172 lines
6.2 KiB
C++
172 lines
6.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 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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#ifndef BT_SOFT_BODY_HELPERS_H
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#define BT_SOFT_BODY_HELPERS_H
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#include "btSoftBody.h"
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#include <fstream>
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#include <string>
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//
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// Helpers
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//
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/* fDrawFlags */
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struct fDrawFlags
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{
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enum _
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{
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Nodes = 0x0001,
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Links = 0x0002,
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Faces = 0x0004,
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Tetras = 0x0008,
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Normals = 0x0010,
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Contacts = 0x0020,
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Anchors = 0x0040,
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Notes = 0x0080,
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Clusters = 0x0100,
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NodeTree = 0x0200,
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FaceTree = 0x0400,
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ClusterTree = 0x0800,
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Joints = 0x1000,
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/* presets */
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Std = Links + Faces + Tetras + Anchors + Notes + Joints,
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StdTetra = Std - Faces + Tetras
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};
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};
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struct btSoftBodyHelpers
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{
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/* Draw body */
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static void Draw(btSoftBody* psb,
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btIDebugDraw* idraw,
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int drawflags = fDrawFlags::Std);
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/* Draw body infos */
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static void DrawInfos(btSoftBody* psb,
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btIDebugDraw* idraw,
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bool masses,
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bool areas,
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bool stress);
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/* Draw node tree */
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static void DrawNodeTree(btSoftBody* psb,
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btIDebugDraw* idraw,
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int mindepth = 0,
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int maxdepth = -1);
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/* Draw face tree */
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static void DrawFaceTree(btSoftBody* psb,
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btIDebugDraw* idraw,
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int mindepth = 0,
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int maxdepth = -1);
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/* Draw cluster tree */
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static void DrawClusterTree(btSoftBody* psb,
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btIDebugDraw* idraw,
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int mindepth = 0,
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int maxdepth = -1);
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/* Draw rigid frame */
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static void DrawFrame(btSoftBody* psb,
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btIDebugDraw* idraw);
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/* Create a rope */
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static btSoftBody* CreateRope(btSoftBodyWorldInfo& worldInfo,
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const btVector3& from,
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const btVector3& to,
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int res,
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int fixeds);
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/* Create a patch */
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static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo,
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const btVector3& corner00,
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const btVector3& corner10,
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const btVector3& corner01,
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const btVector3& corner11,
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int resx,
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int resy,
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int fixeds,
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bool gendiags,
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btScalar perturbation = 0.);
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/* Create a patch with UV Texture Coordinates */
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static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
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const btVector3& corner00,
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const btVector3& corner10,
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const btVector3& corner01,
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const btVector3& corner11,
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int resx,
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int resy,
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int fixeds,
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bool gendiags,
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float* tex_coords = 0);
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static float CalculateUV(int resx, int resy, int ix, int iy, int id);
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/* Create an ellipsoid */
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static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
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const btVector3& center,
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const btVector3& radius,
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int res);
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/* Create from trimesh */
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static btSoftBody* CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,
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const btScalar* vertices,
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const int* triangles,
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int ntriangles,
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bool randomizeConstraints = true);
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/* Create from convex-hull */
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static btSoftBody* CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo,
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const btVector3* vertices,
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int nvertices,
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bool randomizeConstraints = true);
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/* Export TetGen compatible .smesh file */
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// static void ExportAsSMeshFile( btSoftBody* psb,
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// const char* filename);
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/* Create from TetGen .ele, .face, .node files */
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// static btSoftBody* CreateFromTetGenFile( btSoftBodyWorldInfo& worldInfo,
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// const char* ele,
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// const char* face,
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// const char* node,
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// bool bfacelinks,
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// bool btetralinks,
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// bool bfacesfromtetras);
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/* Create from TetGen .ele, .face, .node data */
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static btSoftBody* CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
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const char* ele,
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const char* face,
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const char* node,
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bool bfacelinks,
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bool btetralinks,
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bool bfacesfromtetras);
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static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);
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static void writeObj(const char* file, const btSoftBody* psb);
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static void writeState(const char* file, const btSoftBody* psb);
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//this code cannot be here, dependency on example code are not allowed
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//static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
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static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);
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static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& p, btVector4& bary);
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static void interpolateBarycentricWeights(btSoftBody* psb);
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static void extrapolateBarycentricWeights(btSoftBody* psb);
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static void generateBoundaryFaces(btSoftBody* psb);
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static void duplicateFaces(const char* filename, const btSoftBody* psb);
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/// Sort the list of links to move link calculations that are dependent upon earlier
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/// ones as far as possible away from the calculation of those values
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/// This tends to make adjacent loop iterations not dependent upon one another,
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/// so out-of-order processors can execute instructions from multiple iterations at once
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static void ReoptimizeLinkOrder(btSoftBody* psb);
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};
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#endif //BT_SOFT_BODY_HELPERS_H
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