mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-11 22:54:34 +00:00
Bullet Library v2.81
This commit is contained in:
LuisAntonRebollo
parent
64fef8b2ad
commit
1eb94f4828
462 changed files with 59613 additions and 8036 deletions
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@ -19,6 +19,8 @@ subject to the following restrictions:
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#include <string.h>
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#include "btSoftBodyHelpers.h"
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#include "LinearMath/btConvexHull.h"
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#include "LinearMath/btConvexHullComputer.h"
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//
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static void drawVertex( btIDebugDraw* idraw,
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@ -165,57 +167,181 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
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const btVector3 ccolor=btVector3(1,0,0);
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int i,j,nj;
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/* Nodes */
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if(0!=(drawflags&fDrawFlags::Nodes))
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/* Clusters */
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if(0!=(drawflags&fDrawFlags::Clusters))
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{
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for(i=0;i<psb->m_nodes.size();++i)
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srand(1806);
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for(i=0;i<psb->m_clusters.size();++i)
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{
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const btSoftBody::Node& n=psb->m_nodes[i];
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if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
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idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
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idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
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if(psb->m_clusters[i]->m_collide)
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{
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btVector3 color( rand()/(btScalar)RAND_MAX,
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rand()/(btScalar)RAND_MAX,
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rand()/(btScalar)RAND_MAX);
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color=color.normalized()*0.75;
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btAlignedObjectArray<btVector3> vertices;
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vertices.resize(psb->m_clusters[i]->m_nodes.size());
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for(j=0,nj=vertices.size();j<nj;++j)
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{
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vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
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}
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#define USE_NEW_CONVEX_HULL_COMPUTER
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#ifdef USE_NEW_CONVEX_HULL_COMPUTER
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btConvexHullComputer computer;
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int stride = sizeof(btVector3);
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int count = vertices.size();
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btScalar shrink=0.f;
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btScalar shrinkClamp=0.f;
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computer.compute(&vertices[0].getX(),stride,count,shrink,shrinkClamp);
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for (int i=0;i<computer.faces.size();i++)
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{
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int face = computer.faces[i];
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//printf("face=%d\n",face);
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const btConvexHullComputer::Edge* firstEdge = &computer.edges[face];
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const btConvexHullComputer::Edge* edge = firstEdge->getNextEdgeOfFace();
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int v0 = firstEdge->getSourceVertex();
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int v1 = firstEdge->getTargetVertex();
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while (edge!=firstEdge)
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{
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int v2 = edge->getTargetVertex();
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idraw->drawTriangle(computer.vertices[v0],computer.vertices[v1],computer.vertices[v2],color,1);
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edge = edge->getNextEdgeOfFace();
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v0=v1;
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v1=v2;
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};
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}
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#else
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HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
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HullResult hres;
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HullLibrary hlib;
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hdsc.mMaxVertices=vertices.size();
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hlib.CreateConvexHull(hdsc,hres);
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const btVector3 center=average(hres.m_OutputVertices);
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add(hres.m_OutputVertices,-center);
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mul(hres.m_OutputVertices,(btScalar)1);
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add(hres.m_OutputVertices,center);
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for(j=0;j<(int)hres.mNumFaces;++j)
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{
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const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
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idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
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hres.m_OutputVertices[idx[1]],
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hres.m_OutputVertices[idx[2]],
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color,1);
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}
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hlib.ReleaseResult(hres);
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#endif
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}
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/* Velocities */
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#if 0
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for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
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{
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const btSoftBody::Cluster& c=psb->m_clusters[i];
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const btVector3 r=c.m_nodes[j]->m_x-c.m_com;
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const btVector3 v=c.m_lv+btCross(c.m_av,r);
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idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
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}
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#endif
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/* Frame */
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// btSoftBody::Cluster& c=*psb->m_clusters[i];
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// idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
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// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
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// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
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}
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}
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/* Links */
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if(0!=(drawflags&fDrawFlags::Links))
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else
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{
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for(i=0;i<psb->m_links.size();++i)
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/* Nodes */
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if(0!=(drawflags&fDrawFlags::Nodes))
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{
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const btSoftBody::Link& l=psb->m_links[i];
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if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
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for(i=0;i<psb->m_nodes.size();++i)
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{
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const btSoftBody::Node& n=psb->m_nodes[i];
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if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
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idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
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idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
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}
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}
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}
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/* Normals */
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if(0!=(drawflags&fDrawFlags::Normals))
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{
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for(i=0;i<psb->m_nodes.size();++i)
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/* Links */
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if(0!=(drawflags&fDrawFlags::Links))
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{
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const btSoftBody::Node& n=psb->m_nodes[i];
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if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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const btVector3 d=n.m_n*nscl;
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idraw->drawLine(n.m_x,n.m_x+d,ncolor);
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idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
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for(i=0;i<psb->m_links.size();++i)
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{
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const btSoftBody::Link& l=psb->m_links[i];
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if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
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}
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}
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}
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/* Contacts */
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if(0!=(drawflags&fDrawFlags::Contacts))
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/* Normals */
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if(0!=(drawflags&fDrawFlags::Normals))
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{
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for(i=0;i<psb->m_nodes.size();++i)
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{
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const btSoftBody::Node& n=psb->m_nodes[i];
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if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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const btVector3 d=n.m_n*nscl;
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idraw->drawLine(n.m_x,n.m_x+d,ncolor);
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idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
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}
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}
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/* Contacts */
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if(0!=(drawflags&fDrawFlags::Contacts))
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{
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static const btVector3 axis[]={btVector3(1,0,0),
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btVector3(0,1,0),
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btVector3(0,0,1)};
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for(i=0;i<psb->m_rcontacts.size();++i)
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{
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const btSoftBody::RContact& c=psb->m_rcontacts[i];
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const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
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(btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
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const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
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const btVector3 y=btCross(x,c.m_cti.m_normal).normalized();
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idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
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idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
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idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
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}
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}
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/* Faces */
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if(0!=(drawflags&fDrawFlags::Faces))
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{
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static const btVector3 axis[]={btVector3(1,0,0),
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btVector3(0,1,0),
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btVector3(0,0,1)};
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for(i=0;i<psb->m_rcontacts.size();++i)
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{
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const btSoftBody::RContact& c=psb->m_rcontacts[i];
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const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
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(btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
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const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
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const btVector3 y=btCross(x,c.m_cti.m_normal).normalized();
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idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
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idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
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idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
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}
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const btScalar scl=(btScalar)0.8;
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const btScalar alp=(btScalar)1;
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const btVector3 col(0,(btScalar)0.7,0);
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for(i=0;i<psb->m_faces.size();++i)
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{
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const btSoftBody::Face& f=psb->m_faces[i];
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if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
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const btVector3 c=(x[0]+x[1]+x[2])/3;
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idraw->drawTriangle((x[0]-c)*scl+c,
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(x[1]-c)*scl+c,
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(x[2]-c)*scl+c,
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col,alp);
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}
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}
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/* Tetras */
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if(0!=(drawflags&fDrawFlags::Tetras))
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{
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const btScalar scl=(btScalar)0.8;
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const btScalar alp=(btScalar)1;
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const btVector3 col((btScalar)0.3,(btScalar)0.3,(btScalar)0.7);
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for(int i=0;i<psb->m_tetras.size();++i)
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{
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const btSoftBody::Tetra& t=psb->m_tetras[i];
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if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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const btVector3 x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x};
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const btVector3 c=(x[0]+x[1]+x[2]+x[3])/4;
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idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp);
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idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
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idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
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idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
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}
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}
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}
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/* Anchors */
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if(0!=(drawflags&fDrawFlags::Anchors))
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@ -238,97 +364,7 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
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}
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}
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}
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/* Faces */
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if(0!=(drawflags&fDrawFlags::Faces))
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{
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const btScalar scl=(btScalar)0.8;
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const btScalar alp=(btScalar)1;
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const btVector3 col(0,(btScalar)0.7,0);
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for(i=0;i<psb->m_faces.size();++i)
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{
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const btSoftBody::Face& f=psb->m_faces[i];
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if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
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const btVector3 c=(x[0]+x[1]+x[2])/3;
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idraw->drawTriangle((x[0]-c)*scl+c,
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(x[1]-c)*scl+c,
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(x[2]-c)*scl+c,
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col,alp);
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}
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}
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/* Clusters */
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if(0!=(drawflags&fDrawFlags::Clusters))
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{
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srand(1806);
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for(i=0;i<psb->m_clusters.size();++i)
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{
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if(psb->m_clusters[i]->m_collide)
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{
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btVector3 color( rand()/(btScalar)RAND_MAX,
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rand()/(btScalar)RAND_MAX,
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rand()/(btScalar)RAND_MAX);
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color=color.normalized()*0.75;
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btAlignedObjectArray<btVector3> vertices;
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vertices.resize(psb->m_clusters[i]->m_nodes.size());
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for(j=0,nj=vertices.size();j<nj;++j)
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{
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vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
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}
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HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
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HullResult hres;
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HullLibrary hlib;
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hdsc.mMaxVertices=vertices.size();
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hlib.CreateConvexHull(hdsc,hres);
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const btVector3 center=average(hres.m_OutputVertices);
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add(hres.m_OutputVertices,-center);
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mul(hres.m_OutputVertices,(btScalar)1);
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add(hres.m_OutputVertices,center);
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for(j=0;j<(int)hres.mNumFaces;++j)
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{
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const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
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idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
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hres.m_OutputVertices[idx[1]],
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hres.m_OutputVertices[idx[2]],
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color,1);
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}
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hlib.ReleaseResult(hres);
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}
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/* Velocities */
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#if 0
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for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
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{
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const btSoftBody::Cluster& c=psb->m_clusters[i];
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const btVector3 r=c.m_nodes[j]->m_x-c.m_com;
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const btVector3 v=c.m_lv+btCross(c.m_av,r);
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idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
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}
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#endif
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/* Frame */
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btSoftBody::Cluster& c=*psb->m_clusters[i];
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idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
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idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
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idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
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}
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}
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/* Tetras */
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if(0!=(drawflags&fDrawFlags::Tetras))
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{
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const btScalar scl=(btScalar)0.8;
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const btScalar alp=(btScalar)1;
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const btVector3 col((btScalar)0.7,(btScalar)0.7,(btScalar)0.7);
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for(int i=0;i<psb->m_tetras.size();++i)
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{
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const btSoftBody::Tetra& t=psb->m_tetras[i];
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if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
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const btVector3 x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x};
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const btVector3 c=(x[0]+x[1]+x[2]+x[3])/4;
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idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp);
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idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
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idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
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idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
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}
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}
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/* Notes */
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if(0!=(drawflags&fDrawFlags::Notes))
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@ -380,7 +416,12 @@ void btSoftBodyHelpers::Draw( btSoftBody* psb,
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idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
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idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
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idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
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break;
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}
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default:
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{
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}
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}
|
||||
}
|
||||
}
|
||||
|
|
@ -813,7 +854,7 @@ btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,c
|
|||
//
|
||||
btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar* vertices,
|
||||
const int* triangles,
|
||||
int ntriangles)
|
||||
int ntriangles, bool randomizeConstraints)
|
||||
{
|
||||
int maxidx=0;
|
||||
int i,j,ni;
|
||||
|
|
@ -848,13 +889,18 @@ btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo
|
|||
#undef IDX
|
||||
psb->appendFace(idx[0],idx[1],idx[2]);
|
||||
}
|
||||
psb->randomizeConstraints();
|
||||
|
||||
if (randomizeConstraints)
|
||||
{
|
||||
psb->randomizeConstraints();
|
||||
}
|
||||
|
||||
return(psb);
|
||||
}
|
||||
|
||||
//
|
||||
btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
|
||||
int nvertices)
|
||||
int nvertices, bool randomizeConstraints)
|
||||
{
|
||||
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
|
||||
HullResult hres;
|
||||
|
|
@ -874,7 +920,10 @@ btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldI
|
|||
psb->appendFace(idx[0],idx[1],idx[2]);
|
||||
}
|
||||
hlib.ReleaseResult(hres);
|
||||
psb->randomizeConstraints();
|
||||
if (randomizeConstraints)
|
||||
{
|
||||
psb->randomizeConstraints();
|
||||
}
|
||||
return(psb);
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue