Commit: 597936b3fb006876e780e6da9c9c3da9bb345bb3
Author: Martin Felke
Date: Tue Oct 20 21:31:29 2015 +0200
Branches: fracture_modifier
https://developer.blender.org/rB597936b3fb006876e780e6da9c9c3da9bb345bb3
new feature: attempt to accelerate simulation of many adjacent shards by
compounds; todo... improve connectivity check
===================================================================
M extern/bullet2/CMakeLists.txt
A
extern/bullet2/src/BulletDynamics/ConstraintSolver/btCompoundConstraint.cpp
A
extern/bullet2/src/BulletDynamics/ConstraintSolver/btCompoundConstraint.h
A extern/bullet2/src/BulletDynamics/Dynamics/btFractureBody.cpp
A extern/bullet2/src/BulletDynamics/Dynamics/btFractureBody.h
A extern/bullet2/src/BulletDynamics/Dynamics/btFractureDynamicsWorld.cpp
A extern/bullet2/src/BulletDynamics/Dynamics/btFractureDynamicsWorld.h
M extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
M extern/bullet2/src/btBulletDynamicsCommon.h
M intern/rigidbody/RBI_api.h
M intern/rigidbody/rb_bullet_api.cpp
M release/scripts/startup/bl_ui/properties_physics_fracture.py
M source/blender/blenkernel/intern/rigidbody.c
M source/blender/makesdna/DNA_modifier_types.h
M source/blender/makesdna/DNA_rigidbody_types.h
M source/blender/makesrna/intern/rna_modifier.c
M source/blender/modifiers/intern/MOD_fracture.c
===================================================================
diff --git a/extern/bullet2/CMakeLists.txt b/extern/bullet2/CMakeLists.txt
index 2b2c18c..35ef63d 100644
--- a/extern/bullet2/CMakeLists.txt
+++ b/extern/bullet2/CMakeLists.txt
@@ -143,8 +143,11 @@ set(SRC
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
+ src/BulletDynamics/ConstraintSolver/btCompoundConstraint.cpp
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+ src/BulletDynamics/Dynamics/btFractureDynamicsWorld.cpp
src/BulletDynamics/Dynamics/btRigidBody.cpp
+ src/BulletDynamics/Dynamics/btFractureBody.cpp
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -323,11 +326,14 @@ set(SRC
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
src/BulletDynamics/ConstraintSolver/btGearConstraint.h
src/BulletDynamics/ConstraintSolver/btFixedConstraint.h
+ src/BulletDynamics/ConstraintSolver/btCompoundConstraint.h
src/BulletDynamics/Dynamics/btActionInterface.h
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
src/BulletDynamics/Dynamics/btDynamicsWorld.h
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
src/BulletDynamics/Dynamics/btRigidBody.h
+ src/BulletDynamics/Dynamics/btFractureBody.h
+ src/BulletDynamics/Dynamics/btFractureDynamicsWorld.h
src/BulletDynamics/Vehicle/btRaycastVehicle.h
src/BulletDynamics/Vehicle/btVehicleRaycaster.h
src/BulletDynamics/Vehicle/btWheelInfo.h
diff --git
a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btCompoundConstraint.cpp
b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btCompoundConstraint.cpp
new file mode 100644
index 0000000..6965035
--- /dev/null
+++
b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btCompoundConstraint.cpp
@@ -0,0 +1,8 @@
+
+#include "btCompoundConstraint.h"
+
+btCompoundConstraint::btCompoundConstraint(btRigidBody& rbA, btRigidBody& rbB)
+ :btTypedConstraint::btTypedConstraint(COMPOUND_CONSTRAINT_TYPE, rbA, rbB)
+{
+}
+
diff --git
a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btCompoundConstraint.h
b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btCompoundConstraint.h
new file mode 100644
index 0000000..d95ddbe
--- /dev/null
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btCompoundConstraint.h
@@ -0,0 +1,20 @@
+#ifndef BTCOMPOUNDCONSTRAINT_H
+#define BTCOMPOUNDCONSTRAINT_H
+
+#include "btTypedConstraint.h"
+
+#define COMPOUND_CONSTRAINT_TYPE (MAX_CONSTRAINT_TYPE+1)
+
+ATTRIBUTE_ALIGNED16(class) btCompoundConstraint : public btTypedConstraint
+{
+ public:
+ btCompoundConstraint(btRigidBody& rbA,btRigidBody& rbB);
+ virtual void getInfo1(btConstraintInfo1* info) {}
+ virtual void getInfo2(btConstraintInfo2* info) {}
+ virtual btScalar getParam(int num, int axis) const { return 0;}
+ virtual void setParam(int num, btScalar value, int axis) {}
+
+ int m_objectId;
+};
+
+#endif // BTCOMPOUNDCONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btFractureBody.cpp
b/extern/bullet2/src/BulletDynamics/Dynamics/btFractureBody.cpp
new file mode 100644
index 0000000..e92dcb7
--- /dev/null
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btFractureBody.cpp
@@ -0,0 +1,178 @@
+
+#include "btFractureBody.h"
+#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
+
+#include "BulletDynamics/Dynamics/btFractureDynamicsWorld.h"
+
+
+
+void btFractureBody::recomputeConnectivity(btCollisionWorld* world)
+{
+ m_connections.clear();
+ //@todo use the AABB tree to avoid N^2 checks
+
+ if (getCollisionShape()->isCompound())
+ {
+ btCompoundShape* compound =
(btCompoundShape*)getCollisionShape();
+ for (int i=0;i<compound->getNumChildShapes();i++)
+ {
+ for (int j=i+1;j<compound->getNumChildShapes();j++)
+ {
+
+ struct MyContactResultCallback : public
btCollisionWorld::ContactResultCallback
+ {
+ bool m_connected;
+ btScalar m_margin;
+ MyContactResultCallback()
:m_connected(false),m_margin(0.05)
+ {
+ }
+ virtual btScalar
addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper*
colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper*
colObj1Wrap,int partId1,int index1)
+ {
+ if (cp.getDistance()<=m_margin)
+ m_connected = true;
+ return 1.f;
+ }
+ };
+
+ MyContactResultCallback result;
+
+ btCollisionObject obA;
+
obA.setWorldTransform(compound->getChildTransform(i));
+
obA.setCollisionShape(compound->getChildShape(i));
+ btCollisionObject obB;
+
obB.setWorldTransform(compound->getChildTransform(j));
+
obB.setCollisionShape(compound->getChildShape(j));
+ world->contactPairTest(&obA,&obB,result);
+ if (result.m_connected)
+ {
+ btConnection tmp;
+ tmp.m_childIndex0 = i;
+ tmp.m_childIndex1 = j;
+ tmp.m_childShape0 =
compound->getChildShape(i);
+ tmp.m_childShape1 =
compound->getChildShape(j);
+ tmp.m_strength = 1.f;//??
+ m_connections.push_back(tmp);
+ }
+ }
+ }
+ }
+
+
+}
+
+void btFractureBody::recomputeConnectivityByConstraints(btCollisionWorld
*world1)
+{
+ btFractureDynamicsWorld *world = (btFractureDynamicsWorld*)world1;
+
+ if (world->m_idCallback != NULL)
+ {
+ int i;
+ m_connections.clear();
+
+ for (i=0; i<world->m_compoundConstraints.size();i++)
+ {
+ btCompoundConstraint *con =
world->m_compoundConstraints[i];
+
+ if (con->isEnabled())
+ {
+ int obIdA, shardIdA, obIdB, shardIdB;
+ btFractureBody *obA =
(btFractureBody*)&con->getRigidBodyA();
+ btFractureBody *obB =
(btFractureBody*)&con->getRigidBodyB();
+
+ world->m_idCallback(obA->getUserPointer(),
&obIdA, &shardIdA);
+ world->m_idCallback(obB->getUserPointer(),
&obIdB, &shardIdB);
+
+ if ((obIdA == obIdB) && (shardIdA != shardIdB))
+ {
+ btConnection tmp;
+ tmp.m_childIndex0 = shardIdA;
+ tmp.m_childIndex1 = shardIdB;
+ tmp.m_childShape0 =
obA->getCollisionShape();
+ tmp.m_childShape1 =
obB->getCollisionShape();
+ tmp.m_strength =
con->getBreakingImpulseThreshold();
+ m_connections.push_back(tmp);
+ }
+ }
+ }
+ }
+}
+
+btCompoundShape* btFractureBody::shiftTransformDistributeMass(btCompoundShape*
boxCompound,btScalar mass,btTransform& shift)
+{
+
+ btVector3 principalInertia;
+
+ btScalar* masses = new btScalar[boxCompound->getNumChildShapes()];
+ for (int j=0;j<boxCompound->getNumChildShapes();j++)
+ {
+ //evenly distribute mass
+ masses[j]=mass/boxCompound->getNumChildShapes();
+ }
+
+ return shiftTransform(boxCompound,masses,shift,principalInertia);
+
+}
+
+
+btCompoundShape* btFractureBody::shiftTransform(btCompoundShape*
boxCompound,btScalar* masses,btTransform& shift, btVector3& principalInertia)
+{
+ btTransform principal;
+
+
boxCompound->calculatePrincipalAxisTransform(masses,principal,principalInertia);
+
+
+ ///create a new compound with world transform/center of mass properly
aligned with the principal axis
+
+ ///non-recursive compound shapes perform better
+
+#ifdef USE_RECURSIVE_COMPOUND
+
+ btCompoundShape* newCompound = new btCompoundShape();
+ newCompound->addChildShape(principal.inverse(),boxCompound);
+ newBoxCompound = newCompound;
+ //m_collisionShapes.push_back(newCompound);
+
+ //btDefaultMotionState* myMotionState = new
btDefaultMotionState(startTransform);
+ //btRigidBody::btRigidBodyConstructionInfo
rbInfo(mass,myMotionState,newCompound,principalInertia);
+
+#else
+#ifdef CHANGE_COMPOUND_INPLACE
+ newBoxCompound = boxCompound;
+ for (int i=0;i<boxCompound->getNumChildShapes();i++)
+ {
+ btTransform newChildTransform =
principal.inverse()*boxCompound->getChildTransform(i);
+ ///updateChildTransform is really slow, because it
re-calculates the AABB each time. todo: add option to disable this update
+ boxCompound->updateChildTransform(i,newChildTransform);
+ }
+ bool isDynamic = (mass != 0.f);
+ btVector3 localInertia(0,0,0);
+ if (isDynamic)
+ boxCompound->calculateLocalInertia(mass,localInertia);
+
+#else
+ ///creation is faster using a new compound to store the shifted children
+ btCompoundShape* newBoxCompound = new btCompoundShape();
+ for (int i=0;i<boxCompound->getNumChildShapes();i++)
+ {
+ btTransform newChildTransform =
principal.inverse()*boxCompound->getChildTransform(i);
+ ///updateChildTransform is really slow, because it
re-calculates the AABB each time. todo: add option to disable this update
+
newBoxCompound->addChildShape(newChildTransform,boxCompound->getChildShape(i));
+ }
+
+
+
+#endif
+
+#endif//USE_RECURSIVE_COMPOUND
+
+ shift = principal;
+ return newBoxCompound;
+}
+
+
+
+
+
+
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btFractureBody.h
b/extern/bullet2/src/BulletDynamics/Dynamics/btFractureBody.h
new file mode 100644
index 0000000..031a48e
--- /dev/null
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btFractureBody.h
@@ -0,0 +1,85 @@
+
+#ifndef BT_FRACTURE_BODY
+#define BT_FRACTURE_BODY
+
+class btCollisionShape;
+class btDynamicsWorld;
+class btCollisionWorld;
+class btCompoundShape;
+class btManifoldPoint;
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+#define CUSTOM_FRACTURE_TYPE (btRigidBody::CO_USER_TYPE+1)
+
+
+struct btConnection
+{
+
+ btCollisionShape* m_childShape0;
+ btCollisionShape* m_childShape1;
+ int m_childIndex0;
+ int m_childIndex1;
+ btScalar m_strength;
+};
+
+class btFractureBody : public btRigidBody
+{
+ //connections
+public:
+
+ btDynamicsWorld* m_world;
+ btAlignedObjectArray<btScalar> m_masses;
+ btAlignedObjectArray<btConnection> m_connections;
+ int m_childIndex;
+
+
+
+ btFractureBody( const btRigidBodyConstructionInfo& constructionInfo)
+ :btRigidBody(constructionInfo),
+ m_world(0),
+ m_childIndex(-1)
+ {
+ m_masses.push_back(constructionInfo.m_mass);
+ m_internalType=CUSTOM_FRACTURE_TYPE+CO_RIGID_BODY;
+ }
+
+
+
+ ///btRigidBody constructor for backwards compatibility.
+ ///To specify friction (etc) during rigid body construction, please use
the other constructor (using btRigidBodyConstructionInfo)
+
@@ Diff output truncated at 10240 characters. @@
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