1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 ///btSoftBody implementation by Nathanael Presson
16
17 #include "btSoftBodyInternals.h"
18 #include "BulletSoftBody/btSoftBodySolvers.h"
19 #include "btSoftBodyData.h"
20 #include "LinearMath/btSerializer.h"
21 #include "LinearMath/btImplicitQRSVD.h"
22 #include "LinearMath/btAlignedAllocator.h"
23 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
24 #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
25 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
26 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
27 #include <iostream>
28 //
buildTreeBottomUp(btAlignedObjectArray<btDbvtNode * > & leafNodes,btAlignedObjectArray<btAlignedObjectArray<int>> & adj)29 static inline btDbvtNode* buildTreeBottomUp(btAlignedObjectArray<btDbvtNode*>& leafNodes, btAlignedObjectArray<btAlignedObjectArray<int> >& adj)
30 {
31 int N = leafNodes.size();
32 if (N == 0)
33 {
34 return NULL;
35 }
36 while (N > 1)
37 {
38 btAlignedObjectArray<bool> marked;
39 btAlignedObjectArray<btDbvtNode*> newLeafNodes;
40 btAlignedObjectArray<std::pair<int, int> > childIds;
41 btAlignedObjectArray<btAlignedObjectArray<int> > newAdj;
42 marked.resize(N);
43 for (int i = 0; i < N; ++i)
44 marked[i] = false;
45
46 // pair adjacent nodes into new(parent) node
47 for (int i = 0; i < N; ++i)
48 {
49 if (marked[i])
50 continue;
51 bool merged = false;
52 for (int j = 0; j < adj[i].size(); ++j)
53 {
54 int n = adj[i][j];
55 if (!marked[adj[i][j]])
56 {
57 btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
58 node->parent = NULL;
59 node->childs[0] = leafNodes[i];
60 node->childs[1] = leafNodes[n];
61 leafNodes[i]->parent = node;
62 leafNodes[n]->parent = node;
63 newLeafNodes.push_back(node);
64 childIds.push_back(std::make_pair(i, n));
65 merged = true;
66 marked[n] = true;
67 break;
68 }
69 }
70 if (!merged)
71 {
72 newLeafNodes.push_back(leafNodes[i]);
73 childIds.push_back(std::make_pair(i, -1));
74 }
75 marked[i] = true;
76 }
77 // update adjacency matrix
78 newAdj.resize(newLeafNodes.size());
79 for (int i = 0; i < newLeafNodes.size(); ++i)
80 {
81 for (int j = i + 1; j < newLeafNodes.size(); ++j)
82 {
83 bool neighbor = false;
84 const btAlignedObjectArray<int>& leftChildNeighbors = adj[childIds[i].first];
85 for (int k = 0; k < leftChildNeighbors.size(); ++k)
86 {
87 if (leftChildNeighbors[k] == childIds[j].first || leftChildNeighbors[k] == childIds[j].second)
88 {
89 neighbor = true;
90 break;
91 }
92 }
93 if (!neighbor && childIds[i].second != -1)
94 {
95 const btAlignedObjectArray<int>& rightChildNeighbors = adj[childIds[i].second];
96 for (int k = 0; k < rightChildNeighbors.size(); ++k)
97 {
98 if (rightChildNeighbors[k] == childIds[j].first || rightChildNeighbors[k] == childIds[j].second)
99 {
100 neighbor = true;
101 break;
102 }
103 }
104 }
105 if (neighbor)
106 {
107 newAdj[i].push_back(j);
108 newAdj[j].push_back(i);
109 }
110 }
111 }
112 leafNodes = newLeafNodes;
113 //this assignment leaks memory, the assignment doesn't do a deep copy, for now a manual copy
114 //adj = newAdj;
115 adj.clear();
116 adj.resize(newAdj.size());
117 for (int i = 0; i < newAdj.size(); i++)
118 {
119 for (int j = 0; j < newAdj[i].size(); j++)
120 {
121 adj[i].push_back(newAdj[i][j]);
122 }
123 }
124 N = leafNodes.size();
125 }
126 return leafNodes[0];
127 }
128
129 //
btSoftBody(btSoftBodyWorldInfo * worldInfo,int node_count,const btVector3 * x,const btScalar * m)130 btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m)
131 : m_softBodySolver(0), m_worldInfo(worldInfo)
132 {
133 /* Init */
134 initDefaults();
135
136 /* Default material */
137 Material* pm = appendMaterial();
138 pm->m_kLST = 1;
139 pm->m_kAST = 1;
140 pm->m_kVST = 1;
141 pm->m_flags = fMaterial::Default;
142
143 /* Nodes */
144 const btScalar margin = getCollisionShape()->getMargin();
145 m_nodes.resize(node_count);
146 m_X.resize(node_count);
147 for (int i = 0, ni = node_count; i < ni; ++i)
148 {
149 Node& n = m_nodes[i];
150 ZeroInitialize(n);
151 n.m_x = x ? *x++ : btVector3(0, 0, 0);
152 n.m_q = n.m_x;
153 n.m_im = m ? *m++ : 1;
154 n.m_im = n.m_im > 0 ? 1 / n.m_im : 0;
155 n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x, margin), &n);
156 n.m_material = pm;
157 m_X[i] = n.m_x;
158 }
159 updateBounds();
160 setCollisionQuadrature(3);
161 m_fdbvnt = 0;
162 }
163
btSoftBody(btSoftBodyWorldInfo * worldInfo)164 btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo)
165 : m_worldInfo(worldInfo)
166 {
167 initDefaults();
168 }
169
initDefaults()170 void btSoftBody::initDefaults()
171 {
172 m_internalType = CO_SOFT_BODY;
173 m_cfg.aeromodel = eAeroModel::V_Point;
174 m_cfg.kVCF = 1;
175 m_cfg.kDG = 0;
176 m_cfg.kLF = 0;
177 m_cfg.kDP = 0;
178 m_cfg.kPR = 0;
179 m_cfg.kVC = 0;
180 m_cfg.kDF = (btScalar)0.2;
181 m_cfg.kMT = 0;
182 m_cfg.kCHR = (btScalar)1.0;
183 m_cfg.kKHR = (btScalar)0.1;
184 m_cfg.kSHR = (btScalar)1.0;
185 m_cfg.kAHR = (btScalar)0.7;
186 m_cfg.kSRHR_CL = (btScalar)0.1;
187 m_cfg.kSKHR_CL = (btScalar)1;
188 m_cfg.kSSHR_CL = (btScalar)0.5;
189 m_cfg.kSR_SPLT_CL = (btScalar)0.5;
190 m_cfg.kSK_SPLT_CL = (btScalar)0.5;
191 m_cfg.kSS_SPLT_CL = (btScalar)0.5;
192 m_cfg.maxvolume = (btScalar)1;
193 m_cfg.timescale = 1;
194 m_cfg.viterations = 0;
195 m_cfg.piterations = 1;
196 m_cfg.diterations = 0;
197 m_cfg.citerations = 4;
198 m_cfg.drag = 0;
199 m_cfg.m_maxStress = 0;
200 m_cfg.collisions = fCollision::Default;
201 m_pose.m_bvolume = false;
202 m_pose.m_bframe = false;
203 m_pose.m_volume = 0;
204 m_pose.m_com = btVector3(0, 0, 0);
205 m_pose.m_rot.setIdentity();
206 m_pose.m_scl.setIdentity();
207 m_tag = 0;
208 m_timeacc = 0;
209 m_bUpdateRtCst = true;
210 m_bounds[0] = btVector3(0, 0, 0);
211 m_bounds[1] = btVector3(0, 0, 0);
212 m_worldTransform.setIdentity();
213 setSolver(eSolverPresets::Positions);
214
215 /* Collision shape */
216 ///for now, create a collision shape internally
217 m_collisionShape = new btSoftBodyCollisionShape(this);
218 m_collisionShape->setMargin(0.25f);
219
220 m_worldTransform.setIdentity();
221
222 m_windVelocity = btVector3(0, 0, 0);
223 m_restLengthScale = btScalar(1.0);
224 m_dampingCoefficient = 1.0;
225 m_sleepingThreshold = .04;
226 m_useSelfCollision = false;
227 m_collisionFlags = 0;
228 m_softSoftCollision = false;
229 m_maxSpeedSquared = 0;
230 m_repulsionStiffness = 0.5;
231 m_gravityFactor = 1;
232 m_cacheBarycenter = false;
233 m_fdbvnt = 0;
234 }
235
236 //
~btSoftBody()237 btSoftBody::~btSoftBody()
238 {
239 //for now, delete the internal shape
240 delete m_collisionShape;
241 int i;
242
243 releaseClusters();
244 for (i = 0; i < m_materials.size(); ++i)
245 btAlignedFree(m_materials[i]);
246 for (i = 0; i < m_joints.size(); ++i)
247 btAlignedFree(m_joints[i]);
248 if (m_fdbvnt)
249 delete m_fdbvnt;
250 }
251
252 //
checkLink(int node0,int node1) const253 bool btSoftBody::checkLink(int node0, int node1) const
254 {
255 return (checkLink(&m_nodes[node0], &m_nodes[node1]));
256 }
257
258 //
checkLink(const Node * node0,const Node * node1) const259 bool btSoftBody::checkLink(const Node* node0, const Node* node1) const
260 {
261 const Node* n[] = {node0, node1};
262 for (int i = 0, ni = m_links.size(); i < ni; ++i)
263 {
264 const Link& l = m_links[i];
265 if ((l.m_n[0] == n[0] && l.m_n[1] == n[1]) ||
266 (l.m_n[0] == n[1] && l.m_n[1] == n[0]))
267 {
268 return (true);
269 }
270 }
271 return (false);
272 }
273
274 //
checkFace(int node0,int node1,int node2) const275 bool btSoftBody::checkFace(int node0, int node1, int node2) const
276 {
277 const Node* n[] = {&m_nodes[node0],
278 &m_nodes[node1],
279 &m_nodes[node2]};
280 for (int i = 0, ni = m_faces.size(); i < ni; ++i)
281 {
282 const Face& f = m_faces[i];
283 int c = 0;
284 for (int j = 0; j < 3; ++j)
285 {
286 if ((f.m_n[j] == n[0]) ||
287 (f.m_n[j] == n[1]) ||
288 (f.m_n[j] == n[2]))
289 c |= 1 << j;
290 else
291 break;
292 }
293 if (c == 7) return (true);
294 }
295 return (false);
296 }
297
298 //
appendMaterial()299 btSoftBody::Material* btSoftBody::appendMaterial()
300 {
301 Material* pm = new (btAlignedAlloc(sizeof(Material), 16)) Material();
302 if (m_materials.size() > 0)
303 *pm = *m_materials[0];
304 else
305 ZeroInitialize(*pm);
306 m_materials.push_back(pm);
307 return (pm);
308 }
309
310 //
appendNote(const char * text,const btVector3 & o,const btVector4 & c,Node * n0,Node * n1,Node * n2,Node * n3)311 void btSoftBody::appendNote(const char* text,
312 const btVector3& o,
313 const btVector4& c,
314 Node* n0,
315 Node* n1,
316 Node* n2,
317 Node* n3)
318 {
319 Note n;
320 ZeroInitialize(n);
321 n.m_rank = 0;
322 n.m_text = text;
323 n.m_offset = o;
324 n.m_coords[0] = c.x();
325 n.m_coords[1] = c.y();
326 n.m_coords[2] = c.z();
327 n.m_coords[3] = c.w();
328 n.m_nodes[0] = n0;
329 n.m_rank += n0 ? 1 : 0;
330 n.m_nodes[1] = n1;
331 n.m_rank += n1 ? 1 : 0;
332 n.m_nodes[2] = n2;
333 n.m_rank += n2 ? 1 : 0;
334 n.m_nodes[3] = n3;
335 n.m_rank += n3 ? 1 : 0;
336 m_notes.push_back(n);
337 }
338
339 //
appendNote(const char * text,const btVector3 & o,Node * feature)340 void btSoftBody::appendNote(const char* text,
341 const btVector3& o,
342 Node* feature)
343 {
344 appendNote(text, o, btVector4(1, 0, 0, 0), feature);
345 }
346
347 //
appendNote(const char * text,const btVector3 & o,Link * feature)348 void btSoftBody::appendNote(const char* text,
349 const btVector3& o,
350 Link* feature)
351 {
352 static const btScalar w = 1 / (btScalar)2;
353 appendNote(text, o, btVector4(w, w, 0, 0), feature->m_n[0],
354 feature->m_n[1]);
355 }
356
357 //
appendNote(const char * text,const btVector3 & o,Face * feature)358 void btSoftBody::appendNote(const char* text,
359 const btVector3& o,
360 Face* feature)
361 {
362 static const btScalar w = 1 / (btScalar)3;
363 appendNote(text, o, btVector4(w, w, w, 0), feature->m_n[0],
364 feature->m_n[1],
365 feature->m_n[2]);
366 }
367
368 //
appendNode(const btVector3 & x,btScalar m)369 void btSoftBody::appendNode(const btVector3& x, btScalar m)
370 {
371 if (m_nodes.capacity() == m_nodes.size())
372 {
373 pointersToIndices();
374 m_nodes.reserve(m_nodes.size() * 2 + 1);
375 indicesToPointers();
376 }
377 const btScalar margin = getCollisionShape()->getMargin();
378 m_nodes.push_back(Node());
379 Node& n = m_nodes[m_nodes.size() - 1];
380 ZeroInitialize(n);
381 n.m_x = x;
382 n.m_q = n.m_x;
383 n.m_im = m > 0 ? 1 / m : 0;
384 n.m_material = m_materials[0];
385 n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x, margin), &n);
386 }
387
388 //
appendLink(int model,Material * mat)389 void btSoftBody::appendLink(int model, Material* mat)
390 {
391 Link l;
392 if (model >= 0)
393 l = m_links[model];
394 else
395 {
396 ZeroInitialize(l);
397 l.m_material = mat ? mat : m_materials[0];
398 }
399 m_links.push_back(l);
400 }
401
402 //
appendLink(int node0,int node1,Material * mat,bool bcheckexist)403 void btSoftBody::appendLink(int node0,
404 int node1,
405 Material* mat,
406 bool bcheckexist)
407 {
408 appendLink(&m_nodes[node0], &m_nodes[node1], mat, bcheckexist);
409 }
410
411 //
appendLink(Node * node0,Node * node1,Material * mat,bool bcheckexist)412 void btSoftBody::appendLink(Node* node0,
413 Node* node1,
414 Material* mat,
415 bool bcheckexist)
416 {
417 if ((!bcheckexist) || (!checkLink(node0, node1)))
418 {
419 appendLink(-1, mat);
420 Link& l = m_links[m_links.size() - 1];
421 l.m_n[0] = node0;
422 l.m_n[1] = node1;
423 l.m_rl = (l.m_n[0]->m_x - l.m_n[1]->m_x).length();
424 m_bUpdateRtCst = true;
425 }
426 }
427
428 //
appendFace(int model,Material * mat)429 void btSoftBody::appendFace(int model, Material* mat)
430 {
431 Face f;
432 if (model >= 0)
433 {
434 f = m_faces[model];
435 }
436 else
437 {
438 ZeroInitialize(f);
439 f.m_material = mat ? mat : m_materials[0];
440 }
441 m_faces.push_back(f);
442 }
443
444 //
appendFace(int node0,int node1,int node2,Material * mat)445 void btSoftBody::appendFace(int node0, int node1, int node2, Material* mat)
446 {
447 if (node0 == node1)
448 return;
449 if (node1 == node2)
450 return;
451 if (node2 == node0)
452 return;
453
454 appendFace(-1, mat);
455 Face& f = m_faces[m_faces.size() - 1];
456 btAssert(node0 != node1);
457 btAssert(node1 != node2);
458 btAssert(node2 != node0);
459 f.m_n[0] = &m_nodes[node0];
460 f.m_n[1] = &m_nodes[node1];
461 f.m_n[2] = &m_nodes[node2];
462 f.m_ra = AreaOf(f.m_n[0]->m_x,
463 f.m_n[1]->m_x,
464 f.m_n[2]->m_x);
465 m_bUpdateRtCst = true;
466 }
467
468 //
appendTetra(int model,Material * mat)469 void btSoftBody::appendTetra(int model, Material* mat)
470 {
471 Tetra t;
472 if (model >= 0)
473 t = m_tetras[model];
474 else
475 {
476 ZeroInitialize(t);
477 t.m_material = mat ? mat : m_materials[0];
478 }
479 m_tetras.push_back(t);
480 }
481
482 //
appendTetra(int node0,int node1,int node2,int node3,Material * mat)483 void btSoftBody::appendTetra(int node0,
484 int node1,
485 int node2,
486 int node3,
487 Material* mat)
488 {
489 appendTetra(-1, mat);
490 Tetra& t = m_tetras[m_tetras.size() - 1];
491 t.m_n[0] = &m_nodes[node0];
492 t.m_n[1] = &m_nodes[node1];
493 t.m_n[2] = &m_nodes[node2];
494 t.m_n[3] = &m_nodes[node3];
495 t.m_rv = VolumeOf(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x);
496 m_bUpdateRtCst = true;
497 }
498
499 //
500
appendAnchor(int node,btRigidBody * body,bool disableCollisionBetweenLinkedBodies,btScalar influence)501 void btSoftBody::appendAnchor(int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies, btScalar influence)
502 {
503 btVector3 local = body->getWorldTransform().inverse() * m_nodes[node].m_x;
504 appendAnchor(node, body, local, disableCollisionBetweenLinkedBodies, influence);
505 }
506
507 //
appendAnchor(int node,btRigidBody * body,const btVector3 & localPivot,bool disableCollisionBetweenLinkedBodies,btScalar influence)508 void btSoftBody::appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies, btScalar influence)
509 {
510 if (disableCollisionBetweenLinkedBodies)
511 {
512 if (m_collisionDisabledObjects.findLinearSearch(body) == m_collisionDisabledObjects.size())
513 {
514 m_collisionDisabledObjects.push_back(body);
515 }
516 }
517
518 Anchor a;
519 a.m_node = &m_nodes[node];
520 a.m_body = body;
521 a.m_local = localPivot;
522 a.m_node->m_battach = 1;
523 a.m_influence = influence;
524 m_anchors.push_back(a);
525 }
526
527 //
appendDeformableAnchor(int node,btRigidBody * body)528 void btSoftBody::appendDeformableAnchor(int node, btRigidBody* body)
529 {
530 DeformableNodeRigidAnchor c;
531 btSoftBody::Node& n = m_nodes[node];
532 const btScalar ima = n.m_im;
533 const btScalar imb = body->getInvMass();
534 btVector3 nrm;
535 const btCollisionShape* shp = body->getCollisionShape();
536 const btTransform& wtr = body->getWorldTransform();
537 btScalar dst =
538 m_worldInfo->m_sparsesdf.Evaluate(
539 wtr.invXform(m_nodes[node].m_x),
540 shp,
541 nrm,
542 0);
543
544 c.m_cti.m_colObj = body;
545 c.m_cti.m_normal = wtr.getBasis() * nrm;
546 c.m_cti.m_offset = dst;
547 c.m_node = &m_nodes[node];
548 const btScalar fc = m_cfg.kDF * body->getFriction();
549 c.m_c2 = ima;
550 c.m_c3 = fc;
551 c.m_c4 = body->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR;
552 static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
553 const btMatrix3x3& iwi = body->getInvInertiaTensorWorld();
554 const btVector3 ra = n.m_x - wtr.getOrigin();
555
556 c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
557 c.m_c1 = ra;
558 c.m_local = body->getWorldTransform().inverse() * m_nodes[node].m_x;
559 c.m_node->m_battach = 1;
560 m_deformableAnchors.push_back(c);
561 }
562
removeAnchor(int node)563 void btSoftBody::removeAnchor(int node)
564 {
565 const btSoftBody::Node& n = m_nodes[node];
566 for (int i = 0; i < m_deformableAnchors.size();)
567 {
568 const DeformableNodeRigidAnchor& c = m_deformableAnchors[i];
569 if (c.m_node == &n)
570 {
571 m_deformableAnchors.removeAtIndex(i);
572 }
573 else
574 {
575 i++;
576 }
577 }
578 }
579
580 //
appendDeformableAnchor(int node,btMultiBodyLinkCollider * link)581 void btSoftBody::appendDeformableAnchor(int node, btMultiBodyLinkCollider* link)
582 {
583 DeformableNodeRigidAnchor c;
584 btSoftBody::Node& n = m_nodes[node];
585 const btScalar ima = n.m_im;
586 btVector3 nrm;
587 const btCollisionShape* shp = link->getCollisionShape();
588 const btTransform& wtr = link->getWorldTransform();
589 btScalar dst =
590 m_worldInfo->m_sparsesdf.Evaluate(
591 wtr.invXform(m_nodes[node].m_x),
592 shp,
593 nrm,
594 0);
595 c.m_cti.m_colObj = link;
596 c.m_cti.m_normal = wtr.getBasis() * nrm;
597 c.m_cti.m_offset = dst;
598 c.m_node = &m_nodes[node];
599 const btScalar fc = m_cfg.kDF * link->getFriction();
600 c.m_c2 = ima;
601 c.m_c3 = fc;
602 c.m_c4 = link->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR;
603 btVector3 normal = c.m_cti.m_normal;
604 btVector3 t1 = generateUnitOrthogonalVector(normal);
605 btVector3 t2 = btCross(normal, t1);
606 btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
607 findJacobian(link, jacobianData_normal, c.m_node->m_x, normal);
608 findJacobian(link, jacobianData_t1, c.m_node->m_x, t1);
609 findJacobian(link, jacobianData_t2, c.m_node->m_x, t2);
610
611 btScalar* J_n = &jacobianData_normal.m_jacobians[0];
612 btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];
613 btScalar* J_t2 = &jacobianData_t2.m_jacobians[0];
614
615 btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
616 btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
617 btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
618
619 btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(),
620 t1.getX(), t1.getY(), t1.getZ(),
621 t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame
622 const int ndof = link->m_multiBody->getNumDofs() + 6;
623 btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
624 c.m_c0 = rot.transpose() * local_impulse_matrix * rot;
625 c.jacobianData_normal = jacobianData_normal;
626 c.jacobianData_t1 = jacobianData_t1;
627 c.jacobianData_t2 = jacobianData_t2;
628 c.t1 = t1;
629 c.t2 = t2;
630 const btVector3 ra = n.m_x - wtr.getOrigin();
631 c.m_c1 = ra;
632 c.m_local = link->getWorldTransform().inverse() * m_nodes[node].m_x;
633 c.m_node->m_battach = 1;
634 m_deformableAnchors.push_back(c);
635 }
636 //
appendLinearJoint(const LJoint::Specs & specs,Cluster * body0,Body body1)637 void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1)
638 {
639 LJoint* pj = new (btAlignedAlloc(sizeof(LJoint), 16)) LJoint();
640 pj->m_bodies[0] = body0;
641 pj->m_bodies[1] = body1;
642 pj->m_refs[0] = pj->m_bodies[0].xform().inverse() * specs.position;
643 pj->m_refs[1] = pj->m_bodies[1].xform().inverse() * specs.position;
644 pj->m_cfm = specs.cfm;
645 pj->m_erp = specs.erp;
646 pj->m_split = specs.split;
647 m_joints.push_back(pj);
648 }
649
650 //
appendLinearJoint(const LJoint::Specs & specs,Body body)651 void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Body body)
652 {
653 appendLinearJoint(specs, m_clusters[0], body);
654 }
655
656 //
appendLinearJoint(const LJoint::Specs & specs,btSoftBody * body)657 void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, btSoftBody* body)
658 {
659 appendLinearJoint(specs, m_clusters[0], body->m_clusters[0]);
660 }
661
662 //
appendAngularJoint(const AJoint::Specs & specs,Cluster * body0,Body body1)663 void btSoftBody::appendAngularJoint(const AJoint::Specs& specs, Cluster* body0, Body body1)
664 {
665 AJoint* pj = new (btAlignedAlloc(sizeof(AJoint), 16)) AJoint();
666 pj->m_bodies[0] = body0;
667 pj->m_bodies[1] = body1;
668 pj->m_refs[0] = pj->m_bodies[0].xform().inverse().getBasis() * specs.axis;
669 pj->m_refs[1] = pj->m_bodies[1].xform().inverse().getBasis() * specs.axis;
670 pj->m_cfm = specs.cfm;
671 pj->m_erp = specs.erp;
672 pj->m_split = specs.split;
673 pj->m_icontrol = specs.icontrol;
674 m_joints.push_back(pj);
675 }
676
677 //
appendAngularJoint(const AJoint::Specs & specs,Body body)678 void btSoftBody::appendAngularJoint(const AJoint::Specs& specs, Body body)
679 {
680 appendAngularJoint(specs, m_clusters[0], body);
681 }
682
683 //
appendAngularJoint(const AJoint::Specs & specs,btSoftBody * body)684 void btSoftBody::appendAngularJoint(const AJoint::Specs& specs, btSoftBody* body)
685 {
686 appendAngularJoint(specs, m_clusters[0], body->m_clusters[0]);
687 }
688
689 //
addForce(const btVector3 & force)690 void btSoftBody::addForce(const btVector3& force)
691 {
692 for (int i = 0, ni = m_nodes.size(); i < ni; ++i) addForce(force, i);
693 }
694
695 //
addForce(const btVector3 & force,int node)696 void btSoftBody::addForce(const btVector3& force, int node)
697 {
698 Node& n = m_nodes[node];
699 if (n.m_im > 0)
700 {
701 n.m_f += force;
702 }
703 }
704
addAeroForceToNode(const btVector3 & windVelocity,int nodeIndex)705 void btSoftBody::addAeroForceToNode(const btVector3& windVelocity, int nodeIndex)
706 {
707 btAssert(nodeIndex >= 0 && nodeIndex < m_nodes.size());
708
709 const btScalar dt = m_sst.sdt;
710 const btScalar kLF = m_cfg.kLF;
711 const btScalar kDG = m_cfg.kDG;
712 //const btScalar kPR = m_cfg.kPR;
713 //const btScalar kVC = m_cfg.kVC;
714 const bool as_lift = kLF > 0;
715 const bool as_drag = kDG > 0;
716 const bool as_aero = as_lift || as_drag;
717 const bool as_vaero = as_aero && (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
718
719 Node& n = m_nodes[nodeIndex];
720
721 if (n.m_im > 0)
722 {
723 btSoftBody::sMedium medium;
724
725 EvaluateMedium(m_worldInfo, n.m_x, medium);
726 medium.m_velocity = windVelocity;
727 medium.m_density = m_worldInfo->air_density;
728
729 /* Aerodynamics */
730 if (as_vaero)
731 {
732 const btVector3 rel_v = n.m_v - medium.m_velocity;
733 const btScalar rel_v_len = rel_v.length();
734 const btScalar rel_v2 = rel_v.length2();
735
736 if (rel_v2 > SIMD_EPSILON)
737 {
738 const btVector3 rel_v_nrm = rel_v.normalized();
739 btVector3 nrm = n.m_n;
740
741 if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSidedLiftDrag)
742 {
743 nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
744 btVector3 fDrag(0, 0, 0);
745 btVector3 fLift(0, 0, 0);
746
747 btScalar n_dot_v = nrm.dot(rel_v_nrm);
748 btScalar tri_area = 0.5f * n.m_area;
749
750 fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
751
752 // Check angle of attack
753 // cos(10º) = 0.98480
754 if (0 < n_dot_v && n_dot_v < 0.98480f)
755 fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
756
757 // Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
758 btVector3 del_v_by_fDrag = fDrag * n.m_im * m_sst.sdt;
759 btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
760 btScalar v_len2 = n.m_v.length2();
761
762 if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0)
763 {
764 btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
765 btScalar v_len = n.m_v.length();
766 fDrag *= btScalar(0.8) * (v_len / del_v_by_fDrag_len);
767 }
768
769 n.m_f += fDrag;
770 n.m_f += fLift;
771 }
772 else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
773 {
774 if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
775 nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
776
777 const btScalar dvn = btDot(rel_v, nrm);
778 /* Compute forces */
779 if (dvn > 0)
780 {
781 btVector3 force(0, 0, 0);
782 const btScalar c0 = n.m_area * dvn * rel_v2 / 2;
783 const btScalar c1 = c0 * medium.m_density;
784 force += nrm * (-c1 * kLF);
785 force += rel_v.normalized() * (-c1 * kDG);
786 ApplyClampedForce(n, force, dt);
787 }
788 }
789 }
790 }
791 }
792 }
793
addAeroForceToFace(const btVector3 & windVelocity,int faceIndex)794 void btSoftBody::addAeroForceToFace(const btVector3& windVelocity, int faceIndex)
795 {
796 const btScalar dt = m_sst.sdt;
797 const btScalar kLF = m_cfg.kLF;
798 const btScalar kDG = m_cfg.kDG;
799 // const btScalar kPR = m_cfg.kPR;
800 // const btScalar kVC = m_cfg.kVC;
801 const bool as_lift = kLF > 0;
802 const bool as_drag = kDG > 0;
803 const bool as_aero = as_lift || as_drag;
804 const bool as_faero = as_aero && (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
805
806 if (as_faero)
807 {
808 btSoftBody::Face& f = m_faces[faceIndex];
809
810 btSoftBody::sMedium medium;
811
812 const btVector3 v = (f.m_n[0]->m_v + f.m_n[1]->m_v + f.m_n[2]->m_v) / 3;
813 const btVector3 x = (f.m_n[0]->m_x + f.m_n[1]->m_x + f.m_n[2]->m_x) / 3;
814 EvaluateMedium(m_worldInfo, x, medium);
815 medium.m_velocity = windVelocity;
816 medium.m_density = m_worldInfo->air_density;
817 const btVector3 rel_v = v - medium.m_velocity;
818 const btScalar rel_v_len = rel_v.length();
819 const btScalar rel_v2 = rel_v.length2();
820
821 if (rel_v2 > SIMD_EPSILON)
822 {
823 const btVector3 rel_v_nrm = rel_v.normalized();
824 btVector3 nrm = f.m_normal;
825
826 if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSidedLiftDrag)
827 {
828 nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
829
830 btVector3 fDrag(0, 0, 0);
831 btVector3 fLift(0, 0, 0);
832
833 btScalar n_dot_v = nrm.dot(rel_v_nrm);
834 btScalar tri_area = 0.5f * f.m_ra;
835
836 fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
837
838 // Check angle of attack
839 // cos(10º) = 0.98480
840 if (0 < n_dot_v && n_dot_v < 0.98480f)
841 fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
842
843 fDrag /= 3;
844 fLift /= 3;
845
846 for (int j = 0; j < 3; ++j)
847 {
848 if (f.m_n[j]->m_im > 0)
849 {
850 // Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
851 btVector3 del_v_by_fDrag = fDrag * f.m_n[j]->m_im * m_sst.sdt;
852 btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
853 btScalar v_len2 = f.m_n[j]->m_v.length2();
854
855 if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0)
856 {
857 btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
858 btScalar v_len = f.m_n[j]->m_v.length();
859 fDrag *= btScalar(0.8) * (v_len / del_v_by_fDrag_len);
860 }
861
862 f.m_n[j]->m_f += fDrag;
863 f.m_n[j]->m_f += fLift;
864 }
865 }
866 }
867 else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
868 {
869 if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
870 nrm *= (btScalar)((btDot(nrm, rel_v) < 0) ? -1 : +1);
871
872 const btScalar dvn = btDot(rel_v, nrm);
873 /* Compute forces */
874 if (dvn > 0)
875 {
876 btVector3 force(0, 0, 0);
877 const btScalar c0 = f.m_ra * dvn * rel_v2;
878 const btScalar c1 = c0 * medium.m_density;
879 force += nrm * (-c1 * kLF);
880 force += rel_v.normalized() * (-c1 * kDG);
881 force /= 3;
882 for (int j = 0; j < 3; ++j) ApplyClampedForce(*f.m_n[j], force, dt);
883 }
884 }
885 }
886 }
887 }
888
889 //
addVelocity(const btVector3 & velocity)890 void btSoftBody::addVelocity(const btVector3& velocity)
891 {
892 for (int i = 0, ni = m_nodes.size(); i < ni; ++i) addVelocity(velocity, i);
893 }
894
895 /* Set velocity for the entire body */
setVelocity(const btVector3 & velocity)896 void btSoftBody::setVelocity(const btVector3& velocity)
897 {
898 for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
899 {
900 Node& n = m_nodes[i];
901 if (n.m_im > 0)
902 {
903 n.m_v = velocity;
904 n.m_vn = velocity;
905 }
906 }
907 }
908
909 //
addVelocity(const btVector3 & velocity,int node)910 void btSoftBody::addVelocity(const btVector3& velocity, int node)
911 {
912 Node& n = m_nodes[node];
913 if (n.m_im > 0)
914 {
915 n.m_v += velocity;
916 }
917 }
918
919 //
setMass(int node,btScalar mass)920 void btSoftBody::setMass(int node, btScalar mass)
921 {
922 m_nodes[node].m_im = mass > 0 ? 1 / mass : 0;
923 m_bUpdateRtCst = true;
924 }
925
926 //
getMass(int node) const927 btScalar btSoftBody::getMass(int node) const
928 {
929 return (m_nodes[node].m_im > 0 ? 1 / m_nodes[node].m_im : 0);
930 }
931
932 //
getTotalMass() const933 btScalar btSoftBody::getTotalMass() const
934 {
935 btScalar mass = 0;
936 for (int i = 0; i < m_nodes.size(); ++i)
937 {
938 mass += getMass(i);
939 }
940 return (mass);
941 }
942
943 //
setTotalMass(btScalar mass,bool fromfaces)944 void btSoftBody::setTotalMass(btScalar mass, bool fromfaces)
945 {
946 int i;
947
948 if (fromfaces)
949 {
950 for (i = 0; i < m_nodes.size(); ++i)
951 {
952 m_nodes[i].m_im = 0;
953 }
954 for (i = 0; i < m_faces.size(); ++i)
955 {
956 const Face& f = m_faces[i];
957 const btScalar twicearea = AreaOf(f.m_n[0]->m_x,
958 f.m_n[1]->m_x,
959 f.m_n[2]->m_x);
960 for (int j = 0; j < 3; ++j)
961 {
962 f.m_n[j]->m_im += twicearea;
963 }
964 }
965 for (i = 0; i < m_nodes.size(); ++i)
966 {
967 m_nodes[i].m_im = 1 / m_nodes[i].m_im;
968 }
969 }
970 const btScalar tm = getTotalMass();
971 const btScalar itm = 1 / tm;
972 for (i = 0; i < m_nodes.size(); ++i)
973 {
974 m_nodes[i].m_im /= itm * mass;
975 }
976 m_bUpdateRtCst = true;
977 }
978
979 //
setTotalDensity(btScalar density)980 void btSoftBody::setTotalDensity(btScalar density)
981 {
982 setTotalMass(getVolume() * density, true);
983 }
984
985 //
setVolumeMass(btScalar mass)986 void btSoftBody::setVolumeMass(btScalar mass)
987 {
988 btAlignedObjectArray<btScalar> ranks;
989 ranks.resize(m_nodes.size(), 0);
990 int i;
991
992 for (i = 0; i < m_nodes.size(); ++i)
993 {
994 m_nodes[i].m_im = 0;
995 }
996 for (i = 0; i < m_tetras.size(); ++i)
997 {
998 const Tetra& t = m_tetras[i];
999 for (int j = 0; j < 4; ++j)
1000 {
1001 t.m_n[j]->m_im += btFabs(t.m_rv);
1002 ranks[int(t.m_n[j] - &m_nodes[0])] += 1;
1003 }
1004 }
1005 for (i = 0; i < m_nodes.size(); ++i)
1006 {
1007 if (m_nodes[i].m_im > 0)
1008 {
1009 m_nodes[i].m_im = ranks[i] / m_nodes[i].m_im;
1010 }
1011 }
1012 setTotalMass(mass, false);
1013 }
1014
1015 //
setVolumeDensity(btScalar density)1016 void btSoftBody::setVolumeDensity(btScalar density)
1017 {
1018 btScalar volume = 0;
1019 for (int i = 0; i < m_tetras.size(); ++i)
1020 {
1021 const Tetra& t = m_tetras[i];
1022 for (int j = 0; j < 4; ++j)
1023 {
1024 volume += btFabs(t.m_rv);
1025 }
1026 }
1027 setVolumeMass(volume * density / 6);
1028 }
1029
1030 //
getLinearVelocity()1031 btVector3 btSoftBody::getLinearVelocity()
1032 {
1033 btVector3 total_momentum = btVector3(0, 0, 0);
1034 for (int i = 0; i < m_nodes.size(); ++i)
1035 {
1036 btScalar mass = m_nodes[i].m_im == 0 ? 0 : 1.0 / m_nodes[i].m_im;
1037 total_momentum += mass * m_nodes[i].m_v;
1038 }
1039 btScalar total_mass = getTotalMass();
1040 return total_mass == 0 ? total_momentum : total_momentum / total_mass;
1041 }
1042
1043 //
setLinearVelocity(const btVector3 & linVel)1044 void btSoftBody::setLinearVelocity(const btVector3& linVel)
1045 {
1046 btVector3 old_vel = getLinearVelocity();
1047 btVector3 diff = linVel - old_vel;
1048 for (int i = 0; i < m_nodes.size(); ++i)
1049 m_nodes[i].m_v += diff;
1050 }
1051
1052 //
setAngularVelocity(const btVector3 & angVel)1053 void btSoftBody::setAngularVelocity(const btVector3& angVel)
1054 {
1055 btVector3 old_vel = getLinearVelocity();
1056 btVector3 com = getCenterOfMass();
1057 for (int i = 0; i < m_nodes.size(); ++i)
1058 {
1059 m_nodes[i].m_v = angVel.cross(m_nodes[i].m_x - com) + old_vel;
1060 }
1061 }
1062
1063 //
getRigidTransform()1064 btTransform btSoftBody::getRigidTransform()
1065 {
1066 btVector3 t = getCenterOfMass();
1067 btMatrix3x3 S;
1068 S.setZero();
1069 // Get rotation that minimizes L2 difference: \sum_i || RX_i + t - x_i ||
1070 // It's important to make sure that S has the correct signs.
1071 // SVD is only unique up to the ordering of singular values.
1072 // SVD will manipulate U and V to ensure the ordering of singular values. If all three singular
1073 // vaues are negative, SVD will permute colums of U to make two of them positive.
1074 for (int i = 0; i < m_nodes.size(); ++i)
1075 {
1076 S -= OuterProduct(m_X[i], t - m_nodes[i].m_x);
1077 }
1078 btVector3 sigma;
1079 btMatrix3x3 U, V;
1080 singularValueDecomposition(S, U, sigma, V);
1081 btMatrix3x3 R = V * U.transpose();
1082 btTransform trs;
1083 trs.setIdentity();
1084 trs.setOrigin(t);
1085 trs.setBasis(R);
1086 return trs;
1087 }
1088
1089 //
transformTo(const btTransform & trs)1090 void btSoftBody::transformTo(const btTransform& trs)
1091 {
1092 // get the current best rigid fit
1093 btTransform current_transform = getRigidTransform();
1094 // apply transform in material space
1095 btTransform new_transform = trs * current_transform.inverse();
1096 transform(new_transform);
1097 }
1098
1099 //
transform(const btTransform & trs)1100 void btSoftBody::transform(const btTransform& trs)
1101 {
1102 const btScalar margin = getCollisionShape()->getMargin();
1103 ATTRIBUTE_ALIGNED16(btDbvtVolume)
1104 vol;
1105
1106 for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
1107 {
1108 Node& n = m_nodes[i];
1109 n.m_x = trs * n.m_x;
1110 n.m_q = trs * n.m_q;
1111 n.m_n = trs.getBasis() * n.m_n;
1112 vol = btDbvtVolume::FromCR(n.m_x, margin);
1113
1114 m_ndbvt.update(n.m_leaf, vol);
1115 }
1116 updateNormals();
1117 updateBounds();
1118 updateConstants();
1119 }
1120
1121 //
translate(const btVector3 & trs)1122 void btSoftBody::translate(const btVector3& trs)
1123 {
1124 btTransform t;
1125 t.setIdentity();
1126 t.setOrigin(trs);
1127 transform(t);
1128 }
1129
1130 //
rotate(const btQuaternion & rot)1131 void btSoftBody::rotate(const btQuaternion& rot)
1132 {
1133 btTransform t;
1134 t.setIdentity();
1135 t.setRotation(rot);
1136 transform(t);
1137 }
1138
1139 //
scale(const btVector3 & scl)1140 void btSoftBody::scale(const btVector3& scl)
1141 {
1142 const btScalar margin = getCollisionShape()->getMargin();
1143 ATTRIBUTE_ALIGNED16(btDbvtVolume)
1144 vol;
1145
1146 for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
1147 {
1148 Node& n = m_nodes[i];
1149 n.m_x *= scl;
1150 n.m_q *= scl;
1151 vol = btDbvtVolume::FromCR(n.m_x, margin);
1152 m_ndbvt.update(n.m_leaf, vol);
1153 }
1154 updateNormals();
1155 updateBounds();
1156 updateConstants();
1157 initializeDmInverse();
1158 }
1159
1160 //
getRestLengthScale()1161 btScalar btSoftBody::getRestLengthScale()
1162 {
1163 return m_restLengthScale;
1164 }
1165
1166 //
setRestLengthScale(btScalar restLengthScale)1167 void btSoftBody::setRestLengthScale(btScalar restLengthScale)
1168 {
1169 for (int i = 0, ni = m_links.size(); i < ni; ++i)
1170 {
1171 Link& l = m_links[i];
1172 l.m_rl = l.m_rl / m_restLengthScale * restLengthScale;
1173 l.m_c1 = l.m_rl * l.m_rl;
1174 }
1175 m_restLengthScale = restLengthScale;
1176
1177 if (getActivationState() == ISLAND_SLEEPING)
1178 activate();
1179 }
1180
1181 //
setPose(bool bvolume,bool bframe)1182 void btSoftBody::setPose(bool bvolume, bool bframe)
1183 {
1184 m_pose.m_bvolume = bvolume;
1185 m_pose.m_bframe = bframe;
1186 int i, ni;
1187
1188 /* Weights */
1189 const btScalar omass = getTotalMass();
1190 const btScalar kmass = omass * m_nodes.size() * 1000;
1191 btScalar tmass = omass;
1192 m_pose.m_wgh.resize(m_nodes.size());
1193 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
1194 {
1195 if (m_nodes[i].m_im <= 0) tmass += kmass;
1196 }
1197 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
1198 {
1199 Node& n = m_nodes[i];
1200 m_pose.m_wgh[i] = n.m_im > 0 ? 1 / (m_nodes[i].m_im * tmass) : kmass / tmass;
1201 }
1202 /* Pos */
1203 const btVector3 com = evaluateCom();
1204 m_pose.m_pos.resize(m_nodes.size());
1205 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
1206 {
1207 m_pose.m_pos[i] = m_nodes[i].m_x - com;
1208 }
1209 m_pose.m_volume = bvolume ? getVolume() : 0;
1210 m_pose.m_com = com;
1211 m_pose.m_rot.setIdentity();
1212 m_pose.m_scl.setIdentity();
1213 /* Aqq */
1214 m_pose.m_aqq[0] =
1215 m_pose.m_aqq[1] =
1216 m_pose.m_aqq[2] = btVector3(0, 0, 0);
1217 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
1218 {
1219 const btVector3& q = m_pose.m_pos[i];
1220 const btVector3 mq = m_pose.m_wgh[i] * q;
1221 m_pose.m_aqq[0] += mq.x() * q;
1222 m_pose.m_aqq[1] += mq.y() * q;
1223 m_pose.m_aqq[2] += mq.z() * q;
1224 }
1225 m_pose.m_aqq = m_pose.m_aqq.inverse();
1226
1227 updateConstants();
1228 }
1229
resetLinkRestLengths()1230 void btSoftBody::resetLinkRestLengths()
1231 {
1232 for (int i = 0, ni = m_links.size(); i < ni; ++i)
1233 {
1234 Link& l = m_links[i];
1235 l.m_rl = (l.m_n[0]->m_x - l.m_n[1]->m_x).length();
1236 l.m_c1 = l.m_rl * l.m_rl;
1237 }
1238 }
1239
1240 //
getVolume() const1241 btScalar btSoftBody::getVolume() const
1242 {
1243 btScalar vol = 0;
1244 if (m_nodes.size() > 0)
1245 {
1246 int i, ni;
1247
1248 const btVector3 org = m_nodes[0].m_x;
1249 for (i = 0, ni = m_faces.size(); i < ni; ++i)
1250 {
1251 const Face& f = m_faces[i];
1252 vol += btDot(f.m_n[0]->m_x - org, btCross(f.m_n[1]->m_x - org, f.m_n[2]->m_x - org));
1253 }
1254 vol /= (btScalar)6;
1255 }
1256 return (vol);
1257 }
1258
1259 //
clusterCount() const1260 int btSoftBody::clusterCount() const
1261 {
1262 return (m_clusters.size());
1263 }
1264
1265 //
clusterCom(const Cluster * cluster)1266 btVector3 btSoftBody::clusterCom(const Cluster* cluster)
1267 {
1268 btVector3 com(0, 0, 0);
1269 for (int i = 0, ni = cluster->m_nodes.size(); i < ni; ++i)
1270 {
1271 com += cluster->m_nodes[i]->m_x * cluster->m_masses[i];
1272 }
1273 return (com * cluster->m_imass);
1274 }
1275
1276 //
clusterCom(int cluster) const1277 btVector3 btSoftBody::clusterCom(int cluster) const
1278 {
1279 return (clusterCom(m_clusters[cluster]));
1280 }
1281
1282 //
clusterVelocity(const Cluster * cluster,const btVector3 & rpos)1283 btVector3 btSoftBody::clusterVelocity(const Cluster* cluster, const btVector3& rpos)
1284 {
1285 return (cluster->m_lv + btCross(cluster->m_av, rpos));
1286 }
1287
1288 //
clusterVImpulse(Cluster * cluster,const btVector3 & rpos,const btVector3 & impulse)1289 void btSoftBody::clusterVImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse)
1290 {
1291 const btVector3 li = cluster->m_imass * impulse;
1292 const btVector3 ai = cluster->m_invwi * btCross(rpos, impulse);
1293 cluster->m_vimpulses[0] += li;
1294 cluster->m_lv += li;
1295 cluster->m_vimpulses[1] += ai;
1296 cluster->m_av += ai;
1297 cluster->m_nvimpulses++;
1298 }
1299
1300 //
clusterDImpulse(Cluster * cluster,const btVector3 & rpos,const btVector3 & impulse)1301 void btSoftBody::clusterDImpulse(Cluster* cluster, const btVector3& rpos, const btVector3& impulse)
1302 {
1303 const btVector3 li = cluster->m_imass * impulse;
1304 const btVector3 ai = cluster->m_invwi * btCross(rpos, impulse);
1305 cluster->m_dimpulses[0] += li;
1306 cluster->m_dimpulses[1] += ai;
1307 cluster->m_ndimpulses++;
1308 }
1309
1310 //
clusterImpulse(Cluster * cluster,const btVector3 & rpos,const Impulse & impulse)1311 void btSoftBody::clusterImpulse(Cluster* cluster, const btVector3& rpos, const Impulse& impulse)
1312 {
1313 if (impulse.m_asVelocity) clusterVImpulse(cluster, rpos, impulse.m_velocity);
1314 if (impulse.m_asDrift) clusterDImpulse(cluster, rpos, impulse.m_drift);
1315 }
1316
1317 //
clusterVAImpulse(Cluster * cluster,const btVector3 & impulse)1318 void btSoftBody::clusterVAImpulse(Cluster* cluster, const btVector3& impulse)
1319 {
1320 const btVector3 ai = cluster->m_invwi * impulse;
1321 cluster->m_vimpulses[1] += ai;
1322 cluster->m_av += ai;
1323 cluster->m_nvimpulses++;
1324 }
1325
1326 //
clusterDAImpulse(Cluster * cluster,const btVector3 & impulse)1327 void btSoftBody::clusterDAImpulse(Cluster* cluster, const btVector3& impulse)
1328 {
1329 const btVector3 ai = cluster->m_invwi * impulse;
1330 cluster->m_dimpulses[1] += ai;
1331 cluster->m_ndimpulses++;
1332 }
1333
1334 //
clusterAImpulse(Cluster * cluster,const Impulse & impulse)1335 void btSoftBody::clusterAImpulse(Cluster* cluster, const Impulse& impulse)
1336 {
1337 if (impulse.m_asVelocity) clusterVAImpulse(cluster, impulse.m_velocity);
1338 if (impulse.m_asDrift) clusterDAImpulse(cluster, impulse.m_drift);
1339 }
1340
1341 //
clusterDCImpulse(Cluster * cluster,const btVector3 & impulse)1342 void btSoftBody::clusterDCImpulse(Cluster* cluster, const btVector3& impulse)
1343 {
1344 cluster->m_dimpulses[0] += impulse * cluster->m_imass;
1345 cluster->m_ndimpulses++;
1346 }
1347
1348 struct NodeLinks
1349 {
1350 btAlignedObjectArray<int> m_links;
1351 };
1352
1353 //
generateBendingConstraints(int distance,Material * mat)1354 int btSoftBody::generateBendingConstraints(int distance, Material* mat)
1355 {
1356 int i, j;
1357
1358 if (distance > 1)
1359 {
1360 /* Build graph */
1361 const int n = m_nodes.size();
1362 const unsigned inf = (~(unsigned)0) >> 1;
1363 unsigned* adj = new unsigned[n * n];
1364
1365 #define IDX(_x_, _y_) ((_y_)*n + (_x_))
1366 for (j = 0; j < n; ++j)
1367 {
1368 for (i = 0; i < n; ++i)
1369 {
1370 if (i != j)
1371 {
1372 adj[IDX(i, j)] = adj[IDX(j, i)] = inf;
1373 }
1374 else
1375 {
1376 adj[IDX(i, j)] = adj[IDX(j, i)] = 0;
1377 }
1378 }
1379 }
1380 for (i = 0; i < m_links.size(); ++i)
1381 {
1382 const int ia = (int)(m_links[i].m_n[0] - &m_nodes[0]);
1383 const int ib = (int)(m_links[i].m_n[1] - &m_nodes[0]);
1384 adj[IDX(ia, ib)] = 1;
1385 adj[IDX(ib, ia)] = 1;
1386 }
1387
1388 //special optimized case for distance == 2
1389 if (distance == 2)
1390 {
1391 btAlignedObjectArray<NodeLinks> nodeLinks;
1392
1393 /* Build node links */
1394 nodeLinks.resize(m_nodes.size());
1395
1396 for (i = 0; i < m_links.size(); ++i)
1397 {
1398 const int ia = (int)(m_links[i].m_n[0] - &m_nodes[0]);
1399 const int ib = (int)(m_links[i].m_n[1] - &m_nodes[0]);
1400 if (nodeLinks[ia].m_links.findLinearSearch(ib) == nodeLinks[ia].m_links.size())
1401 nodeLinks[ia].m_links.push_back(ib);
1402
1403 if (nodeLinks[ib].m_links.findLinearSearch(ia) == nodeLinks[ib].m_links.size())
1404 nodeLinks[ib].m_links.push_back(ia);
1405 }
1406 for (int ii = 0; ii < nodeLinks.size(); ii++)
1407 {
1408 int i = ii;
1409
1410 for (int jj = 0; jj < nodeLinks[ii].m_links.size(); jj++)
1411 {
1412 int k = nodeLinks[ii].m_links[jj];
1413 for (int kk = 0; kk < nodeLinks[k].m_links.size(); kk++)
1414 {
1415 int j = nodeLinks[k].m_links[kk];
1416 if (i != j)
1417 {
1418 const unsigned sum = adj[IDX(i, k)] + adj[IDX(k, j)];
1419 btAssert(sum == 2);
1420 if (adj[IDX(i, j)] > sum)
1421 {
1422 adj[IDX(i, j)] = adj[IDX(j, i)] = sum;
1423 }
1424 }
1425 }
1426 }
1427 }
1428 }
1429 else
1430 {
1431 ///generic Floyd's algorithm
1432 for (int k = 0; k < n; ++k)
1433 {
1434 for (j = 0; j < n; ++j)
1435 {
1436 for (i = j + 1; i < n; ++i)
1437 {
1438 const unsigned sum = adj[IDX(i, k)] + adj[IDX(k, j)];
1439 if (adj[IDX(i, j)] > sum)
1440 {
1441 adj[IDX(i, j)] = adj[IDX(j, i)] = sum;
1442 }
1443 }
1444 }
1445 }
1446 }
1447
1448 /* Build links */
1449 int nlinks = 0;
1450 for (j = 0; j < n; ++j)
1451 {
1452 for (i = j + 1; i < n; ++i)
1453 {
1454 if (adj[IDX(i, j)] == (unsigned)distance)
1455 {
1456 appendLink(i, j, mat);
1457 m_links[m_links.size() - 1].m_bbending = 1;
1458 ++nlinks;
1459 }
1460 }
1461 }
1462 delete[] adj;
1463 return (nlinks);
1464 }
1465 return (0);
1466 }
1467
1468 //
randomizeConstraints()1469 void btSoftBody::randomizeConstraints()
1470 {
1471 unsigned long seed = 243703;
1472 #define NEXTRAND (seed = (1664525L * seed + 1013904223L) & 0xffffffff)
1473 int i, ni;
1474
1475 for (i = 0, ni = m_links.size(); i < ni; ++i)
1476 {
1477 btSwap(m_links[i], m_links[NEXTRAND % ni]);
1478 }
1479 for (i = 0, ni = m_faces.size(); i < ni; ++i)
1480 {
1481 btSwap(m_faces[i], m_faces[NEXTRAND % ni]);
1482 }
1483 #undef NEXTRAND
1484 }
1485
1486 //
releaseCluster(int index)1487 void btSoftBody::releaseCluster(int index)
1488 {
1489 Cluster* c = m_clusters[index];
1490 if (c->m_leaf) m_cdbvt.remove(c->m_leaf);
1491 c->~Cluster();
1492 btAlignedFree(c);
1493 m_clusters.remove(c);
1494 }
1495
1496 //
releaseClusters()1497 void btSoftBody::releaseClusters()
1498 {
1499 while (m_clusters.size() > 0) releaseCluster(0);
1500 }
1501
1502 //
generateClusters(int k,int maxiterations)1503 int btSoftBody::generateClusters(int k, int maxiterations)
1504 {
1505 int i;
1506 releaseClusters();
1507 m_clusters.resize(btMin(k, m_nodes.size()));
1508 for (i = 0; i < m_clusters.size(); ++i)
1509 {
1510 m_clusters[i] = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
1511 m_clusters[i]->m_collide = true;
1512 }
1513 k = m_clusters.size();
1514 if (k > 0)
1515 {
1516 /* Initialize */
1517 btAlignedObjectArray<btVector3> centers;
1518 btVector3 cog(0, 0, 0);
1519 int i;
1520 for (i = 0; i < m_nodes.size(); ++i)
1521 {
1522 cog += m_nodes[i].m_x;
1523 m_clusters[(i * 29873) % m_clusters.size()]->m_nodes.push_back(&m_nodes[i]);
1524 }
1525 cog /= (btScalar)m_nodes.size();
1526 centers.resize(k, cog);
1527 /* Iterate */
1528 const btScalar slope = 16;
1529 bool changed;
1530 int iterations = 0;
1531 do
1532 {
1533 const btScalar w = 2 - btMin<btScalar>(1, iterations / slope);
1534 changed = false;
1535 iterations++;
1536 int i;
1537
1538 for (i = 0; i < k; ++i)
1539 {
1540 btVector3 c(0, 0, 0);
1541 for (int j = 0; j < m_clusters[i]->m_nodes.size(); ++j)
1542 {
1543 c += m_clusters[i]->m_nodes[j]->m_x;
1544 }
1545 if (m_clusters[i]->m_nodes.size())
1546 {
1547 c /= (btScalar)m_clusters[i]->m_nodes.size();
1548 c = centers[i] + (c - centers[i]) * w;
1549 changed |= ((c - centers[i]).length2() > SIMD_EPSILON);
1550 centers[i] = c;
1551 m_clusters[i]->m_nodes.resize(0);
1552 }
1553 }
1554 for (i = 0; i < m_nodes.size(); ++i)
1555 {
1556 const btVector3 nx = m_nodes[i].m_x;
1557 int kbest = 0;
1558 btScalar kdist = ClusterMetric(centers[0], nx);
1559 for (int j = 1; j < k; ++j)
1560 {
1561 const btScalar d = ClusterMetric(centers[j], nx);
1562 if (d < kdist)
1563 {
1564 kbest = j;
1565 kdist = d;
1566 }
1567 }
1568 m_clusters[kbest]->m_nodes.push_back(&m_nodes[i]);
1569 }
1570 } while (changed && (iterations < maxiterations));
1571 /* Merge */
1572 btAlignedObjectArray<int> cids;
1573 cids.resize(m_nodes.size(), -1);
1574 for (i = 0; i < m_clusters.size(); ++i)
1575 {
1576 for (int j = 0; j < m_clusters[i]->m_nodes.size(); ++j)
1577 {
1578 cids[int(m_clusters[i]->m_nodes[j] - &m_nodes[0])] = i;
1579 }
1580 }
1581 for (i = 0; i < m_faces.size(); ++i)
1582 {
1583 const int idx[] = {int(m_faces[i].m_n[0] - &m_nodes[0]),
1584 int(m_faces[i].m_n[1] - &m_nodes[0]),
1585 int(m_faces[i].m_n[2] - &m_nodes[0])};
1586 for (int j = 0; j < 3; ++j)
1587 {
1588 const int cid = cids[idx[j]];
1589 for (int q = 1; q < 3; ++q)
1590 {
1591 const int kid = idx[(j + q) % 3];
1592 if (cids[kid] != cid)
1593 {
1594 if (m_clusters[cid]->m_nodes.findLinearSearch(&m_nodes[kid]) == m_clusters[cid]->m_nodes.size())
1595 {
1596 m_clusters[cid]->m_nodes.push_back(&m_nodes[kid]);
1597 }
1598 }
1599 }
1600 }
1601 }
1602 /* Master */
1603 if (m_clusters.size() > 1)
1604 {
1605 Cluster* pmaster = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
1606 pmaster->m_collide = false;
1607 pmaster->m_nodes.reserve(m_nodes.size());
1608 for (int i = 0; i < m_nodes.size(); ++i) pmaster->m_nodes.push_back(&m_nodes[i]);
1609 m_clusters.push_back(pmaster);
1610 btSwap(m_clusters[0], m_clusters[m_clusters.size() - 1]);
1611 }
1612 /* Terminate */
1613 for (i = 0; i < m_clusters.size(); ++i)
1614 {
1615 if (m_clusters[i]->m_nodes.size() == 0)
1616 {
1617 releaseCluster(i--);
1618 }
1619 }
1620 }
1621 else
1622 {
1623 //create a cluster for each tetrahedron (if tetrahedra exist) or each face
1624 if (m_tetras.size())
1625 {
1626 m_clusters.resize(m_tetras.size());
1627 for (i = 0; i < m_clusters.size(); ++i)
1628 {
1629 m_clusters[i] = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
1630 m_clusters[i]->m_collide = true;
1631 }
1632 for (i = 0; i < m_tetras.size(); i++)
1633 {
1634 for (int j = 0; j < 4; j++)
1635 {
1636 m_clusters[i]->m_nodes.push_back(m_tetras[i].m_n[j]);
1637 }
1638 }
1639 }
1640 else
1641 {
1642 m_clusters.resize(m_faces.size());
1643 for (i = 0; i < m_clusters.size(); ++i)
1644 {
1645 m_clusters[i] = new (btAlignedAlloc(sizeof(Cluster), 16)) Cluster();
1646 m_clusters[i]->m_collide = true;
1647 }
1648
1649 for (i = 0; i < m_faces.size(); ++i)
1650 {
1651 for (int j = 0; j < 3; ++j)
1652 {
1653 m_clusters[i]->m_nodes.push_back(m_faces[i].m_n[j]);
1654 }
1655 }
1656 }
1657 }
1658
1659 if (m_clusters.size())
1660 {
1661 initializeClusters();
1662 updateClusters();
1663
1664 //for self-collision
1665 m_clusterConnectivity.resize(m_clusters.size() * m_clusters.size());
1666 {
1667 for (int c0 = 0; c0 < m_clusters.size(); c0++)
1668 {
1669 m_clusters[c0]->m_clusterIndex = c0;
1670 for (int c1 = 0; c1 < m_clusters.size(); c1++)
1671 {
1672 bool connected = false;
1673 Cluster* cla = m_clusters[c0];
1674 Cluster* clb = m_clusters[c1];
1675 for (int i = 0; !connected && i < cla->m_nodes.size(); i++)
1676 {
1677 for (int j = 0; j < clb->m_nodes.size(); j++)
1678 {
1679 if (cla->m_nodes[i] == clb->m_nodes[j])
1680 {
1681 connected = true;
1682 break;
1683 }
1684 }
1685 }
1686 m_clusterConnectivity[c0 + c1 * m_clusters.size()] = connected;
1687 }
1688 }
1689 }
1690 }
1691
1692 return (m_clusters.size());
1693 }
1694
1695 //
refine(ImplicitFn * ifn,btScalar accurary,bool cut)1696 void btSoftBody::refine(ImplicitFn* ifn, btScalar accurary, bool cut)
1697 {
1698 const Node* nbase = &m_nodes[0];
1699 int ncount = m_nodes.size();
1700 btSymMatrix<int> edges(ncount, -2);
1701 int newnodes = 0;
1702 int i, j, k, ni;
1703
1704 /* Filter out */
1705 for (i = 0; i < m_links.size(); ++i)
1706 {
1707 Link& l = m_links[i];
1708 if (l.m_bbending)
1709 {
1710 if (!SameSign(ifn->Eval(l.m_n[0]->m_x), ifn->Eval(l.m_n[1]->m_x)))
1711 {
1712 btSwap(m_links[i], m_links[m_links.size() - 1]);
1713 m_links.pop_back();
1714 --i;
1715 }
1716 }
1717 }
1718 /* Fill edges */
1719 for (i = 0; i < m_links.size(); ++i)
1720 {
1721 Link& l = m_links[i];
1722 edges(int(l.m_n[0] - nbase), int(l.m_n[1] - nbase)) = -1;
1723 }
1724 for (i = 0; i < m_faces.size(); ++i)
1725 {
1726 Face& f = m_faces[i];
1727 edges(int(f.m_n[0] - nbase), int(f.m_n[1] - nbase)) = -1;
1728 edges(int(f.m_n[1] - nbase), int(f.m_n[2] - nbase)) = -1;
1729 edges(int(f.m_n[2] - nbase), int(f.m_n[0] - nbase)) = -1;
1730 }
1731 /* Intersect */
1732 for (i = 0; i < ncount; ++i)
1733 {
1734 for (j = i + 1; j < ncount; ++j)
1735 {
1736 if (edges(i, j) == -1)
1737 {
1738 Node& a = m_nodes[i];
1739 Node& b = m_nodes[j];
1740 const btScalar t = ImplicitSolve(ifn, a.m_x, b.m_x, accurary);
1741 if (t > 0)
1742 {
1743 const btVector3 x = Lerp(a.m_x, b.m_x, t);
1744 const btVector3 v = Lerp(a.m_v, b.m_v, t);
1745 btScalar m = 0;
1746 if (a.m_im > 0)
1747 {
1748 if (b.m_im > 0)
1749 {
1750 const btScalar ma = 1 / a.m_im;
1751 const btScalar mb = 1 / b.m_im;
1752 const btScalar mc = Lerp(ma, mb, t);
1753 const btScalar f = (ma + mb) / (ma + mb + mc);
1754 a.m_im = 1 / (ma * f);
1755 b.m_im = 1 / (mb * f);
1756 m = mc * f;
1757 }
1758 else
1759 {
1760 a.m_im /= 0.5f;
1761 m = 1 / a.m_im;
1762 }
1763 }
1764 else
1765 {
1766 if (b.m_im > 0)
1767 {
1768 b.m_im /= 0.5f;
1769 m = 1 / b.m_im;
1770 }
1771 else
1772 m = 0;
1773 }
1774 appendNode(x, m);
1775 edges(i, j) = m_nodes.size() - 1;
1776 m_nodes[edges(i, j)].m_v = v;
1777 ++newnodes;
1778 }
1779 }
1780 }
1781 }
1782 nbase = &m_nodes[0];
1783 /* Refine links */
1784 for (i = 0, ni = m_links.size(); i < ni; ++i)
1785 {
1786 Link& feat = m_links[i];
1787 const int idx[] = {int(feat.m_n[0] - nbase),
1788 int(feat.m_n[1] - nbase)};
1789 if ((idx[0] < ncount) && (idx[1] < ncount))
1790 {
1791 const int ni = edges(idx[0], idx[1]);
1792 if (ni > 0)
1793 {
1794 appendLink(i);
1795 Link* pft[] = {&m_links[i],
1796 &m_links[m_links.size() - 1]};
1797 pft[0]->m_n[0] = &m_nodes[idx[0]];
1798 pft[0]->m_n[1] = &m_nodes[ni];
1799 pft[1]->m_n[0] = &m_nodes[ni];
1800 pft[1]->m_n[1] = &m_nodes[idx[1]];
1801 }
1802 }
1803 }
1804 /* Refine faces */
1805 for (i = 0; i < m_faces.size(); ++i)
1806 {
1807 const Face& feat = m_faces[i];
1808 const int idx[] = {int(feat.m_n[0] - nbase),
1809 int(feat.m_n[1] - nbase),
1810 int(feat.m_n[2] - nbase)};
1811 for (j = 2, k = 0; k < 3; j = k++)
1812 {
1813 if ((idx[j] < ncount) && (idx[k] < ncount))
1814 {
1815 const int ni = edges(idx[j], idx[k]);
1816 if (ni > 0)
1817 {
1818 appendFace(i);
1819 const int l = (k + 1) % 3;
1820 Face* pft[] = {&m_faces[i],
1821 &m_faces[m_faces.size() - 1]};
1822 pft[0]->m_n[0] = &m_nodes[idx[l]];
1823 pft[0]->m_n[1] = &m_nodes[idx[j]];
1824 pft[0]->m_n[2] = &m_nodes[ni];
1825 pft[1]->m_n[0] = &m_nodes[ni];
1826 pft[1]->m_n[1] = &m_nodes[idx[k]];
1827 pft[1]->m_n[2] = &m_nodes[idx[l]];
1828 appendLink(ni, idx[l], pft[0]->m_material);
1829 --i;
1830 break;
1831 }
1832 }
1833 }
1834 }
1835 /* Cut */
1836 if (cut)
1837 {
1838 btAlignedObjectArray<int> cnodes;
1839 const int pcount = ncount;
1840 int i;
1841 ncount = m_nodes.size();
1842 cnodes.resize(ncount, 0);
1843 /* Nodes */
1844 for (i = 0; i < ncount; ++i)
1845 {
1846 const btVector3 x = m_nodes[i].m_x;
1847 if ((i >= pcount) || (btFabs(ifn->Eval(x)) < accurary))
1848 {
1849 const btVector3 v = m_nodes[i].m_v;
1850 btScalar m = getMass(i);
1851 if (m > 0)
1852 {
1853 m *= 0.5f;
1854 m_nodes[i].m_im /= 0.5f;
1855 }
1856 appendNode(x, m);
1857 cnodes[i] = m_nodes.size() - 1;
1858 m_nodes[cnodes[i]].m_v = v;
1859 }
1860 }
1861 nbase = &m_nodes[0];
1862 /* Links */
1863 for (i = 0, ni = m_links.size(); i < ni; ++i)
1864 {
1865 const int id[] = {int(m_links[i].m_n[0] - nbase),
1866 int(m_links[i].m_n[1] - nbase)};
1867 int todetach = 0;
1868 if (cnodes[id[0]] && cnodes[id[1]])
1869 {
1870 appendLink(i);
1871 todetach = m_links.size() - 1;
1872 }
1873 else
1874 {
1875 if (((ifn->Eval(m_nodes[id[0]].m_x) < accurary) &&
1876 (ifn->Eval(m_nodes[id[1]].m_x) < accurary)))
1877 todetach = i;
1878 }
1879 if (todetach)
1880 {
1881 Link& l = m_links[todetach];
1882 for (int j = 0; j < 2; ++j)
1883 {
1884 int cn = cnodes[int(l.m_n[j] - nbase)];
1885 if (cn) l.m_n[j] = &m_nodes[cn];
1886 }
1887 }
1888 }
1889 /* Faces */
1890 for (i = 0, ni = m_faces.size(); i < ni; ++i)
1891 {
1892 Node** n = m_faces[i].m_n;
1893 if ((ifn->Eval(n[0]->m_x) < accurary) &&
1894 (ifn->Eval(n[1]->m_x) < accurary) &&
1895 (ifn->Eval(n[2]->m_x) < accurary))
1896 {
1897 for (int j = 0; j < 3; ++j)
1898 {
1899 int cn = cnodes[int(n[j] - nbase)];
1900 if (cn) n[j] = &m_nodes[cn];
1901 }
1902 }
1903 }
1904 /* Clean orphans */
1905 int nnodes = m_nodes.size();
1906 btAlignedObjectArray<int> ranks;
1907 btAlignedObjectArray<int> todelete;
1908 ranks.resize(nnodes, 0);
1909 for (i = 0, ni = m_links.size(); i < ni; ++i)
1910 {
1911 for (int j = 0; j < 2; ++j) ranks[int(m_links[i].m_n[j] - nbase)]++;
1912 }
1913 for (i = 0, ni = m_faces.size(); i < ni; ++i)
1914 {
1915 for (int j = 0; j < 3; ++j) ranks[int(m_faces[i].m_n[j] - nbase)]++;
1916 }
1917 for (i = 0; i < m_links.size(); ++i)
1918 {
1919 const int id[] = {int(m_links[i].m_n[0] - nbase),
1920 int(m_links[i].m_n[1] - nbase)};
1921 const bool sg[] = {ranks[id[0]] == 1,
1922 ranks[id[1]] == 1};
1923 if (sg[0] || sg[1])
1924 {
1925 --ranks[id[0]];
1926 --ranks[id[1]];
1927 btSwap(m_links[i], m_links[m_links.size() - 1]);
1928 m_links.pop_back();
1929 --i;
1930 }
1931 }
1932 #if 0
1933 for(i=nnodes-1;i>=0;--i)
1934 {
1935 if(!ranks[i]) todelete.push_back(i);
1936 }
1937 if(todelete.size())
1938 {
1939 btAlignedObjectArray<int>& map=ranks;
1940 for(int i=0;i<nnodes;++i) map[i]=i;
1941 PointersToIndices(this);
1942 for(int i=0,ni=todelete.size();i<ni;++i)
1943 {
1944 int j=todelete[i];
1945 int& a=map[j];
1946 int& b=map[--nnodes];
1947 m_ndbvt.remove(m_nodes[a].m_leaf);m_nodes[a].m_leaf=0;
1948 btSwap(m_nodes[a],m_nodes[b]);
1949 j=a;a=b;b=j;
1950 }
1951 IndicesToPointers(this,&map[0]);
1952 m_nodes.resize(nnodes);
1953 }
1954 #endif
1955 }
1956 m_bUpdateRtCst = true;
1957 }
1958
1959 //
cutLink(const Node * node0,const Node * node1,btScalar position)1960 bool btSoftBody::cutLink(const Node* node0, const Node* node1, btScalar position)
1961 {
1962 return (cutLink(int(node0 - &m_nodes[0]), int(node1 - &m_nodes[0]), position));
1963 }
1964
1965 //
cutLink(int node0,int node1,btScalar position)1966 bool btSoftBody::cutLink(int node0, int node1, btScalar position)
1967 {
1968 bool done = false;
1969 int i, ni;
1970 // const btVector3 d=m_nodes[node0].m_x-m_nodes[node1].m_x;
1971 const btVector3 x = Lerp(m_nodes[node0].m_x, m_nodes[node1].m_x, position);
1972 const btVector3 v = Lerp(m_nodes[node0].m_v, m_nodes[node1].m_v, position);
1973 const btScalar m = 1;
1974 appendNode(x, m);
1975 appendNode(x, m);
1976 Node* pa = &m_nodes[node0];
1977 Node* pb = &m_nodes[node1];
1978 Node* pn[2] = {&m_nodes[m_nodes.size() - 2],
1979 &m_nodes[m_nodes.size() - 1]};
1980 pn[0]->m_v = v;
1981 pn[1]->m_v = v;
1982 for (i = 0, ni = m_links.size(); i < ni; ++i)
1983 {
1984 const int mtch = MatchEdge(m_links[i].m_n[0], m_links[i].m_n[1], pa, pb);
1985 if (mtch != -1)
1986 {
1987 appendLink(i);
1988 Link* pft[] = {&m_links[i], &m_links[m_links.size() - 1]};
1989 pft[0]->m_n[1] = pn[mtch];
1990 pft[1]->m_n[0] = pn[1 - mtch];
1991 done = true;
1992 }
1993 }
1994 for (i = 0, ni = m_faces.size(); i < ni; ++i)
1995 {
1996 for (int k = 2, l = 0; l < 3; k = l++)
1997 {
1998 const int mtch = MatchEdge(m_faces[i].m_n[k], m_faces[i].m_n[l], pa, pb);
1999 if (mtch != -1)
2000 {
2001 appendFace(i);
2002 Face* pft[] = {&m_faces[i], &m_faces[m_faces.size() - 1]};
2003 pft[0]->m_n[l] = pn[mtch];
2004 pft[1]->m_n[k] = pn[1 - mtch];
2005 appendLink(pn[0], pft[0]->m_n[(l + 1) % 3], pft[0]->m_material, true);
2006 appendLink(pn[1], pft[0]->m_n[(l + 1) % 3], pft[0]->m_material, true);
2007 }
2008 }
2009 }
2010 if (!done)
2011 {
2012 m_ndbvt.remove(pn[0]->m_leaf);
2013 m_ndbvt.remove(pn[1]->m_leaf);
2014 m_nodes.pop_back();
2015 m_nodes.pop_back();
2016 }
2017 return (done);
2018 }
2019
2020 //
rayTest(const btVector3 & rayFrom,const btVector3 & rayTo,sRayCast & results)2021 bool btSoftBody::rayTest(const btVector3& rayFrom,
2022 const btVector3& rayTo,
2023 sRayCast& results)
2024 {
2025 if (m_faces.size() && m_fdbvt.empty())
2026 initializeFaceTree();
2027
2028 results.body = this;
2029 results.fraction = 1.f;
2030 results.feature = eFeature::None;
2031 results.index = -1;
2032
2033 return (rayTest(rayFrom, rayTo, results.fraction, results.feature, results.index, false) != 0);
2034 }
2035
rayFaceTest(const btVector3 & rayFrom,const btVector3 & rayTo,sRayCast & results)2036 bool btSoftBody::rayFaceTest(const btVector3& rayFrom,
2037 const btVector3& rayTo,
2038 sRayCast& results)
2039 {
2040 if (m_faces.size() == 0)
2041 return false;
2042 else
2043 {
2044 if (m_fdbvt.empty())
2045 initializeFaceTree();
2046 }
2047
2048 results.body = this;
2049 results.fraction = 1.f;
2050 results.index = -1;
2051
2052 return (rayFaceTest(rayFrom, rayTo, results.fraction, results.index) != 0);
2053 }
2054
2055 //
setSolver(eSolverPresets::_ preset)2056 void btSoftBody::setSolver(eSolverPresets::_ preset)
2057 {
2058 m_cfg.m_vsequence.clear();
2059 m_cfg.m_psequence.clear();
2060 m_cfg.m_dsequence.clear();
2061 switch (preset)
2062 {
2063 case eSolverPresets::Positions:
2064 m_cfg.m_psequence.push_back(ePSolver::Anchors);
2065 m_cfg.m_psequence.push_back(ePSolver::RContacts);
2066 m_cfg.m_psequence.push_back(ePSolver::SContacts);
2067 m_cfg.m_psequence.push_back(ePSolver::Linear);
2068 break;
2069 case eSolverPresets::Velocities:
2070 m_cfg.m_vsequence.push_back(eVSolver::Linear);
2071
2072 m_cfg.m_psequence.push_back(ePSolver::Anchors);
2073 m_cfg.m_psequence.push_back(ePSolver::RContacts);
2074 m_cfg.m_psequence.push_back(ePSolver::SContacts);
2075
2076 m_cfg.m_dsequence.push_back(ePSolver::Linear);
2077 break;
2078 }
2079 }
2080
predictMotion(btScalar dt)2081 void btSoftBody::predictMotion(btScalar dt)
2082 {
2083 int i, ni;
2084
2085 /* Update */
2086 if (m_bUpdateRtCst)
2087 {
2088 m_bUpdateRtCst = false;
2089 updateConstants();
2090 m_fdbvt.clear();
2091 if (m_cfg.collisions & fCollision::VF_SS)
2092 {
2093 initializeFaceTree();
2094 }
2095 }
2096
2097 /* Prepare */
2098 m_sst.sdt = dt * m_cfg.timescale;
2099 m_sst.isdt = 1 / m_sst.sdt;
2100 m_sst.velmrg = m_sst.sdt * 3;
2101 m_sst.radmrg = getCollisionShape()->getMargin();
2102 m_sst.updmrg = m_sst.radmrg * (btScalar)0.25;
2103 /* Forces */
2104 addVelocity(m_worldInfo->m_gravity * m_sst.sdt);
2105 applyForces();
2106 /* Integrate */
2107 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
2108 {
2109 Node& n = m_nodes[i];
2110 n.m_q = n.m_x;
2111 btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt;
2112 {
2113 btScalar maxDisplacement = m_worldInfo->m_maxDisplacement;
2114 btScalar clampDeltaV = maxDisplacement / m_sst.sdt;
2115 for (int c = 0; c < 3; c++)
2116 {
2117 if (deltaV[c] > clampDeltaV)
2118 {
2119 deltaV[c] = clampDeltaV;
2120 }
2121 if (deltaV[c] < -clampDeltaV)
2122 {
2123 deltaV[c] = -clampDeltaV;
2124 }
2125 }
2126 }
2127 n.m_v += deltaV;
2128 n.m_x += n.m_v * m_sst.sdt;
2129 n.m_f = btVector3(0, 0, 0);
2130 }
2131 /* Clusters */
2132 updateClusters();
2133 /* Bounds */
2134 updateBounds();
2135 /* Nodes */
2136 ATTRIBUTE_ALIGNED16(btDbvtVolume)
2137 vol;
2138 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
2139 {
2140 Node& n = m_nodes[i];
2141 vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg);
2142 m_ndbvt.update(n.m_leaf,
2143 vol,
2144 n.m_v * m_sst.velmrg,
2145 m_sst.updmrg);
2146 }
2147 /* Faces */
2148 if (!m_fdbvt.empty())
2149 {
2150 for (int i = 0; i < m_faces.size(); ++i)
2151 {
2152 Face& f = m_faces[i];
2153 const btVector3 v = (f.m_n[0]->m_v +
2154 f.m_n[1]->m_v +
2155 f.m_n[2]->m_v) /
2156 3;
2157 vol = VolumeOf(f, m_sst.radmrg);
2158 m_fdbvt.update(f.m_leaf,
2159 vol,
2160 v * m_sst.velmrg,
2161 m_sst.updmrg);
2162 }
2163 }
2164 /* Pose */
2165 updatePose();
2166 /* Match */
2167 if (m_pose.m_bframe && (m_cfg.kMT > 0))
2168 {
2169 const btMatrix3x3 posetrs = m_pose.m_rot;
2170 for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
2171 {
2172 Node& n = m_nodes[i];
2173 if (n.m_im > 0)
2174 {
2175 const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com;
2176 n.m_x = Lerp(n.m_x, x, m_cfg.kMT);
2177 }
2178 }
2179 }
2180 /* Clear contacts */
2181 m_rcontacts.resize(0);
2182 m_scontacts.resize(0);
2183 /* Optimize dbvt's */
2184 m_ndbvt.optimizeIncremental(1);
2185 m_fdbvt.optimizeIncremental(1);
2186 m_cdbvt.optimizeIncremental(1);
2187 }
2188
2189 //
solveConstraints()2190 void btSoftBody::solveConstraints()
2191 {
2192 /* Apply clusters */
2193 applyClusters(false);
2194 /* Prepare links */
2195
2196 int i, ni;
2197
2198 for (i = 0, ni = m_links.size(); i < ni; ++i)
2199 {
2200 Link& l = m_links[i];
2201 l.m_c3 = l.m_n[1]->m_q - l.m_n[0]->m_q;
2202 l.m_c2 = 1 / (l.m_c3.length2() * l.m_c0);
2203 }
2204 /* Prepare anchors */
2205 for (i = 0, ni = m_anchors.size(); i < ni; ++i)
2206 {
2207 Anchor& a = m_anchors[i];
2208 const btVector3 ra = a.m_body->getWorldTransform().getBasis() * a.m_local;
2209 a.m_c0 = ImpulseMatrix(m_sst.sdt,
2210 a.m_node->m_im,
2211 a.m_body->getInvMass(),
2212 a.m_body->getInvInertiaTensorWorld(),
2213 ra);
2214 a.m_c1 = ra;
2215 a.m_c2 = m_sst.sdt * a.m_node->m_im;
2216 a.m_body->activate();
2217 }
2218 /* Solve velocities */
2219 if (m_cfg.viterations > 0)
2220 {
2221 /* Solve */
2222 for (int isolve = 0; isolve < m_cfg.viterations; ++isolve)
2223 {
2224 for (int iseq = 0; iseq < m_cfg.m_vsequence.size(); ++iseq)
2225 {
2226 getSolver(m_cfg.m_vsequence[iseq])(this, 1);
2227 }
2228 }
2229 /* Update */
2230 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
2231 {
2232 Node& n = m_nodes[i];
2233 n.m_x = n.m_q + n.m_v * m_sst.sdt;
2234 }
2235 }
2236 /* Solve positions */
2237 if (m_cfg.piterations > 0)
2238 {
2239 for (int isolve = 0; isolve < m_cfg.piterations; ++isolve)
2240 {
2241 const btScalar ti = isolve / (btScalar)m_cfg.piterations;
2242 for (int iseq = 0; iseq < m_cfg.m_psequence.size(); ++iseq)
2243 {
2244 getSolver(m_cfg.m_psequence[iseq])(this, 1, ti);
2245 }
2246 }
2247 const btScalar vc = m_sst.isdt * (1 - m_cfg.kDP);
2248 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
2249 {
2250 Node& n = m_nodes[i];
2251 n.m_v = (n.m_x - n.m_q) * vc;
2252 n.m_f = btVector3(0, 0, 0);
2253 }
2254 }
2255 /* Solve drift */
2256 if (m_cfg.diterations > 0)
2257 {
2258 const btScalar vcf = m_cfg.kVCF * m_sst.isdt;
2259 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
2260 {
2261 Node& n = m_nodes[i];
2262 n.m_q = n.m_x;
2263 }
2264 for (int idrift = 0; idrift < m_cfg.diterations; ++idrift)
2265 {
2266 for (int iseq = 0; iseq < m_cfg.m_dsequence.size(); ++iseq)
2267 {
2268 getSolver(m_cfg.m_dsequence[iseq])(this, 1, 0);
2269 }
2270 }
2271 for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
2272 {
2273 Node& n = m_nodes[i];
2274 n.m_v += (n.m_x - n.m_q) * vcf;
2275 }
2276 }
2277 /* Apply clusters */
2278 dampClusters();
2279 applyClusters(true);
2280 }
2281
2282 //
staticSolve(int iterations)2283 void btSoftBody::staticSolve(int iterations)
2284 {
2285 for (int isolve = 0; isolve < iterations; ++isolve)
2286 {
2287 for (int iseq = 0; iseq < m_cfg.m_psequence.size(); ++iseq)
2288 {
2289 getSolver(m_cfg.m_psequence[iseq])(this, 1, 0);
2290 }
2291 }
2292 }
2293
2294 //
solveCommonConstraints(btSoftBody **,int,int)2295 void btSoftBody::solveCommonConstraints(btSoftBody** /*bodies*/, int /*count*/, int /*iterations*/)
2296 {
2297 /// placeholder
2298 }
2299
2300 //
solveClusters(const btAlignedObjectArray<btSoftBody * > & bodies)2301 void btSoftBody::solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies)
2302 {
2303 const int nb = bodies.size();
2304 int iterations = 0;
2305 int i;
2306
2307 for (i = 0; i < nb; ++i)
2308 {
2309 iterations = btMax(iterations, bodies[i]->m_cfg.citerations);
2310 }
2311 for (i = 0; i < nb; ++i)
2312 {
2313 bodies[i]->prepareClusters(iterations);
2314 }
2315 for (i = 0; i < iterations; ++i)
2316 {
2317 const btScalar sor = 1;
2318 for (int j = 0; j < nb; ++j)
2319 {
2320 bodies[j]->solveClusters(sor);
2321 }
2322 }
2323 for (i = 0; i < nb; ++i)
2324 {
2325 bodies[i]->cleanupClusters();
2326 }
2327 }
2328
2329 //
integrateMotion()2330 void btSoftBody::integrateMotion()
2331 {
2332 /* Update */
2333 updateNormals();
2334 }
2335
2336 //
RayFromToCaster(const btVector3 & rayFrom,const btVector3 & rayTo,btScalar mxt)2337 btSoftBody::RayFromToCaster::RayFromToCaster(const btVector3& rayFrom, const btVector3& rayTo, btScalar mxt)
2338 {
2339 m_rayFrom = rayFrom;
2340 m_rayNormalizedDirection = (rayTo - rayFrom);
2341 m_rayTo = rayTo;
2342 m_mint = mxt;
2343 m_face = 0;
2344 m_tests = 0;
2345 }
2346
2347 //
Process(const btDbvtNode * leaf)2348 void btSoftBody::RayFromToCaster::Process(const btDbvtNode* leaf)
2349 {
2350 btSoftBody::Face& f = *(btSoftBody::Face*)leaf->data;
2351 const btScalar t = rayFromToTriangle(m_rayFrom, m_rayTo, m_rayNormalizedDirection,
2352 f.m_n[0]->m_x,
2353 f.m_n[1]->m_x,
2354 f.m_n[2]->m_x,
2355 m_mint);
2356 if ((t > 0) && (t < m_mint))
2357 {
2358 m_mint = t;
2359 m_face = &f;
2360 }
2361 ++m_tests;
2362 }
2363
2364 //
rayFromToTriangle(const btVector3 & rayFrom,const btVector3 & rayTo,const btVector3 & rayNormalizedDirection,const btVector3 & a,const btVector3 & b,const btVector3 & c,btScalar maxt)2365 btScalar btSoftBody::RayFromToCaster::rayFromToTriangle(const btVector3& rayFrom,
2366 const btVector3& rayTo,
2367 const btVector3& rayNormalizedDirection,
2368 const btVector3& a,
2369 const btVector3& b,
2370 const btVector3& c,
2371 btScalar maxt)
2372 {
2373 static const btScalar ceps = -SIMD_EPSILON * 10;
2374 static const btScalar teps = SIMD_EPSILON * 10;
2375
2376 const btVector3 n = btCross(b - a, c - a);
2377 const btScalar d = btDot(a, n);
2378 const btScalar den = btDot(rayNormalizedDirection, n);
2379 if (!btFuzzyZero(den))
2380 {
2381 const btScalar num = btDot(rayFrom, n) - d;
2382 const btScalar t = -num / den;
2383 if ((t > teps) && (t < maxt))
2384 {
2385 const btVector3 hit = rayFrom + rayNormalizedDirection * t;
2386 if ((btDot(n, btCross(a - hit, b - hit)) > ceps) &&
2387 (btDot(n, btCross(b - hit, c - hit)) > ceps) &&
2388 (btDot(n, btCross(c - hit, a - hit)) > ceps))
2389 {
2390 return (t);
2391 }
2392 }
2393 }
2394 return (-1);
2395 }
2396
2397 //
pointersToIndices()2398 void btSoftBody::pointersToIndices()
2399 {
2400 #define PTR2IDX(_p_, _b_) reinterpret_cast<btSoftBody::Node*>((_p_) - (_b_))
2401 btSoftBody::Node* base = m_nodes.size() ? &m_nodes[0] : 0;
2402 int i, ni;
2403
2404 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
2405 {
2406 if (m_nodes[i].m_leaf)
2407 {
2408 m_nodes[i].m_leaf->data = *(void**)&i;
2409 }
2410 }
2411 for (i = 0, ni = m_links.size(); i < ni; ++i)
2412 {
2413 m_links[i].m_n[0] = PTR2IDX(m_links[i].m_n[0], base);
2414 m_links[i].m_n[1] = PTR2IDX(m_links[i].m_n[1], base);
2415 }
2416 for (i = 0, ni = m_faces.size(); i < ni; ++i)
2417 {
2418 m_faces[i].m_n[0] = PTR2IDX(m_faces[i].m_n[0], base);
2419 m_faces[i].m_n[1] = PTR2IDX(m_faces[i].m_n[1], base);
2420 m_faces[i].m_n[2] = PTR2IDX(m_faces[i].m_n[2], base);
2421 if (m_faces[i].m_leaf)
2422 {
2423 m_faces[i].m_leaf->data = *(void**)&i;
2424 }
2425 }
2426 for (i = 0, ni = m_anchors.size(); i < ni; ++i)
2427 {
2428 m_anchors[i].m_node = PTR2IDX(m_anchors[i].m_node, base);
2429 }
2430 for (i = 0, ni = m_notes.size(); i < ni; ++i)
2431 {
2432 for (int j = 0; j < m_notes[i].m_rank; ++j)
2433 {
2434 m_notes[i].m_nodes[j] = PTR2IDX(m_notes[i].m_nodes[j], base);
2435 }
2436 }
2437 #undef PTR2IDX
2438 }
2439
2440 //
indicesToPointers(const int * map)2441 void btSoftBody::indicesToPointers(const int* map)
2442 {
2443 #define IDX2PTR(_p_, _b_) map ? (&(_b_)[map[(((char*)_p_) - (char*)0)]]) : (&(_b_)[(((char*)_p_) - (char*)0)])
2444 btSoftBody::Node* base = m_nodes.size() ? &m_nodes[0] : 0;
2445 int i, ni;
2446
2447 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
2448 {
2449 if (m_nodes[i].m_leaf)
2450 {
2451 m_nodes[i].m_leaf->data = &m_nodes[i];
2452 }
2453 }
2454 for (i = 0, ni = m_links.size(); i < ni; ++i)
2455 {
2456 m_links[i].m_n[0] = IDX2PTR(m_links[i].m_n[0], base);
2457 m_links[i].m_n[1] = IDX2PTR(m_links[i].m_n[1], base);
2458 }
2459 for (i = 0, ni = m_faces.size(); i < ni; ++i)
2460 {
2461 m_faces[i].m_n[0] = IDX2PTR(m_faces[i].m_n[0], base);
2462 m_faces[i].m_n[1] = IDX2PTR(m_faces[i].m_n[1], base);
2463 m_faces[i].m_n[2] = IDX2PTR(m_faces[i].m_n[2], base);
2464 if (m_faces[i].m_leaf)
2465 {
2466 m_faces[i].m_leaf->data = &m_faces[i];
2467 }
2468 }
2469 for (i = 0, ni = m_anchors.size(); i < ni; ++i)
2470 {
2471 m_anchors[i].m_node = IDX2PTR(m_anchors[i].m_node, base);
2472 }
2473 for (i = 0, ni = m_notes.size(); i < ni; ++i)
2474 {
2475 for (int j = 0; j < m_notes[i].m_rank; ++j)
2476 {
2477 m_notes[i].m_nodes[j] = IDX2PTR(m_notes[i].m_nodes[j], base);
2478 }
2479 }
2480 #undef IDX2PTR
2481 }
2482
2483 //
rayTest(const btVector3 & rayFrom,const btVector3 & rayTo,btScalar & mint,eFeature::_ & feature,int & index,bool bcountonly) const2484 int btSoftBody::rayTest(const btVector3& rayFrom, const btVector3& rayTo,
2485 btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const
2486 {
2487 int cnt = 0;
2488 btVector3 dir = rayTo - rayFrom;
2489
2490 if (bcountonly || m_fdbvt.empty())
2491 { /* Full search */
2492
2493 for (int i = 0, ni = m_faces.size(); i < ni; ++i)
2494 {
2495 const btSoftBody::Face& f = m_faces[i];
2496
2497 const btScalar t = RayFromToCaster::rayFromToTriangle(rayFrom, rayTo, dir,
2498 f.m_n[0]->m_x,
2499 f.m_n[1]->m_x,
2500 f.m_n[2]->m_x,
2501 mint);
2502 if (t > 0)
2503 {
2504 ++cnt;
2505 if (!bcountonly)
2506 {
2507 feature = btSoftBody::eFeature::Face;
2508 index = i;
2509 mint = t;
2510 }
2511 }
2512 }
2513 }
2514 else
2515 { /* Use dbvt */
2516 RayFromToCaster collider(rayFrom, rayTo, mint);
2517
2518 btDbvt::rayTest(m_fdbvt.m_root, rayFrom, rayTo, collider);
2519 if (collider.m_face)
2520 {
2521 mint = collider.m_mint;
2522 feature = btSoftBody::eFeature::Face;
2523 index = (int)(collider.m_face - &m_faces[0]);
2524 cnt = 1;
2525 }
2526 }
2527
2528 for (int i = 0; i < m_tetras.size(); i++)
2529 {
2530 const btSoftBody::Tetra& tet = m_tetras[i];
2531 int tetfaces[4][3] = {{0, 1, 2}, {0, 1, 3}, {1, 2, 3}, {0, 2, 3}};
2532 for (int f = 0; f < 4; f++)
2533 {
2534 int index0 = tetfaces[f][0];
2535 int index1 = tetfaces[f][1];
2536 int index2 = tetfaces[f][2];
2537 btVector3 v0 = tet.m_n[index0]->m_x;
2538 btVector3 v1 = tet.m_n[index1]->m_x;
2539 btVector3 v2 = tet.m_n[index2]->m_x;
2540
2541 const btScalar t = RayFromToCaster::rayFromToTriangle(rayFrom, rayTo, dir,
2542 v0, v1, v2,
2543 mint);
2544 if (t > 0)
2545 {
2546 ++cnt;
2547 if (!bcountonly)
2548 {
2549 feature = btSoftBody::eFeature::Tetra;
2550 index = i;
2551 mint = t;
2552 }
2553 }
2554 }
2555 }
2556 return (cnt);
2557 }
2558
rayFaceTest(const btVector3 & rayFrom,const btVector3 & rayTo,btScalar & mint,int & index) const2559 int btSoftBody::rayFaceTest(const btVector3& rayFrom, const btVector3& rayTo,
2560 btScalar& mint, int& index) const
2561 {
2562 int cnt = 0;
2563 { /* Use dbvt */
2564 RayFromToCaster collider(rayFrom, rayTo, mint);
2565
2566 btDbvt::rayTest(m_fdbvt.m_root, rayFrom, rayTo, collider);
2567 if (collider.m_face)
2568 {
2569 mint = collider.m_mint;
2570 index = (int)(collider.m_face - &m_faces[0]);
2571 cnt = 1;
2572 }
2573 }
2574 return (cnt);
2575 }
2576
2577 //
copyToDbvnt(const btDbvtNode * n)2578 static inline btDbvntNode* copyToDbvnt(const btDbvtNode* n)
2579 {
2580 if (n == 0)
2581 return 0;
2582 btDbvntNode* root = new btDbvntNode(n);
2583 if (n->isinternal())
2584 {
2585 btDbvntNode* c0 = copyToDbvnt(n->childs[0]);
2586 root->childs[0] = c0;
2587 btDbvntNode* c1 = copyToDbvnt(n->childs[1]);
2588 root->childs[1] = c1;
2589 }
2590 return root;
2591 }
2592
calculateNormalCone(btDbvntNode * root)2593 static inline void calculateNormalCone(btDbvntNode* root)
2594 {
2595 if (!root)
2596 return;
2597 if (root->isleaf())
2598 {
2599 const btSoftBody::Face* face = (btSoftBody::Face*)root->data;
2600 root->normal = face->m_normal;
2601 root->angle = 0;
2602 }
2603 else
2604 {
2605 btVector3 n0(0, 0, 0), n1(0, 0, 0);
2606 btScalar a0 = 0, a1 = 0;
2607 if (root->childs[0])
2608 {
2609 calculateNormalCone(root->childs[0]);
2610 n0 = root->childs[0]->normal;
2611 a0 = root->childs[0]->angle;
2612 }
2613 if (root->childs[1])
2614 {
2615 calculateNormalCone(root->childs[1]);
2616 n1 = root->childs[1]->normal;
2617 a1 = root->childs[1]->angle;
2618 }
2619 root->normal = (n0 + n1).safeNormalize();
2620 root->angle = btMax(a0, a1) + btAngle(n0, n1) * 0.5;
2621 }
2622 }
2623
initializeFaceTree()2624 void btSoftBody::initializeFaceTree()
2625 {
2626 BT_PROFILE("btSoftBody::initializeFaceTree");
2627 m_fdbvt.clear();
2628 // create leaf nodes;
2629 btAlignedObjectArray<btDbvtNode*> leafNodes;
2630 leafNodes.resize(m_faces.size());
2631 for (int i = 0; i < m_faces.size(); ++i)
2632 {
2633 Face& f = m_faces[i];
2634 ATTRIBUTE_ALIGNED16(btDbvtVolume)
2635 vol = VolumeOf(f, 0);
2636 btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
2637 node->parent = NULL;
2638 node->data = &f;
2639 node->childs[1] = 0;
2640 node->volume = vol;
2641 leafNodes[i] = node;
2642 f.m_leaf = node;
2643 }
2644 btAlignedObjectArray<btAlignedObjectArray<int> > adj;
2645 adj.resize(m_faces.size());
2646 // construct the adjacency list for triangles
2647 for (int i = 0; i < adj.size(); ++i)
2648 {
2649 for (int j = i + 1; j < adj.size(); ++j)
2650 {
2651 int dup = 0;
2652 for (int k = 0; k < 3; ++k)
2653 {
2654 for (int l = 0; l < 3; ++l)
2655 {
2656 if (m_faces[i].m_n[k] == m_faces[j].m_n[l])
2657 {
2658 ++dup;
2659 break;
2660 }
2661 }
2662 if (dup == 2)
2663 {
2664 adj[i].push_back(j);
2665 adj[j].push_back(i);
2666 }
2667 }
2668 }
2669 }
2670 m_fdbvt.m_root = buildTreeBottomUp(leafNodes, adj);
2671 if (m_fdbvnt)
2672 delete m_fdbvnt;
2673 m_fdbvnt = copyToDbvnt(m_fdbvt.m_root);
2674 updateFaceTree(false, false);
2675 rebuildNodeTree();
2676 }
2677
2678 //
rebuildNodeTree()2679 void btSoftBody::rebuildNodeTree()
2680 {
2681 m_ndbvt.clear();
2682 btAlignedObjectArray<btDbvtNode*> leafNodes;
2683 leafNodes.resize(m_nodes.size());
2684 for (int i = 0; i < m_nodes.size(); ++i)
2685 {
2686 Node& n = m_nodes[i];
2687 ATTRIBUTE_ALIGNED16(btDbvtVolume)
2688 vol = btDbvtVolume::FromCR(n.m_x, 0);
2689 btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
2690 node->parent = NULL;
2691 node->data = &n;
2692 node->childs[1] = 0;
2693 node->volume = vol;
2694 leafNodes[i] = node;
2695 n.m_leaf = node;
2696 }
2697 btAlignedObjectArray<btAlignedObjectArray<int> > adj;
2698 adj.resize(m_nodes.size());
2699 btAlignedObjectArray<int> old_id;
2700 old_id.resize(m_nodes.size());
2701 for (int i = 0; i < m_nodes.size(); ++i)
2702 old_id[i] = m_nodes[i].index;
2703 for (int i = 0; i < m_nodes.size(); ++i)
2704 m_nodes[i].index = i;
2705 for (int i = 0; i < m_links.size(); ++i)
2706 {
2707 Link& l = m_links[i];
2708 adj[l.m_n[0]->index].push_back(l.m_n[1]->index);
2709 adj[l.m_n[1]->index].push_back(l.m_n[0]->index);
2710 }
2711 m_ndbvt.m_root = buildTreeBottomUp(leafNodes, adj);
2712 for (int i = 0; i < m_nodes.size(); ++i)
2713 m_nodes[i].index = old_id[i];
2714 }
2715
2716 //
evaluateCom() const2717 btVector3 btSoftBody::evaluateCom() const
2718 {
2719 btVector3 com(0, 0, 0);
2720 if (m_pose.m_bframe)
2721 {
2722 for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
2723 {
2724 com += m_nodes[i].m_x * m_pose.m_wgh[i];
2725 }
2726 }
2727 return (com);
2728 }
2729
checkContact(const btCollisionObjectWrapper * colObjWrap,const btVector3 & x,btScalar margin,btSoftBody::sCti & cti) const2730 bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap,
2731 const btVector3& x,
2732 btScalar margin,
2733 btSoftBody::sCti& cti) const
2734 {
2735 btVector3 nrm;
2736 const btCollisionShape* shp = colObjWrap->getCollisionShape();
2737 // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
2738 //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform();
2739 const btTransform& wtr = colObjWrap->getWorldTransform();
2740 //todo: check which transform is needed here
2741
2742 btScalar dst =
2743 m_worldInfo->m_sparsesdf.Evaluate(
2744 wtr.invXform(x),
2745 shp,
2746 nrm,
2747 margin);
2748 if (dst < 0)
2749 {
2750 cti.m_colObj = colObjWrap->getCollisionObject();
2751 cti.m_normal = wtr.getBasis() * nrm;
2752 cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst);
2753 return (true);
2754 }
2755 return (false);
2756 }
2757
2758 //
checkDeformableContact(const btCollisionObjectWrapper * colObjWrap,const btVector3 & x,btScalar margin,btSoftBody::sCti & cti,bool predict) const2759 bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWrap,
2760 const btVector3& x,
2761 btScalar margin,
2762 btSoftBody::sCti& cti, bool predict) const
2763 {
2764 btVector3 nrm;
2765 const btCollisionShape* shp = colObjWrap->getCollisionShape();
2766 const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
2767 // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect
2768 // but resolve contact at x_n
2769 btTransform wtr = (predict) ? (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform() * (*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
2770 : colObjWrap->getWorldTransform();
2771 btScalar dst =
2772 m_worldInfo->m_sparsesdf.Evaluate(
2773 wtr.invXform(x),
2774 shp,
2775 nrm,
2776 margin);
2777
2778 if (!predict)
2779 {
2780 cti.m_colObj = colObjWrap->getCollisionObject();
2781 cti.m_normal = wtr.getBasis() * nrm;
2782 cti.m_offset = dst;
2783 }
2784 if (dst < 0)
2785 return true;
2786 return (false);
2787 }
2788
2789 //
2790 // Compute barycentric coordinates (u, v, w) for
2791 // point p with respect to triangle (a, b, c)
getBarycentric(const btVector3 & p,btVector3 & a,btVector3 & b,btVector3 & c,btVector3 & bary)2792 static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVector3& c, btVector3& bary)
2793 {
2794 btVector3 v0 = b - a, v1 = c - a, v2 = p - a;
2795 btScalar d00 = v0.dot(v0);
2796 btScalar d01 = v0.dot(v1);
2797 btScalar d11 = v1.dot(v1);
2798 btScalar d20 = v2.dot(v0);
2799 btScalar d21 = v2.dot(v1);
2800 btScalar denom = d00 * d11 - d01 * d01;
2801 bary.setY((d11 * d20 - d01 * d21) / denom);
2802 bary.setZ((d00 * d21 - d01 * d20) / denom);
2803 bary.setX(btScalar(1) - bary.getY() - bary.getZ());
2804 }
2805
2806 //
checkDeformableFaceContact(const btCollisionObjectWrapper * colObjWrap,Face & f,btVector3 & contact_point,btVector3 & bary,btScalar margin,btSoftBody::sCti & cti,bool predict) const2807 bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap,
2808 Face& f,
2809 btVector3& contact_point,
2810 btVector3& bary,
2811 btScalar margin,
2812 btSoftBody::sCti& cti, bool predict) const
2813 {
2814 btVector3 nrm;
2815 const btCollisionShape* shp = colObjWrap->getCollisionShape();
2816 const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
2817 // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect
2818 // but resolve contact at x_n
2819 btTransform wtr = (predict) ? (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform() * (*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
2820 : colObjWrap->getWorldTransform();
2821 btScalar dst;
2822 btGjkEpaSolver2::sResults results;
2823
2824 // #define USE_QUADRATURE 1
2825
2826 // use collision quadrature point
2827 #ifdef USE_QUADRATURE
2828 {
2829 dst = SIMD_INFINITY;
2830 btVector3 local_nrm;
2831 for (int q = 0; q < m_quads.size(); ++q)
2832 {
2833 btVector3 p;
2834 if (predict)
2835 p = BaryEval(f.m_n[0]->m_q, f.m_n[1]->m_q, f.m_n[2]->m_q, m_quads[q]);
2836 else
2837 p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]);
2838 btScalar local_dst = m_worldInfo->m_sparsesdf.Evaluate(
2839 wtr.invXform(p),
2840 shp,
2841 local_nrm,
2842 margin);
2843 if (local_dst < dst)
2844 {
2845 if (local_dst < 0 && predict)
2846 return true;
2847 dst = local_dst;
2848 contact_point = p;
2849 bary = m_quads[q];
2850 nrm = local_nrm;
2851 }
2852 if (!predict)
2853 {
2854 cti.m_colObj = colObjWrap->getCollisionObject();
2855 cti.m_normal = wtr.getBasis() * nrm;
2856 cti.m_offset = dst;
2857 }
2858 }
2859 return (dst < 0);
2860 }
2861 #endif
2862
2863 // collision detection using x*
2864 btTransform triangle_transform;
2865 triangle_transform.setIdentity();
2866 triangle_transform.setOrigin(f.m_n[0]->m_q);
2867 btTriangleShape triangle(btVector3(0, 0, 0), f.m_n[1]->m_q - f.m_n[0]->m_q, f.m_n[2]->m_q - f.m_n[0]->m_q);
2868 btVector3 guess(0, 0, 0);
2869 const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
2870 btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results);
2871 dst = results.distance - 2.0 * csh->getMargin() - margin; // margin padding so that the distance = the actual distance between face and rigid - margin of rigid - margin of deformable
2872 if (dst >= 0)
2873 return false;
2874
2875 // Use consistent barycenter to recalculate distance.
2876 if (this->m_cacheBarycenter)
2877 {
2878 if (f.m_pcontact[3] != 0)
2879 {
2880 for (int i = 0; i < 3; ++i)
2881 bary[i] = f.m_pcontact[i];
2882 contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
2883 const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
2884 btGjkEpaSolver2::SignedDistance(contact_point, margin, csh, wtr, results);
2885 cti.m_colObj = colObjWrap->getCollisionObject();
2886 dst = results.distance;
2887 cti.m_normal = results.normal;
2888 cti.m_offset = dst;
2889
2890 //point-convex CD
2891 wtr = colObjWrap->getWorldTransform();
2892 btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
2893 triangle_transform.setOrigin(f.m_n[0]->m_x);
2894 btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
2895
2896 dst = results.distance - csh->getMargin() - margin;
2897 return true;
2898 }
2899 }
2900
2901 // Use triangle-convex CD.
2902 wtr = colObjWrap->getWorldTransform();
2903 btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
2904 triangle_transform.setOrigin(f.m_n[0]->m_x);
2905 btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
2906 contact_point = results.witnesses[0];
2907 getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
2908
2909 for (int i = 0; i < 3; ++i)
2910 f.m_pcontact[i] = bary[i];
2911
2912 dst = results.distance - csh->getMargin() - margin;
2913 cti.m_colObj = colObjWrap->getCollisionObject();
2914 cti.m_normal = results.normal;
2915 cti.m_offset = dst;
2916 return true;
2917 }
2918
updateNormals()2919 void btSoftBody::updateNormals()
2920 {
2921 const btVector3 zv(0, 0, 0);
2922 int i, ni;
2923
2924 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
2925 {
2926 m_nodes[i].m_n = zv;
2927 }
2928 for (i = 0, ni = m_faces.size(); i < ni; ++i)
2929 {
2930 btSoftBody::Face& f = m_faces[i];
2931 const btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x,
2932 f.m_n[2]->m_x - f.m_n[0]->m_x);
2933 f.m_normal = n;
2934 f.m_normal.safeNormalize();
2935 f.m_n[0]->m_n += n;
2936 f.m_n[1]->m_n += n;
2937 f.m_n[2]->m_n += n;
2938 }
2939 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
2940 {
2941 btScalar len = m_nodes[i].m_n.length();
2942 if (len > SIMD_EPSILON)
2943 m_nodes[i].m_n /= len;
2944 }
2945 }
2946
2947 //
updateBounds()2948 void btSoftBody::updateBounds()
2949 {
2950 /*if( m_acceleratedSoftBody )
2951 {
2952 // If we have an accelerated softbody we need to obtain the bounds correctly
2953 // For now (slightly hackily) just have a very large AABB
2954 // TODO: Write get bounds kernel
2955 // If that is updating in place, atomic collisions might be low (when the cloth isn't perfectly aligned to an axis) and we could
2956 // probably do a test and exchange reasonably efficiently.
2957
2958 m_bounds[0] = btVector3(-1000, -1000, -1000);
2959 m_bounds[1] = btVector3(1000, 1000, 1000);
2960
2961 } else {*/
2962 // if (m_ndbvt.m_root)
2963 // {
2964 // const btVector3& mins = m_ndbvt.m_root->volume.Mins();
2965 // const btVector3& maxs = m_ndbvt.m_root->volume.Maxs();
2966 // const btScalar csm = getCollisionShape()->getMargin();
2967 // const btVector3 mrg = btVector3(csm,
2968 // csm,
2969 // csm) *
2970 // 1; // ??? to investigate...
2971 // m_bounds[0] = mins - mrg;
2972 // m_bounds[1] = maxs + mrg;
2973 // if (0 != getBroadphaseHandle())
2974 // {
2975 // m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(),
2976 // m_bounds[0],
2977 // m_bounds[1],
2978 // m_worldInfo->m_dispatcher);
2979 // }
2980 // }
2981 // else
2982 // {
2983 // m_bounds[0] =
2984 // m_bounds[1] = btVector3(0, 0, 0);
2985 // }
2986 if (m_nodes.size())
2987 {
2988 btVector3 mins = m_nodes[0].m_x;
2989 btVector3 maxs = m_nodes[0].m_x;
2990 for (int i = 1; i < m_nodes.size(); ++i)
2991 {
2992 for (int d = 0; d < 3; ++d)
2993 {
2994 if (m_nodes[i].m_x[d] > maxs[d])
2995 maxs[d] = m_nodes[i].m_x[d];
2996 if (m_nodes[i].m_x[d] < mins[d])
2997 mins[d] = m_nodes[i].m_x[d];
2998 }
2999 }
3000 const btScalar csm = getCollisionShape()->getMargin();
3001 const btVector3 mrg = btVector3(csm,
3002 csm,
3003 csm);
3004 m_bounds[0] = mins - mrg;
3005 m_bounds[1] = maxs + mrg;
3006 if (0 != getBroadphaseHandle())
3007 {
3008 m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(),
3009 m_bounds[0],
3010 m_bounds[1],
3011 m_worldInfo->m_dispatcher);
3012 }
3013 }
3014 else
3015 {
3016 m_bounds[0] =
3017 m_bounds[1] = btVector3(0, 0, 0);
3018 }
3019 }
3020
3021 //
updatePose()3022 void btSoftBody::updatePose()
3023 {
3024 if (m_pose.m_bframe)
3025 {
3026 btSoftBody::Pose& pose = m_pose;
3027 const btVector3 com = evaluateCom();
3028 /* Com */
3029 pose.m_com = com;
3030 /* Rotation */
3031 btMatrix3x3 Apq;
3032 const btScalar eps = SIMD_EPSILON;
3033 Apq[0] = Apq[1] = Apq[2] = btVector3(0, 0, 0);
3034 Apq[0].setX(eps);
3035 Apq[1].setY(eps * 2);
3036 Apq[2].setZ(eps * 3);
3037 for (int i = 0, ni = m_nodes.size(); i < ni; ++i)
3038 {
3039 const btVector3 a = pose.m_wgh[i] * (m_nodes[i].m_x - com);
3040 const btVector3& b = pose.m_pos[i];
3041 Apq[0] += a.x() * b;
3042 Apq[1] += a.y() * b;
3043 Apq[2] += a.z() * b;
3044 }
3045 btMatrix3x3 r, s;
3046 PolarDecompose(Apq, r, s);
3047 pose.m_rot = r;
3048 pose.m_scl = pose.m_aqq * r.transpose() * Apq;
3049 if (m_cfg.maxvolume > 1)
3050 {
3051 const btScalar idet = Clamp<btScalar>(1 / pose.m_scl.determinant(),
3052 1, m_cfg.maxvolume);
3053 pose.m_scl = Mul(pose.m_scl, idet);
3054 }
3055 }
3056 }
3057
3058 //
updateArea(bool averageArea)3059 void btSoftBody::updateArea(bool averageArea)
3060 {
3061 int i, ni;
3062
3063 /* Face area */
3064 for (i = 0, ni = m_faces.size(); i < ni; ++i)
3065 {
3066 Face& f = m_faces[i];
3067 f.m_ra = AreaOf(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x);
3068 }
3069
3070 /* Node area */
3071
3072 if (averageArea)
3073 {
3074 btAlignedObjectArray<int> counts;
3075 counts.resize(m_nodes.size(), 0);
3076 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
3077 {
3078 m_nodes[i].m_area = 0;
3079 }
3080 for (i = 0, ni = m_faces.size(); i < ni; ++i)
3081 {
3082 btSoftBody::Face& f = m_faces[i];
3083 for (int j = 0; j < 3; ++j)
3084 {
3085 const int index = (int)(f.m_n[j] - &m_nodes[0]);
3086 counts[index]++;
3087 f.m_n[j]->m_area += btFabs(f.m_ra);
3088 }
3089 }
3090 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
3091 {
3092 if (counts[i] > 0)
3093 m_nodes[i].m_area /= (btScalar)counts[i];
3094 else
3095 m_nodes[i].m_area = 0;
3096 }
3097 }
3098 else
3099 {
3100 // initialize node area as zero
3101 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
3102 {
3103 m_nodes[i].m_area = 0;
3104 }
3105
3106 for (i = 0, ni = m_faces.size(); i < ni; ++i)
3107 {
3108 btSoftBody::Face& f = m_faces[i];
3109
3110 for (int j = 0; j < 3; ++j)
3111 {
3112 f.m_n[j]->m_area += f.m_ra;
3113 }
3114 }
3115
3116 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
3117 {
3118 m_nodes[i].m_area *= 0.3333333f;
3119 }
3120 }
3121 }
3122
updateLinkConstants()3123 void btSoftBody::updateLinkConstants()
3124 {
3125 int i, ni;
3126
3127 /* Links */
3128 for (i = 0, ni = m_links.size(); i < ni; ++i)
3129 {
3130 Link& l = m_links[i];
3131 Material& m = *l.m_material;
3132 l.m_c0 = (l.m_n[0]->m_im + l.m_n[1]->m_im) / m.m_kLST;
3133 }
3134 }
3135
updateConstants()3136 void btSoftBody::updateConstants()
3137 {
3138 resetLinkRestLengths();
3139 updateLinkConstants();
3140 updateArea();
3141 }
3142
3143 //
initializeClusters()3144 void btSoftBody::initializeClusters()
3145 {
3146 int i;
3147
3148 for (i = 0; i < m_clusters.size(); ++i)
3149 {
3150 Cluster& c = *m_clusters[i];
3151 c.m_imass = 0;
3152 c.m_masses.resize(c.m_nodes.size());
3153 for (int j = 0; j < c.m_nodes.size(); ++j)
3154 {
3155 if (c.m_nodes[j]->m_im == 0)
3156 {
3157 c.m_containsAnchor = true;
3158 c.m_masses[j] = BT_LARGE_FLOAT;
3159 }
3160 else
3161 {
3162 c.m_masses[j] = btScalar(1.) / c.m_nodes[j]->m_im;
3163 }
3164 c.m_imass += c.m_masses[j];
3165 }
3166 c.m_imass = btScalar(1.) / c.m_imass;
3167 c.m_com = btSoftBody::clusterCom(&c);
3168 c.m_lv = btVector3(0, 0, 0);
3169 c.m_av = btVector3(0, 0, 0);
3170 c.m_leaf = 0;
3171 /* Inertia */
3172 btMatrix3x3& ii = c.m_locii;
3173 ii[0] = ii[1] = ii[2] = btVector3(0, 0, 0);
3174 {
3175 int i, ni;
3176
3177 for (i = 0, ni = c.m_nodes.size(); i < ni; ++i)
3178 {
3179 const btVector3 k = c.m_nodes[i]->m_x - c.m_com;
3180 const btVector3 q = k * k;
3181 const btScalar m = c.m_masses[i];
3182 ii[0][0] += m * (q[1] + q[2]);
3183 ii[1][1] += m * (q[0] + q[2]);
3184 ii[2][2] += m * (q[0] + q[1]);
3185 ii[0][1] -= m * k[0] * k[1];
3186 ii[0][2] -= m * k[0] * k[2];
3187 ii[1][2] -= m * k[1] * k[2];
3188 }
3189 }
3190 ii[1][0] = ii[0][1];
3191 ii[2][0] = ii[0][2];
3192 ii[2][1] = ii[1][2];
3193
3194 ii = ii.inverse();
3195
3196 /* Frame */
3197 c.m_framexform.setIdentity();
3198 c.m_framexform.setOrigin(c.m_com);
3199 c.m_framerefs.resize(c.m_nodes.size());
3200 {
3201 int i;
3202 for (i = 0; i < c.m_framerefs.size(); ++i)
3203 {
3204 c.m_framerefs[i] = c.m_nodes[i]->m_x - c.m_com;
3205 }
3206 }
3207 }
3208 }
3209
3210 //
updateClusters()3211 void btSoftBody::updateClusters()
3212 {
3213 BT_PROFILE("UpdateClusters");
3214 int i;
3215
3216 for (i = 0; i < m_clusters.size(); ++i)
3217 {
3218 btSoftBody::Cluster& c = *m_clusters[i];
3219 const int n = c.m_nodes.size();
3220 //const btScalar invn=1/(btScalar)n;
3221 if (n)
3222 {
3223 /* Frame */
3224 const btScalar eps = btScalar(0.0001);
3225 btMatrix3x3 m, r, s;
3226 m[0] = m[1] = m[2] = btVector3(0, 0, 0);
3227 m[0][0] = eps * 1;
3228 m[1][1] = eps * 2;
3229 m[2][2] = eps * 3;
3230 c.m_com = clusterCom(&c);
3231 for (int i = 0; i < c.m_nodes.size(); ++i)
3232 {
3233 const btVector3 a = c.m_nodes[i]->m_x - c.m_com;
3234 const btVector3& b = c.m_framerefs[i];
3235 m[0] += a[0] * b;
3236 m[1] += a[1] * b;
3237 m[2] += a[2] * b;
3238 }
3239 PolarDecompose(m, r, s);
3240 c.m_framexform.setOrigin(c.m_com);
3241 c.m_framexform.setBasis(r);
3242 /* Inertia */
3243 #if 1 /* Constant */
3244 c.m_invwi = c.m_framexform.getBasis() * c.m_locii * c.m_framexform.getBasis().transpose();
3245 #else
3246 #if 0 /* Sphere */
3247 const btScalar rk=(2*c.m_extents.length2())/(5*c.m_imass);
3248 const btVector3 inertia(rk,rk,rk);
3249 const btVector3 iin(btFabs(inertia[0])>SIMD_EPSILON?1/inertia[0]:0,
3250 btFabs(inertia[1])>SIMD_EPSILON?1/inertia[1]:0,
3251 btFabs(inertia[2])>SIMD_EPSILON?1/inertia[2]:0);
3252
3253 c.m_invwi=c.m_xform.getBasis().scaled(iin)*c.m_xform.getBasis().transpose();
3254 #else /* Actual */
3255 c.m_invwi[0] = c.m_invwi[1] = c.m_invwi[2] = btVector3(0, 0, 0);
3256 for (int i = 0; i < n; ++i)
3257 {
3258 const btVector3 k = c.m_nodes[i]->m_x - c.m_com;
3259 const btVector3 q = k * k;
3260 const btScalar m = 1 / c.m_nodes[i]->m_im;
3261 c.m_invwi[0][0] += m * (q[1] + q[2]);
3262 c.m_invwi[1][1] += m * (q[0] + q[2]);
3263 c.m_invwi[2][2] += m * (q[0] + q[1]);
3264 c.m_invwi[0][1] -= m * k[0] * k[1];
3265 c.m_invwi[0][2] -= m * k[0] * k[2];
3266 c.m_invwi[1][2] -= m * k[1] * k[2];
3267 }
3268 c.m_invwi[1][0] = c.m_invwi[0][1];
3269 c.m_invwi[2][0] = c.m_invwi[0][2];
3270 c.m_invwi[2][1] = c.m_invwi[1][2];
3271 c.m_invwi = c.m_invwi.inverse();
3272 #endif
3273 #endif
3274 /* Velocities */
3275 c.m_lv = btVector3(0, 0, 0);
3276 c.m_av = btVector3(0, 0, 0);
3277 {
3278 int i;
3279
3280 for (i = 0; i < n; ++i)
3281 {
3282 const btVector3 v = c.m_nodes[i]->m_v * c.m_masses[i];
3283 c.m_lv += v;
3284 c.m_av += btCross(c.m_nodes[i]->m_x - c.m_com, v);
3285 }
3286 }
3287 c.m_lv = c.m_imass * c.m_lv * (1 - c.m_ldamping);
3288 c.m_av = c.m_invwi * c.m_av * (1 - c.m_adamping);
3289 c.m_vimpulses[0] =
3290 c.m_vimpulses[1] = btVector3(0, 0, 0);
3291 c.m_dimpulses[0] =
3292 c.m_dimpulses[1] = btVector3(0, 0, 0);
3293 c.m_nvimpulses = 0;
3294 c.m_ndimpulses = 0;
3295 /* Matching */
3296 if (c.m_matching > 0)
3297 {
3298 for (int j = 0; j < c.m_nodes.size(); ++j)
3299 {
3300 Node& n = *c.m_nodes[j];
3301 const btVector3 x = c.m_framexform * c.m_framerefs[j];
3302 n.m_x = Lerp(n.m_x, x, c.m_matching);
3303 }
3304 }
3305 /* Dbvt */
3306 if (c.m_collide)
3307 {
3308 btVector3 mi = c.m_nodes[0]->m_x;
3309 btVector3 mx = mi;
3310 for (int j = 1; j < n; ++j)
3311 {
3312 mi.setMin(c.m_nodes[j]->m_x);
3313 mx.setMax(c.m_nodes[j]->m_x);
3314 }
3315 ATTRIBUTE_ALIGNED16(btDbvtVolume)
3316 bounds = btDbvtVolume::FromMM(mi, mx);
3317 if (c.m_leaf)
3318 m_cdbvt.update(c.m_leaf, bounds, c.m_lv * m_sst.sdt * 3, m_sst.radmrg);
3319 else
3320 c.m_leaf = m_cdbvt.insert(bounds, &c);
3321 }
3322 }
3323 }
3324 }
3325
3326 //
cleanupClusters()3327 void btSoftBody::cleanupClusters()
3328 {
3329 for (int i = 0; i < m_joints.size(); ++i)
3330 {
3331 m_joints[i]->Terminate(m_sst.sdt);
3332 if (m_joints[i]->m_delete)
3333 {
3334 btAlignedFree(m_joints[i]);
3335 m_joints.remove(m_joints[i--]);
3336 }
3337 }
3338 }
3339
3340 //
prepareClusters(int iterations)3341 void btSoftBody::prepareClusters(int iterations)
3342 {
3343 for (int i = 0; i < m_joints.size(); ++i)
3344 {
3345 m_joints[i]->Prepare(m_sst.sdt, iterations);
3346 }
3347 }
3348
3349 //
solveClusters(btScalar sor)3350 void btSoftBody::solveClusters(btScalar sor)
3351 {
3352 for (int i = 0, ni = m_joints.size(); i < ni; ++i)
3353 {
3354 m_joints[i]->Solve(m_sst.sdt, sor);
3355 }
3356 }
3357
3358 //
applyClusters(bool drift)3359 void btSoftBody::applyClusters(bool drift)
3360 {
3361 BT_PROFILE("ApplyClusters");
3362 // const btScalar f0=m_sst.sdt;
3363 //const btScalar f1=f0/2;
3364 btAlignedObjectArray<btVector3> deltas;
3365 btAlignedObjectArray<btScalar> weights;
3366 deltas.resize(m_nodes.size(), btVector3(0, 0, 0));
3367 weights.resize(m_nodes.size(), 0);
3368 int i;
3369
3370 if (drift)
3371 {
3372 for (i = 0; i < m_clusters.size(); ++i)
3373 {
3374 Cluster& c = *m_clusters[i];
3375 if (c.m_ndimpulses)
3376 {
3377 c.m_dimpulses[0] /= (btScalar)c.m_ndimpulses;
3378 c.m_dimpulses[1] /= (btScalar)c.m_ndimpulses;
3379 }
3380 }
3381 }
3382
3383 for (i = 0; i < m_clusters.size(); ++i)
3384 {
3385 Cluster& c = *m_clusters[i];
3386 if (0 < (drift ? c.m_ndimpulses : c.m_nvimpulses))
3387 {
3388 const btVector3 v = (drift ? c.m_dimpulses[0] : c.m_vimpulses[0]) * m_sst.sdt;
3389 const btVector3 w = (drift ? c.m_dimpulses[1] : c.m_vimpulses[1]) * m_sst.sdt;
3390 for (int j = 0; j < c.m_nodes.size(); ++j)
3391 {
3392 const int idx = int(c.m_nodes[j] - &m_nodes[0]);
3393 const btVector3& x = c.m_nodes[j]->m_x;
3394 const btScalar q = c.m_masses[j];
3395 deltas[idx] += (v + btCross(w, x - c.m_com)) * q;
3396 weights[idx] += q;
3397 }
3398 }
3399 }
3400 for (i = 0; i < deltas.size(); ++i)
3401 {
3402 if (weights[i] > 0)
3403 {
3404 m_nodes[i].m_x += deltas[i] / weights[i];
3405 }
3406 }
3407 }
3408
3409 //
dampClusters()3410 void btSoftBody::dampClusters()
3411 {
3412 int i;
3413
3414 for (i = 0; i < m_clusters.size(); ++i)
3415 {
3416 Cluster& c = *m_clusters[i];
3417 if (c.m_ndamping > 0)
3418 {
3419 for (int j = 0; j < c.m_nodes.size(); ++j)
3420 {
3421 Node& n = *c.m_nodes[j];
3422 if (n.m_im > 0)
3423 {
3424 const btVector3 vx = c.m_lv + btCross(c.m_av, c.m_nodes[j]->m_q - c.m_com);
3425 if (vx.length2() <= n.m_v.length2())
3426 {
3427 n.m_v += c.m_ndamping * (vx - n.m_v);
3428 }
3429 }
3430 }
3431 }
3432 }
3433 }
3434
setSpringStiffness(btScalar k)3435 void btSoftBody::setSpringStiffness(btScalar k)
3436 {
3437 for (int i = 0; i < m_links.size(); ++i)
3438 {
3439 m_links[i].Feature::m_material->m_kLST = k;
3440 }
3441 m_repulsionStiffness = k;
3442 }
3443
setGravityFactor(btScalar gravFactor)3444 void btSoftBody::setGravityFactor(btScalar gravFactor)
3445 {
3446 m_gravityFactor = gravFactor;
3447 }
3448
setCacheBarycenter(bool cacheBarycenter)3449 void btSoftBody::setCacheBarycenter(bool cacheBarycenter)
3450 {
3451 m_cacheBarycenter = cacheBarycenter;
3452 }
3453
initializeDmInverse()3454 void btSoftBody::initializeDmInverse()
3455 {
3456 btScalar unit_simplex_measure = 1. / 6.;
3457
3458 for (int i = 0; i < m_tetras.size(); ++i)
3459 {
3460 Tetra& t = m_tetras[i];
3461 btVector3 c1 = t.m_n[1]->m_x - t.m_n[0]->m_x;
3462 btVector3 c2 = t.m_n[2]->m_x - t.m_n[0]->m_x;
3463 btVector3 c3 = t.m_n[3]->m_x - t.m_n[0]->m_x;
3464 btMatrix3x3 Dm(c1.getX(), c2.getX(), c3.getX(),
3465 c1.getY(), c2.getY(), c3.getY(),
3466 c1.getZ(), c2.getZ(), c3.getZ());
3467 t.m_element_measure = Dm.determinant() * unit_simplex_measure;
3468 t.m_Dm_inverse = Dm.inverse();
3469
3470 // calculate the first three columns of P^{-1}
3471 btVector3 a = t.m_n[0]->m_x;
3472 btVector3 b = t.m_n[1]->m_x;
3473 btVector3 c = t.m_n[2]->m_x;
3474 btVector3 d = t.m_n[3]->m_x;
3475
3476 btScalar det = 1 / (a[0] * b[1] * c[2] - a[0] * b[1] * d[2] - a[0] * b[2] * c[1] + a[0] * b[2] * d[1] + a[0] * c[1] * d[2] - a[0] * c[2] * d[1] + a[1] * (-b[0] * c[2] + b[0] * d[2] + b[2] * c[0] - b[2] * d[0] - c[0] * d[2] + c[2] * d[0]) + a[2] * (b[0] * c[1] - b[0] * d[1] + b[1] * (d[0] - c[0]) + c[0] * d[1] - c[1] * d[0]) - b[0] * c[1] * d[2] + b[0] * c[2] * d[1] + b[1] * c[0] * d[2] - b[1] * c[2] * d[0] - b[2] * c[0] * d[1] + b[2] * c[1] * d[0]);
3477
3478 btScalar P11 = -b[2] * c[1] + d[2] * c[1] + b[1] * c[2] + b[2] * d[1] - c[2] * d[1] - b[1] * d[2];
3479 btScalar P12 = b[2] * c[0] - d[2] * c[0] - b[0] * c[2] - b[2] * d[0] + c[2] * d[0] + b[0] * d[2];
3480 btScalar P13 = -b[1] * c[0] + d[1] * c[0] + b[0] * c[1] + b[1] * d[0] - c[1] * d[0] - b[0] * d[1];
3481 btScalar P21 = a[2] * c[1] - d[2] * c[1] - a[1] * c[2] - a[2] * d[1] + c[2] * d[1] + a[1] * d[2];
3482 btScalar P22 = -a[2] * c[0] + d[2] * c[0] + a[0] * c[2] + a[2] * d[0] - c[2] * d[0] - a[0] * d[2];
3483 btScalar P23 = a[1] * c[0] - d[1] * c[0] - a[0] * c[1] - a[1] * d[0] + c[1] * d[0] + a[0] * d[1];
3484 btScalar P31 = -a[2] * b[1] + d[2] * b[1] + a[1] * b[2] + a[2] * d[1] - b[2] * d[1] - a[1] * d[2];
3485 btScalar P32 = a[2] * b[0] - d[2] * b[0] - a[0] * b[2] - a[2] * d[0] + b[2] * d[0] + a[0] * d[2];
3486 btScalar P33 = -a[1] * b[0] + d[1] * b[0] + a[0] * b[1] + a[1] * d[0] - b[1] * d[0] - a[0] * d[1];
3487 btScalar P41 = a[2] * b[1] - c[2] * b[1] - a[1] * b[2] - a[2] * c[1] + b[2] * c[1] + a[1] * c[2];
3488 btScalar P42 = -a[2] * b[0] + c[2] * b[0] + a[0] * b[2] + a[2] * c[0] - b[2] * c[0] - a[0] * c[2];
3489 btScalar P43 = a[1] * b[0] - c[1] * b[0] - a[0] * b[1] - a[1] * c[0] + b[1] * c[0] + a[0] * c[1];
3490
3491 btVector4 p1(P11 * det, P21 * det, P31 * det, P41 * det);
3492 btVector4 p2(P12 * det, P22 * det, P32 * det, P42 * det);
3493 btVector4 p3(P13 * det, P23 * det, P33 * det, P43 * det);
3494
3495 t.m_P_inv[0] = p1;
3496 t.m_P_inv[1] = p2;
3497 t.m_P_inv[2] = p3;
3498 }
3499 }
3500
Dot4(const btVector4 & a,const btVector4 & b)3501 static btScalar Dot4(const btVector4& a, const btVector4& b)
3502 {
3503 return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
3504 }
3505
updateDeformation()3506 void btSoftBody::updateDeformation()
3507 {
3508 btQuaternion q;
3509 for (int i = 0; i < m_tetras.size(); ++i)
3510 {
3511 btSoftBody::Tetra& t = m_tetras[i];
3512 btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q;
3513 btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q;
3514 btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q;
3515 btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(),
3516 c1.getY(), c2.getY(), c3.getY(),
3517 c1.getZ(), c2.getZ(), c3.getZ());
3518 t.m_F = Ds * t.m_Dm_inverse;
3519
3520 btSoftBody::TetraScratch& s = m_tetraScratches[i];
3521 s.m_F = t.m_F;
3522 s.m_J = t.m_F.determinant();
3523 btMatrix3x3 C = t.m_F.transpose() * t.m_F;
3524 s.m_trace = C[0].getX() + C[1].getY() + C[2].getZ();
3525 s.m_cofF = t.m_F.adjoint().transpose();
3526
3527 btVector3 a = t.m_n[0]->m_q;
3528 btVector3 b = t.m_n[1]->m_q;
3529 btVector3 c = t.m_n[2]->m_q;
3530 btVector3 d = t.m_n[3]->m_q;
3531 btVector4 q1(a[0], b[0], c[0], d[0]);
3532 btVector4 q2(a[1], b[1], c[1], d[1]);
3533 btVector4 q3(a[2], b[2], c[2], d[2]);
3534 btMatrix3x3 B(Dot4(q1, t.m_P_inv[0]), Dot4(q1, t.m_P_inv[1]), Dot4(q1, t.m_P_inv[2]),
3535 Dot4(q2, t.m_P_inv[0]), Dot4(q2, t.m_P_inv[1]), Dot4(q2, t.m_P_inv[2]),
3536 Dot4(q3, t.m_P_inv[0]), Dot4(q3, t.m_P_inv[1]), Dot4(q3, t.m_P_inv[2]));
3537 q.setRotation(btVector3(0, 0, 1), 0);
3538 B.extractRotation(q, 0.01); // precision of the rotation is not very important for visual correctness.
3539 btMatrix3x3 Q(q);
3540 s.m_corotation = Q;
3541 }
3542 }
3543
advanceDeformation()3544 void btSoftBody::advanceDeformation()
3545 {
3546 updateDeformation();
3547 for (int i = 0; i < m_tetras.size(); ++i)
3548 {
3549 m_tetraScratchesTn[i] = m_tetraScratches[i];
3550 }
3551 }
3552 //
Prepare(btScalar dt,int)3553 void btSoftBody::Joint::Prepare(btScalar dt, int)
3554 {
3555 m_bodies[0].activate();
3556 m_bodies[1].activate();
3557 }
3558
3559 //
Prepare(btScalar dt,int iterations)3560 void btSoftBody::LJoint::Prepare(btScalar dt, int iterations)
3561 {
3562 static const btScalar maxdrift = 4;
3563 Joint::Prepare(dt, iterations);
3564 m_rpos[0] = m_bodies[0].xform() * m_refs[0];
3565 m_rpos[1] = m_bodies[1].xform() * m_refs[1];
3566 m_drift = Clamp(m_rpos[0] - m_rpos[1], maxdrift) * m_erp / dt;
3567 m_rpos[0] -= m_bodies[0].xform().getOrigin();
3568 m_rpos[1] -= m_bodies[1].xform().getOrigin();
3569 m_massmatrix = ImpulseMatrix(m_bodies[0].invMass(), m_bodies[0].invWorldInertia(), m_rpos[0],
3570 m_bodies[1].invMass(), m_bodies[1].invWorldInertia(), m_rpos[1]);
3571 if (m_split > 0)
3572 {
3573 m_sdrift = m_massmatrix * (m_drift * m_split);
3574 m_drift *= 1 - m_split;
3575 }
3576 m_drift /= (btScalar)iterations;
3577 }
3578
3579 //
Solve(btScalar dt,btScalar sor)3580 void btSoftBody::LJoint::Solve(btScalar dt, btScalar sor)
3581 {
3582 const btVector3 va = m_bodies[0].velocity(m_rpos[0]);
3583 const btVector3 vb = m_bodies[1].velocity(m_rpos[1]);
3584 const btVector3 vr = va - vb;
3585 btSoftBody::Impulse impulse;
3586 impulse.m_asVelocity = 1;
3587 impulse.m_velocity = m_massmatrix * (m_drift + vr * m_cfm) * sor;
3588 m_bodies[0].applyImpulse(-impulse, m_rpos[0]);
3589 m_bodies[1].applyImpulse(impulse, m_rpos[1]);
3590 }
3591
3592 //
Terminate(btScalar dt)3593 void btSoftBody::LJoint::Terminate(btScalar dt)
3594 {
3595 if (m_split > 0)
3596 {
3597 m_bodies[0].applyDImpulse(-m_sdrift, m_rpos[0]);
3598 m_bodies[1].applyDImpulse(m_sdrift, m_rpos[1]);
3599 }
3600 }
3601
3602 //
Prepare(btScalar dt,int iterations)3603 void btSoftBody::AJoint::Prepare(btScalar dt, int iterations)
3604 {
3605 static const btScalar maxdrift = SIMD_PI / 16;
3606 m_icontrol->Prepare(this);
3607 Joint::Prepare(dt, iterations);
3608 m_axis[0] = m_bodies[0].xform().getBasis() * m_refs[0];
3609 m_axis[1] = m_bodies[1].xform().getBasis() * m_refs[1];
3610 m_drift = NormalizeAny(btCross(m_axis[1], m_axis[0]));
3611 m_drift *= btMin(maxdrift, btAcos(Clamp<btScalar>(btDot(m_axis[0], m_axis[1]), -1, +1)));
3612 m_drift *= m_erp / dt;
3613 m_massmatrix = AngularImpulseMatrix(m_bodies[0].invWorldInertia(), m_bodies[1].invWorldInertia());
3614 if (m_split > 0)
3615 {
3616 m_sdrift = m_massmatrix * (m_drift * m_split);
3617 m_drift *= 1 - m_split;
3618 }
3619 m_drift /= (btScalar)iterations;
3620 }
3621
3622 //
Solve(btScalar dt,btScalar sor)3623 void btSoftBody::AJoint::Solve(btScalar dt, btScalar sor)
3624 {
3625 const btVector3 va = m_bodies[0].angularVelocity();
3626 const btVector3 vb = m_bodies[1].angularVelocity();
3627 const btVector3 vr = va - vb;
3628 const btScalar sp = btDot(vr, m_axis[0]);
3629 const btVector3 vc = vr - m_axis[0] * m_icontrol->Speed(this, sp);
3630 btSoftBody::Impulse impulse;
3631 impulse.m_asVelocity = 1;
3632 impulse.m_velocity = m_massmatrix * (m_drift + vc * m_cfm) * sor;
3633 m_bodies[0].applyAImpulse(-impulse);
3634 m_bodies[1].applyAImpulse(impulse);
3635 }
3636
3637 //
Terminate(btScalar dt)3638 void btSoftBody::AJoint::Terminate(btScalar dt)
3639 {
3640 if (m_split > 0)
3641 {
3642 m_bodies[0].applyDAImpulse(-m_sdrift);
3643 m_bodies[1].applyDAImpulse(m_sdrift);
3644 }
3645 }
3646
3647 //
Prepare(btScalar dt,int iterations)3648 void btSoftBody::CJoint::Prepare(btScalar dt, int iterations)
3649 {
3650 Joint::Prepare(dt, iterations);
3651 const bool dodrift = (m_life == 0);
3652 m_delete = (++m_life) > m_maxlife;
3653 if (dodrift)
3654 {
3655 m_drift = m_drift * m_erp / dt;
3656 if (m_split > 0)
3657 {
3658 m_sdrift = m_massmatrix * (m_drift * m_split);
3659 m_drift *= 1 - m_split;
3660 }
3661 m_drift /= (btScalar)iterations;
3662 }
3663 else
3664 {
3665 m_drift = m_sdrift = btVector3(0, 0, 0);
3666 }
3667 }
3668
3669 //
Solve(btScalar dt,btScalar sor)3670 void btSoftBody::CJoint::Solve(btScalar dt, btScalar sor)
3671 {
3672 const btVector3 va = m_bodies[0].velocity(m_rpos[0]);
3673 const btVector3 vb = m_bodies[1].velocity(m_rpos[1]);
3674 const btVector3 vrel = va - vb;
3675 const btScalar rvac = btDot(vrel, m_normal);
3676 btSoftBody::Impulse impulse;
3677 impulse.m_asVelocity = 1;
3678 impulse.m_velocity = m_drift;
3679 if (rvac < 0)
3680 {
3681 const btVector3 iv = m_normal * rvac;
3682 const btVector3 fv = vrel - iv;
3683 impulse.m_velocity += iv + fv * m_friction;
3684 }
3685 impulse.m_velocity = m_massmatrix * impulse.m_velocity * sor;
3686
3687 if (m_bodies[0].m_soft == m_bodies[1].m_soft)
3688 {
3689 if ((impulse.m_velocity.getX() == impulse.m_velocity.getX()) && (impulse.m_velocity.getY() == impulse.m_velocity.getY()) &&
3690 (impulse.m_velocity.getZ() == impulse.m_velocity.getZ()))
3691 {
3692 if (impulse.m_asVelocity)
3693 {
3694 if (impulse.m_velocity.length() < m_bodies[0].m_soft->m_maxSelfCollisionImpulse)
3695 {
3696 }
3697 else
3698 {
3699 m_bodies[0].applyImpulse(-impulse * m_bodies[0].m_soft->m_selfCollisionImpulseFactor, m_rpos[0]);
3700 m_bodies[1].applyImpulse(impulse * m_bodies[0].m_soft->m_selfCollisionImpulseFactor, m_rpos[1]);
3701 }
3702 }
3703 }
3704 }
3705 else
3706 {
3707 m_bodies[0].applyImpulse(-impulse, m_rpos[0]);
3708 m_bodies[1].applyImpulse(impulse, m_rpos[1]);
3709 }
3710 }
3711
3712 //
Terminate(btScalar dt)3713 void btSoftBody::CJoint::Terminate(btScalar dt)
3714 {
3715 if (m_split > 0)
3716 {
3717 m_bodies[0].applyDImpulse(-m_sdrift, m_rpos[0]);
3718 m_bodies[1].applyDImpulse(m_sdrift, m_rpos[1]);
3719 }
3720 }
3721
3722 //
applyForces()3723 void btSoftBody::applyForces()
3724 {
3725 BT_PROFILE("SoftBody applyForces");
3726 // const btScalar dt = m_sst.sdt;
3727 const btScalar kLF = m_cfg.kLF;
3728 const btScalar kDG = m_cfg.kDG;
3729 const btScalar kPR = m_cfg.kPR;
3730 const btScalar kVC = m_cfg.kVC;
3731 const bool as_lift = kLF > 0;
3732 const bool as_drag = kDG > 0;
3733 const bool as_pressure = kPR != 0;
3734 const bool as_volume = kVC > 0;
3735 const bool as_aero = as_lift ||
3736 as_drag;
3737 //const bool as_vaero = as_aero &&
3738 // (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
3739 //const bool as_faero = as_aero &&
3740 // (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
3741 const bool use_medium = as_aero;
3742 const bool use_volume = as_pressure ||
3743 as_volume;
3744 btScalar volume = 0;
3745 btScalar ivolumetp = 0;
3746 btScalar dvolumetv = 0;
3747 btSoftBody::sMedium medium;
3748 if (use_volume)
3749 {
3750 volume = getVolume();
3751 ivolumetp = 1 / btFabs(volume) * kPR;
3752 dvolumetv = (m_pose.m_volume - volume) * kVC;
3753 }
3754 /* Per vertex forces */
3755 int i, ni;
3756
3757 for (i = 0, ni = m_nodes.size(); i < ni; ++i)
3758 {
3759 btSoftBody::Node& n = m_nodes[i];
3760 if (n.m_im > 0)
3761 {
3762 if (use_medium)
3763 {
3764 /* Aerodynamics */
3765 addAeroForceToNode(m_windVelocity, i);
3766 }
3767 /* Pressure */
3768 if (as_pressure)
3769 {
3770 n.m_f += n.m_n * (n.m_area * ivolumetp);
3771 }
3772 /* Volume */
3773 if (as_volume)
3774 {
3775 n.m_f += n.m_n * (n.m_area * dvolumetv);
3776 }
3777 }
3778 }
3779
3780 /* Per face forces */
3781 for (i = 0, ni = m_faces.size(); i < ni; ++i)
3782 {
3783 // btSoftBody::Face& f=m_faces[i];
3784
3785 /* Aerodynamics */
3786 addAeroForceToFace(m_windVelocity, i);
3787 }
3788 }
3789
3790 //
setMaxStress(btScalar maxStress)3791 void btSoftBody::setMaxStress(btScalar maxStress)
3792 {
3793 m_cfg.m_maxStress = maxStress;
3794 }
3795
3796 //
interpolateRenderMesh()3797 void btSoftBody::interpolateRenderMesh()
3798 {
3799 if (m_z.size() > 0)
3800 {
3801 for (int i = 0; i < m_renderNodes.size(); ++i)
3802 {
3803 const Node* p0 = m_renderNodesParents[i][0];
3804 const Node* p1 = m_renderNodesParents[i][1];
3805 const Node* p2 = m_renderNodesParents[i][2];
3806 btVector3 normal = btCross(p1->m_x - p0->m_x, p2->m_x - p0->m_x);
3807 btVector3 unit_normal = normal.normalized();
3808 RenderNode& n = m_renderNodes[i];
3809 n.m_x.setZero();
3810 for (int j = 0; j < 3; ++j)
3811 {
3812 n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j];
3813 }
3814 n.m_x += m_z[i] * unit_normal;
3815 }
3816 }
3817 else
3818 {
3819 for (int i = 0; i < m_renderNodes.size(); ++i)
3820 {
3821 RenderNode& n = m_renderNodes[i];
3822 n.m_x.setZero();
3823 for (int j = 0; j < 4; ++j)
3824 {
3825 if (m_renderNodesParents[i].size())
3826 {
3827 n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j];
3828 }
3829 }
3830 }
3831 }
3832 }
3833
setCollisionQuadrature(int N)3834 void btSoftBody::setCollisionQuadrature(int N)
3835 {
3836 for (int i = 0; i <= N; ++i)
3837 {
3838 for (int j = 0; i + j <= N; ++j)
3839 {
3840 m_quads.push_back(btVector3(btScalar(i) / btScalar(N), btScalar(j) / btScalar(N), btScalar(N - i - j) / btScalar(N)));
3841 }
3842 }
3843 }
3844
3845 //
PSolve_Anchors(btSoftBody * psb,btScalar kst,btScalar ti)3846 void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti)
3847 {
3848 BT_PROFILE("PSolve_Anchors");
3849 const btScalar kAHR = psb->m_cfg.kAHR * kst;
3850 const btScalar dt = psb->m_sst.sdt;
3851 for (int i = 0, ni = psb->m_anchors.size(); i < ni; ++i)
3852 {
3853 const Anchor& a = psb->m_anchors[i];
3854 const btTransform& t = a.m_body->getWorldTransform();
3855 Node& n = *a.m_node;
3856 const btVector3 wa = t * a.m_local;
3857 const btVector3 va = a.m_body->getVelocityInLocalPoint(a.m_c1) * dt;
3858 const btVector3 vb = n.m_x - n.m_q;
3859 const btVector3 vr = (va - vb) + (wa - n.m_x) * kAHR;
3860 const btVector3 impulse = a.m_c0 * vr * a.m_influence;
3861 n.m_x += impulse * a.m_c2;
3862 a.m_body->applyImpulse(-impulse, a.m_c1);
3863 }
3864 }
3865
3866 //
PSolve_RContacts(btSoftBody * psb,btScalar kst,btScalar ti)3867 void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
3868 {
3869 BT_PROFILE("PSolve_RContacts");
3870 const btScalar dt = psb->m_sst.sdt;
3871 const btScalar mrg = psb->getCollisionShape()->getMargin();
3872 btMultiBodyJacobianData jacobianData;
3873 for (int i = 0, ni = psb->m_rcontacts.size(); i < ni; ++i)
3874 {
3875 const RContact& c = psb->m_rcontacts[i];
3876 const sCti& cti = c.m_cti;
3877 if (cti.m_colObj->hasContactResponse())
3878 {
3879 btVector3 va(0, 0, 0);
3880 btRigidBody* rigidCol = 0;
3881 btMultiBodyLinkCollider* multibodyLinkCol = 0;
3882 btScalar* deltaV;
3883
3884 if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
3885 {
3886 rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
3887 va = rigidCol ? rigidCol->getVelocityInLocalPoint(c.m_c1) * dt : btVector3(0, 0, 0);
3888 }
3889 else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
3890 {
3891 multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
3892 if (multibodyLinkCol)
3893 {
3894 const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
3895 jacobianData.m_jacobians.resize(ndof);
3896 jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof);
3897 btScalar* jac = &jacobianData.m_jacobians[0];
3898
3899 multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m);
3900 deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0];
3901 multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], deltaV, jacobianData.scratch_r, jacobianData.scratch_v);
3902
3903 btScalar vel = 0.0;
3904 for (int j = 0; j < ndof; ++j)
3905 {
3906 vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j];
3907 }
3908 va = cti.m_normal * vel * dt;
3909 }
3910 }
3911
3912 const btVector3 vb = c.m_node->m_x - c.m_node->m_q;
3913 const btVector3 vr = vb - va;
3914 const btScalar dn = btDot(vr, cti.m_normal);
3915 if (dn <= SIMD_EPSILON)
3916 {
3917 const btScalar dp = btMin((btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg);
3918 const btVector3 fv = vr - (cti.m_normal * dn);
3919 // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
3920 const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst);
3921 c.m_node->m_x -= impulse * c.m_c2;
3922
3923 if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
3924 {
3925 if (rigidCol)
3926 rigidCol->applyImpulse(impulse, c.m_c1);
3927 }
3928 else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
3929 {
3930 if (multibodyLinkCol)
3931 {
3932 double multiplier = 0.5;
3933 multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier);
3934 }
3935 }
3936 }
3937 }
3938 }
3939 }
3940
3941 //
PSolve_SContacts(btSoftBody * psb,btScalar,btScalar ti)3942 void btSoftBody::PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti)
3943 {
3944 BT_PROFILE("PSolve_SContacts");
3945
3946 for (int i = 0, ni = psb->m_scontacts.size(); i < ni; ++i)
3947 {
3948 const SContact& c = psb->m_scontacts[i];
3949 const btVector3& nr = c.m_normal;
3950 Node& n = *c.m_node;
3951 Face& f = *c.m_face;
3952 const btVector3 p = BaryEval(f.m_n[0]->m_x,
3953 f.m_n[1]->m_x,
3954 f.m_n[2]->m_x,
3955 c.m_weights);
3956 const btVector3 q = BaryEval(f.m_n[0]->m_q,
3957 f.m_n[1]->m_q,
3958 f.m_n[2]->m_q,
3959 c.m_weights);
3960 const btVector3 vr = (n.m_x - n.m_q) - (p - q);
3961 btVector3 corr(0, 0, 0);
3962 btScalar dot = btDot(vr, nr);
3963 if (dot < 0)
3964 {
3965 const btScalar j = c.m_margin - (btDot(nr, n.m_x) - btDot(nr, p));
3966 corr += c.m_normal * j;
3967 }
3968 corr -= ProjectOnPlane(vr, nr) * c.m_friction;
3969 n.m_x += corr * c.m_cfm[0];
3970 f.m_n[0]->m_x -= corr * (c.m_cfm[1] * c.m_weights.x());
3971 f.m_n[1]->m_x -= corr * (c.m_cfm[1] * c.m_weights.y());
3972 f.m_n[2]->m_x -= corr * (c.m_cfm[1] * c.m_weights.z());
3973 }
3974 }
3975
3976 //
PSolve_Links(btSoftBody * psb,btScalar kst,btScalar ti)3977 void btSoftBody::PSolve_Links(btSoftBody* psb, btScalar kst, btScalar ti)
3978 {
3979 BT_PROFILE("PSolve_Links");
3980 for (int i = 0, ni = psb->m_links.size(); i < ni; ++i)
3981 {
3982 Link& l = psb->m_links[i];
3983 if (l.m_c0 > 0)
3984 {
3985 Node& a = *l.m_n[0];
3986 Node& b = *l.m_n[1];
3987 const btVector3 del = b.m_x - a.m_x;
3988 const btScalar len = del.length2();
3989 if (l.m_c1 + len > SIMD_EPSILON)
3990 {
3991 const btScalar k = ((l.m_c1 - len) / (l.m_c0 * (l.m_c1 + len))) * kst;
3992 a.m_x -= del * (k * a.m_im);
3993 b.m_x += del * (k * b.m_im);
3994 }
3995 }
3996 }
3997 }
3998
3999 //
VSolve_Links(btSoftBody * psb,btScalar kst)4000 void btSoftBody::VSolve_Links(btSoftBody* psb, btScalar kst)
4001 {
4002 BT_PROFILE("VSolve_Links");
4003 for (int i = 0, ni = psb->m_links.size(); i < ni; ++i)
4004 {
4005 Link& l = psb->m_links[i];
4006 Node** n = l.m_n;
4007 const btScalar j = -btDot(l.m_c3, n[0]->m_v - n[1]->m_v) * l.m_c2 * kst;
4008 n[0]->m_v += l.m_c3 * (j * n[0]->m_im);
4009 n[1]->m_v -= l.m_c3 * (j * n[1]->m_im);
4010 }
4011 }
4012
4013 //
getSolver(ePSolver::_ solver)4014 btSoftBody::psolver_t btSoftBody::getSolver(ePSolver::_ solver)
4015 {
4016 switch (solver)
4017 {
4018 case ePSolver::Anchors:
4019 return (&btSoftBody::PSolve_Anchors);
4020 case ePSolver::Linear:
4021 return (&btSoftBody::PSolve_Links);
4022 case ePSolver::RContacts:
4023 return (&btSoftBody::PSolve_RContacts);
4024 case ePSolver::SContacts:
4025 return (&btSoftBody::PSolve_SContacts);
4026 default:
4027 {
4028 }
4029 }
4030 return (0);
4031 }
4032
4033 //
getSolver(eVSolver::_ solver)4034 btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver)
4035 {
4036 switch (solver)
4037 {
4038 case eVSolver::Linear:
4039 return (&btSoftBody::VSolve_Links);
4040 default:
4041 {
4042 }
4043 }
4044 return (0);
4045 }
4046
setSelfCollision(bool useSelfCollision)4047 void btSoftBody::setSelfCollision(bool useSelfCollision)
4048 {
4049 m_useSelfCollision = useSelfCollision;
4050 }
4051
useSelfCollision()4052 bool btSoftBody::useSelfCollision()
4053 {
4054 return m_useSelfCollision;
4055 }
4056
4057 //
defaultCollisionHandler(const btCollisionObjectWrapper * pcoWrap)4058 void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap)
4059 {
4060 switch (m_cfg.collisions & fCollision::RVSmask)
4061 {
4062 case fCollision::SDF_RS:
4063 {
4064 btSoftColliders::CollideSDF_RS docollide;
4065 btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
4066 btTransform wtr = pcoWrap->getWorldTransform();
4067
4068 const btTransform ctr = pcoWrap->getWorldTransform();
4069 const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length();
4070 const btScalar basemargin = getCollisionShape()->getMargin();
4071 btVector3 mins;
4072 btVector3 maxs;
4073 ATTRIBUTE_ALIGNED16(btDbvtVolume)
4074 volume;
4075 pcoWrap->getCollisionShape()->getAabb(pcoWrap->getWorldTransform(),
4076 mins,
4077 maxs);
4078 volume = btDbvtVolume::FromMM(mins, maxs);
4079 volume.Expand(btVector3(basemargin, basemargin, basemargin));
4080 docollide.psb = this;
4081 docollide.m_colObj1Wrap = pcoWrap;
4082 docollide.m_rigidBody = prb1;
4083
4084 docollide.dynmargin = basemargin + timemargin;
4085 docollide.stamargin = basemargin;
4086 m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollide);
4087 }
4088 break;
4089 case fCollision::CL_RS:
4090 {
4091 btSoftColliders::CollideCL_RS collider;
4092 collider.ProcessColObj(this, pcoWrap);
4093 }
4094 break;
4095 case fCollision::SDF_RD:
4096 {
4097 btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
4098 if (this->isActive())
4099 {
4100 const btTransform wtr = pcoWrap->getWorldTransform();
4101 const btScalar timemargin = 0;
4102 const btScalar basemargin = getCollisionShape()->getMargin();
4103 btVector3 mins;
4104 btVector3 maxs;
4105 ATTRIBUTE_ALIGNED16(btDbvtVolume)
4106 volume;
4107 pcoWrap->getCollisionShape()->getAabb(wtr,
4108 mins,
4109 maxs);
4110 volume = btDbvtVolume::FromMM(mins, maxs);
4111 volume.Expand(btVector3(basemargin, basemargin, basemargin));
4112 if (m_cfg.collisions & fCollision::SDF_RDN)
4113 {
4114 btSoftColliders::CollideSDF_RD docollideNode;
4115 docollideNode.psb = this;
4116 docollideNode.m_colObj1Wrap = pcoWrap;
4117 docollideNode.m_rigidBody = prb1;
4118 docollideNode.dynmargin = basemargin + timemargin;
4119 docollideNode.stamargin = basemargin;
4120 m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode);
4121 }
4122
4123 if (((pcoWrap->getCollisionObject()->getInternalType() == CO_RIGID_BODY) && (m_cfg.collisions & fCollision::SDF_RDF)) || ((pcoWrap->getCollisionObject()->getInternalType() == CO_FEATHERSTONE_LINK) && (m_cfg.collisions & fCollision::SDF_MDF)))
4124 {
4125 btSoftColliders::CollideSDF_RDF docollideFace;
4126 docollideFace.psb = this;
4127 docollideFace.m_colObj1Wrap = pcoWrap;
4128 docollideFace.m_rigidBody = prb1;
4129 docollideFace.dynmargin = basemargin + timemargin;
4130 docollideFace.stamargin = basemargin;
4131 m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
4132 }
4133 }
4134 }
4135 break;
4136 }
4137 }
4138
4139 //
defaultCollisionHandler(btSoftBody * psb)4140 void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
4141 {
4142 BT_PROFILE("Deformable Collision");
4143 const int cf = m_cfg.collisions & psb->m_cfg.collisions;
4144 switch (cf & fCollision::SVSmask)
4145 {
4146 case fCollision::CL_SS:
4147 {
4148 //support self-collision if CL_SELF flag set
4149 if (this != psb || psb->m_cfg.collisions & fCollision::CL_SELF)
4150 {
4151 btSoftColliders::CollideCL_SS docollide;
4152 docollide.ProcessSoftSoft(this, psb);
4153 }
4154 }
4155 break;
4156 case fCollision::VF_SS:
4157 {
4158 //only self-collision for Cluster, not Vertex-Face yet
4159 if (this != psb)
4160 {
4161 btSoftColliders::CollideVF_SS docollide;
4162 /* common */
4163 docollide.mrg = getCollisionShape()->getMargin() +
4164 psb->getCollisionShape()->getMargin();
4165 /* psb0 nodes vs psb1 faces */
4166 docollide.psb[0] = this;
4167 docollide.psb[1] = psb;
4168 docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
4169 docollide.psb[1]->m_fdbvt.m_root,
4170 docollide);
4171 /* psb1 nodes vs psb0 faces */
4172 docollide.psb[0] = psb;
4173 docollide.psb[1] = this;
4174 docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
4175 docollide.psb[1]->m_fdbvt.m_root,
4176 docollide);
4177 }
4178 }
4179 break;
4180 case fCollision::VF_DD:
4181 {
4182 if (!psb->m_softSoftCollision)
4183 return;
4184 if (psb->isActive() || this->isActive())
4185 {
4186 if (this != psb)
4187 {
4188 btSoftColliders::CollideVF_DD docollide;
4189 /* common */
4190 docollide.mrg = getCollisionShape()->getMargin() +
4191 psb->getCollisionShape()->getMargin();
4192 /* psb0 nodes vs psb1 faces */
4193 if (psb->m_tetras.size() > 0)
4194 docollide.useFaceNormal = true;
4195 else
4196 docollide.useFaceNormal = false;
4197 docollide.psb[0] = this;
4198 docollide.psb[1] = psb;
4199 docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
4200 docollide.psb[1]->m_fdbvt.m_root,
4201 docollide);
4202
4203 /* psb1 nodes vs psb0 faces */
4204 if (this->m_tetras.size() > 0)
4205 docollide.useFaceNormal = true;
4206 else
4207 docollide.useFaceNormal = false;
4208 docollide.psb[0] = psb;
4209 docollide.psb[1] = this;
4210 docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
4211 docollide.psb[1]->m_fdbvt.m_root,
4212 docollide);
4213 }
4214 else
4215 {
4216 if (psb->useSelfCollision())
4217 {
4218 btSoftColliders::CollideFF_DD docollide;
4219 docollide.mrg = 2 * getCollisionShape()->getMargin();
4220 docollide.psb[0] = this;
4221 docollide.psb[1] = psb;
4222 if (this->m_tetras.size() > 0)
4223 docollide.useFaceNormal = true;
4224 else
4225 docollide.useFaceNormal = false;
4226 /* psb0 faces vs psb0 faces */
4227 calculateNormalCone(this->m_fdbvnt);
4228 this->m_fdbvt.selfCollideT(m_fdbvnt, docollide);
4229 }
4230 }
4231 }
4232 }
4233 break;
4234 default:
4235 {
4236 }
4237 }
4238 }
4239
geometricCollisionHandler(btSoftBody * psb)4240 void btSoftBody::geometricCollisionHandler(btSoftBody* psb)
4241 {
4242 if (psb->isActive() || this->isActive())
4243 {
4244 if (this != psb)
4245 {
4246 btSoftColliders::CollideCCD docollide;
4247 /* common */
4248 docollide.mrg = SAFE_EPSILON; // for rounding error instead of actual margin
4249 docollide.dt = psb->m_sst.sdt;
4250 /* psb0 nodes vs psb1 faces */
4251 if (psb->m_tetras.size() > 0)
4252 docollide.useFaceNormal = true;
4253 else
4254 docollide.useFaceNormal = false;
4255 docollide.psb[0] = this;
4256 docollide.psb[1] = psb;
4257 docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
4258 docollide.psb[1]->m_fdbvt.m_root,
4259 docollide);
4260 /* psb1 nodes vs psb0 faces */
4261 if (this->m_tetras.size() > 0)
4262 docollide.useFaceNormal = true;
4263 else
4264 docollide.useFaceNormal = false;
4265 docollide.psb[0] = psb;
4266 docollide.psb[1] = this;
4267 docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
4268 docollide.psb[1]->m_fdbvt.m_root,
4269 docollide);
4270 }
4271 else
4272 {
4273 if (psb->useSelfCollision())
4274 {
4275 btSoftColliders::CollideCCD docollide;
4276 docollide.mrg = SAFE_EPSILON;
4277 docollide.psb[0] = this;
4278 docollide.psb[1] = psb;
4279 docollide.dt = psb->m_sst.sdt;
4280 if (this->m_tetras.size() > 0)
4281 docollide.useFaceNormal = true;
4282 else
4283 docollide.useFaceNormal = false;
4284 /* psb0 faces vs psb0 faces */
4285 calculateNormalCone(this->m_fdbvnt); // should compute this outside of this scope
4286 this->m_fdbvt.selfCollideT(m_fdbvnt, docollide);
4287 }
4288 }
4289 }
4290 }
4291
setWindVelocity(const btVector3 & velocity)4292 void btSoftBody::setWindVelocity(const btVector3& velocity)
4293 {
4294 m_windVelocity = velocity;
4295 }
4296
getWindVelocity()4297 const btVector3& btSoftBody::getWindVelocity()
4298 {
4299 return m_windVelocity;
4300 }
4301
calculateSerializeBufferSize() const4302 int btSoftBody::calculateSerializeBufferSize() const
4303 {
4304 int sz = sizeof(btSoftBodyData);
4305 return sz;
4306 }
4307
4308 ///fills the dataBuffer and returns the struct name (and 0 on failure)
serialize(void * dataBuffer,class btSerializer * serializer) const4309 const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializer) const
4310 {
4311 btSoftBodyData* sbd = (btSoftBodyData*)dataBuffer;
4312
4313 btCollisionObject::serialize(&sbd->m_collisionObjectData, serializer);
4314
4315 btHashMap<btHashPtr, int> m_nodeIndexMap;
4316
4317 sbd->m_numMaterials = m_materials.size();
4318 sbd->m_materials = sbd->m_numMaterials ? (SoftBodyMaterialData**)serializer->getUniquePointer((void*)&m_materials) : 0;
4319
4320 if (sbd->m_materials)
4321 {
4322 int sz = sizeof(SoftBodyMaterialData*);
4323 int numElem = sbd->m_numMaterials;
4324 btChunk* chunk = serializer->allocate(sz, numElem);
4325 //SoftBodyMaterialData** memPtr = chunk->m_oldPtr;
4326 SoftBodyMaterialData** memPtr = (SoftBodyMaterialData**)chunk->m_oldPtr;
4327 for (int i = 0; i < numElem; i++, memPtr++)
4328 {
4329 btSoftBody::Material* mat = m_materials[i];
4330 *memPtr = mat ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)mat) : 0;
4331 if (!serializer->findPointer(mat))
4332 {
4333 //serialize it here
4334 btChunk* chunk = serializer->allocate(sizeof(SoftBodyMaterialData), 1);
4335 SoftBodyMaterialData* memPtr = (SoftBodyMaterialData*)chunk->m_oldPtr;
4336 memPtr->m_flags = mat->m_flags;
4337 memPtr->m_angularStiffness = mat->m_kAST;
4338 memPtr->m_linearStiffness = mat->m_kLST;
4339 memPtr->m_volumeStiffness = mat->m_kVST;
4340 serializer->finalizeChunk(chunk, "SoftBodyMaterialData", BT_SBMATERIAL_CODE, mat);
4341 }
4342 }
4343 serializer->finalizeChunk(chunk, "SoftBodyMaterialData", BT_ARRAY_CODE, (void*)&m_materials);
4344 }
4345
4346 sbd->m_numNodes = m_nodes.size();
4347 sbd->m_nodes = sbd->m_numNodes ? (SoftBodyNodeData*)serializer->getUniquePointer((void*)&m_nodes) : 0;
4348 if (sbd->m_nodes)
4349 {
4350 int sz = sizeof(SoftBodyNodeData);
4351 int numElem = sbd->m_numNodes;
4352 btChunk* chunk = serializer->allocate(sz, numElem);
4353 SoftBodyNodeData* memPtr = (SoftBodyNodeData*)chunk->m_oldPtr;
4354 for (int i = 0; i < numElem; i++, memPtr++)
4355 {
4356 m_nodes[i].m_f.serializeFloat(memPtr->m_accumulatedForce);
4357 memPtr->m_area = m_nodes[i].m_area;
4358 memPtr->m_attach = m_nodes[i].m_battach;
4359 memPtr->m_inverseMass = m_nodes[i].m_im;
4360 memPtr->m_material = m_nodes[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_nodes[i].m_material) : 0;
4361 m_nodes[i].m_n.serializeFloat(memPtr->m_normal);
4362 m_nodes[i].m_x.serializeFloat(memPtr->m_position);
4363 m_nodes[i].m_q.serializeFloat(memPtr->m_previousPosition);
4364 m_nodes[i].m_v.serializeFloat(memPtr->m_velocity);
4365 m_nodeIndexMap.insert(&m_nodes[i], i);
4366 }
4367 serializer->finalizeChunk(chunk, "SoftBodyNodeData", BT_SBNODE_CODE, (void*)&m_nodes);
4368 }
4369
4370 sbd->m_numLinks = m_links.size();
4371 sbd->m_links = sbd->m_numLinks ? (SoftBodyLinkData*)serializer->getUniquePointer((void*)&m_links[0]) : 0;
4372 if (sbd->m_links)
4373 {
4374 int sz = sizeof(SoftBodyLinkData);
4375 int numElem = sbd->m_numLinks;
4376 btChunk* chunk = serializer->allocate(sz, numElem);
4377 SoftBodyLinkData* memPtr = (SoftBodyLinkData*)chunk->m_oldPtr;
4378 for (int i = 0; i < numElem; i++, memPtr++)
4379 {
4380 memPtr->m_bbending = m_links[i].m_bbending;
4381 memPtr->m_material = m_links[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_links[i].m_material) : 0;
4382 memPtr->m_nodeIndices[0] = m_links[i].m_n[0] ? m_links[i].m_n[0] - &m_nodes[0] : -1;
4383 memPtr->m_nodeIndices[1] = m_links[i].m_n[1] ? m_links[i].m_n[1] - &m_nodes[0] : -1;
4384 btAssert(memPtr->m_nodeIndices[0] < m_nodes.size());
4385 btAssert(memPtr->m_nodeIndices[1] < m_nodes.size());
4386 memPtr->m_restLength = m_links[i].m_rl;
4387 }
4388 serializer->finalizeChunk(chunk, "SoftBodyLinkData", BT_ARRAY_CODE, (void*)&m_links[0]);
4389 }
4390
4391 sbd->m_numFaces = m_faces.size();
4392 sbd->m_faces = sbd->m_numFaces ? (SoftBodyFaceData*)serializer->getUniquePointer((void*)&m_faces[0]) : 0;
4393 if (sbd->m_faces)
4394 {
4395 int sz = sizeof(SoftBodyFaceData);
4396 int numElem = sbd->m_numFaces;
4397 btChunk* chunk = serializer->allocate(sz, numElem);
4398 SoftBodyFaceData* memPtr = (SoftBodyFaceData*)chunk->m_oldPtr;
4399 for (int i = 0; i < numElem; i++, memPtr++)
4400 {
4401 memPtr->m_material = m_faces[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_faces[i].m_material) : 0;
4402 m_faces[i].m_normal.serializeFloat(memPtr->m_normal);
4403 for (int j = 0; j < 3; j++)
4404 {
4405 memPtr->m_nodeIndices[j] = m_faces[i].m_n[j] ? m_faces[i].m_n[j] - &m_nodes[0] : -1;
4406 }
4407 memPtr->m_restArea = m_faces[i].m_ra;
4408 }
4409 serializer->finalizeChunk(chunk, "SoftBodyFaceData", BT_ARRAY_CODE, (void*)&m_faces[0]);
4410 }
4411
4412 sbd->m_numTetrahedra = m_tetras.size();
4413 sbd->m_tetrahedra = sbd->m_numTetrahedra ? (SoftBodyTetraData*)serializer->getUniquePointer((void*)&m_tetras[0]) : 0;
4414 if (sbd->m_tetrahedra)
4415 {
4416 int sz = sizeof(SoftBodyTetraData);
4417 int numElem = sbd->m_numTetrahedra;
4418 btChunk* chunk = serializer->allocate(sz, numElem);
4419 SoftBodyTetraData* memPtr = (SoftBodyTetraData*)chunk->m_oldPtr;
4420 for (int i = 0; i < numElem; i++, memPtr++)
4421 {
4422 for (int j = 0; j < 4; j++)
4423 {
4424 m_tetras[i].m_c0[j].serializeFloat(memPtr->m_c0[j]);
4425 memPtr->m_nodeIndices[j] = m_tetras[i].m_n[j] ? m_tetras[i].m_n[j] - &m_nodes[0] : -1;
4426 }
4427 memPtr->m_c1 = m_tetras[i].m_c1;
4428 memPtr->m_c2 = m_tetras[i].m_c2;
4429 memPtr->m_material = m_tetras[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*)m_tetras[i].m_material) : 0;
4430 memPtr->m_restVolume = m_tetras[i].m_rv;
4431 }
4432 serializer->finalizeChunk(chunk, "SoftBodyTetraData", BT_ARRAY_CODE, (void*)&m_tetras[0]);
4433 }
4434
4435 sbd->m_numAnchors = m_anchors.size();
4436 sbd->m_anchors = sbd->m_numAnchors ? (SoftRigidAnchorData*)serializer->getUniquePointer((void*)&m_anchors[0]) : 0;
4437 if (sbd->m_anchors)
4438 {
4439 int sz = sizeof(SoftRigidAnchorData);
4440 int numElem = sbd->m_numAnchors;
4441 btChunk* chunk = serializer->allocate(sz, numElem);
4442 SoftRigidAnchorData* memPtr = (SoftRigidAnchorData*)chunk->m_oldPtr;
4443 for (int i = 0; i < numElem; i++, memPtr++)
4444 {
4445 m_anchors[i].m_c0.serializeFloat(memPtr->m_c0);
4446 m_anchors[i].m_c1.serializeFloat(memPtr->m_c1);
4447 memPtr->m_c2 = m_anchors[i].m_c2;
4448 m_anchors[i].m_local.serializeFloat(memPtr->m_localFrame);
4449 memPtr->m_nodeIndex = m_anchors[i].m_node ? m_anchors[i].m_node - &m_nodes[0] : -1;
4450
4451 memPtr->m_rigidBody = m_anchors[i].m_body ? (btRigidBodyData*)serializer->getUniquePointer((void*)m_anchors[i].m_body) : 0;
4452 btAssert(memPtr->m_nodeIndex < m_nodes.size());
4453 }
4454 serializer->finalizeChunk(chunk, "SoftRigidAnchorData", BT_ARRAY_CODE, (void*)&m_anchors[0]);
4455 }
4456
4457 sbd->m_config.m_dynamicFriction = m_cfg.kDF;
4458 sbd->m_config.m_baumgarte = m_cfg.kVCF;
4459 sbd->m_config.m_pressure = m_cfg.kPR;
4460 sbd->m_config.m_aeroModel = this->m_cfg.aeromodel;
4461 sbd->m_config.m_lift = m_cfg.kLF;
4462 sbd->m_config.m_drag = m_cfg.kDG;
4463 sbd->m_config.m_positionIterations = m_cfg.piterations;
4464 sbd->m_config.m_driftIterations = m_cfg.diterations;
4465 sbd->m_config.m_clusterIterations = m_cfg.citerations;
4466 sbd->m_config.m_velocityIterations = m_cfg.viterations;
4467 sbd->m_config.m_maxVolume = m_cfg.maxvolume;
4468 sbd->m_config.m_damping = m_cfg.kDP;
4469 sbd->m_config.m_poseMatch = m_cfg.kMT;
4470 sbd->m_config.m_collisionFlags = m_cfg.collisions;
4471 sbd->m_config.m_volume = m_cfg.kVC;
4472 sbd->m_config.m_rigidContactHardness = m_cfg.kCHR;
4473 sbd->m_config.m_kineticContactHardness = m_cfg.kKHR;
4474 sbd->m_config.m_softContactHardness = m_cfg.kSHR;
4475 sbd->m_config.m_anchorHardness = m_cfg.kAHR;
4476 sbd->m_config.m_timeScale = m_cfg.timescale;
4477 sbd->m_config.m_maxVolume = m_cfg.maxvolume;
4478 sbd->m_config.m_softRigidClusterHardness = m_cfg.kSRHR_CL;
4479 sbd->m_config.m_softKineticClusterHardness = m_cfg.kSKHR_CL;
4480 sbd->m_config.m_softSoftClusterHardness = m_cfg.kSSHR_CL;
4481 sbd->m_config.m_softRigidClusterImpulseSplit = m_cfg.kSR_SPLT_CL;
4482 sbd->m_config.m_softKineticClusterImpulseSplit = m_cfg.kSK_SPLT_CL;
4483 sbd->m_config.m_softSoftClusterImpulseSplit = m_cfg.kSS_SPLT_CL;
4484
4485 //pose for shape matching
4486 {
4487 sbd->m_pose = (SoftBodyPoseData*)serializer->getUniquePointer((void*)&m_pose);
4488
4489 int sz = sizeof(SoftBodyPoseData);
4490 btChunk* chunk = serializer->allocate(sz, 1);
4491 SoftBodyPoseData* memPtr = (SoftBodyPoseData*)chunk->m_oldPtr;
4492
4493 m_pose.m_aqq.serializeFloat(memPtr->m_aqq);
4494 memPtr->m_bframe = m_pose.m_bframe;
4495 memPtr->m_bvolume = m_pose.m_bvolume;
4496 m_pose.m_com.serializeFloat(memPtr->m_com);
4497
4498 memPtr->m_numPositions = m_pose.m_pos.size();
4499 memPtr->m_positions = memPtr->m_numPositions ? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_pose.m_pos[0]) : 0;
4500 if (memPtr->m_numPositions)
4501 {
4502 int numElem = memPtr->m_numPositions;
4503 int sz = sizeof(btVector3Data);
4504 btChunk* chunk = serializer->allocate(sz, numElem);
4505 btVector3FloatData* memPtr = (btVector3FloatData*)chunk->m_oldPtr;
4506 for (int i = 0; i < numElem; i++, memPtr++)
4507 {
4508 m_pose.m_pos[i].serializeFloat(*memPtr);
4509 }
4510 serializer->finalizeChunk(chunk, "btVector3FloatData", BT_ARRAY_CODE, (void*)&m_pose.m_pos[0]);
4511 }
4512 memPtr->m_restVolume = m_pose.m_volume;
4513 m_pose.m_rot.serializeFloat(memPtr->m_rot);
4514 m_pose.m_scl.serializeFloat(memPtr->m_scale);
4515
4516 memPtr->m_numWeigts = m_pose.m_wgh.size();
4517 memPtr->m_weights = memPtr->m_numWeigts ? (float*)serializer->getUniquePointer((void*)&m_pose.m_wgh[0]) : 0;
4518 if (memPtr->m_numWeigts)
4519 {
4520 int numElem = memPtr->m_numWeigts;
4521 int sz = sizeof(float);
4522 btChunk* chunk = serializer->allocate(sz, numElem);
4523 float* memPtr = (float*)chunk->m_oldPtr;
4524 for (int i = 0; i < numElem; i++, memPtr++)
4525 {
4526 *memPtr = m_pose.m_wgh[i];
4527 }
4528 serializer->finalizeChunk(chunk, "float", BT_ARRAY_CODE, (void*)&m_pose.m_wgh[0]);
4529 }
4530
4531 serializer->finalizeChunk(chunk, "SoftBodyPoseData", BT_ARRAY_CODE, (void*)&m_pose);
4532 }
4533
4534 //clusters for convex-cluster collision detection
4535
4536 sbd->m_numClusters = m_clusters.size();
4537 sbd->m_clusters = sbd->m_numClusters ? (SoftBodyClusterData*)serializer->getUniquePointer((void*)m_clusters[0]) : 0;
4538 if (sbd->m_numClusters)
4539 {
4540 int numElem = sbd->m_numClusters;
4541 int sz = sizeof(SoftBodyClusterData);
4542 btChunk* chunk = serializer->allocate(sz, numElem);
4543 SoftBodyClusterData* memPtr = (SoftBodyClusterData*)chunk->m_oldPtr;
4544 for (int i = 0; i < numElem; i++, memPtr++)
4545 {
4546 memPtr->m_adamping = m_clusters[i]->m_adamping;
4547 m_clusters[i]->m_av.serializeFloat(memPtr->m_av);
4548 memPtr->m_clusterIndex = m_clusters[i]->m_clusterIndex;
4549 memPtr->m_collide = m_clusters[i]->m_collide;
4550 m_clusters[i]->m_com.serializeFloat(memPtr->m_com);
4551 memPtr->m_containsAnchor = m_clusters[i]->m_containsAnchor;
4552 m_clusters[i]->m_dimpulses[0].serializeFloat(memPtr->m_dimpulses[0]);
4553 m_clusters[i]->m_dimpulses[1].serializeFloat(memPtr->m_dimpulses[1]);
4554 m_clusters[i]->m_framexform.serializeFloat(memPtr->m_framexform);
4555 memPtr->m_idmass = m_clusters[i]->m_idmass;
4556 memPtr->m_imass = m_clusters[i]->m_imass;
4557 m_clusters[i]->m_invwi.serializeFloat(memPtr->m_invwi);
4558 memPtr->m_ldamping = m_clusters[i]->m_ldamping;
4559 m_clusters[i]->m_locii.serializeFloat(memPtr->m_locii);
4560 m_clusters[i]->m_lv.serializeFloat(memPtr->m_lv);
4561 memPtr->m_matching = m_clusters[i]->m_matching;
4562 memPtr->m_maxSelfCollisionImpulse = m_clusters[i]->m_maxSelfCollisionImpulse;
4563 memPtr->m_ndamping = m_clusters[i]->m_ndamping;
4564 memPtr->m_ldamping = m_clusters[i]->m_ldamping;
4565 memPtr->m_adamping = m_clusters[i]->m_adamping;
4566 memPtr->m_selfCollisionImpulseFactor = m_clusters[i]->m_selfCollisionImpulseFactor;
4567
4568 memPtr->m_numFrameRefs = m_clusters[i]->m_framerefs.size();
4569 memPtr->m_numMasses = m_clusters[i]->m_masses.size();
4570 memPtr->m_numNodes = m_clusters[i]->m_nodes.size();
4571
4572 memPtr->m_nvimpulses = m_clusters[i]->m_nvimpulses;
4573 m_clusters[i]->m_vimpulses[0].serializeFloat(memPtr->m_vimpulses[0]);
4574 m_clusters[i]->m_vimpulses[1].serializeFloat(memPtr->m_vimpulses[1]);
4575 memPtr->m_ndimpulses = m_clusters[i]->m_ndimpulses;
4576
4577 memPtr->m_framerefs = memPtr->m_numFrameRefs ? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_clusters[i]->m_framerefs[0]) : 0;
4578 if (memPtr->m_framerefs)
4579 {
4580 int numElem = memPtr->m_numFrameRefs;
4581 int sz = sizeof(btVector3FloatData);
4582 btChunk* chunk = serializer->allocate(sz, numElem);
4583 btVector3FloatData* memPtr = (btVector3FloatData*)chunk->m_oldPtr;
4584 for (int j = 0; j < numElem; j++, memPtr++)
4585 {
4586 m_clusters[i]->m_framerefs[j].serializeFloat(*memPtr);
4587 }
4588 serializer->finalizeChunk(chunk, "btVector3FloatData", BT_ARRAY_CODE, (void*)&m_clusters[i]->m_framerefs[0]);
4589 }
4590
4591 memPtr->m_masses = memPtr->m_numMasses ? (float*)serializer->getUniquePointer((void*)&m_clusters[i]->m_masses[0]) : 0;
4592 if (memPtr->m_masses)
4593 {
4594 int numElem = memPtr->m_numMasses;
4595 int sz = sizeof(float);
4596 btChunk* chunk = serializer->allocate(sz, numElem);
4597 float* memPtr = (float*)chunk->m_oldPtr;
4598 for (int j = 0; j < numElem; j++, memPtr++)
4599 {
4600 *memPtr = m_clusters[i]->m_masses[j];
4601 }
4602 serializer->finalizeChunk(chunk, "float", BT_ARRAY_CODE, (void*)&m_clusters[i]->m_masses[0]);
4603 }
4604
4605 memPtr->m_nodeIndices = memPtr->m_numNodes ? (int*)serializer->getUniquePointer((void*)&m_clusters[i]->m_nodes) : 0;
4606 if (memPtr->m_nodeIndices)
4607 {
4608 int numElem = memPtr->m_numMasses;
4609 int sz = sizeof(int);
4610 btChunk* chunk = serializer->allocate(sz, numElem);
4611 int* memPtr = (int*)chunk->m_oldPtr;
4612 for (int j = 0; j < numElem; j++, memPtr++)
4613 {
4614 int* indexPtr = m_nodeIndexMap.find(m_clusters[i]->m_nodes[j]);
4615 btAssert(indexPtr);
4616 *memPtr = *indexPtr;
4617 }
4618 serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_clusters[i]->m_nodes);
4619 }
4620 }
4621 serializer->finalizeChunk(chunk, "SoftBodyClusterData", BT_ARRAY_CODE, (void*)m_clusters[0]);
4622 }
4623
4624 sbd->m_numJoints = m_joints.size();
4625 sbd->m_joints = m_joints.size() ? (btSoftBodyJointData*)serializer->getUniquePointer((void*)&m_joints[0]) : 0;
4626
4627 if (sbd->m_joints)
4628 {
4629 int sz = sizeof(btSoftBodyJointData);
4630 int numElem = m_joints.size();
4631 btChunk* chunk = serializer->allocate(sz, numElem);
4632 btSoftBodyJointData* memPtr = (btSoftBodyJointData*)chunk->m_oldPtr;
4633
4634 for (int i = 0; i < numElem; i++, memPtr++)
4635 {
4636 memPtr->m_jointType = (int)m_joints[i]->Type();
4637 m_joints[i]->m_refs[0].serializeFloat(memPtr->m_refs[0]);
4638 m_joints[i]->m_refs[1].serializeFloat(memPtr->m_refs[1]);
4639 memPtr->m_cfm = m_joints[i]->m_cfm;
4640 memPtr->m_erp = float(m_joints[i]->m_erp);
4641 memPtr->m_split = float(m_joints[i]->m_split);
4642 memPtr->m_delete = m_joints[i]->m_delete;
4643
4644 for (int j = 0; j < 4; j++)
4645 {
4646 memPtr->m_relPosition[0].m_floats[j] = 0.f;
4647 memPtr->m_relPosition[1].m_floats[j] = 0.f;
4648 }
4649 memPtr->m_bodyA = 0;
4650 memPtr->m_bodyB = 0;
4651 if (m_joints[i]->m_bodies[0].m_soft)
4652 {
4653 memPtr->m_bodyAtype = BT_JOINT_SOFT_BODY_CLUSTER;
4654 memPtr->m_bodyA = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[0].m_soft);
4655 }
4656 if (m_joints[i]->m_bodies[0].m_collisionObject)
4657 {
4658 memPtr->m_bodyAtype = BT_JOINT_COLLISION_OBJECT;
4659 memPtr->m_bodyA = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[0].m_collisionObject);
4660 }
4661 if (m_joints[i]->m_bodies[0].m_rigid)
4662 {
4663 memPtr->m_bodyAtype = BT_JOINT_RIGID_BODY;
4664 memPtr->m_bodyA = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[0].m_rigid);
4665 }
4666
4667 if (m_joints[i]->m_bodies[1].m_soft)
4668 {
4669 memPtr->m_bodyBtype = BT_JOINT_SOFT_BODY_CLUSTER;
4670 memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_soft);
4671 }
4672 if (m_joints[i]->m_bodies[1].m_collisionObject)
4673 {
4674 memPtr->m_bodyBtype = BT_JOINT_COLLISION_OBJECT;
4675 memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_collisionObject);
4676 }
4677 if (m_joints[i]->m_bodies[1].m_rigid)
4678 {
4679 memPtr->m_bodyBtype = BT_JOINT_RIGID_BODY;
4680 memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_rigid);
4681 }
4682 }
4683 serializer->finalizeChunk(chunk, "btSoftBodyJointData", BT_ARRAY_CODE, (void*)&m_joints[0]);
4684 }
4685
4686 return btSoftBodyDataName;
4687 }
4688
updateDeactivation(btScalar timeStep)4689 void btSoftBody::updateDeactivation(btScalar timeStep)
4690 {
4691 if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
4692 return;
4693
4694 if (m_maxSpeedSquared < m_sleepingThreshold * m_sleepingThreshold)
4695 {
4696 m_deactivationTime += timeStep;
4697 }
4698 else
4699 {
4700 m_deactivationTime = btScalar(0.);
4701 setActivationState(0);
4702 }
4703 }
4704
setZeroVelocity()4705 void btSoftBody::setZeroVelocity()
4706 {
4707 for (int i = 0; i < m_nodes.size(); ++i)
4708 {
4709 m_nodes[i].m_v.setZero();
4710 }
4711 }
4712
wantsSleeping()4713 bool btSoftBody::wantsSleeping()
4714 {
4715 if (getActivationState() == DISABLE_DEACTIVATION)
4716 return false;
4717
4718 //disable deactivation
4719 if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
4720 return false;
4721
4722 if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
4723 return true;
4724
4725 if (m_deactivationTime > gDeactivationTime)
4726 {
4727 return true;
4728 }
4729 return false;
4730 }
4731