void PendulumApplication::buildFlyingTrapeze()
{
/// Actu
RagDoll * ragdoll = new RagDoll (m_dynamicsWorld, btVector3(0,12,0));
btRigidBody* right_hand = ragdoll->getBodyPart(ragdoll->BODYPART_RIGHT_LOWER_ARM);
btRigidBody* left_hand = ragdoll->getBodyPart(ragdoll->BODYPART_LEFT_LOWER_ARM);
btSoftBody * corde =
btSoftBodyHelpers::CreateRope(m_softBodyWorldInfo, btVector3(2,17,0),right_hand->getWorldTransform().getOrigin(),7,1);
btSoftBody * corde2 =
btSoftBodyHelpers::CreateRope(m_softBodyWorldInfo, btVector3(-2,17,0),left_hand->getWorldTransform().getOrigin(),7,1);
corde->appendAnchor(corde->m_nodes.size()-1,right_hand,btVector3(0,0.1,0),true,1);
corde2->appendAnchor(corde2->m_nodes.size()-1,left_hand,btVector3(0,0.1,0),true,1);
corde->setTotalMass(8.);
this->getSoftDynamicsWorld()->addSoftBody(corde,1,1) ;
corde2->setTotalMass(8.);
this->getSoftDynamicsWorld()->addSoftBody(corde2,1,1) ;
m_corde = corde;
m_corde2 = corde2;
/// fillet
btVector3 c_00(-3,10,-3);
btVector3 c_10(3,10,-3);
btVector3 c_01(-3,10,3);
btVector3 c_11(3,10,3);
btSoftBody * fillet =
btSoftBodyHelpers::CreatePatch(m_softBodyWorldInfo,c_00,c_10,c_01,c_11,20,20,15,true);
//fillet->appendAnchor(fillet->m_nodes.size()-1,right_hand,false,1);
fillet->setTotalMass(150.);
getSoftDynamicsWorld()->addSoftBody(fillet,1,1) ;
fillet->generateBendingConstraints(2,fillet->appendMaterial());
fillet->getCollisionShape()->setMargin (0.6) ;
struct myFn :public btSoftBody::ImplicitFn
{
};
//myFn * ifn();
//fillet->refine(,2,true);
// applyTorqueImpulse()
/// camera
btRigidBody* head = ragdoll->getBodyPart(ragdoll->BODYPART_HEAD);
m_cameraTarget = head;
m_ragdall = ragdoll;
}
void PendulumApplication::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigid and soft bodies from the dynamics world and delete them
if(m_ragdall == NULL)
delete m_ragdall;
for(int i=m_dynamicsWorld->getNumCollisionObjects()-1;i>=0;i--)
{
btCollisionObject* obj=m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body=btRigidBody::upcast(obj);
if(body&&body->getMotionState())
{
delete body->getMotionState();
}
//remove the constraint from the dynamics world and delete them
while(m_dynamicsWorld->getNumConstraints())
{
btTypedConstraint* pc=m_dynamicsWorld->getConstraint(0);
m_dynamicsWorld->removeConstraint(pc);
delete pc;
}
btSoftBody* softBody = btSoftBody::upcast(obj);
if (softBody)
{
getSoftDynamicsWorld()->removeSoftBody(softBody);
} else
{
btRigidBody* body = btRigidBody::upcast(obj);
if (body)
m_dynamicsWorld->removeRigidBody(body);
else
m_dynamicsWorld->removeCollisionObject(obj);
}
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
m_collisionShapes.clear();
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
}
int mmdpiBullet::get_softbody_vertex( mmdpiVector3d *vertex, int id )
{
btSoftBody* psb = getSoftDynamicsWorld()->getSoftBodyArray()[ id ];
int face_num = psb->m_faces.size();
int vertex_num = face_num * 3;
if( vertex )
for( int i = 0; i < vertex_num; i ++ )
{
const btVector3& position = psb->m_faces[ i / 3 ].m_n[ i % 3 ]->m_x;
vertex[ i ].x = position.x();
vertex[ i ].y = position.y();
vertex[ i ].z = position.z();
}
return face_num;
}
void PendulumApplication::renderme()
{
glDisable(GL_TEXTURE_2D);
glDisable(GL_LIGHTING);
m_dynamicsWorld->debugDrawWorld();
btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
for ( int i=0; i<softWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
}
}
DemoApplication::renderme();
}
void PendulumApplication::renderme()
{
glDisable(GL_TEXTURE_2D);
glDisable(GL_LIGHTING);
m_dynamicsWorld->debugDrawWorld();
btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
{
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
}
}
/// follow the object
if(m_cameraTarget != NULL)
m_cameraTargetPosition = m_cameraTarget->getWorldTransform().getOrigin();
DemoApplication::renderme();
}
int mmdpiBullet::getFaceNum( int id )
{
btSoftBody* psb = getSoftDynamicsWorld()->getSoftBodyArray()[ id ];
return psb->m_faces.size();
}
