Revision: 16853
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16853
Author: erwin
Date: 2008-10-01 01:34:25 +0200 (Wed, 01 Oct 2008)
Log Message:
-----------
add support for Bullet soft body constraints against a Bullet rigid body, as
well as 'fixing' it. Just use the existing rigid body joint to use it. For now,
it searches the closest node/vertex to the pivot. So you can use multiple
constraints/joint to attach a cloth, soft body etc.
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.h
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
Modified: trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
===================================================================
--- trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
2008-09-30 22:05:12 UTC (rev 16852)
+++ trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
2008-09-30 23:34:25 UTC (rev 16853)
@@ -87,7 +87,7 @@
}
updateBounds();
-
+ m_initialWorldTransform.setIdentity();
}
//
@@ -497,6 +497,7 @@
updateNormals();
updateBounds();
updateConstants();
+ m_initialWorldTransform = trs;
}
//
Modified: trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.h
===================================================================
--- trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.h
2008-09-30 22:05:12 UTC (rev 16852)
+++ trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.h
2008-09-30 23:34:25 UTC (rev 16853)
@@ -594,7 +594,8 @@
btDbvt m_fdbvt; //
Faces tree
btDbvt m_cdbvt; //
Clusters tree
tClusterArray m_clusters; // Clusters
-
+
+ btTransform m_initialWorldTransform; //used
to attach constraints etc.
//
// Api
//
Modified:
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
2008-09-30 22:05:12 UTC (rev 16852)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
2008-09-30 23:34:25 UTC (rev 16853)
@@ -1464,6 +1464,26 @@
return sphereController;
}
+int findClosestNode(btSoftBody* sb,const btVector3& worldPoint);
+int findClosestNode(btSoftBody* sb,const btVector3& worldPoint)
+{
+ int node = -1;
+
+ btSoftBody::tNodeArray& nodes(sb->m_nodes);
+ float maxDistSqr = 1e30f;
+
+ for (int n=0;n<nodes.size();n++)
+ {
+ btScalar distSqr = (nodes[n].m_x - worldPoint).length2();
+ if (distSqr<maxDistSqr)
+ {
+ maxDistSqr = distSqr;
+ node = n;
+ }
+ }
+ return node;
+}
+
int CcdPhysicsEnvironment::createConstraint(class
PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController*
ctrl1,PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
float axisX,float axisY,float axisZ,
@@ -1479,14 +1499,78 @@
btRigidBody* rb0 = c0 ? c0->GetRigidBody() : 0;
btRigidBody* rb1 = c1 ? c1->GetRigidBody() : 0;
+
+
+
bool rb0static = rb0 ? rb0->isStaticOrKinematicObject() : true;
bool rb1static = rb1 ? rb1->isStaticOrKinematicObject() : true;
+
+ btCollisionObject* colObj0 = c0->GetCollisionObject();
+ if (!colObj0)
+ {
+ return 0;
+ }
+
+ btVector3 pivotInA(pivotX,pivotY,pivotZ);
+
+ //it might be a soft body, let's try
+ btSoftBody* sb0 = c0 ? c0->GetSoftBody() : 0;
+ btSoftBody* sb1 = c1 ? c1->GetSoftBody() : 0;
+ if (sb0 && sb1)
+ {
+ //not between two soft bodies?
+ return 0;
+ }
+
+ if (sb0)
+ {
+ //either cluster or node attach, let's find closest node first
+ //the soft body doesn't have a 'real' world transform, so get
its initial world transform for now
+ btVector3 pivotPointSoftWorld =
sb0->m_initialWorldTransform(pivotInA);
+ int node=findClosestNode(sb0,pivotPointSoftWorld);
+ if (node >=0)
+ {
+ if (rb1)
+ {
+ sb0->appendAnchor(node,rb1);
+ } else
+ {
+ sb0->setMass(node,0.f);
+ }
+ }
+ return 0;//can't remove soft body anchors yet
+ }
+
+ if (sb1)
+ {
+ btVector3 pivotPointAWorld =
colObj0->getWorldTransform()(pivotInA);
+ int node=findClosestNode(sb1,pivotPointAWorld);
+ if (node >=0)
+ {
+ if (rb0)
+ {
+ sb1->appendAnchor(node,rb0);
+ } else
+ {
+ sb1->setMass(node,0.f);
+ }
+ }
+ return 0;//can't remove soft body anchors yet
+ }
+
if (rb0static && rb1static)
+ {
+
return 0;
+ }
+
- btVector3 pivotInA(pivotX,pivotY,pivotZ);
+ if (!rb0)
+ return 0;
+
+
btVector3 pivotInB = rb1 ?
rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA))
:
rb0->getCenterOfMassTransform() * pivotInA;
btVector3 axisInA(axisX,axisY,axisZ);
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