archive/blender-archive
Archived
1
1
Fork 0
Code Pull Requests Packages Activity

Created a KX_SoftBodyDeformer for real-time soft bodies.

Browse Source 
Added SetDeformer/GetDeformer() to KX_GameObject.
Store mapping between graphics/soft body vertices (work-in-progress)
Real-time soft body integration is still very premature, but
for a quick preview, see this testfile:
http://bulletphysics.com/ftp/pub/test/index.php?dir=blender/&file=soft_test.blend
This commit is contained in:
Erwin Coumans
2008-09-24 03:12:10 +00:00
parent 7eae8d0c7b
commit 3b09c0b0d5
17 changed files with 369 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files

193
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
View File

@@ -20,7 +20,11 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "RAS_MeshObject.h"
#include "BulletSoftBody/btSoftBody.h"
#include "BulletSoftBody//btSoftBodyInternals.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "LinearMath/btConvexHull.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
class BP_Proxy;
@@ -135,11 +139,7 @@ btSoftBody* CcdPhysicsController::GetSoftBody()
#include "BulletSoftBody/btSoftBodyHelpers.h"
btVector3 pts[3] = {btVector3(0,0,0),
btVector3(0,1,0),
btVector3(1,1,0)};
int triangles[3] = {0,1,2};
btSoftBodyWorldInfo sbi;
void CcdPhysicsController::CreateRigidbody()
{
@@ -151,8 +151,13 @@ void CcdPhysicsController::CreateRigidbody()
//create a collision object
int shapeType = m_cci.m_collisionShape ? m_cci.m_collisionShape->getShapeType() : 0;
//disable soft body until first sneak preview is ready
if (0)//m_cci.m_bSoft)
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)))
{
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;
@@ -161,54 +166,161 @@ void CcdPhysicsController::CreateRigidbody()
rbci.m_restitution = m_cci.m_restitution;
sbi.m_broadphase = this->m_cci.m_physicsEnv->getBroadphase();
sbi.m_dispatcher = (btCollisionDispatcher*) m_cci.m_physicsEnv->getDispatcher();
int nodecount = 0;
int numtriangles = 1;
btVector3 p = trans.getOrigin();
btVector3 p(0,0,0);// = getOrigin();
btScalar h = 1.f;
btSoftRigidDynamicsWorld* softDynaWorld = (btSoftRigidDynamicsWorld*)m_cci.m_physicsEnv->getDynamicsWorld();
PHY__Vector3 grav;
m_cci.m_physicsEnv->getGravity(grav);
sbi.m_gravity.setValue(grav[0],grav[1],grav[2]);
grav[0] = softDynaWorld->getGravity().getX();
grav[1] = softDynaWorld->getGravity().getY();
grav[2] = softDynaWorld->getGravity().getZ();
softDynaWorld->getWorldInfo().m_gravity.setValue(grav[0],grav[1],grav[2]); //??
const btVector3 c[]={ p+h*btVector3(-1,-1,-1),
p+h*btVector3(+1,-1,-1),
p+h*btVector3(-1,+1,-1),
p+h*btVector3(+1,+1,-1),
p+h*btVector3(-1,-1,+1),
p+h*btVector3(+1,-1,+1),
p+h*btVector3(-1,+1,+1),
p+h*btVector3(+1,+1,+1)};
int i=0;
const int n=15;
//btSoftBody* psb=btSoftBodyHelpers::CreateRope(sbi, btVector3(-10,0,i*0.25),btVector3(10,0,i*0.25), 16,1+2);
btSoftBody* psb = btSoftBodyHelpers::CreateFromConvexHull(sbi,c,8);
m_object = psb;//btSoftBodyHelpers::CreateFromTriMesh(sbi,&pts[0].getX(),triangles,numtriangles);
btSoftBody* psb = 0;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS;//btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS;
if (m_cci.m_collisionShape->getShapeType() == CONVEX_HULL_SHAPE_PROXYTYPE)
{
btConvexHullShape* convexHull = (btConvexHullShape* )m_cci.m_collisionShape;
btAlignedObjectArray<btVector3> transformedVertices;
transformedVertices.resize(convexHull->getNumPoints());
for (int i=0;i<convexHull->getNumPoints();i++)
{
transformedVertices[i] = trans(convexHull->getPoints()[i]);
}
sbi.m_sparsesdf.Reset();
sbi.m_sparsesdf.Initialize();
//psb = btSoftBodyHelpers::CreateFromConvexHull(sbi,&transformedVertices[0],convexHull->getNumPoints());
psb->generateBendingConstraints(2);
{
int nvertices = convexHull->getNumPoints();
const btVector3* vertices = &transformedVertices[0];
btSoftBodyWorldInfo& worldInfo = softDynaWorld->getWorldInfo();
psb->m_cfg.kDF=1;
psb->activate();
psb->setActivationState(1);
psb->setDeactivationTime(1.f);
psb->m_cfg.piterations = 4;
HullDesc hdsc(QF_TRIANGLES,nvertices,vertices);
HullResult hres;
HullLibrary hlib;/*??*/
hdsc.mMaxVertices=nvertices;
hlib.CreateConvexHull(hdsc,hres);
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]);
}
{
for (int i=0;i<hlib.m_vertexIndexMapping.size();i++)
psb->m_userIndexMapping.push_back(hlib.m_vertexIndexMapping[i]);
//psb->m_userIndexMapping.push_back(hres.m_Indices[i]);
}
hlib.ReleaseResult(hres);
psb->randomizeConstraints();
}
} else
{
/*
if (m_cci.m_collisionShape->getShapeType() ==SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btScaledBvhTriangleMeshShape* scaledtrimeshshape = (btScaledBvhTriangleMeshShape*) m_cci.m_collisionShape;
btBvhTriangleMeshShape* trimeshshape = scaledtrimeshshape->getChildShape();
///only deal with meshes that have 1 sub part/component, for now
if (trimeshshape->getMeshInterface()->getNumSubParts()==1)
{
unsigned char* vertexBase;
PHY_ScalarType vertexType;
int numverts;
int vertexstride;
unsigned char* indexbase;
int indexstride;
int numtris;
PHY_ScalarType indexType;
trimeshshape->getMeshInterface()->getLockedVertexIndexBase(&vertexBase,numverts,vertexType,vertexstride,&indexbase,indexstride,numtris,indexType);
psb = btSoftBodyHelpers::CreateFromTriMesh(sbi,(const btScalar*)vertexBase,(const int*)indexbase,numtris);
}
} else
{
btBvhTriangleMeshShape* trimeshshape = (btBvhTriangleMeshShape*) m_cci.m_collisionShape;
///only deal with meshes that have 1 sub part/component, for now
if (trimeshshape->getMeshInterface()->getNumSubParts()==1)
{
unsigned char* vertexBase;
PHY_ScalarType vertexType;
int numverts;
int vertexstride;
unsigned char* indexbase;
int indexstride;
int numtris;
PHY_ScalarType indexType;
trimeshshape->getMeshInterface()->getLockedVertexIndexBase(&vertexBase,numverts,vertexType,vertexstride,&indexbase,indexstride,numtris,indexType);
psb = btSoftBodyHelpers::CreateFromTriMesh(sbi,(const btScalar*)vertexBase,(const int*)indexbase,numtris);
}
//psb = btSoftBodyHelpers::CreateFromTriMesh(sbi,&pts[0].getX(),triangles,numtriangles);
}
*/
}
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;
//btSoftBody::Material* pm=psb->appendMaterial();
btSoftBody::Material* pm=psb->m_materials[0];
pm->m_kLST = 0.1f;
//pm->m_kAST = 0.01f;
//pm->m_kVST = 0.001f;
psb->generateBendingConstraints(2,pm);
/*
psb->m_cfg.kDF = 0.1f;//1.f;
psb->m_cfg.kDP = 0.0001;
//psb->m_cfg.kDP = 0.005;
psb->m_cfg.kCHR = 0.1;
//psb->m_cfg.kVCF = 0.1f;
psb->m_cfg.kVCF = 0.0001f;
//psb->m_cfg.kAHR = 0.1f;
psb->m_cfg.kAHR = 0.0001f;
psb->m_cfg.kMT = 0.1f;
//psb->m_cfg.kDF=1;
*/
// psb->activate();
// psb->setActivationState(1);
// psb->setDeactivationTime(1.f);
//psb->m_cfg.piterations = 4;
//psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9;
psb->setTotalMass(20);
psb->setTotalMass(m_cci.m_mass);
psb->generateClusters(64);
psb->setCollisionFlags(0);
m_object->setCollisionShape(rbci.m_collisionShape);
// m_object->setCollisionShape(rbci.m_collisionShape);
btTransform startTrans;
if (rbci.m_motionState)
@@ -218,8 +330,13 @@ void CcdPhysicsController::CreateRigidbody()
{
startTrans = rbci.m_startWorldTransform;
}
startTrans.setIdentity();
m_object->setWorldTransform(startTrans);
m_object->setInterpolationWorldTransform(startTrans);
m_MotionState->setWorldPosition(0,0,0);
m_MotionState->setWorldOrientation(0,0,0,1);
} else
{