* Adjustment: Update Bullet version to 3.24.

2026-07-13 15:44:36 +00:00 · 2022-06-27 10:01:08 -04:00 · 2022-06-27 10:01:08 -04:00 · 4a3f31df2a
commit 4a3f31df2a
parent 35de012ee7
6148 changed files with 2112532 additions and 56873 deletions
--- a/Engine/lib/bullet/examples/RigidBody/RigidBodySoftContact.cpp
+++ b/Engine/lib/bullet/examples/RigidBody/RigidBodySoftContact.cpp
@ -0,0 +1,161 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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.
+*/
+
+#include "RigidBodySoftContact.h"
+
+#include "btBulletDynamicsCommon.h"
+#define ARRAY_SIZE_Y 1
+#define ARRAY_SIZE_X 1
+#define ARRAY_SIZE_Z 1
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
+#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
+
+struct RigidBodySoftContact : public CommonRigidBodyBase
+{
+	RigidBodySoftContact(struct GUIHelperInterface* helper)
+		: CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~RigidBodySoftContact()
+	{
+	}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 3;
+		float pitch = -35;
+		float yaw = 52;
+		float targetPos[3] = {0, 0.46, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+};
+
+void RigidBodySoftContact::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	//createEmptyDynamicsWorld();
+	{
+		///collision configuration contains default setup for memory, collision setup
+		m_collisionConfiguration = new btDefaultCollisionConfiguration();
+		//m_collisionConfiguration->setConvexConvexMultipointIterations();
+
+		///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+		m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+		m_broadphase = new btDbvtBroadphase();
+
+		///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+		btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+		//btMLCPSolver* sol = new btMLCPSolver(new btSolveProjectedGaussSeidel());
+		m_solver = sol;
+
+		m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+
+		m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+	}
+
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints);
+	m_dynamicsWorld->getSolverInfo().m_erp2 = 0.f;
+	m_dynamicsWorld->getSolverInfo().m_globalCfm = 0.f;
+	m_dynamicsWorld->getSolverInfo().m_numIterations = 3;
+	m_dynamicsWorld->getSolverInfo().m_solverMode = SOLVER_SIMD;  // | SOLVER_RANDMIZE_ORDER;
+	m_dynamicsWorld->getSolverInfo().m_splitImpulse = false;
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
+
+	//groundShape->initializePolyhedralFeatures();
+	//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0, -50, 0));
+
+	{
+		btScalar mass(0.);
+		btRigidBody* body = createRigidBody(mass, groundTransform, groundShape, btVector4(0, 0, 1, 1));
+
+		body->setContactStiffnessAndDamping(300, 10);
+	}
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+
+		//btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+
+		btCollisionShape* childShape = new btSphereShape(btScalar(0.5));
+		btCompoundShape* colShape = new btCompoundShape();
+		colShape->addChildShape(btTransform::getIdentity(), childShape);
+
+		m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		startTransform.setRotation(btQuaternion(btVector3(1, 1, 1), SIMD_PI / 10.));
+		btScalar mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0, 0, 0);
+		if (isDynamic)
+			colShape->calculateLocalInertia(mass, localInertia);
+
+		for (int k = 0; k < ARRAY_SIZE_Y; k++)
+		{
+			for (int i = 0; i < ARRAY_SIZE_X; i++)
+			{
+				for (int j = 0; j < ARRAY_SIZE_Z; j++)
+				{
+					startTransform.setOrigin(btVector3(
+						btScalar(2.0 * i + 0.1),
+						btScalar(3 + 2.0 * k),
+						btScalar(2.0 * j)));
+
+					btRigidBody* body;
+					body = createRigidBody(mass, startTransform, colShape);
+					//body->setAngularVelocity(btVector3(1,1,1));
+				}
+			}
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void RigidBodySoftContact::renderScene()
+{
+	CommonRigidBodyBase::renderScene();
+}
+
+CommonExampleInterface* RigidBodySoftContactCreateFunc(CommonExampleOptions& options)
+{
+	return new RigidBodySoftContact(options.m_guiHelper);
+}