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 #include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" 17 #include "BulletCollision/CollisionDispatch/btCollisionObject.h" 18 #include "BulletCollision/CollisionShapes/btCollisionShape.h" 19 20 #include "btDefaultSoftBodySolver.h" 21 #include "BulletCollision/CollisionShapes/btCapsuleShape.h" 22 #include "BulletSoftBody/btSoftBody.h" 23 24 25 btDefaultSoftBodySolver::btDefaultSoftBodySolver() 26 { 27 // Initial we will clearly need to update solver constants 28 // For now this is global for the cloths linked with this solver - we should probably make this body specific 29 // for performance in future once we understand more clearly when constants need to be updated 30 m_updateSolverConstants = true; 31 } 32 33 btDefaultSoftBodySolver::~btDefaultSoftBodySolver() 34 { 35 } 36 37 // In this case the data is already in the soft bodies so there is no need for us to do anything 38 void btDefaultSoftBodySolver::copyBackToSoftBodies(bool bMove) 39 { 40 41 } 42 43 void btDefaultSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate) 44 { 45 m_softBodySet.copyFromArray( softBodies ); 46 } 47 48 void btDefaultSoftBodySolver::updateSoftBodies( ) 49 { 50 for ( int i=0; i < m_softBodySet.size(); i++) 51 { 52 btSoftBody* psb=(btSoftBody*)m_softBodySet[i]; 53 if (psb->isActive()) 54 { 55 psb->integrateMotion(); 56 } 57 } 58 } // updateSoftBodies 59 60 bool btDefaultSoftBodySolver::checkInitialized() 61 { 62 return true; 63 } 64 65 void btDefaultSoftBodySolver::solveConstraints( float solverdt ) 66 { 67 // Solve constraints for non-solver softbodies 68 for(int i=0; i < m_softBodySet.size(); ++i) 69 { 70 btSoftBody* psb = static_cast<btSoftBody*>(m_softBodySet[i]); 71 if (psb->isActive()) 72 { 73 psb->solveConstraints(); 74 } 75 } 76 } // btDefaultSoftBodySolver::solveConstraints 77 78 79 void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer ) 80 { 81 // Currently only support CPU output buffers 82 // TODO: check for DX11 buffers. Take all offsets into the same DX11 buffer 83 // and use them together on a single kernel call if possible by setting up a 84 // per-cloth target buffer array for the copy kernel. 85 86 if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER ) 87 { 88 const btAlignedObjectArray<btSoftBody::Node> &clothVertices( softBody->m_nodes ); 89 int numVertices = clothVertices.size(); 90 91 const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer); 92 float *basePointer = cpuVertexBuffer->getBasePointer(); 93 94 if( vertexBuffer->hasVertexPositions() ) 95 { 96 const int vertexOffset = cpuVertexBuffer->getVertexOffset(); 97 const int vertexStride = cpuVertexBuffer->getVertexStride(); 98 float *vertexPointer = basePointer + vertexOffset; 99 100 for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) 101 { 102 btVector3 position = clothVertices[vertexIndex].m_x; 103 *(vertexPointer + 0) = position.getX(); 104 *(vertexPointer + 1) = position.getY(); 105 *(vertexPointer + 2) = position.getZ(); 106 vertexPointer += vertexStride; 107 } 108 } 109 if( vertexBuffer->hasNormals() ) 110 { 111 const int normalOffset = cpuVertexBuffer->getNormalOffset(); 112 const int normalStride = cpuVertexBuffer->getNormalStride(); 113 float *normalPointer = basePointer + normalOffset; 114 115 for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) 116 { 117 btVector3 normal = clothVertices[vertexIndex].m_n; 118 *(normalPointer + 0) = normal.getX(); 119 *(normalPointer + 1) = normal.getY(); 120 *(normalPointer + 2) = normal.getZ(); 121 normalPointer += normalStride; 122 } 123 } 124 } 125 } // btDefaultSoftBodySolver::copySoftBodyToVertexBuffer 126 127 void btDefaultSoftBodySolver::processCollision( btSoftBody* softBody, btSoftBody* otherSoftBody) 128 { 129 softBody->defaultCollisionHandler( otherSoftBody); 130 } 131 132 // For the default solver just leave the soft body to do its collision processing 133 void btDefaultSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObjectWrap ) 134 { 135 softBody->defaultCollisionHandler( collisionObjectWrap ); 136 } // btDefaultSoftBodySolver::processCollision 137 138 139 void btDefaultSoftBodySolver::predictMotion( float timeStep ) 140 { 141 for ( int i=0; i < m_softBodySet.size(); ++i) 142 { 143 btSoftBody* psb = m_softBodySet[i]; 144 145 if (psb->isActive()) 146 { 147 psb->predictMotion(timeStep); 148 } 149 } 150 } 151 152
