1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2008 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 #ifndef BT_SOFT_BODY_HELPERS_H 17 #define BT_SOFT_BODY_HELPERS_H 18 19 #include "btSoftBody.h" 20 21 // 22 // Helpers 23 // 24 25 /* fDrawFlags */ 26 struct fDrawFlags { enum _ { 27 Nodes = 0x0001, 28 Links = 0x0002, 29 Faces = 0x0004, 30 Tetras = 0x0008, 31 Normals = 0x0010, 32 Contacts = 0x0020, 33 Anchors = 0x0040, 34 Notes = 0x0080, 35 Clusters = 0x0100, 36 NodeTree = 0x0200, 37 FaceTree = 0x0400, 38 ClusterTree = 0x0800, 39 Joints = 0x1000, 40 /* presets */ 41 Std = Links+Faces+Tetras+Anchors+Notes+Joints, 42 StdTetra = Std-Faces+Tetras 43 };}; 44 45 struct btSoftBodyHelpers 46 { 47 /* Draw body */ 48 static void Draw( btSoftBody* psb, 49 btIDebugDraw* idraw, 50 int drawflags=fDrawFlags::Std); 51 /* Draw body infos */ 52 static void DrawInfos( btSoftBody* psb, 53 btIDebugDraw* idraw, 54 bool masses, 55 bool areas, 56 bool stress); 57 /* Draw node tree */ 58 static void DrawNodeTree( btSoftBody* psb, 59 btIDebugDraw* idraw, 60 int mindepth=0, 61 int maxdepth=-1); 62 /* Draw face tree */ 63 static void DrawFaceTree( btSoftBody* psb, 64 btIDebugDraw* idraw, 65 int mindepth=0, 66 int maxdepth=-1); 67 /* Draw cluster tree */ 68 static void DrawClusterTree(btSoftBody* psb, 69 btIDebugDraw* idraw, 70 int mindepth=0, 71 int maxdepth=-1); 72 /* Draw rigid frame */ 73 static void DrawFrame( btSoftBody* psb, 74 btIDebugDraw* idraw); 75 /* Create a rope */ 76 static btSoftBody* CreateRope( btSoftBodyWorldInfo& worldInfo, 77 const btVector3& from, 78 const btVector3& to, 79 int res, 80 int fixeds); 81 /* Create a patch */ 82 static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo, 83 const btVector3& corner00, 84 const btVector3& corner10, 85 const btVector3& corner01, 86 const btVector3& corner11, 87 int resx, 88 int resy, 89 int fixeds, 90 bool gendiags); 91 /* Create a patch with UV Texture Coordinates */ 92 static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo, 93 const btVector3& corner00, 94 const btVector3& corner10, 95 const btVector3& corner01, 96 const btVector3& corner11, 97 int resx, 98 int resy, 99 int fixeds, 100 bool gendiags, 101 float* tex_coords=0); 102 static float CalculateUV(int resx,int resy,int ix,int iy,int id); 103 /* Create an ellipsoid */ 104 static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo, 105 const btVector3& center, 106 const btVector3& radius, 107 int res); 108 /* Create from trimesh */ 109 static btSoftBody* CreateFromTriMesh( btSoftBodyWorldInfo& worldInfo, 110 const btScalar* vertices, 111 const int* triangles, 112 int ntriangles, 113 bool randomizeConstraints = true); 114 /* Create from convex-hull */ 115 static btSoftBody* CreateFromConvexHull( btSoftBodyWorldInfo& worldInfo, 116 const btVector3* vertices, 117 int nvertices, 118 bool randomizeConstraints = true); 119 120 121 /* Export TetGen compatible .smesh file */ 122 // static void ExportAsSMeshFile( btSoftBody* psb, 123 // const char* filename); 124 /* Create from TetGen .ele, .face, .node files */ 125 // static btSoftBody* CreateFromTetGenFile( btSoftBodyWorldInfo& worldInfo, 126 // const char* ele, 127 // const char* face, 128 // const char* node, 129 // bool bfacelinks, 130 // bool btetralinks, 131 // bool bfacesfromtetras); 132 /* Create from TetGen .ele, .face, .node data */ 133 static btSoftBody* CreateFromTetGenData( btSoftBodyWorldInfo& worldInfo, 134 const char* ele, 135 const char* face, 136 const char* node, 137 bool bfacelinks, 138 bool btetralinks, 139 bool bfacesfromtetras); 140 141 /// Sort the list of links to move link calculations that are dependent upon earlier 142 /// ones as far as possible away from the calculation of those values 143 /// This tends to make adjacent loop iterations not dependent upon one another, 144 /// so out-of-order processors can execute instructions from multiple iterations at once 145 static void ReoptimizeLinkOrder(btSoftBody *psb ); 146 }; 147 148 #endif //BT_SOFT_BODY_HELPERS_H 149