Revision: 16738
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16738
Author: erwin
Date: 2008-09-26 08:25:35 +0200 (Fri, 26 Sep 2008)
Log Message:
-----------
support concave soft bodies, preliminary. could be used for cloth too. need
vertex pinning/constraint attach to other objects.
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
trunk/blender/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
Modified:
trunk/blender/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
===================================================================
---
trunk/blender/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
2008-09-26 04:10:13 UTC (rev 16737)
+++
trunk/blender/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
2008-09-26 06:25:35 UTC (rev 16738)
@@ -19,7 +19,8 @@
btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool
use4componentVertices)
:m_use32bitIndices(use32bitIndices),
-m_use4componentVertices(use4componentVertices)
+m_use4componentVertices(use4componentVertices),
+m_weldingThreshold(0.0)
{
btIndexedMesh meshIndex;
meshIndex.m_numTriangles = 0;
@@ -60,50 +61,67 @@
}
-
-void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3&
vertex1,const btVector3& vertex2)
+void btTriangleMesh::addIndex(int index)
{
- m_indexedMeshes[0].m_numTriangles++;
- m_indexedMeshes[0].m_numVertices+=3;
+ if (m_use32bitIndices)
+ {
+ m_32bitIndices.push_back(index);
+ m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)
&m_32bitIndices[0];
+ } else
+ {
+ m_16bitIndices.push_back(index);
+ m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)
&m_16bitIndices[0];
+ }
+}
+int btTriangleMesh::findOrAddVertex(const btVector3& vertex)
+{
+ //return index of new/existing vertex
+ //todo: could use acceleration structure for this
if (m_use4componentVertices)
{
- m_4componentVertices.push_back(vertex0);
- m_4componentVertices.push_back(vertex1);
- m_4componentVertices.push_back(vertex2);
+ for (int i=0;i< m_4componentVertices.size();i++)
+ {
+ if ((m_4componentVertices[i]-vertex).length2() <=
m_weldingThreshold)
+ {
+ return i;
+ }
+ }
+ m_indexedMeshes[0].m_numVertices++;
+ m_4componentVertices.push_back(vertex);
m_indexedMeshes[0].m_vertexBase = (unsigned
char*)&m_4componentVertices[0];
+
+ return m_4componentVertices.size()-1;
+
} else
{
- m_3componentVertices.push_back(vertex0.getX());
- m_3componentVertices.push_back(vertex0.getY());
- m_3componentVertices.push_back(vertex0.getZ());
-
- m_3componentVertices.push_back(vertex1.getX());
- m_3componentVertices.push_back(vertex1.getY());
- m_3componentVertices.push_back(vertex1.getZ());
-
- m_3componentVertices.push_back(vertex2.getX());
- m_3componentVertices.push_back(vertex2.getY());
- m_3componentVertices.push_back(vertex2.getZ());
+
+ for (int i=0;i< m_3componentVertices.size();i+=3)
+ {
+ btVector3
vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
+ if ((vtx-vertex).length2() <= m_weldingThreshold)
+ {
+ return i/3;
+ }
+ }
+ m_3componentVertices.push_back(vertex.getX());
+ m_3componentVertices.push_back(vertex.getY());
+ m_3componentVertices.push_back(vertex.getZ());
+ m_indexedMeshes[0].m_numVertices++;
m_indexedMeshes[0].m_vertexBase = (unsigned
char*)&m_3componentVertices[0];
+ return (m_3componentVertices.size()/3)-1;
}
- if (m_use32bitIndices)
- {
- int curIndex = m_32bitIndices.size();
- m_32bitIndices.push_back(curIndex++);
- m_32bitIndices.push_back(curIndex++);
- m_32bitIndices.push_back(curIndex++);
- m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)
&m_32bitIndices[0];
- } else
- {
- short curIndex = static_cast<short>(m_16bitIndices.size());
- m_16bitIndices.push_back(curIndex++);
- m_16bitIndices.push_back(curIndex++);
- m_16bitIndices.push_back(curIndex++);
- m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)
&m_16bitIndices[0];
- }
}
+
+void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3&
vertex1,const btVector3& vertex2)
+{
+ m_indexedMeshes[0].m_numTriangles++;
+
+ addIndex(findOrAddVertex(vertex0));
+ addIndex(findOrAddVertex(vertex1));
+ addIndex(findOrAddVertex(vertex2));
+}
int btTriangleMesh::getNumTriangles() const
{
Modified:
trunk/blender/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
===================================================================
---
trunk/blender/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
2008-09-26 04:10:13 UTC (rev 16737)
+++
trunk/blender/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
2008-09-26 06:25:35 UTC (rev 16738)
@@ -25,6 +25,7 @@
///It allows either 32bit or 16bit indices, and 4 (x-y-z-w) or 3 (x-y-z)
component vertices.
///If you want to share triangle/index data between graphics mesh and
collision mesh (btBvhTriangleMeshShape), you can directly use
btTriangleIndexVertexArray or derive your own class from
btStridingMeshInterface.
///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a
btBvhTriangleMeshShape is the same.
+///It has a brute-force option to weld together closeby vertices.
class btTriangleMesh : public btTriangleIndexVertexArray
{
btAlignedObjectArray<btVector3> m_4componentVertices;
@@ -34,11 +35,16 @@
btAlignedObjectArray<unsigned short int> m_16bitIndices;
bool m_use32bitIndices;
bool m_use4componentVertices;
+
+ public:
+ btScalar m_weldingThreshold;
- public:
btTriangleMesh (bool use32bitIndices=true,bool
use4componentVertices=true);
+ int findOrAddVertex(const btVector3& vertex);
+ void addIndex(int index);
+
bool getUse32bitIndices() const
{
return m_use32bitIndices;
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
2008-09-26 04:10:13 UTC (rev 16737)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
2008-09-26 06:25:35 UTC (rev 16738)
@@ -881,6 +881,9 @@
{
shapeInfo->SetMesh(meshobj,
false,false);
}
+ if (objprop->m_softbody)
+
shapeInfo->setVertexWeldingThreshold(0.01f); //todo: expose this to the UI
+
bm = shapeInfo->CreateBulletShape();
//no moving concave meshes, so don't bother
calculating inertia
//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
Modified:
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2008-09-26 04:10:13 UTC (rev 16737)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2008-09-26 06:25:35 UTC (rev 16738)
@@ -160,9 +160,9 @@
//disable soft body until first sneak preview is ready
if (m_cci.m_bSoft && m_cci.m_collisionShape &&
- (shapeType == CONVEX_HULL_SHAPE_PROXYTYPE))
- //(shapeType == TRIANGLE_MESH_SHAPE_PROXYTYPE) |
- //(shapeType == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)))
+ (shapeType == CONVEX_HULL_SHAPE_PROXYTYPE)|
+ (shapeType == TRIANGLE_MESH_SHAPE_PROXYTYPE) |
+ (shapeType == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE))
{
btRigidBody::btRigidBodyConstructionInfo
rbci(m_cci.m_mass,m_bulletMotionState,m_collisionShape,m_cci.m_localInertiaTensor
* m_cci.m_inertiaFactor);
rbci.m_linearDamping = m_cci.m_linearDamping;
@@ -221,58 +221,8 @@
psb->appendFace(idx[0],idx[1],idx[2]);
}
- ///create a mapping between graphics mesh
vertices and soft body vertices
- {
- RAS_MeshObject* rasMesh=
GetShapeInfo()->GetMesh();
+
- if (rasMesh && !m_softbodyMappingDone)
- {
-
- //printf("apply\n");
- RAS_MeshSlot::iterator it;
- RAS_MeshMaterial *mmat;
- RAS_MeshSlot *slot;
- size_t i;
-
- //for each material
- for (int
m=0;m<rasMesh->NumMaterials();m++)
- {
- // The vertex cache can
only be updated for this deformer:
- // Duplicated objects
with more than one ploymaterial (=multiple mesh slot per object)
- // share the same mesh
(=the same cache). As the rendering is done per polymaterial
- // cycling through the
objects, the entire mesh cache cannot be updated in one shot.
- mmat =
rasMesh->GetMeshMaterial(m);
-
- slot = mmat->m_baseslot;
- for(slot->begin(it);
!slot->end(it); slot->next(it))
- {
- int index = 0;
-
for(i=it.startvertex; i<it.endvertex; i++,index++)
- {
-
RAS_TexVert* vertex = &it.vertex[i];
-
-
-
//search closest index, and store it in vertex
-
vertex->setSoftBodyIndex(0);
-
btScalar maxDistSqr = 1e30;
-
btSoftBody::tNodeArray& nodes(psb->m_nodes);
-
btVector3 xyz =
btVector3(vertex->getXYZ()[0],vertex->getXYZ()[1],vertex->getXYZ()[2]);
- for
(int n=0;n<nodes.size();n++)
- {
-
btScalar distSqr = (nodes[n].m_x - xyz).length2();
-
if (distSqr<maxDistSqr)
-
{
-
maxDistSqr = distSqr;
-
-
vertex->setSoftBodyIndex(n);
-
}
- }
- }
- }
- }
- }
- }
-
hlib.ReleaseResult(hres);
@@ -285,7 +235,9 @@
} else
{
- /*
+
+ btSoftBodyWorldInfo& sbi= softDynaWorld->getWorldInfo();
+
if (m_cci.m_collisionShape->getShapeType()
==SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btScaledBvhTriangleMeshShape*
scaledtrimeshshape = (btScaledBvhTriangleMeshShape*) m_cci.m_collisionShape;
@@ -328,16 +280,15 @@
//psb =
btSoftBodyHelpers::CreateFromTriMesh(sbi,&pts[0].getX(),triangles,numtriangles);
}
- */
}
+
+
- m_softbodyMappingDone = true;
-
m_object = psb;
//psb->m_cfg.collisions =
btSoftBody::fCollision::SDF_RS;//btSoftBody::fCollision::CL_SS+
btSoftBody::fCollision::CL_RS;
- psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS
+ btSoftBody::fCollision::CL_SS;
+ psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS
+ btSoftBody::fCollision::VF_SS;//CL_SS;
//psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS +
btSoftBody::fCollision::CL_RS;
//btSoftBody::Material* pm=psb->appendMaterial();
@@ -352,10 +303,10 @@
//pm->m_kAST = 0.01f;
//pm->m_kVST = 0.001f;
psb->generateBendingConstraints(2,pm);
- //psb->m_cfg.piterations = 4;
- //psb->m_cfg.viterations = 4;
- //psb->m_cfg.diterations = 4;
- //psb->m_cfg.citerations = 4;
+ psb->m_cfg.piterations = 4;
+ psb->m_cfg.viterations = 4;
+ psb->m_cfg.diterations = 4;
+ psb->m_cfg.citerations = 4;
if (m_cci.m_gamesoftFlag & 2)//OB_SB_GOAL)
{
psb->setPose(false,true);//
@@ -365,7 +316,7 @@
}
psb->m_cfg.kDF = 0.5;
- psb->m_cfg.kMT = 0.05;
+ //psb->m_cfg.kMT = 0.05;
@@ Diff output truncated at 10240 characters. @@
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