text: /*
   Bullet Continuous Collision Detection and Physics Library
   Copyright (c) 2019 Google Inc. http://bulletphysics.org
   This software is provided 'as-is', without any express or implied warranty.
   In no event will the authors be held liable for any damages arising from the use of this software.
   Permission is granted to anyone to use this software for any purpose,
   including commercial applications, and to alter it and redistribute it freely,
   subject to the following restrictions:
   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.
   2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
   3. This notice may not be removed or altered from any source distribution.
   */
  #include "DeformableRigid.h"
  ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
  #include "btBulletDynamicsCommon.h"
  #include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
  #include "BulletSoftBody/btSoftBody.h"
  #include "BulletSoftBody/btSoftBodyHelpers.h"
  #include "BulletSoftBody/btDeformableBodySolver.h"
  #include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
  #include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
  #include <stdio.h>  //printf debugging
  
  #include "../CommonInterfaces/CommonDeformableBodyBase.h"
  #include "../Utils/b3ResourcePath.h"
  
  ///The DeformableRigid shows contact between deformable objects and rigid objects.
  class DeformableRigid : public CommonDeformableBodyBase
  {
  public:
  	DeformableRigid(struct GUIHelperInterface* helper)
      :CommonDeformableBodyBase(helper)
  	{
  	}
  	virtual ~DeformableRigid()
  	{
  	}
  	void initPhysics();
  
  	void exitPhysics();
  
  	void resetCamera()
  	{
          float dist = 20;
          float pitch = -45;
          float yaw = 100;
          float targetPos[3] = {0, -3, 0};
  		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
  	}
      
      void stepSimulation(float deltaTime)
      {
          //use a smaller internal timestep, there are stability issues
          float internalTimeStep = 1. / 240.f;
          m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
      }
      
      void Ctor_RbUpStack(int count)
      {
          float mass = 0.2;
          
          btCompoundShape* cylinderCompound = new btCompoundShape;
          btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
          btCollisionShape* boxShape = new btBoxShape(btVector3(2, .5, .5));
          btTransform localTransform;
          localTransform.setIdentity();
          cylinderCompound->addChildShape(localTransform, boxShape);
          btQuaternion orn(SIMD_HALF_PI, 0, 0);
          localTransform.setRotation(orn);
          //    localTransform.setOrigin(btVector3(1,1,1));
          cylinderCompound->addChildShape(localTransform, cylinderShape);
          
          btCollisionShape* shape[] = {
              new btBoxShape(btVector3(1, 1, 1)),
  //            new btSphereShape(0.75),
  //            cylinderCompound
          };
  //        static const int nshapes = sizeof(shape) / sizeof(shape[0]);
  //        for (int i = 0; i < count; ++i)
  //        {
  //            btTransform startTransform;
  //            startTransform.setIdentity();
  //            startTransform.setOrigin(btVector3(0, 2+ 2 * i, 0));
  //            startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
  //            createRigidBody(mass, startTransform, shape[i % nshapes]);
  //        }
          btTransform startTransform;
          startTransform.setIdentity();
          startTransform.setOrigin(btVector3(1, 1.5, 1));
          createRigidBody(mass, startTransform, shape[0]);
          startTransform.setOrigin(btVector3(1, 1.5, -1));
          createRigidBody(mass, startTransform, shape[0]);
          startTransform.setOrigin(btVector3(-1, 1.5, 1));
          createRigidBody(mass, startTransform, shape[0]);
          startTransform.setOrigin(btVector3(-1, 1.5, -1));
          createRigidBody(mass, startTransform, shape[0]);
          startTransform.setOrigin(btVector3(0, 3.5, 0));
          createRigidBody(mass, startTransform, shape[0]);
      }
      
      virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
      {
          ///just make it a btSoftRigidDynamicsWorld please
          ///or we will add type checking
          return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
      }
      
      virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
      {
          ///just make it a btSoftRigidDynamicsWorld please
          ///or we will add type checking
          return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
      }
      
      virtual void renderScene()
      {
          CommonDeformableBodyBase::renderScene();
          btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
          
          for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
          {
              btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
              //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
              {
                  btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
  				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
              }
          }
      }
  };
  
  void DeformableRigid::initPhysics()
  {
  	m_guiHelper->setUpAxis(1);
  
  	///collision configuration contains default setup for memory, collision setup
      m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
  
  	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
  	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
  
  	m_broadphase = new btDbvtBroadphase();
      btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
  
  	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
  	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
      sol->setDeformableSolver(deformableBodySolver);
  	m_solver = sol;
  
  	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
  //    deformableBodySolver->setWorld(getDeformableDynamicsWorld());
  	//	m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
      btVector3 gravity = btVector3(0, -10, 0);
  	m_dynamicsWorld->setGravity(gravity);
      getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
  	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
  	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
      
  //    getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
  	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
  
      {
          ///create a ground
          btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
  
          m_collisionShapes.push_back(groundShape);
  
          btTransform groundTransform;
          groundTransform.setIdentity();
          groundTransform.setOrigin(btVector3(0, -32, 0));
          groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
          //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
          btScalar mass(0.);
  
          //rigidbody is dynamic if and only if mass is non zero, otherwise static
          bool isDynamic = (mass != 0.f);
  
          btVector3 localInertia(0, 0, 0);
          if (isDynamic)
              groundShape->calculateLocalInertia(mass, localInertia);
  
          //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
          btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
          btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
          btRigidBody* body = new btRigidBody(rbInfo);
          body->setFriction(1);
  
          //add the ground to the dynamics world
          m_dynamicsWorld->addRigidBody(body);
      }
      
      // create a piece of cloth
      {
          bool onGround = false;
          const btScalar s = 4;
          const btScalar h = 0;
          
          btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
                                                           btVector3(+s, h, -s),
                                                           btVector3(-s, h, +s),
                                                           btVector3(+s, h, +s),
  //                                                         3,3,
                                                            20,20,
                                                            1 + 2 + 4 + 8, true);
  //                                                          0, true);
  
          if (onGround)
              psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
                                                   btVector3(+s, 0, -s),
                                                   btVector3(-s, 0, +s),
                                                   btVector3(+s, 0, +s),
  //                                                 20,20,
                                                   2,2,
                                                   0, true);
          
          psb->getCollisionShape()->setMargin(0.1);
          psb->generateBendingConstraints(2);
          psb->setTotalMass(1);
          psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
          psb->m_cfg.kCHR = 1; // collision hardness with rigid body
          psb->m_cfg.kDF = .4;
          psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
          psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
          getDeformableDynamicsWorld()->addSoftBody(psb);
          
          btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true);
          getDeformableDynamicsWorld()->addForce(psb, mass_spring);
          m_forces.push_back(mass_spring);
          
          btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
          getDeformableDynamicsWorld()->addForce(psb, gravity_force);
          m_forces.push_back(gravity_force);
          // add a few rigid bodies
          Ctor_RbUpStack(1);
      }
      getDeformableDynamicsWorld()->setImplicit(false);
      getDeformableDynamicsWorld()->setLineSearch(false);
  	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
  }
  
  void DeformableRigid::exitPhysics()
  {
  	//cleanup in the reverse order of creation/initialization
      removePickingConstraint();
  	//remove the rigidbodies from the dynamics world and delete them
  	int i;
  	for (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();
  		}
  		m_dynamicsWorld->removeCollisionObject(obj);
  		delete obj;
  	}
      // delete forces
      for (int j = 0; j < m_forces.size(); j++)
      {
          btDeformableLagrangianForce* force = m_forces[j];
          delete force;
      }
      m_forces.clear();
  	//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;
  }
  
  
  
  class CommonExampleInterface* DeformableRigidCreateFunc(struct CommonExampleOptions& options)
  {
  	return new DeformableRigid(options.m_guiHelper);
  }
  
  
  