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improved game soft bodies, works for objects that are using 'set smooth'

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use shape matching by default for game soft bodies
store soft body index for game vertices
This commit is contained in:
Erwin Coumans
2008-09-25 03:02:30 +00:00
parent 38a80ff9a5
commit 718e2bf74f
8 changed files with 219 additions and 108 deletions
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100
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@@ -222,14 +222,57 @@ void CcdPhysicsController::CreateRigidbody()
psb->appendFace(idx[0],idx[1],idx[2]);
}
///create a mapping between graphics mesh vertices and soft body vertices
{
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]);
RAS_MeshObject* rasMesh= GetShapeInfo()->GetMesh();
if (rasMesh)
{
//printf("apply\n");
RAS_MeshSlot::iterator it;
RAS_MeshMaterial *mmat;
RAS_MeshSlot *slot;
size_t i;
//for each material
for (int m=0;m<rasMesh->NumMaterials();m++)
{
// The vertex cache can only be updated for this deformer:
// Duplicated objects with more than one ploymaterial (=multiple mesh slot per object)
// share the same mesh (=the same cache). As the rendering is done per polymaterial
// cycling through the objects, the entire mesh cache cannot be updated in one shot.
mmat = rasMesh->GetMeshMaterial(m);
slot = mmat->m_baseslot;
for(slot->begin(it); !slot->end(it); slot->next(it))
{
int index = 0;
for(i=it.startvertex; i<it.endvertex; i++,index++)
{
RAS_TexVert* vertex = &it.vertex[i];
//search closest index, and store it in vertex
vertex->setSoftBodyIndex(0);
btScalar maxDistSqr = 1e30;
btSoftBody::tNodeArray& nodes(psb->m_nodes);
btVector3 xyz = trans(btVector3(vertex->getXYZ()[0],vertex->getXYZ()[1],vertex->getXYZ()[2]));
for (int n=0;n<nodes.size();n++)
{
btScalar distSqr = (nodes[n].m_x - xyz).length2();
if (distSqr<maxDistSqr)
{
maxDistSqr = distSqr;
vertex->setSoftBodyIndex(n);
}
}
}
}
}
}
}
hlib.ReleaseResult(hres);
psb->randomizeConstraints();
}
@@ -292,13 +335,42 @@ void CcdPhysicsController::CreateRigidbody()
//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;
//psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS;
//btSoftBody::Material* pm=psb->appendMaterial();
btSoftBody::Material* pm=psb->m_materials[0];
pm->m_kLST = 0.1f;
pm->m_kLST = m_cci.m_linearStiffness;
pm->m_kAST = m_cci.m_angularStiffness;
pm->m_kVST = m_cci.m_volumePreservation;
//pm->m_kAST = 0.01f;
//pm->m_kVST = 0.001f;
psb->generateBendingConstraints(2,pm);
//psb->m_cfg.piterations = 4;
//psb->m_cfg.viterations = 4;
//psb->m_cfg.diterations = 4;
//psb->m_cfg.citerations = 4;
if (m_cci.m_gamesoftFlag & 1)///OB_SOFT_SHAPE_MATCHING)
{
psb->setPose(false,true);//
} else
{
psb->setPose(true,false);
}
psb->m_cfg.kDF = 0.5;
psb->m_cfg.kMT = 0.05;
psb->m_cfg.piterations = 5;
psb->m_cfg.piterations = 5;
//psb->m_cfg.kVC = 20;
psb->randomizeConstraints();
/*
psb->m_cfg.kDF = 0.1f;//1.f;
psb->m_cfg.kDP = 0.0001;
@@ -315,10 +387,10 @@ void CcdPhysicsController::CreateRigidbody()
// 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(m_cci.m_mass);
psb->generateClusters(64);
//psb->generateClusters(8);//(64);
psb->setCollisionFlags(0);
// m_object->setCollisionShape(rbci.m_collisionShape);
btTransform startTrans;
@@ -1147,7 +1219,19 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope)
{
const float* vtx = poly->GetVertex(i)->getXYZ();
btPoint3 point(vtx[0],vtx[1],vtx[2]);
m_vertexArray.push_back(point);
//avoid duplicates (could better directly use vertex offsets, rather than a vertex compare)
bool found = false;
for (int j=0;j<m_vertexArray.size();j++)
{
if (m_vertexArray[j]==point)
{
found = true;
break;
}
}
if (!found)
m_vertexArray.push_back(point);
numvalidpolys++;
}
} else