mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-15 08:34:40 +00:00
update bullet so it actually works
Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
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marauder2k7
parent
c7be48130a
commit
13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
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#ifndef COMMON_DEFORMABLE_BODY_SETUP_H
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#define COMMON_DEFORMABLE_BODY_SETUP_H
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "btBulletDynamicsCommon.h"
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#include "CommonExampleInterface.h"
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#include "CommonGUIHelperInterface.h"
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#include "CommonRenderInterface.h"
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#include "CommonGraphicsAppInterface.h"
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#include "CommonWindowInterface.h"
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#include "CommonCameraInterface.h"
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#include "CommonMultiBodyBase.h"
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#include "BulletSoftBody/btSoftBody.h"
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struct CommonDeformableBodyBase : public CommonMultiBodyBase
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{
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btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
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btSoftBody* m_pickedSoftBody;
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btDeformableMousePickingForce* m_mouseForce;
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btScalar m_pickingForceElasticStiffness, m_pickingForceDampingStiffness, m_maxPickingForce;
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CommonDeformableBodyBase(GUIHelperInterface* helper)
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: CommonMultiBodyBase(helper),
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m_pickedSoftBody(0),
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m_mouseForce(0),
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m_pickingForceElasticStiffness(100),
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m_pickingForceDampingStiffness(0.0),
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m_maxPickingForce(0.3)
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{
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}
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virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
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{
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return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
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}
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virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
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{
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return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
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}
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struct ClosestRayResultCallbackWithInfo : public btCollisionWorld::ClosestRayResultCallback
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{
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ClosestRayResultCallbackWithInfo(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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: ClosestRayResultCallback(rayFromWorld, rayToWorld)
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{
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}
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int m_faceId;
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virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
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{
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//caller already does the filter on the m_closestHitFraction
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btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
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m_closestHitFraction = rayResult.m_hitFraction;
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m_collisionObject = rayResult.m_collisionObject;
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if (rayResult.m_localShapeInfo)
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{
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m_faceId = rayResult.m_localShapeInfo->m_triangleIndex;
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}
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else
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{
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m_faceId = -1;
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}
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if (normalInWorldSpace)
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{
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m_hitNormalWorld = rayResult.m_hitNormalLocal;
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}
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else
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{
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///need to transform normal into worldspace
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m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
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}
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m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
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return rayResult.m_hitFraction;
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}
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};
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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if (getDeformableDynamicsWorld() == 0)
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return false;
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ClosestRayResultCallbackWithInfo rayCallback(rayFromWorld, rayToWorld);
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getDeformableDynamicsWorld()->rayTest(rayFromWorld, rayToWorld, rayCallback);
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if (rayCallback.hasHit())
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{
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btVector3 pickPos = rayCallback.m_hitPointWorld;
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btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
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btSoftBody* psb = (btSoftBody*)btSoftBody::upcast(rayCallback.m_collisionObject);
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m_oldPickingPos = rayToWorld;
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m_hitPos = pickPos;
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m_oldPickingDist = (pickPos - rayFromWorld).length();
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if (body)
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{
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if (!(body->isStaticObject() || body->isKinematicObject()))
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{
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m_pickedBody = body;
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m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
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btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
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btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);
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m_dynamicsWorld->addConstraint(p2p, true);
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m_pickedConstraint = p2p;
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btScalar mousePickClamping = 30.f;
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p2p->m_setting.m_impulseClamp = mousePickClamping;
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//very weak constraint for picking
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p2p->m_setting.m_tau = 0.001f;
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}
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}
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else if (psb)
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{
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int face_id = rayCallback.m_faceId;
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if (face_id >= 0 && face_id < psb->m_faces.size())
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{
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m_pickedSoftBody = psb;
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psb->setActivationState(DISABLE_DEACTIVATION);
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const btSoftBody::Face& f = psb->m_faces[face_id];
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btDeformableMousePickingForce* mouse_force = new btDeformableMousePickingForce(m_pickingForceElasticStiffness, m_pickingForceDampingStiffness, f, m_hitPos, m_maxPickingForce);
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m_mouseForce = mouse_force;
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getDeformableDynamicsWorld()->addForce(psb, mouse_force);
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}
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}
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else
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{
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btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
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if (multiCol && multiCol->m_multiBody)
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{
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m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
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multiCol->m_multiBody->setCanSleep(false);
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btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);
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btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody, multiCol->m_link, 0, pivotInA, pickPos);
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//if you add too much energy to the system, causing high angular velocities, simulation 'explodes'
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//see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949
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//so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply
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//it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?)
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btScalar scaling = 1;
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p2p->setMaxAppliedImpulse(2 * scaling);
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btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_dynamicsWorld;
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world->addMultiBodyConstraint(p2p);
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m_pickingMultiBodyPoint2Point = p2p;
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}
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}
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}
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return false;
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}
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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if (m_pickedBody && m_pickedConstraint)
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{
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btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
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if (pickCon)
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{
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//keep it at the same picking distance
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btVector3 newPivotB;
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btVector3 dir = rayToWorld - rayFromWorld;
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dir.normalize();
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dir *= m_oldPickingDist;
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newPivotB = rayFromWorld + dir;
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pickCon->setPivotB(newPivotB);
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return true;
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}
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}
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if (m_pickingMultiBodyPoint2Point)
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{
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//keep it at the same picking distance
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btVector3 dir = rayToWorld - rayFromWorld;
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dir.normalize();
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dir *= m_oldPickingDist;
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btVector3 newPivotB = rayFromWorld + dir;
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m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB);
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}
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if (m_pickedSoftBody && m_mouseForce)
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{
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btVector3 newPivot;
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btVector3 dir = rayToWorld - rayFromWorld;
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dir.normalize();
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dir *= m_oldPickingDist;
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newPivot = rayFromWorld + dir;
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m_mouseForce->setMousePos(newPivot);
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}
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return false;
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}
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virtual void removePickingConstraint()
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{
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if (m_pickedConstraint)
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{
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m_dynamicsWorld->removeConstraint(m_pickedConstraint);
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if (m_pickedBody)
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{
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m_pickedBody->forceActivationState(ACTIVE_TAG);
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m_pickedBody->activate(true);
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}
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delete m_pickedConstraint;
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m_pickedConstraint = 0;
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m_pickedBody = 0;
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}
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if (m_pickingMultiBodyPoint2Point)
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{
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m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(m_prevCanSleep);
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btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_dynamicsWorld;
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world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point);
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delete m_pickingMultiBodyPoint2Point;
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m_pickingMultiBodyPoint2Point = 0;
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}
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if (m_pickedSoftBody)
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{
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getDeformableDynamicsWorld()->removeForce(m_pickedSoftBody, m_mouseForce);
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delete m_mouseForce;
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m_mouseForce = 0;
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m_pickedSoftBody = 0;
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}
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}
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};
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#endif //COMMON_MULTI_BODY_SETUP_H
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