src/BulletSoftBody/btDefaultSoftBodySolver.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 #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