisionObject(body, collisionFilterGroup, collisionFilterMask); } void btSoftMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body) { m_softBodies.remove(body); btCollisionWorld::removeCollisionObject(body); } void btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject) { btSoftBody* body = btSoftBody::upcast(collisionObject); if (body) removeSoftBody(body); else btDiscreteDynamicsWorld::removeCollisionObject(collisionObject); } void btSoftMultiBodyDynamicsWorld::debugDrawWorld() { btDiscreteDynamicsWorld::debugDrawWorld(); if (getDebugDrawer()) { int i; for ( i=0;im_softBodies.size();i++) { btSoftBody* psb=(btSoftBody*)this->m_softBodies[i]; if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) { btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer); btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags); } if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) { if(m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer); if(m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer); if(m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer); } } } } struct btSoftSingleRayCallback : public btBroadphaseRayCallback { btVector3 m_rayFromWorld; btVector3 m_rayToWorld; btTransform m_rayFromTrans; btTransform m_rayToTrans; btVector3 m_hitNormal; const btSoftMultiBodyDynamicsWorld* m_world; btCollisionWorld::RayResultCallback& m_resultCallback; btSoftSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btSoftMultiBodyDynamicsWorld* 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 btSoftMultiBodyDynamicsWorld::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 btSoftSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback); #ifndef USE_BRUTEFORCE_RAYBROADPHASE m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB); #else for (int i=0;igetNumCollisionObjects();i++) { rayCB.process(m_collisionObjects[i]->getBroadphaseHandle()); } #endif //USE_BRUTEFORCE_RAYBROADPHASE } void btSoftMultiBodyDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, RayResultCallback& resultCallback) { if (collisionShape->isSoftBody()) { btSoftBody* softBody = btSoftBody::upcast(collisionObject); if (softBody) { btSoftBody::sRayCast softResult; if (softBody->rayTest(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(); if (softResult.feature == btSoftBody::eFeature::Face) { 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); } } void btSoftMultiBodyDynamicsWorld::serializeSoftBodies(btSerializer* serializer) { int i; //serialize all collision objects for (i=0;igetInternalType() & btCollisionObject::CO_SOFT_BODY) { int len = colObj->calculateSerializeBufferSize(); btChunk* chunk = serializer->allocate(len,1); const char* structType = colObj->serialize(chunk->m_oldPtr, serializer); serializer->finalizeChunk(chunk,structType,BT_SOFTBODY_CODE,colObj); } } } void btSoftMultiBodyDynamicsWorld::serialize(btSerializer* serializer) { serializer->startSerialization(); serializeDynamicsWorldInfo( serializer); serializeSoftBodies(serializer); serializeRigidBodies(serializer); serializeCollisionObjects(serializer); serializer->finishSerialization(); }