355 lines
12 KiB
C++
355 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btSoftMultiBodyDynamicsWorld.h"
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#include "LinearMath/btQuickprof.h"
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//softbody & helpers
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#include "BulletSoftBody/btSoftBody.h"
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "BulletSoftBody/btSoftBodySolvers.h"
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#include "BulletSoftBody/btDefaultSoftBodySolver.h"
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#include "LinearMath/btSerializer.h"
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btSoftMultiBodyDynamicsWorld::btSoftMultiBodyDynamicsWorld(
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btDispatcher* dispatcher,
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btBroadphaseInterface* pairCache,
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btMultiBodyConstraintSolver* constraintSolver,
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btCollisionConfiguration* collisionConfiguration,
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btSoftBodySolver* softBodySolver) : btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
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m_softBodySolver(softBodySolver),
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m_ownsSolver(false)
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{
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if (!m_softBodySolver)
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{
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void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver), 16);
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m_softBodySolver = new (ptr) btDefaultSoftBodySolver();
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m_ownsSolver = true;
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}
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m_drawFlags = fDrawFlags::Std;
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m_drawNodeTree = true;
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m_drawFaceTree = false;
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m_drawClusterTree = false;
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m_sbi.m_broadphase = pairCache;
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m_sbi.m_dispatcher = dispatcher;
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m_sbi.m_sparsesdf.Initialize();
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m_sbi.m_sparsesdf.Reset();
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m_sbi.air_density = (btScalar)1.2;
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m_sbi.water_density = 0;
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m_sbi.water_offset = 0;
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m_sbi.water_normal = btVector3(0, 0, 0);
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m_sbi.m_gravity.setValue(0, -10, 0);
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m_sbi.m_sparsesdf.Initialize();
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}
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btSoftMultiBodyDynamicsWorld::~btSoftMultiBodyDynamicsWorld()
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{
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if (m_ownsSolver)
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{
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m_softBodySolver->~btSoftBodySolver();
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btAlignedFree(m_softBodySolver);
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}
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}
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void btSoftMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
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{
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btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
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{
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BT_PROFILE("predictUnconstraintMotionSoftBody");
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m_softBodySolver->predictMotion(float(timeStep));
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}
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}
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void btSoftMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
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{
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// Let the solver grab the soft bodies and if necessary optimize for it
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m_softBodySolver->optimize(getSoftBodyArray());
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if (!m_softBodySolver->checkInitialized())
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{
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btAssert("Solver initialization failed\n");
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}
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btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
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///solve soft bodies constraints
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solveSoftBodiesConstraints(timeStep);
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//self collisions
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for (int i = 0; i < m_softBodies.size(); i++)
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{
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btSoftBody* psb = (btSoftBody*)m_softBodies[i];
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psb->defaultCollisionHandler(psb);
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}
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///update soft bodies
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m_softBodySolver->updateSoftBodies();
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for (int i = 0; i < m_softBodies.size(); i++)
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{
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btSoftBody* psb = (btSoftBody*)m_softBodies[i];
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psb->interpolateRenderMesh();
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}
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// End solver-wise simulation step
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// ///////////////////////////////
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}
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void btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints(btScalar timeStep)
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{
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BT_PROFILE("solveSoftConstraints");
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if (m_softBodies.size())
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{
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btSoftBody::solveClusters(m_softBodies);
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}
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// Solve constraints solver-wise
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m_softBodySolver->solveConstraints(timeStep * m_softBodySolver->getTimeScale());
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}
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void btSoftMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
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{
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m_softBodies.push_back(body);
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// Set the soft body solver that will deal with this body
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// to be the world's solver
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body->setSoftBodySolver(m_softBodySolver);
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btCollisionWorld::addCollisionObject(body,
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collisionFilterGroup,
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collisionFilterMask);
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}
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void btSoftMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body)
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{
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m_softBodies.remove(body);
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btCollisionWorld::removeCollisionObject(body);
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}
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void btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
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{
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btSoftBody* body = btSoftBody::upcast(collisionObject);
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if (body)
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removeSoftBody(body);
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else
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btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
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}
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void btSoftMultiBodyDynamicsWorld::debugDrawWorld()
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{
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btMultiBodyDynamicsWorld::debugDrawWorld();
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if (getDebugDrawer())
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{
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int i;
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for (i = 0; i < this->m_softBodies.size(); i++)
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{
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btSoftBody* psb = (btSoftBody*)this->m_softBodies[i];
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if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
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{
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btSoftBodyHelpers::DrawFrame(psb, m_debugDrawer);
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btSoftBodyHelpers::Draw(psb, m_debugDrawer, m_drawFlags);
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}
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if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
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{
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if (m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb, m_debugDrawer);
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if (m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb, m_debugDrawer);
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if (m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb, m_debugDrawer);
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}
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}
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}
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}
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struct btSoftSingleRayCallback : public btBroadphaseRayCallback
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{
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btVector3 m_rayFromWorld;
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btVector3 m_rayToWorld;
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btTransform m_rayFromTrans;
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btTransform m_rayToTrans;
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btVector3 m_hitNormal;
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const btSoftMultiBodyDynamicsWorld* m_world;
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btCollisionWorld::RayResultCallback& m_resultCallback;
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btSoftSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btSoftMultiBodyDynamicsWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
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: m_rayFromWorld(rayFromWorld),
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m_rayToWorld(rayToWorld),
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m_world(world),
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m_resultCallback(resultCallback)
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{
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m_rayFromTrans.setIdentity();
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m_rayFromTrans.setOrigin(m_rayFromWorld);
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m_rayToTrans.setIdentity();
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m_rayToTrans.setOrigin(m_rayToWorld);
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btVector3 rayDir = (rayToWorld - rayFromWorld);
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rayDir.normalize();
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///what about division by zero? --> just set rayDirection[i] to INF/1e30
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m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
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m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
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m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
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m_signs[0] = m_rayDirectionInverse[0] < 0.0;
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m_signs[1] = m_rayDirectionInverse[1] < 0.0;
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m_signs[2] = m_rayDirectionInverse[2] < 0.0;
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m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
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}
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virtual bool process(const btBroadphaseProxy* proxy)
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{
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///terminate further ray tests, once the closestHitFraction reached zero
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if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
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return false;
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btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
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//only perform raycast if filterMask matches
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if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
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{
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//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
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//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
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#if 0
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#ifdef RECALCULATE_AABB
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btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
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collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
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#else
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//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
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const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
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const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
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#endif
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#endif
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//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
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//culling already done by broadphase
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//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
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{
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m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
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collisionObject,
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collisionObject->getCollisionShape(),
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collisionObject->getWorldTransform(),
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m_resultCallback);
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}
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}
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return true;
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}
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};
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void btSoftMultiBodyDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
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{
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BT_PROFILE("rayTest");
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/// use the broadphase to accelerate the search for objects, based on their aabb
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/// and for each object with ray-aabb overlap, perform an exact ray test
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btSoftSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
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#ifndef USE_BRUTEFORCE_RAYBROADPHASE
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m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
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#else
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for (int i = 0; i < this->getNumCollisionObjects(); i++)
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{
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rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
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}
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#endif //USE_BRUTEFORCE_RAYBROADPHASE
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}
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void btSoftMultiBodyDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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RayResultCallback& resultCallback)
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{
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if (collisionShape->isSoftBody())
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{
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btSoftBody* softBody = btSoftBody::upcast(collisionObject);
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if (softBody)
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{
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btSoftBody::sRayCast softResult;
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if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
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{
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if (softResult.fraction <= resultCallback.m_closestHitFraction)
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = 0;
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shapeInfo.m_triangleIndex = softResult.index;
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// get the normal
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btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
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btVector3 normal = -rayDir;
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normal.normalize();
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if (softResult.feature == btSoftBody::eFeature::Face)
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{
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normal = softBody->m_faces[softResult.index].m_normal;
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if (normal.dot(rayDir) > 0)
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{
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// normal always point toward origin of the ray
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normal = -normal;
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}
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}
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btCollisionWorld::LocalRayResult rayResult(collisionObject,
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&shapeInfo,
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normal,
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softResult.fraction);
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bool normalInWorldSpace = true;
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resultCallback.addSingleResult(rayResult, normalInWorldSpace);
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}
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}
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}
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}
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else
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{
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btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
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}
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}
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void btSoftMultiBodyDynamicsWorld::serializeSoftBodies(btSerializer* serializer)
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{
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int i;
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//serialize all collision objects
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for (i = 0; i < m_collisionObjects.size(); i++)
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{
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btCollisionObject* colObj = m_collisionObjects[i];
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if (colObj->getInternalType() & btCollisionObject::CO_SOFT_BODY)
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{
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int len = colObj->calculateSerializeBufferSize();
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btChunk* chunk = serializer->allocate(len, 1);
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const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
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serializer->finalizeChunk(chunk, structType, BT_SOFTBODY_CODE, colObj);
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}
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}
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}
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void btSoftMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
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{
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serializer->startSerialization();
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serializeDynamicsWorldInfo(serializer);
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serializeSoftBodies(serializer);
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serializeMultiBodies(serializer);
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serializeRigidBodies(serializer);
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serializeCollisionObjects(serializer);
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serializeContactManifolds(serializer);
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serializer->finishSerialization();
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}
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