Bullet Collision Detection & Physics Library
btSoftBodyHelpers.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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 */
26struct 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 */
43};};
44
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 */
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 */
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 */
105 const btVector3& center,
106 const btVector3& radius,
107 int res);
108 /* Create from trimesh */
110 const btScalar* vertices,
111 const int* triangles,
112 int ntriangles,
113 bool randomizeConstraints = true);
114 /* Create from convex-hull */
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 */
134 const char* ele,
135 const char* face,
136 const char* node,
137 bool bfacelinks,
138 bool btetralinks,
139 bool bfacesfromtetras);
140
145 static void ReoptimizeLinkOrder(btSoftBody *psb );
146};
147
148#endif //BT_SOFT_BODY_HELPERS_H
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:30
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:72
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
static btSoftBody * CreatePatchUV(btSoftBodyWorldInfo &worldInfo, const btVector3 &corner00, const btVector3 &corner10, const btVector3 &corner01, const btVector3 &corner11, int resx, int resy, int fixeds, bool gendiags, float *tex_coords=0)
static btSoftBody * CreateFromTriMesh(btSoftBodyWorldInfo &worldInfo, const btScalar *vertices, const int *triangles, int ntriangles, bool randomizeConstraints=true)
static void DrawNodeTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
static btSoftBody * CreateFromTetGenData(btSoftBodyWorldInfo &worldInfo, const char *ele, const char *face, const char *node, bool bfacelinks, bool btetralinks, bool bfacesfromtetras)
static btSoftBody * CreateFromConvexHull(btSoftBodyWorldInfo &worldInfo, const btVector3 *vertices, int nvertices, bool randomizeConstraints=true)
static btSoftBody * CreatePatch(btSoftBodyWorldInfo &worldInfo, const btVector3 &corner00, const btVector3 &corner10, const btVector3 &corner01, const btVector3 &corner11, int resx, int resy, int fixeds, bool gendiags)
static void ReoptimizeLinkOrder(btSoftBody *psb)
Sort the list of links to move link calculations that are dependent upon earlier ones as far as possi...
static void DrawFaceTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
static void DrawInfos(btSoftBody *psb, btIDebugDraw *idraw, bool masses, bool areas, bool stress)
static btSoftBody * CreateEllipsoid(btSoftBodyWorldInfo &worldInfo, const btVector3 &center, const btVector3 &radius, int res)
static void DrawClusterTree(btSoftBody *psb, btIDebugDraw *idraw, int mindepth=0, int maxdepth=-1)
static float CalculateUV(int resx, int resy, int ix, int iy, int id)
static void Draw(btSoftBody *psb, btIDebugDraw *idraw, int drawflags=fDrawFlags::Std)
static void DrawFrame(btSoftBody *psb, btIDebugDraw *idraw)
static btSoftBody * CreateRope(btSoftBodyWorldInfo &worldInfo, const btVector3 &from, const btVector3 &to, int res, int fixeds)