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Bullet: experimental support for linear/angular soft body joints

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This commit is contained in:
enn0x 2013-05-16 21:23:34 +00:00
parent cbbe02f879
commit a2a0b485ac
3 changed files with 103 additions and 2 deletions
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22
panda/src/bullet/bulletBodyNode.I
View File

@ -217,6 +217,28 @@ set_friction(PN_stdfloat friction) {
return get_object()->setFriction(friction);
}
////////////////////////////////////////////////////////////////////
// Function: BulletBodyNode::get_rolling_friction
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE PN_stdfloat BulletBodyNode::
get_rolling_friction() const {
return get_object()->getRollingFriction();
}
////////////////////////////////////////////////////////////////////
// Function: BulletBodyNode::set_rolling_friction
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE void BulletBodyNode::
set_rolling_friction(PN_stdfloat friction) {
return get_object()->setRollingFriction(friction);
}
////////////////////////////////////////////////////////////////////
// Function: BulletBodyNode::has_anisotropic_friction
// Access: Published

63
panda/src/bullet/bulletSoftBodyNode.cxx
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@ -1070,3 +1070,66 @@ make_tet_mesh(BulletSoftBodyWorldInfo &info, const char *ele, const char *face,
return sbnode;
}
////////////////////////////////////////////////////////////////////
// Function: BulletSoftBodyNode::append_linear_joint
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
void BulletSoftBodyNode::
append_linear_joint(BulletBodyNode *body, int cluster, PN_stdfloat erp, PN_stdfloat cfm, PN_stdfloat split) {
nassertv(body);
btCollisionObject *ptr = body->get_object();
btSoftBody::LJoint::Specs ls;
ls.erp = erp;
ls.cfm = cfm;
ls.split = split;
ls.position = _soft->clusterCom(cluster);
_soft->appendLinearJoint(ls, ptr);
}
////////////////////////////////////////////////////////////////////
// Function: BulletSoftBodyNode::append_linear_joint
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
void BulletSoftBodyNode::
append_linear_joint(BulletBodyNode *body, const LPoint3 &pos, PN_stdfloat erp, PN_stdfloat cfm, PN_stdfloat split) {
nassertv(body);
btCollisionObject *ptr = body->get_object();
btSoftBody::LJoint::Specs ls;
ls.erp = erp;
ls.cfm = cfm;
ls.split = split;
ls.position = LVecBase3_to_btVector3(pos);
_soft->appendLinearJoint(ls, ptr);
}
////////////////////////////////////////////////////////////////////
// Function: BulletSoftBodyNode::append_angular_joint
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
void BulletSoftBodyNode::
append_angular_joint(BulletBodyNode *body, const LVector3 &axis, PN_stdfloat erp, PN_stdfloat cfm, PN_stdfloat split) {
nassertv(body);
btCollisionObject *ptr = body->get_object();
btSoftBody::AJoint::Specs as;
as.erp = erp;
as.cfm = cfm;
as.split = split;
as.axis = LVecBase3_to_btVector3(axis);
_soft->appendAngularJoint(as, ptr);
}

16
panda/src/bullet/bulletSoftBodyNode.h
View File

@ -123,6 +123,22 @@ PUBLISHED:
const LVector3 &pivot,
bool disable=false);
// Links
void append_linear_joint(BulletBodyNode *body, int cluster,
PN_stdfloat erp=1.0,
PN_stdfloat cfm=1.0,
PN_stdfloat split=1.0);
void append_linear_joint(BulletBodyNode *body, const LPoint3 &pos,
PN_stdfloat erp=1.0,
PN_stdfloat cfm=1.0,
PN_stdfloat split=1.0);
void append_angular_joint(BulletBodyNode *body, const LVector3 &axis,
PN_stdfloat erp=1.0,
PN_stdfloat cfm=1.0,
PN_stdfloat split=1.0);
// Materials
int get_num_materials() const;
BulletSoftBodyMaterial get_material(int idx) const;