/*
** Example: SoftBodies_RopeAttach.kl
*/
require Math;
require Geometry;
require BulletHelpers;
//
// Rope attach
//
function Init_RopeAttach(io SoftBodySimulation sim)
{
sim.initPhysics();
BulletSoftRigidDynamicsWorld softWorld = sim.getSoftDynamicsWorld();
Vec3 boxDim = Vec3(2,6,2);
PolygonMesh cuboidMesh();
cuboidMesh.addCuboid(Xfo(), boxDim.x * 2.0, boxDim.y * 2.0, boxDim.z * 2.0);
Xfo startTransform;
startTransform.setIdentity();
startTransform.tr = Vec3(12,8,0);
BulletRigidBody rbm=sim.addRigidBody(50,startTransform, BulletBoxShape(boxDim));
BulletSoftBody psb0 = null, psb1 = null;
{
Lines rope();
Vec3 p1(0,8,-1);
rope.addSegmentedLine(p1,p1+Vec3(10,0,0),8);
psb0=BulletSoftBodyHelpers_CreateRope(sim.softBodyWorldInfo, rope.getAttributes().getPositions().values, 1);
psb0.setTotalMass(50);
sim.addSoftBodyLines(psb0, rope);
}
{
Lines rope();
Vec3 p2(0,8,+1);
rope.addSegmentedLine(p2,p2+Vec3(10,0,0),8);
psb1=BulletSoftBodyHelpers_CreateRope(sim.softBodyWorldInfo, rope.getAttributes().getPositions().values, 1);
psb1.setTotalMass(50);
sim.addSoftBodyLines(psb1, rope);
}
psb0.appendAnchor(psb0.getNumNodes()-1,rbm);
psb1.appendAnchor(psb1.getNumNodes()-1,rbm);
}
operator entry(){
report("SoftBodySimulation RopeAttach Demo");
SoftBodySimulation sim();
Init_RopeAttach(sim);
BulletSoftRigidDynamicsWorld softWorld = sim.getSoftDynamicsWorld();
UInt32 numReportedVertices = 4;
String reportedPositions[];
reportedPositions.resize(numReportedVertices);
BulletSoftBody softBodies[] = softWorld.getSoftBodyArray();
for(Integer i=0; i<30; i++){
sim.stepSimulation();
// Report X vertex positions;
for(Integer k=0; k<softBodies.size(); k++){
BulletSoftBody softBody = softBodies[k];
for(Integer j=0; j<numReportedVertices; j++){
Index index = (Scalar(j) / Scalar(numReportedVertices)) * softBody.getNumNodes();
BulletSoftBodyNode node = softBody.getNode(index);
reportedPositions[j] = unitTestPrint(node.x);
}
report("i:"+i +"k:"+k + " mesh vertices:" + reportedPositions);
}
report("i:"+i +"body" + unitTestPrint(sim.rigidBodies[0].getWorldTransform()));
}
// Force the destruction of the sim object.
sim = null;
report("entry<<<<");
}
/*
** Output:
SoftBodySimulation RopeAttach Demo
i:0k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.666504,y:+7.991211,z:-1.0}","{x:+5.333008,y:+7.991211,z:-1.0}","{x:+8.0,y:+7.991211,z:-1.0}"]
i:0k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.666504,y:+7.991211,z:+1.0}","{x:+5.333008,y:+7.991211,z:+1.0}","{x:+8.0,y:+7.991211,z:+1.0}"]
i:0body{tr:{x:+12.0,y:+7.991211,z:+0.0},ori:{v:{x:+3.466027e-11,y:+0.0,z:-1.777607e-9},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:1k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.666504,y:+7.958008,z:-1.0}","{x:+5.333008,y:+7.958008,z:-1.0}","{x:+8.0,y:+7.958008,z:-1.0}"]
i:1k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.666504,y:+7.958008,z:+1.0}","{x:+5.333008,y:+7.958008,z:+1.0}","{x:+8.0,y:+7.958008,z:+1.0}"]
i:1body{tr:{x:+12.0,y:+7.958008,z:-3.522979e-17},ori:{v:{x:+0.532168e-9,y:-1.649342e-17,z:-2.728484e-8},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:2k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.665527,y:+7.921875,z:-1.0}","{x:+5.333008,y:+7.921875,z:-1.0}","{x:+8.0,y:+7.921875,z:-1.0}"]
i:2k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.665527,y:+7.921875,z:+1.0}","{x:+5.333008,y:+7.921875,z:+1.0}","{x:+8.0,y:+7.921875,z:+1.0}"]
i:2body{tr:{x:+12.0,y:+7.921875,z:+3.336481e-9},ori:{v:{x:+1.132548e-9,y:+3.403784e-9,z:-5.864422e-8},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:3k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.663574,y:+7.875,z:-1.0}","{x:+5.333008,y:+7.875,z:-1.0}","{x:+8.0,y:+7.875,z:-1.0}"]
i:3k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.663574,y:+7.875,z:+1.0}","{x:+5.333008,y:+7.875,z:+1.0}","{x:+8.0,y:+7.875,z:+1.0}"]
i:3body{tr:{x:+12.0,y:+7.875,z:-1.249463e-8},ori:{v:{x:+1.8224e-9,y:+0.836553e-8,z:-0.945728e-7},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:4k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.655761,y:+7.783203,z:-1.0}","{x:+5.330078,y:+7.783203,z:-1.0}","{x:+7.999023,y:+7.783203,z:-1.0}"]
i:4k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.655761,y:+7.783203,z:+1.0}","{x:+5.330078,y:+7.783203,z:+1.0}","{x:+7.999023,y:+7.783203,z:+1.0}"]
i:4body{tr:{x:+12.0,y:+7.783203,z:-2.875458e-7},ori:{v:{x:+3.096374e-9,y:+3.409513e-8,z:-1.618173e-7},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:5k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.645507,y:+7.708008,z:-1.0}","{x:+5.326172,y:+7.708008,z:-1.0}","{x:+7.998047,y:+7.708008,z:-1.0}"]
i:5k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.645507,y:+7.708008,z:+1.0}","{x:+5.326172,y:+7.708008,z:+1.0}","{x:+7.998047,y:+7.708008,z:+1.0}"]
i:5body{tr:{x:+12.0,y:+7.708008,z:-0.857282e-6},ori:{v:{x:+0.503405e-9,y:+5.576294e-8,z:-2.102169e-7},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:6k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.621582,y:+7.575195,z:-1.0}","{x:+5.313476,y:+7.575195,z:-1.0}","{x:+7.993164,y:+7.575195,z:-1.0}"]
i:6k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.621582,y:+7.575195,z:+1.0}","{x:+5.313476,y:+7.575195,z:+1.0}","{x:+7.993164,y:+7.575195,z:+1.0}"]
i:6body{tr:{x:+12.0,y:+7.575195,z:-3.279652e-6},ori:{v:{x:-3.410605e-9,y:+2.937158e-7,z:-3.100722e-7},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:7k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.600586,y:+7.472656,z:-1.0}","{x:+5.300781,y:+7.472656,z:-1.0}","{x:+7.987304,y:+7.472656,z:-1.0}"]
i:7k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.600586,y:+7.472656,z:+1.0}","{x:+5.300781,y:+7.472656,z:+1.0}","{x:+7.987304,y:+7.472656,z:+1.0}"]
i:7body{tr:{x:+11.99804,y:+7.472656,z:-0.664871e-5},ori:{v:{x:-0.507043e-8,y:+0.834115e-6,z:-3.846944e-7},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:8k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.561035,y:+7.298828,z:-1.0}","{x:+5.274414,y:+7.296875,z:-1.0}","{x:+7.973633,y:+7.296875,z:-1.0}"]
i:8k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.561035,y:+7.298828,z:+1.0}","{x:+5.274414,y:+7.296875,z:+1.0}","{x:+7.973633,y:+7.296875,z:+1.0}"]
i:8body{tr:{x:+11.99218,y:+7.296875,z:-1.543387e-5},ori:{v:{x:-1.195076e-8,y:+2.943445e-6,z:-0.50629e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:9k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.529785,y:+7.169922,z:-1.0}","{x:+5.251953,y:+7.166992,z:-1.0}","{x:+7.959961,y:+7.166992,z:-1.0}"]
i:9k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.529785,y:+7.169922,z:+1.0}","{x:+5.251953,y:+7.166992,z:+1.0}","{x:+7.959961,y:+7.166992,z:+1.0}"]
i:9body{tr:{x:+11.98632,y:+7.166992,z:-2.405792e-5},ori:{v:{x:-1.634907e-8,y:+0.573415e-5,z:-0.614789e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:10k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.476074,y:+6.963867,z:-1.0}","{x:+5.210937,y:+6.950195,z:-1.0}","{x:+7.932617,y:+6.950195,z:-1.0}"]
i:10k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.476074,y:+6.963867,z:+1.0}","{x:+5.210937,y:+6.950195,z:+1.0}","{x:+7.932617,y:+6.950195,z:+1.0}"]
i:10body{tr:{x:+11.96875,y:+6.950195,z:-4.110485e-5},ori:{v:{x:-2.131492e-8,y:+1.246295e-5,z:-0.821659e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:11k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.435058,y:+6.822265,z:-1.0}","{x:+5.179687,y:+6.791992,z:-1.0}","{x:+7.909179,y:+6.791992,z:-1.0}"]
i:11k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.435058,y:+6.822265,z:+1.0}","{x:+5.178711,y:+6.791992,z:+1.0}","{x:+7.908203,y:+6.791992,z:+1.0}"]
i:11body{tr:{x:+11.95117,y:+6.791992,z:-5.510449e-5},ori:{v:{x:-2.730303e-8,y:+1.845136e-5,z:-0.994419e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:12k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.368164,y:+6.61914,z:-1.0}","{x:+5.123047,y:+6.533203,z:-1.0}","{x:+7.864258,y:+6.533203,z:-1.0}"]
i:12k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.367675,y:+6.61914,z:+1.0}","{x:+5.123047,y:+6.533203,z:+1.0}","{x:+7.863281,y:+6.533203,z:+1.0}"]
i:12body{tr:{x:+11.91406,y:+6.533203,z:-0.80198e-4},ori:{v:{x:-4.348112e-8,y:+2.897158e-5,z:-1.324573e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:13k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.322265,y:+6.499023,z:-1.0}","{x:+5.080078,y:+6.347656,z:-1.0}","{x:+7.826172,y:+6.347656,z:-1.0}"]
i:13k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.321777,y:+6.499023,z:+1.0}","{x:+5.079101,y:+6.347656,z:+1.0}","{x:+7.826172,y:+6.347656,z:+1.0}"]
i:13body{tr:{x:+11.88085,y:+6.347656,z:-0.997632e-4},ori:{v:{x:-4.850153e-8,y:+3.650039e-5,z:-1.596054e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:14k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.257324,y:+6.353515,z:-1.0}","{x:+5.002929,y:+6.048828,z:-1.0}","{x:+7.756836,y:+6.046875,z:-0.999877}"]
i:14k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.256836,y:+6.353515,z:+1.0}","{x:+5.001953,y:+6.048828,z:+1.0}","{x:+7.755859,y:+6.046875,z:+1.0}"]
i:14body{tr:{x:+11.8164,y:+6.046875,z:-1.332759e-4},ori:{v:{x:-5.20813e-8,y:+4.774332e-5,z:-2.074521e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:15k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.219726,y:+6.280273,z:-1.0}","{x:+4.942383,y:+5.836914,z:-1.0}","{x:+7.701172,y:+5.833008,z:-0.999877}"]
i:15k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.219238,y:+6.280273,z:+1.0}","{x:+4.941406,y:+5.836914,z:+1.0}","{x:+7.700195,y:+5.833008,z:+1.0}"]
i:15body{tr:{x:+11.76367,y:+5.833008,z:-1.582801e-4},ori:{v:{x:-5.60758e-8,y:+5.493313e-5,z:-2.444256e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:16k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.171875,y:+6.196289,z:-1.0}","{x:+4.836914,y:+5.504883,z:-1.0}","{x:+7.601562,y:+5.492187,z:-0.999755}"]
i:16k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.171386,y:+6.195312,z:+1.0}","{x:+4.835937,y:+5.504883,z:+1.0}","{x:+7.600586,y:+5.492187,z:+1.0}"]
i:16body{tr:{x:+11.66992,y:+5.492187,z:-1.991093e-4},ori:{v:{x:-0.681611e-7,y:+0.650882e-4,z:-3.068242e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:17k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.142578,y:+6.149414,z:-1.0}","{x:+4.755859,y:+5.277344,z:-1.0}","{x:+7.524414,y:+5.25,z:-0.999633}"]
i:17k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.142089,y:+6.148437,z:+1.0}","{x:+4.754883,y:+5.277344,z:+1.0}","{x:+7.523437,y:+5.25,z:+1.0}"]
i:17body{tr:{x:+11.5957,y:+5.25,z:-2.282858e-4},ori:{v:{x:-0.717846e-7,y:+0.714659e-4,z:-3.526918e-6},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:18k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.098144,y:+6.083984,z:-1.0}","{x:+4.618164,y:+4.941406,z:-1.0}","{x:+7.390625,y:+4.867187,z:-0.999511}"]
i:18k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.097168,y:+6.083008,z:+1.0}","{x:+4.617187,y:+4.941406,z:+1.0}","{x:+7.389648,y:+4.867187,z:+1.0}"]
i:18body{tr:{x:+11.46484,y:+4.867187,z:-2.746582e-4},ori:{v:{x:-0.790896e-7,y:+0.805407e-4,z:-0.427104e-5},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:19k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.066406,y:+6.041992,z:-1.0}","{x:+4.517578,y:+4.728515,z:-1.0}","{x:+7.289062,y:+4.597656,z:-0.999389}"]
i:19k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.065918,y:+6.041992,z:+1.0}","{x:+4.516601,y:+4.728515,z:+1.0}","{x:+7.289062,y:+4.597656,z:+1.0}"]
i:19body{tr:{x:+11.36718,y:+4.597656,z:-3.072619e-4},ori:{v:{x:-0.828877e-7,y:+0.86382e-4,z:-0.481959e-5},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:20k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+2.017089,y:+5.980469,z:-1.0}","{x:+4.357422,y:+4.441406,z:-1.0}","{x:+7.118164,y:+4.174804,z:-0.999145}"]
i:20k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+2.016113,y:+5.979492,z:+1.0}","{x:+4.356445,y:+4.440429,z:+1.0}","{x:+7.117187,y:+4.174804,z:+1.0}"]
i:20body{tr:{x:+11.19921,y:+4.171875,z:-3.585815e-4},ori:{v:{x:-0.958389e-7,y:+0.950098e-4,z:-0.576768e-5},w:+1.0},sc:{x:+1.0,y:+1.0,z:+1.0}}
i:21k:0 mesh vertices:["{x:+0.0,y:+8.0,z:-1.0}","{x:+1.982177,y:+5.939453,z:-1.0}","{x:+4.249023,y:+4.274414,z:-1.0}","{x:+6.990234,y:+3.880371,z:-0.999145}"]
i:21k:1 mesh vertices:["{x:+0.0,y:+8.0,z:+1.0}","{x:+1.981445,y:+5.938476,z:+1.0}","{x:+4.249023,y:+4.273437,z:+1.0}","{x:+6.989258,y:+3.880371,z:+1.0}"]
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entry<<<<
*/
