extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
   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
  16
  17 #include "btSoftRigidDynamicsWorld.h"
  18 #include "LinearMath/btQuickprof.h"
  19
  20 //softbody & helpers
  21 #include "btSoftBody.h"
  22 #include "btSoftBodyHelpers.h"
  23
  24
  25
  26
  27
  28 btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
  29 :btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
  30 {
  31 m_drawFlags                     =       fDrawFlags::Std;
  32 m_drawNodeTree          =       true;
  33 m_drawFaceTree          =       false;
  34 m_drawClusterTree       =       false;
  35 m_sbi.m_broadphase = pairCache;
  36 m_sbi.m_dispatcher = dispatcher;
  37 m_sbi.m_sparsesdf.Initialize();
  38 m_sbi.m_sparsesdf.Reset();
  39
  40 }
  41
  42 btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
  43 {
  44
  45 }
  46
  47 void    btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
  48 {
  49         btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
  50
  51         for ( int i=0;i<m_softBodies.size();++i)
  52         {
  53                 btSoftBody*     psb= m_softBodies[i];
  54
  55                 psb->predictMotion(timeStep);
  56         }
  57 }
  58
  59 void    btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
  60 {
  61         btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
  62
  63         ///solve soft bodies constraints
  64         solveSoftBodiesConstraints();
  65
  66         ///update soft bodies
  67         updateSoftBodies();
  68
  69 }
  70
  71 void    btSoftRigidDynamicsWorld::updateSoftBodies()
  72 {
  73         BT_PROFILE("updateSoftBodies");
  74
  75         for ( int i=0;i<m_softBodies.size();i++)
  76         {
  77                 btSoftBody*     psb=(btSoftBody*)m_softBodies[i];
  78                 psb->integrateMotion();
  79         }
  80 }
  81
  82 void    btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
  83 {
  84         BT_PROFILE("solveSoftConstraints");
  85
  86         if(m_softBodies.size())
  87                 {
  88                 btSoftBody::solveClusters(m_softBodies);
  89                 }
  90
  91         for(int i=0;i<m_softBodies.size();++i)
  92         {
  93                 btSoftBody*     psb=(btSoftBody*)m_softBodies[i];
  94                 psb->solveConstraints();
  95         }
  96 }
  97
  98 void    btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body)
  99 {
 100         m_softBodies.push_back(body);
 101
 102         btCollisionWorld::addCollisionObject(body,
 103                                         btBroadphaseProxy::DefaultFilter,
 104                                         btBroadphaseProxy::AllFilter);
 105
 106 }
 107
 108 void    btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
 109 {
 110         m_softBodies.remove(body);
 111
 112         btCollisionWorld::removeCollisionObject(body);
 113 }
 114
 115 void    btSoftRigidDynamicsWorld::debugDrawWorld()
 116 {
 117         btDiscreteDynamicsWorld::debugDrawWorld();
 118
 119         if (getDebugDrawer())
 120         {
 121                 int i;
 122                 for (  i=0;i<this->m_softBodies.size();i++)
 123                 {
 124                         btSoftBody*     psb=(btSoftBody*)this->m_softBodies[i];
 125                         btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
 126                         btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags);
 127                         if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 128                         {
 129                                 if(m_drawNodeTree)              btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
 130                                 if(m_drawFaceTree)              btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
 131                                 if(m_drawClusterTree)   btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer);
 132                         }
 133                 }
 134         }
 135 }