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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///btSoftBodyHelpers.cpp by Nathanael Presson
#include "btSoftBodyInternals.h"
#include <stdio.h>
#include <string.h>
#include "btSoftBodyHelpers.h"
#include "LinearMath/btConvexHull.h"
#include "LinearMath/btConvexHullComputer.h"
//
static void drawVertex( btIDebugDraw* idraw,
const btVector3& x,btScalar s,const btVector3& c)
{
idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
}
//
static void drawBox( btIDebugDraw* idraw,
const btVector3& mins,
const btVector3& maxs,
const btVector3& color)
{
const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()),
btVector3(maxs.x(),mins.y(),mins.z()),
btVector3(maxs.x(),maxs.y(),mins.z()),
btVector3(mins.x(),maxs.y(),mins.z()),
btVector3(mins.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),mins.y(),maxs.z()),
btVector3(maxs.x(),maxs.y(),maxs.z()),
btVector3(mins.x(),maxs.y(),maxs.z())};
idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
}
//
static void drawTree( btIDebugDraw* idraw,
const btDbvtNode* node,
int depth,
const btVector3& ncolor,
const btVector3& lcolor,
int mindepth,
int maxdepth)
{
if(node)
{
if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
{
drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
}
if(depth>=mindepth)
{
const btScalar scl=(btScalar)(node->isinternal()?1:1);
const btVector3 mi=node->volume.Center()-node->volume.Extents()*scl;
const btVector3 mx=node->volume.Center()+node->volume.Extents()*scl;
drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
}
}
}
//
template <typename T>
static inline T sum(const btAlignedObjectArray<T>& items)
{
T v;
if(items.size())
{
v=items[0];
for(int i=1,ni=items.size();i<ni;++i)
{
v+=items[i];
}
}
return(v);
}
//
template <typename T,typename Q>
static inline void add(btAlignedObjectArray<T>& items,const Q& value)
{
for(int i=0,ni=items.size();i<ni;++i)
{
items[i]+=value;
}
}
//
template <typename T,typename Q>
static inline void mul(btAlignedObjectArray<T>& items,const Q& value)
{
for(int i=0,ni=items.size();i<ni;++i)
{
items[i]*=value;
}
}
//
template <typename T>
static inline T average(const btAlignedObjectArray<T>& items)
{
const btScalar n=(btScalar)(items.size()>0?items.size():1);
return(sum(items)/n);
}
//
static inline btScalar tetravolume(const btVector3& x0,
const btVector3& x1,
const btVector3& x2,
const btVector3& x3)
{
const btVector3 a=x1-x0;
const btVector3 b=x2-x0;
const btVector3 c=x3-x0;
return(btDot(a,btCross(b,c)));
}
//
#if 0
static btVector3 stresscolor(btScalar stress)
{
static const btVector3 spectrum[]= { btVector3(1,0,1),
btVector3(0,0,1),
btVector3(0,1,1),
btVector3(0,1,0),
btVector3(1,1,0),
btVector3(1,0,0),
btVector3(1,0,0)};
static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
static const btScalar one=1;
stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
const int sel=(int)stress;
const btScalar frc=stress-sel;
return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
}
#endif
//
void btSoftBodyHelpers::Draw( btSoftBody* psb,
btIDebugDraw* idraw,
int drawflags)
{
const btScalar scl=(btScalar)0.1;
const btScalar nscl=scl*5;
const btVector3 lcolor=btVector3(0,0,0);
const btVector3 ncolor=btVector3(1,1,1);
const btVector3 ccolor=btVector3(1,0,0);
int i,j,nj;
/* Clusters */
if(0!=(drawflags&fDrawFlags::Clusters))
{
srand(1806);
for(i=0;i<psb->m_clusters.size();++i)
{
if(psb->m_clusters[i]->m_collide)
{
btVector3 color( rand()/(btScalar)RAND_MAX,
rand()/(btScalar)RAND_MAX,
rand()/(btScalar)RAND_MAX);
color=color.normalized()*0.75;
btAlignedObjectArray<btVector3> vertices;
vertices.resize(psb->m_clusters[i]->m_nodes.size());
for(j=0,nj=vertices.size();j<nj;++j)
{
vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
}
#define USE_NEW_CONVEX_HULL_COMPUTER
#ifdef USE_NEW_CONVEX_HULL_COMPUTER
btConvexHullComputer computer;
int stride = sizeof(btVector3);
int count = vertices.size();
btScalar shrink=0.f;
btScalar shrinkClamp=0.f;
computer.compute(&vertices[0].getX(),stride,count,shrink,shrinkClamp);
for (int i=0;i<computer.faces.size();i++)
{
int face = computer.faces[i];
//printf("face=%d\n",face);
const btConvexHullComputer::Edge* firstEdge = &computer.edges[face];
const btConvexHullComputer::Edge* edge = firstEdge->getNextEdgeOfFace();
int v0 = firstEdge->getSourceVertex();
int v1 = firstEdge->getTargetVertex();
while (edge!=firstEdge)
{
int v2 = edge->getTargetVertex();
idraw->drawTriangle(computer.vertices[v0],computer.vertices[v1],computer.vertices[v2],color,1);
edge = edge->getNextEdgeOfFace();
v0=v1;
v1=v2;
};
}
#else
HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
HullResult hres;
HullLibrary hlib;
hdsc.mMaxVertices=vertices.size();
hlib.CreateConvexHull(hdsc,hres);
const btVector3 center=average(hres.m_OutputVertices);
add(hres.m_OutputVertices,-center);
mul(hres.m_OutputVertices,(btScalar)1);
add(hres.m_OutputVertices,center);
for(j=0;j<(int)hres.mNumFaces;++j)
{
const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
hres.m_OutputVertices[idx[1]],
hres.m_OutputVertices[idx[2]],
color,1);
}
hlib.ReleaseResult(hres);
#endif
}
/* Velocities */
#if 0
for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
{
const btSoftBody::Cluster& c=psb->m_clusters[i];
const btVector3 r=c.m_nodes[j]->m_x-c.m_com;
const btVector3 v=c.m_lv+btCross(c.m_av,r);
idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
}
#endif
/* Frame */
// btSoftBody::Cluster& c=*psb->m_clusters[i];
// idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
}
}
else
{
/* Nodes */
if(0!=(drawflags&fDrawFlags::Nodes))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
}
}
/* Links */
if(0!=(drawflags&fDrawFlags::Links))
{
for(i=0;i<psb->m_links.size();++i)
{
const btSoftBody::Link& l=psb->m_links[i];
if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
}
}
/* Normals */
if(0!=(drawflags&fDrawFlags::Normals))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 d=n.m_n*nscl;
idraw->drawLine(n.m_x,n.m_x+d,ncolor);
idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
}
}
/* Contacts */
if(0!=(drawflags&fDrawFlags::Contacts))
{
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
for(i=0;i<psb->m_rcontacts.size();++i)
{
const btSoftBody::RContact& c=psb->m_rcontacts[i];
const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
(btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
const btVector3 y=btCross(x,c.m_cti.m_normal).normalized();
idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
}
}
/* Faces */
if(0!=(drawflags&fDrawFlags::Faces))
{
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col(0,(btScalar)0.7,0);
for(i=0;i<psb->m_faces.size();++i)
{
const btSoftBody::Face& f=psb->m_faces[i];
if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
const btVector3 c=(x[0]+x[1]+x[2])/3;
idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
col,alp);
}
}
/* Tetras */
if(0!=(drawflags&fDrawFlags::Tetras))
{
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col((btScalar)0.7,(btScalar)0.7,(btScalar)0.7);
for(int i=0;i<psb->m_tetras.size();++i)
{
const btSoftBody::Tetra& t=psb->m_tetras[i];
if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x};
const btVector3 c=(x[0]+x[1]+x[2]+x[3])/4;
idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp);
idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
}
}
}
/* Anchors */
if(0!=(drawflags&fDrawFlags::Anchors))
{
for(i=0;i<psb->m_anchors.size();++i)
{
const btSoftBody::Anchor& a=psb->m_anchors[i];
const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
drawVertex(idraw,q,0.25,btVector3(0,1,0));
idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
}
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
if(n.m_im<=0)
{
drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
}
}
}
/* Notes */
if(0!=(drawflags&fDrawFlags::Notes))
{
for(i=0;i<psb->m_notes.size();++i)
{
const btSoftBody::Note& n=psb->m_notes[i];
btVector3 p=n.m_offset;
for(int j=0;j<n.m_rank;++j)
{
p+=n.m_nodes[j]->m_x*n.m_coords[j];
}
idraw->draw3dText(p,n.m_text);
}
}
/* Node tree */
if(0!=(drawflags&fDrawFlags::NodeTree)) DrawNodeTree(psb,idraw);
/* Face tree */
if(0!=(drawflags&fDrawFlags::FaceTree)) DrawFaceTree(psb,idraw);
/* Cluster tree */
if(0!=(drawflags&fDrawFlags::ClusterTree)) DrawClusterTree(psb,idraw);
/* Joints */
if(0!=(drawflags&fDrawFlags::Joints))
{
for(i=0;i<psb->m_joints.size();++i)
{
const btSoftBody::Joint* pj=psb->m_joints[i];
switch(pj->Type())
{
case btSoftBody::Joint::eType::Linear:
{
const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj;
const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0));
idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
drawVertex(idraw,a0,0.25,btVector3(1,1,0));
drawVertex(idraw,a1,0.25,btVector3(0,1,1));
}
break;
case btSoftBody::Joint::eType::Angular:
{
//const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj;
const btVector3 o0=pj->m_bodies[0].xform().getOrigin();
const btVector3 o1=pj->m_bodies[1].xform().getOrigin();
const btVector3 a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0));
idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
break;
}
default:
{
}
}
}
}
}
//
void btSoftBodyHelpers::DrawInfos( btSoftBody* psb,
btIDebugDraw* idraw,
bool masses,
bool areas,
bool /*stress*/)
{
for(int i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
char text[2048]={0};
char buff[1024];
if(masses)
{
sprintf(buff," M(%.2f)",1/n.m_im);
strcat(text,buff);
}
if(areas)
{
sprintf(buff," A(%.2f)",n.m_area);
strcat(text,buff);
}
if(text[0]) idraw->draw3dText(n.m_x,text);
}
}
//
void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawFaceTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawClusterTree( btSoftBody* psb,
btIDebugDraw* idraw,
int mindepth,
int maxdepth)
{
drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth);
}
//
void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
btIDebugDraw* idraw)
{
if(psb->m_pose.m_bframe)
{
static const btScalar ascl=10;
static const btScalar nscl=(btScalar)0.1;
const btVector3 com=psb->m_pose.m_com;
const btMatrix3x3 trs=psb->m_pose.m_rot*psb->m_pose.m_scl;
const btVector3 Xaxis=(trs*btVector3(1,0,0)).normalized();
const btVector3 Yaxis=(trs*btVector3(0,1,0)).normalized();
const btVector3 Zaxis=(trs*btVector3(0,0,1)).normalized();
idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0));
idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0));
idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1));
for(int i=0;i<psb->m_pose.m_pos.size();++i)
{
const btVector3 x=com+trs*psb->m_pose.m_pos[i];
drawVertex(idraw,x,nscl,btVector3(1,0,1));
}
}
}
//
btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, const btVector3& from,
const btVector3& to,
int res,
int fixeds)
{
/* Create nodes */
const int r=res+2;
btVector3* x=new btVector3[r];
btScalar* m=new btScalar[r];
int i;
for(i=0;i<r;++i)
{
const btScalar t=i/(btScalar)(r-1);
x[i]=lerp(from,to,t);
m[i]=1;
}
btSoftBody* psb= new btSoftBody(&worldInfo,r,x,m);
if(fixeds&1) psb->setMass(0,0);
if(fixeds&2) psb->setMass(r-1,0);
delete[] x;
delete[] m;
/* Create links */
for(i=1;i<r;++i)
{
psb->appendLink(i-1,i);
}
/* Finished */
return(psb);
}
//
btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags)
{
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
/* Create nodes */
if((resx<2)||(resy<2)) return(0);
const int rx=resx;
const int ry=resy;
const int tot=rx*ry;
btVector3* x=new btVector3[tot];
btScalar* m=new btScalar[tot];
int iy;
for(iy=0;iy<ry;++iy)
{
const btScalar ty=iy/(btScalar)(ry-1);
const btVector3 py0=lerp(corner00,corner01,ty);
const btVector3 py1=lerp(corner10,corner11,ty);
for(int ix=0;ix<rx;++ix)
{
const btScalar tx=ix/(btScalar)(rx-1);
x[IDX(ix,iy)]=lerp(py0,py1,tx);
m[IDX(ix,iy)]=1;
}
}
btSoftBody* psb=new btSoftBody(&worldInfo,tot,x,m);
if(fixeds&1) psb->setMass(IDX(0,0),0);
if(fixeds&2) psb->setMass(IDX(rx-1,0),0);
if(fixeds&4) psb->setMass(IDX(0,ry-1),0);
if(fixeds&8) psb->setMass(IDX(rx-1,ry-1),0);
delete[] x;
delete[] m;
/* Create links and faces */
for(iy=0;iy<ry;++iy)
{
for(int ix=0;ix<rx;++ix)
{
const int idx=IDX(ix,iy);
const bool mdx=(ix+1)<rx;
const bool mdy=(iy+1)<ry;
if(mdx) psb->appendLink(idx,IDX(ix+1,iy));
if(mdy) psb->appendLink(idx,IDX(ix,iy+1));
if(mdx&&mdy)
{
if((ix+iy)&1)
{
psb->appendFace(IDX(ix,iy),IDX(ix+1,iy),IDX(ix+1,iy+1));
psb->appendFace(IDX(ix,iy),IDX(ix+1,iy+1),IDX(ix,iy+1));
if(gendiags)
{
psb->appendLink(IDX(ix,iy),IDX(ix+1,iy+1));
}
}
else
{
psb->appendFace(IDX(ix,iy+1),IDX(ix,iy),IDX(ix+1,iy));
psb->appendFace(IDX(ix,iy+1),IDX(ix+1,iy),IDX(ix+1,iy+1));
if(gendiags)
{
psb->appendLink(IDX(ix+1,iy),IDX(ix,iy+1));
}
}
}
}
}
/* Finished */
#undef IDX
return(psb);
}
//
btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
const btVector3& corner00,
const btVector3& corner10,
const btVector3& corner01,
const btVector3& corner11,
int resx,
int resy,
int fixeds,
bool gendiags,
float* tex_coords)
{
/*
*
* corners:
*
* [0][0] corner00 ------- corner01 [resx][0]
* | |
* | |
* [0][resy] corner10 -------- corner11 [resx][resy]
*
*
*
*
*
*
* "fixedgs" map:
*
* corner00 --> +1
* corner01 --> +2
* corner10 --> +4
* corner11 --> +8
* upper middle --> +16
* left middle --> +32
* right middle --> +64
* lower middle --> +128
* center --> +256
*
*
* tex_coords size (resx-1)*(resy-1)*12
*
*
*
* SINGLE QUAD INTERNALS
*
* 1) btSoftBody's nodes and links,
* diagonal link is optional ("gendiags")
*
*
* node00 ------ node01
* | .
* | .
* | .
* | .
* | .
* node10 node11
*
*
*
* 2) Faces:
* two triangles,
* UV Coordinates (hier example for single quad)
*
* (0,1) (0,1) (1,1)
* 1 |\ 3 \-----| 2
* | \ \ |
* | \ \ |
* | \ \ |
* | \ \ |
* 2 |-----\ 3 \| 1
* (0,0) (1,0) (1,0)
*
*
*
*
*
*
*/
#define IDX(_x_,_y_) ((_y_)*rx+(_x_))
/* Create nodes */
if((resx<2)||(resy<2)) return(0);
const int rx=resx;
const int ry=resy;
const int tot=rx*ry;
btVector3* x=new btVector3[tot];
btScalar* m=new btScalar[tot];
int iy;
for(iy=0;iy<ry;++iy)
{
const btScalar ty=iy/(btScalar)(ry-1);
const btVector3 py0=lerp(corner00,corner01,ty);
const btVector3 py1=lerp(corner10,corner11,ty);
for(int ix=0;ix<rx;++ix)
{
const btScalar tx=ix/(btScalar)(rx-1);
x[IDX(ix,iy)]=lerp(py0,py1,tx);
m[IDX(ix,iy)]=1;
}
}
btSoftBody* psb=new btSoftBody(&worldInfo,tot,x,m);
if(fixeds&1) psb->setMass(IDX(0,0),0);
if(fixeds&2) psb->setMass(IDX(rx-1,0),0);
if(fixeds&4) psb->setMass(IDX(0,ry-1),0);
if(fixeds&8) psb->setMass(IDX(rx-1,ry-1),0);
if(fixeds&16) psb->setMass(IDX((rx-1)/2,0),0);
if(fixeds&32) psb->setMass(IDX(0,(ry-1)/2),0);
if(fixeds&64) psb->setMass(IDX(rx-1,(ry-1)/2),0);
if(fixeds&128) psb->setMass(IDX((rx-1)/2,ry-1),0);
if(fixeds&256) psb->setMass(IDX((rx-1)/2,(ry-1)/2),0);
delete[] x;
delete[] m;
int z = 0;
/* Create links and faces */
for(iy=0;iy<ry;++iy)
{
for(int ix=0;ix<rx;++ix)
{
const bool mdx=(ix+1)<rx;
const bool mdy=(iy+1)<ry;
int node00=IDX(ix,iy);
int node01=IDX(ix+1,iy);
int node10=IDX(ix,iy+1);
int node11=IDX(ix+1,iy+1);
if(mdx) psb->appendLink(node00,node01);
if(mdy) psb->appendLink(node00,node10);
if(mdx&&mdy)
{
psb->appendFace(node00,node10,node11);
if (tex_coords) {
tex_coords[z+0]=CalculateUV(resx,resy,ix,iy,0);
tex_coords[z+1]=CalculateUV(resx,resy,ix,iy,1);
tex_coords[z+2]=CalculateUV(resx,resy,ix,iy,0);
tex_coords[z+3]=CalculateUV(resx,resy,ix,iy,2);
tex_coords[z+4]=CalculateUV(resx,resy,ix,iy,3);
tex_coords[z+5]=CalculateUV(resx,resy,ix,iy,2);
}
psb->appendFace(node11,node01,node00);
if (tex_coords) {
tex_coords[z+6 ]=CalculateUV(resx,resy,ix,iy,3);
tex_coords[z+7 ]=CalculateUV(resx,resy,ix,iy,2);
tex_coords[z+8 ]=CalculateUV(resx,resy,ix,iy,3);
tex_coords[z+9 ]=CalculateUV(resx,resy,ix,iy,1);
tex_coords[z+10]=CalculateUV(resx,resy,ix,iy,0);
tex_coords[z+11]=CalculateUV(resx,resy,ix,iy,1);
}
if (gendiags) psb->appendLink(node00,node11);
z += 12;
}
}
}
/* Finished */
#undef IDX
return(psb);
}
float btSoftBodyHelpers::CalculateUV(int resx,int resy,int ix,int iy,int id)
{
/*
*
*
* node00 --- node01
* | |
* node10 --- node11
*
*
* ID map:
*
* node00 s --> 0
* node00 t --> 1
*
* node01 s --> 3
* node01 t --> 1
*
* node10 s --> 0
* node10 t --> 2
*
* node11 s --> 3
* node11 t --> 2
*
*
*/
float tc=0.0f;
if (id == 0) {
tc = (1.0f/((resx-1))*ix);
}
else if (id==1) {
tc = (1.0f/((resy-1))*(resy-1-iy));
}
else if (id==2) {
tc = (1.0f/((resy-1))*(resy-1-iy-1));
}
else if (id==3) {
tc = (1.0f/((resx-1))*(ix+1));
}
return tc;
}
//
btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center,
const btVector3& radius,
int res)
{
struct Hammersley
{
static void Generate(btVector3* x,int n)
{
for(int i=0;i<n;i++)
{
btScalar p=0.5,t=0;
for(int j=i;j;p*=0.5,j>>=1) if(j&1) t+=p;
btScalar w=2*t-1;
btScalar a=(SIMD_PI+2*i*SIMD_PI)/n;
btScalar s=btSqrt(1-w*w);
*x++=btVector3(s*btCos(a),s*btSin(a),w);
}
}
};
btAlignedObjectArray<btVector3> vtx;
vtx.resize(3+res);
Hammersley::Generate(&vtx[0],vtx.size());
for(int i=0;i<vtx.size();++i)
{
vtx[i]=vtx[i]*radius+center;
}
return(CreateFromConvexHull(worldInfo,&vtx[0],vtx.size()));
}
//
btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar* vertices,
const int* triangles,
int ntriangles, bool randomizeConstraints)
{
int maxidx=0;
int i,j,ni;
for(i=0,ni=ntriangles*3;i<ni;++i)
{
maxidx=btMax(triangles[i],maxidx);
}
++maxidx;
btAlignedObjectArray<bool> chks;
btAlignedObjectArray<btVector3> vtx;
chks.resize(maxidx*maxidx,false);
vtx.resize(maxidx);
for(i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3)
{
vtx[j]=btVector3(vertices[i],vertices[i+1],vertices[i+2]);
}
btSoftBody* psb=new btSoftBody(&worldInfo,vtx.size(),&vtx[0],0);
for( i=0,ni=ntriangles*3;i<ni;i+=3)
{
const int idx[]={triangles[i],triangles[i+1],triangles[i+2]};
#define IDX(_x_,_y_) ((_y_)*maxidx+(_x_))
for(int j=2,k=0;k<3;j=k++)
{
if(!chks[IDX(idx[j],idx[k])])
{
chks[IDX(idx[j],idx[k])]=true;
chks[IDX(idx[k],idx[j])]=true;
psb->appendLink(idx[j],idx[k]);
}
}
#undef IDX
psb->appendFace(idx[0],idx[1],idx[2]);
}
if (randomizeConstraints)
{
psb->randomizeConstraints();
}
return(psb);
}
//
btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices,
int nvertices, bool randomizeConstraints)
{
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
HullResult hres;
HullLibrary hlib;/*??*/
hdsc.mMaxVertices=nvertices;
hlib.CreateConvexHull(hdsc,hres);
btSoftBody* psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices,
&hres.m_OutputVertices[0],0);
for(int i=0;i<(int)hres.mNumFaces;++i)
{
const int idx[]={ hres.m_Indices[i*3+0],
hres.m_Indices[i*3+1],
hres.m_Indices[i*3+2]};
if(idx[0]<idx[1]) psb->appendLink( idx[0],idx[1]);
if(idx[1]<idx[2]) psb->appendLink( idx[1],idx[2]);
if(idx[2]<idx[0]) psb->appendLink( idx[2],idx[0]);
psb->appendFace(idx[0],idx[1],idx[2]);
}
hlib.ReleaseResult(hres);
if (randomizeConstraints)
{
psb->randomizeConstraints();
}
return(psb);
}
static int nextLine(const char* buffer)
{
int numBytesRead=0;
while (*buffer != '\n')
{
buffer++;
numBytesRead++;
}
if (buffer[0]==0x0a)
{
buffer++;
numBytesRead++;
}
return numBytesRead;
}
/* Create from TetGen .ele, .face, .node data */
btSoftBody* btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
const char* ele,
const char* face,
const char* node,
bool bfacelinks,
bool btetralinks,
bool bfacesfromtetras)
{
btAlignedObjectArray<btVector3> pos;
int nnode=0;
int ndims=0;
int nattrb=0;
int hasbounds=0;
int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
node += nextLine(node);
pos.resize(nnode);
for(int i=0;i<pos.size();++i)
{
int index=0;
//int bound=0;
float x,y,z;
sscanf(node,"%d %f %f %f",&index,&x,&y,&z);
// sn>>index;
// sn>>x;sn>>y;sn>>z;
node += nextLine(node);
//for(int j=0;j<nattrb;++j)
// sn>>a;
//if(hasbounds)
// sn>>bound;
pos[index].setX(btScalar(x));
pos[index].setY(btScalar(y));
pos[index].setZ(btScalar(z));
}
btSoftBody* psb=new btSoftBody(&worldInfo,nnode,&pos[0],0);
#if 0
if(face&&face[0])
{
int nface=0;
sf>>nface;sf>>hasbounds;
for(int i=0;i<nface;++i)
{
int index=0;
int bound=0;
int ni[3];
sf>>index;
sf>>ni[0];sf>>ni[1];sf>>ni[2];
sf>>bound;
psb->appendFace(ni[0],ni[1],ni[2]);
if(btetralinks)
{
psb->appendLink(ni[0],ni[1],0,true);
psb->appendLink(ni[1],ni[2],0,true);
psb->appendLink(ni[2],ni[0],0,true);
}
}
}
#endif
if(ele&&ele[0])
{
int ntetra=0;
int ncorner=0;
int neattrb=0;
sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb);
ele += nextLine(ele);
//se>>ntetra;se>>ncorner;se>>neattrb;
for(int i=0;i<ntetra;++i)
{
int index=0;
int ni[4];
//se>>index;
//se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
ele+=nextLine(ele);
//for(int j=0;j<neattrb;++j)
// se>>a;
psb->appendTetra(ni[0],ni[1],ni[2],ni[3]);
if(btetralinks)
{
psb->appendLink(ni[0],ni[1],0,true);
psb->appendLink(ni[1],ni[2],0,true);
psb->appendLink(ni[2],ni[0],0,true);
psb->appendLink(ni[0],ni[3],0,true);
psb->appendLink(ni[1],ni[3],0,true);
psb->appendLink(ni[2],ni[3],0,true);
}
}
}
printf("Nodes: %u\r\n",psb->m_nodes.size());
printf("Links: %u\r\n",psb->m_links.size());
printf("Faces: %u\r\n",psb->m_faces.size());
printf("Tetras: %u\r\n",psb->m_tetras.size());
return(psb);
}
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