examples/SoftDemo/SoftDemo.cpp - master - redgpu/bullet

examples/SoftDemo/SoftDemo.cpp
2 271 строка61 KB
Aaron Franke
Update Bullet URL in copyright statements
13 сен 2021, 17:06
13 сен 2021, 17:06ad74cfe
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  https://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.
*/

///btSoftBody implementation by Nathanael Presson

#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"

#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"

#include "BunnyMesh.h"
#include "TorusMesh.h"
#include <stdio.h>  //printf debugging
#include "LinearMath/btConvexHull.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"

#include "SoftDemo.h"
#include "GL_ShapeDrawer.h"

#include "LinearMath/btAlignedObjectArray.h"
#include "BulletSoftBody/btSoftBody.h"

class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;

///collisions between two btSoftBody's
class btSoftSoftCollisionAlgorithm;

///collisions between a btSoftBody and a btRigidBody
class btSoftRididCollisionAlgorithm;
class btSoftRigidDynamicsWorld;

#include "../CommonInterfaces/CommonRigidBodyBase.h"

class SoftDemo : public CommonRigidBodyBase
{
public:
	btAlignedObjectArray<btSoftSoftCollisionAlgorithm*> m_SoftSoftCollisionAlgorithms;

	btAlignedObjectArray<btSoftRididCollisionAlgorithm*> m_SoftRigidCollisionAlgorithms;

	btSoftBodyWorldInfo m_softBodyWorldInfo;

	bool m_autocam;
	bool m_cutting;
	bool m_raycast;
	btScalar m_animtime;
	btClock m_clock;
	int m_lastmousepos[2];
	btVector3 m_impact;
	btSoftBody::sRayCast m_results;
	btSoftBody::Node* m_node;
	btVector3 m_goal;
	bool m_drag;

	//keep the collision shapes, for deletion/cleanup
	btAlignedObjectArray<btCollisionShape*> m_collisionShapes;

	btBroadphaseInterface* m_broadphase;

	btCollisionDispatcher* m_dispatcher;

	btConstraintSolver* m_solver;

	btCollisionAlgorithmCreateFunc* m_boxBoxCF;

	btDefaultCollisionConfiguration* m_collisionConfiguration;

public:
	void initPhysics();

	void exitPhysics();

	virtual void resetCamera()
	{
		//@todo depends on current_demo?
		float dist = 45;
		float pitch = -31;
		float yaw = 27;
		float targetPos[3] = {10 - 1, 0};
		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
	}

	SoftDemo(struct GUIHelperInterface* helper)
		: CommonRigidBodyBase(helper),
		  m_drag(false)

	{
	}
	virtual ~SoftDemo()
	{
		btAssert(m_dynamicsWorld == 0);
	}

	//virtual void clientMoveAndDisplay();

	//virtual void displayCallback();

	void createStack(btCollisionShape* boxShape, float halfCubeSize, int size, float zPos);

	virtual void setDrawClusters(bool drawClusters);

	virtual const btSoftRigidDynamicsWorld* getSoftDynamicsWorld() const
	{
		///just make it a btSoftRigidDynamicsWorld please
		///or we will add type checking
		return (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
	}

	virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld()
	{
		///just make it a btSoftRigidDynamicsWorld please
		///or we will add type checking
		return (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
	}

	//
	//void	clientResetScene();
	void renderme();
	void keyboardCallback(unsigned char key, int x, int y);
	void mouseFunc(int button, int state, int x, int y);
	void mouseMotionFunc(int x, int y);

	GUIHelperInterface* getGUIHelper()
	{
		return m_guiHelper;
	}

	virtual void renderScene()
	{
		CommonRigidBodyBase::renderScene();
		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());
			}
		}
	}
};

#define MACRO_SOFT_DEMO(a)                    \
	class SoftDemo##a : public SoftDemo       \
	{                                         \
	public:                                   \
		static DemoApplication* Create()      \
		{                                     \
			SoftDemo* demo = new SoftDemo##a; \
			extern int current_demo;          \
			current_demo = a;                 \
			demo->initPhysics();              \
			return demo;                      \
		}                                     \
	};

//MACRO_SOFT_DEMO(0) //Init_Cloth
#if 0
MACRO_SOFT_DEMO(1) //Init_Pressure
MACRO_SOFT_DEMO(2)//Init_Volume
MACRO_SOFT_DEMO(3)//Init_Ropes
MACRO_SOFT_DEMO(4)//Init_Ropes_Attach
MACRO_SOFT_DEMO(5)//Init_ClothAttach
MACRO_SOFT_DEMO(6)//Init_Sticks
MACRO_SOFT_DEMO(7)//Init_Collide
MACRO_SOFT_DEMO(8)//Init_Collide2
MACRO_SOFT_DEMO(9)//Init_Collide3
MACRO_SOFT_DEMO(10)//Init_Impact
MACRO_SOFT_DEMO(11)//Init_Aero
MACRO_SOFT_DEMO(12)//Init_Friction
MACRO_SOFT_DEMO(13)//Init_Torus
MACRO_SOFT_DEMO(14)//Init_TorusMatch
MACRO_SOFT_DEMO(15)//Init_Bunny
MACRO_SOFT_DEMO(16)//Init_BunnyMatch
MACRO_SOFT_DEMO(17)//Init_Cutting1
MACRO_SOFT_DEMO(18)//Init_ClusterDeform
MACRO_SOFT_DEMO(19)//Init_ClusterCollide1
MACRO_SOFT_DEMO(20)//Init_ClusterCollide2
MACRO_SOFT_DEMO(21)//Init_ClusterSocket
MACRO_SOFT_DEMO(22)//Init_ClusterHinge
MACRO_SOFT_DEMO(23)//Init_ClusterCombine
MACRO_SOFT_DEMO(24)//Init_ClusterCar
MACRO_SOFT_DEMO(25)//Init_ClusterRobot
MACRO_SOFT_DEMO(26)//Init_ClusterStackSoft
MACRO_SOFT_DEMO(27)//Init_ClusterStackMixed
MACRO_SOFT_DEMO(28)//Init_TetraCube
MACRO_SOFT_DEMO(29)//Init_TetraBunny

#endif

extern float eye[3];
extern int glutScreenWidth;
extern int glutScreenHeight;

//static bool sDemoMode = false;

const int maxProxies = 32766;
//const int maxOverlap = 65535;

static btVector3* gGroundVertices = 0;
static int* gGroundIndices = 0;
//static btBvhTriangleMeshShape* trimeshShape =0;
//static btRigidBody* staticBody = 0;
static float waveheight = 5.f;

const float TRIANGLE_SIZE = 8.f;
int current_demo = 20;
#define DEMO_MODE_TIMEOUT 15.f  //15 seconds for each demo

#ifdef _DEBUG
//const int gNumObjects = 1;
#else
//const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects  value in DemoApplication.cp
#endif

//const int maxNumObjects = 32760;

#define CUBE_HALF_EXTENTS 1.5
#define EXTRA_HEIGHT -10.f

//
void SoftDemo::createStack(btCollisionShape* boxShape, float halfCubeSize, int size, float zPos)
{
	btTransform trans;
	trans.setIdentity();

	for (int i = 0; i < size; i++)
	{
		// This constructs a row, from left to right
		int rowSize = size - i;
		for (int j = 0; j < rowSize; j++)
		{
			btVector3 pos;
			pos.setValue(
				-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
				halfCubeSize + i * halfCubeSize * 2.0f,
				zPos);

			trans.setOrigin(pos);
			btScalar mass = 1.f;

			btRigidBody* body = 0;
			body = createRigidBody(mass, trans, boxShape);
		}
	}
}

////////////////////////////////////
///for mouse picking
void pickingPreTickCallback(btDynamicsWorld* world, btScalar timeStep)
{
	SoftDemo* softDemo = (SoftDemo*)world->getWorldUserInfo();

	if (softDemo->m_drag)
	{
		const int x = softDemo->m_lastmousepos[0];
		const int y = softDemo->m_lastmousepos[1];
		float rf[3];
		softDemo->getGUIHelper()->getRenderInterface()->getActiveCamera()->getCameraPosition(rf);
		float target[3];
		softDemo->getGUIHelper()->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(target);
		btVector3 cameraTargetPosition(target[0], target[1], target[2]);

		const btVector3 cameraPosition(rf[0], rf[1], rf[2]);
		const btVector3 rayFrom = cameraPosition;

		const btVector3 rayTo = softDemo->getRayTo(x, y);
		const btVector3 rayDir = (rayTo - rayFrom).normalized();
		const btVector3 N = (cameraTargetPosition - cameraPosition).normalized();
		const btScalar O = btDot(softDemo->m_impact, N);
		const btScalar den = btDot(N, rayDir);
		if ((den * den) > 0)
		{
			const btScalar num = O - btDot(N, rayFrom);
			const btScalar hit = num / den;
			if ((hit > 0) && (hit < 1500))
			{
				softDemo->m_goal = rayFrom + rayDir * hit;
			}
		}
		btVector3 delta = softDemo->m_goal - softDemo->m_node->m_x;
		static const btScalar maxdrag = 10;
		if (delta.length2() > (maxdrag * maxdrag))
		{
			delta = delta.normalized() * maxdrag;
		}
		softDemo->m_node->m_v += delta / timeStep;
	}
}

//
// ImplicitShape
//

//
struct ImplicitSphere : btSoftBody::ImplicitFn
{
	btVector3 center;
	btScalar sqradius;
	ImplicitSphere() {}
	ImplicitSphere(const btVector3& c, btScalar r) : center(c), sqradius(r * r) {}
	btScalar Eval(const btVector3& x)
	{
		return ((x - center).length2() - sqradius);
	}
};

//
// Tetra meshes
//

struct TetraBunny
{
#include "bunny.inl"
};

struct TetraCube
{
#include "cube.inl"
};

//
// Random
//

static inline btScalar UnitRand()
{
	return (rand() / (btScalar)RAND_MAX);
}

static inline btScalar SignedUnitRand()
{
	return (UnitRand() * 2 - 1);
}

static inline btVector3 Vector3Rand()
{
	const btVector3 p = btVector3(SignedUnitRand(), SignedUnitRand(), SignedUnitRand());
	return (p.normalized());
}

//
// Rb rain
//
static void Ctor_RbUpStack(SoftDemo* pdemo, int count)
{
	float mass = 10;

	btCompoundShape* cylinderCompound = new btCompoundShape;
	btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(4, 1, 1));
	btCollisionShape* boxShape = new btBoxShape(btVector3(4, 1, 1));
	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[] = {cylinderCompound,
								 new btBoxShape(btVector3(1, 1, 1)),
								 new btSphereShape(1.5)

	};
	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 + 6 * i, 0));
		pdemo->createRigidBody(mass, startTransform, shape[i % nshapes]);
		//pdemo->createRigidBody(mass,startTransform,shape[0]);
	}
}

//
// Big ball
//
static void Ctor_BigBall(SoftDemo* pdemo, btScalar mass = 10)
{
	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(0, 13, 0));
	pdemo->createRigidBody(mass, startTransform, new btSphereShape(3));
}

//
// Big plate
//
static btRigidBody* Ctor_BigPlate(SoftDemo* pdemo, btScalar mass = 15, btScalar height = 4)
{
	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(0, height, 0.5));
	btRigidBody* body = pdemo->createRigidBody(mass, startTransform, new btBoxShape(btVector3(5, 1, 5)));
	body->setFriction(1);
	return (body);
}

//
// Linear stair
//
static void Ctor_LinearStair(SoftDemo* pdemo, const btVector3& org, const btVector3& sizes, btScalar angle, int count)
{
	btBoxShape* shape = new btBoxShape(sizes);
	for (int i = 0; i < count; ++i)
	{
		btTransform startTransform;
		startTransform.setIdentity();
		startTransform.setOrigin(org + btVector3(sizes.x() * i * 2, sizes.y() * i * 2, 0));
		btRigidBody* body = pdemo->createRigidBody(0, startTransform, shape);
		body->setFriction(1);
	}
}

//
// Softbox
//
static btSoftBody* Ctor_SoftBox(SoftDemo* pdemo, const btVector3& p, const btVector3& s)
{
	const btVector3 h = s * 0.5;
	const btVector3 c[] = {p + h * btVector3(-1, -1, -1),
						   p + h * btVector3(+1, -1, -1),
						   p + h * btVector3(-1, +1, -1),
						   p + h * btVector3(+1, +1, -1),
						   p + h * btVector3(-1, -1, +1),
						   p + h * btVector3(+1, -1, +1),
						   p + h * btVector3(-1, +1, +1),
						   p + h * btVector3(+1, +1, +1)};
	btSoftBody* psb = btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo, c, 8);
	psb->generateBendingConstraints(2);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);

	return (psb);
}

//
// SoftBoulder
//
static btSoftBody* Ctor_SoftBoulder(SoftDemo* pdemo, const btVector3& p, const btVector3& s, int np, int id)
{
	btAlignedObjectArray<btVector3> pts;
	if (id) srand(id);
	for (int i = 0; i < np; ++i)
	{
		pts.push_back(Vector3Rand() * s + p);
	}
	btSoftBody* psb = btSoftBodyHelpers::CreateFromConvexHull(pdemo->m_softBodyWorldInfo, &pts[0], pts.size());
	psb->generateBendingConstraints(2);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);

	return (psb);
}

//#define TRACEDEMO { pdemo->demoname=__FUNCTION__+5;printf("Launching demo: " __FUNCTION__ "\r\n"); }

//
// Basic ropes
//
static void Init_Ropes(SoftDemo* pdemo)
{
	//TRACEDEMO
	const int n = 15;
	for (int i = 0; i < n; ++i)
	{
		btSoftBody* psb = btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, btVector3(-10, 0, i * 0.25),
														btVector3(10, 0, i * 0.25),
														16,
														1 + 2);
		psb->m_cfg.piterations = 4;
		psb->m_materials[0]->m_kLST = 0.1 + (i / (btScalar)(n - 1)) * 0.9;
		psb->setTotalMass(20);
		pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	}
}

//
// Rope attach
//
static void Init_RopeAttach(SoftDemo* pdemo)
{
	//TRACEDEMO
	pdemo->m_softBodyWorldInfo.m_sparsesdf.RemoveReferences(0);
	struct Functors
	{
		static btSoftBody* CtorRope(SoftDemo* pdemo, const btVector3& p)
		{
			btSoftBody* psb = btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, p, p + btVector3(10, 0, 0), 8, 1);
			psb->setTotalMass(50);
			pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
			return (psb);
		}
	};
	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(12, 8, 0));
	btRigidBody* body = pdemo->createRigidBody(50, startTransform, new btBoxShape(btVector3(2, 6, 2)));
	btSoftBody* psb0 = Functors::CtorRope(pdemo, btVector3(0, 8, -1));
	btSoftBody* psb1 = Functors::CtorRope(pdemo, btVector3(0, 8, +1));
	psb0->appendAnchor(psb0->m_nodes.size() - 1, body);
	psb1->appendAnchor(psb1->m_nodes.size() - 1, body);
}

//
// Cloth attach
//
static void Init_ClothAttach(SoftDemo* pdemo)
{
	//TRACEDEMO
	const btScalar s = 4;
	const btScalar h = 6;
	const int r = 9;
	btSoftBody* psb = btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo, btVector3(-s, h, -s),
													 btVector3(+s, h, -s),
													 btVector3(-s, h, +s),
													 btVector3(+s, h, +s), r, r, 4 + 8, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);

	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(0, h, -(s + 3.5)));
	btRigidBody* body = pdemo->createRigidBody(20, startTransform, new btBoxShape(btVector3(s, 1, 3)));
	psb->appendAnchor(0, body);
	psb->appendAnchor(r - 1, body);
	pdemo->m_cutting = true;
}

//
// Impact
//
static void Init_Impact(SoftDemo* pdemo)
{
	//TRACEDEMO
	btSoftBody* psb = btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, btVector3(0, 0, 0),
													btVector3(0, -1, 0),
													0,
													1);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	psb->m_cfg.kCHR = 0.5;
	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(0, 20, 0));
	pdemo->createRigidBody(10, startTransform, new btBoxShape(btVector3(2, 2, 2)));
}

static void Init_CapsuleCollision(SoftDemo* pdemo)
{
#ifdef USE_AMD_OPENCL
	btAlignedObjectArray<btSoftBody*> emptyArray;
	if (g_openCLSIMDSolver)
		g_openCLSIMDSolver->optimize(emptyArray);
#endif  //USE_AMD_OPENCL

	//TRACEDEMO
	const btScalar s = 4;
	const btScalar h = 6;
	const int r = 20;

	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(0, h - 2, 0));

	btCollisionShape* capsuleShape = new btCapsuleShapeX(1, 5);
	capsuleShape->setMargin(0.5);

	//	capsule->setLocalScaling(btVector3(5,1,1));
	//	btRigidBody*		body=pdemo->createRigidBody(20,startTransform,capsuleShape);
	btRigidBody* body = pdemo->createRigidBody(0, startTransform, capsuleShape);
	body->setFriction(0.8f);

	int fixed = 0;  //4+8;
	btSoftBody* psb = btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo, btVector3(-s, h, -s),
													 btVector3(+s, h, -s),
													 btVector3(-s, h, +s),
													 btVector3(+s, h, +s), r, r, fixed, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	psb->setTotalMass(0.1);

	psb->m_cfg.piterations = 10;
	psb->m_cfg.citerations = 10;
	psb->m_cfg.diterations = 10;
	//	psb->m_cfg.viterations = 10;

	//	psb->appendAnchor(0,body);
	//	psb->appendAnchor(r-1,body);
	//	pdemo->m_cutting=true;
}

//
// Collide
//
static void Init_Collide(SoftDemo* pdemo)
{
	//TRACEDEMO
	struct Functor
	{
		static btSoftBody* Create(SoftDemo* pdemo, const btVector3& x, const btVector3& a)
		{
			btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVertices,
																   &gIndices[0][0],
																   NUM_TRIANGLES);
			psb->generateBendingConstraints(2);
			psb->m_cfg.piterations = 2;
			psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
			psb->randomizeConstraints();
			btMatrix3x3 m;
			m.setEulerZYX(a.x(), a.y(), a.z());
			psb->transform(btTransform(m, x));
			psb->scale(btVector3(2, 2, 2));
			psb->setTotalMass(50, true);
			pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
			return (psb);
		}
	};
	for (int i = 0; i < 3; ++i)
	{
		Functor::Create(pdemo, btVector3(3 * i, 2, 0), btVector3(SIMD_PI / 2 * (1 - (i & 1)), SIMD_PI / 2 * (i & 1), 0));
	}
	pdemo->m_cutting = true;
}

//
// Collide2
//
static void Init_Collide2(SoftDemo* pdemo)
{
	//TRACEDEMO
	struct Functor
	{
		static btSoftBody* Create(SoftDemo* pdemo, const btVector3& x, const btVector3& a)
		{
			btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVerticesBunny,
																   &gIndicesBunny[0][0],
																   BUNNY_NUM_TRIANGLES);
			btSoftBody::Material* pm = psb->appendMaterial();
			pm->m_kLST = 0.5;
			pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
			psb->generateBendingConstraints(2, pm);
			psb->m_cfg.piterations = 2;
			psb->m_cfg.kDF = 0.5;
			psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
			psb->randomizeConstraints();
			btMatrix3x3 m;
			m.setEulerZYX(a.x(), a.y(), a.z());
			psb->transform(btTransform(m, x));
			psb->scale(btVector3(6, 6, 6));
			psb->setTotalMass(100, true);
			pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
			return (psb);
		}
	};
	for (int i = 0; i < 3; ++i)
	{
		Functor::Create(pdemo, btVector3(0, -1 + 5 * i, 0), btVector3(0, SIMD_PI / 2 * (i & 1), 0));
	}
	pdemo->m_cutting = true;
}

//
// Collide3
//
static void Init_Collide3(SoftDemo* pdemo)
{
	//TRACEDEMO
	{
		const btScalar s = 8;
		btSoftBody* psb = btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo, btVector3(-s, 0, -s),
														 btVector3(+s, 0, -s),
														 btVector3(-s, 0, +s),
														 btVector3(+s, 0, +s),
														 15, 15, 1 + 2 + 4 + 8, true);
		psb->m_materials[0]->m_kLST = 0.4;
		psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
		psb->setTotalMass(150);
		pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	}
	{
		const btScalar s = 4;
		const btVector3 o = btVector3(5, 10, 0);
		btSoftBody* psb = btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo,
														 btVector3(-s, 0, -s) + o,
														 btVector3(+s, 0, -s) + o,
														 btVector3(-s, 0, +s) + o,
														 btVector3(+s, 0, +s) + o,
														 7, 7, 0, true);
		btSoftBody::Material* pm = psb->appendMaterial();
		pm->m_kLST = 0.1;
		pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
		psb->generateBendingConstraints(2, pm);
		psb->m_materials[0]->m_kLST = 0.5;
		psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
		psb->setTotalMass(150);
		pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
		pdemo->m_cutting = true;
	}
}

//
// Aerodynamic forces, 50x1g flyers
//
static void Init_Aero(SoftDemo* pdemo)
{
	//TRACEDEMO
	const btScalar s = 2;
	const btScalar h = 10;
	const int segments = 6;
	const int count = 50;
	for (int i = 0; i < count; ++i)
	{
		btSoftBody* psb = btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo, btVector3(-s, h, -s),
														 btVector3(+s, h, -s),
														 btVector3(-s, h, +s),
														 btVector3(+s, h, +s),
														 segments, segments,
														 0, true);
		btSoftBody::Material* pm = psb->appendMaterial();
		pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
		psb->generateBendingConstraints(2, pm);
		psb->m_cfg.kLF = 0.004;
		psb->m_cfg.kDG = 0.0003;
		psb->m_cfg.aeromodel = btSoftBody::eAeroModel::V_TwoSided;
		btTransform trs;
		btQuaternion rot;
		btVector3 ra = Vector3Rand() * 0.1;
		btVector3 rp = Vector3Rand() * 15 + btVector3(0, 20, 80);
		rot.setEuler(SIMD_PI / 8 + ra.x(), -SIMD_PI / 7 + ra.y(), ra.z());
		trs.setIdentity();
		trs.setOrigin(rp);
		trs.setRotation(rot);
		psb->transform(trs);
		psb->setTotalMass(0.1);
		psb->addForce(btVector3(0, 2, 0), 0);
		pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	}
	pdemo->m_autocam = true;
}

static void Init_Aero2(SoftDemo* pdemo)
{
	//TRACEDEMO
	const btScalar s = 5;
	//psb->getWorldInfo()->m_gravity.setValue(0,0,0);

	const int segments = 10;
	const int count = 5;
	btVector3 pos(-s * segments, 0, 0);
	btScalar gap = 0.5;

	for (int i = 0; i < count; ++i)
	{
		btSoftBody* psb = btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo, btVector3(-s, 0, -s * 3),
														 btVector3(+s, 0, -s * 3),
														 btVector3(-s, 0, +s),
														 btVector3(+s, 0, +s),
														 segments, segments * 3,
														 1 + 2, true);

		psb->getCollisionShape()->setMargin(0.5);
		btSoftBody::Material* pm = psb->appendMaterial();
		pm->m_kLST = 0.0004;
		pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
		psb->generateBendingConstraints(2, pm);

		psb->m_cfg.kLF = 0.05;
		psb->m_cfg.kDG = 0.01;

		//psb->m_cfg.kLF			=	0.004;
		//psb->m_cfg.kDG			=	0.0003;

		psb->m_cfg.piterations = 2;
		psb->m_cfg.aeromodel = btSoftBody::eAeroModel::V_TwoSidedLiftDrag;

		psb->setWindVelocity(btVector3(4, -12.0, -25.0));

		btTransform trs;
		btQuaternion rot;
		pos += btVector3(s * 2 + gap, 0, 0);
		rot.setRotation(btVector3(1, 0, 0), btScalar(SIMD_PI / 2));
		trs.setIdentity();
		trs.setOrigin(pos);
		trs.setRotation(rot);
		psb->transform(trs);
		psb->setTotalMass(2.0);

		//this could help performance in some cases
		btSoftBodyHelpers::ReoptimizeLinkOrder(psb);

		pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	}

	pdemo->m_autocam = true;
}

//
// Friction
//
static void Init_Friction(SoftDemo* pdemo)
{
	//TRACEDEMO
	const btScalar bs = 2;
	const btScalar ts = bs + bs / 4;
	for (int i = 0, ni = 20; i < ni; ++i)
	{
		const btVector3 p(-ni * ts / 2 + i * ts, -10 + bs, 40);
		btSoftBody* psb = Ctor_SoftBox(pdemo, p, btVector3(bs, bs, bs));
		psb->m_cfg.kDF = 0.1 * ((i + 1) / (btScalar)ni);
		psb->addVelocity(btVector3(0, 0, -10));
	}
}

//
// Pressure
//
static void Init_Pressure(SoftDemo* pdemo)
{
	//TRACEDEMO
	btSoftBody* psb = btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo, btVector3(35, 25, 0),
														 btVector3(1, 1, 1) * 3,
														 512);
	psb->m_materials[0]->m_kLST = 0.1;
	psb->m_cfg.kDF = 1;
	psb->m_cfg.kDP = 0.001;  // fun factor...
	psb->m_cfg.kPR = 2500;
	psb->setTotalMass(30, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);

	Ctor_BigPlate(pdemo);
	Ctor_LinearStair(pdemo, btVector3(0, 0, 0), btVector3(2, 1, 5), 0, 10);
	pdemo->m_autocam = true;
}

//
// Volume conservation
//
static void Init_Volume(SoftDemo* pdemo)
{
	//TRACEDEMO
	btSoftBody* psb = btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo, btVector3(35, 25, 0),
														 btVector3(1, 1, 1) * 3,
														 512);
	psb->m_materials[0]->m_kLST = 0.45;
	psb->m_cfg.kVC = 20;
	psb->setTotalMass(50, true);
	psb->setPose(true, false);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);

	Ctor_BigPlate(pdemo);
	Ctor_LinearStair(pdemo, btVector3(0, 0, 0), btVector3(2, 1, 5), 0, 10);
	pdemo->m_autocam = true;
}

//
// Stick+Bending+Rb's
//
static void Init_Sticks(SoftDemo* pdemo)
{
	//TRACEDEMO
	const int n = 16;
	const int sg = 4;
	const btScalar sz = 5;
	const btScalar hg = 4;
	const btScalar in = 1 / (btScalar)(n - 1);
	for (int y = 0; y < n; ++y)
	{
		for (int x = 0; x < n; ++x)
		{
			const btVector3 org(-sz + sz * 2 * x * in,
								-10,
								-sz + sz * 2 * y * in);
			btSoftBody* psb = btSoftBodyHelpers::CreateRope(pdemo->m_softBodyWorldInfo, org,
															org + btVector3(hg * 0.001, hg, 0),
															sg,
															1);
			psb->m_cfg.kDP = 0.005;
			psb->m_cfg.kCHR = 0.1;
			for (int i = 0; i < 3; ++i)
			{
				psb->generateBendingConstraints(2 + i);
			}
			psb->setMass(1, 0);
			psb->setTotalMass(0.01);
			pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
		}
	}
	Ctor_BigBall(pdemo);
}

//
// Bending
//
static void Init_Bending(SoftDemo* pdemo)
{
	//TRACEDEMO
	const btScalar s = 4;
	const btVector3 x[] = {btVector3(-s, 0, -s),
						   btVector3(+s, 0, -s),
						   btVector3(+s, 0, +s),
						   btVector3(-s, 0, +s)};
	const btScalar m[] = {0, 0, 0, 1};
	btSoftBody* psb = new btSoftBody(&pdemo->m_softBodyWorldInfo, 4, x, m);
	psb->appendLink(0, 1);
	psb->appendLink(1, 2);
	psb->appendLink(2, 3);
	psb->appendLink(3, 0);
	psb->appendLink(0, 2);

	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}

//
// 100kg cloth locked at corners, 10 falling 10kg rb's.
//
static void Init_Cloth(SoftDemo* pdemo)
{
	//TRACEDEMO
	const btScalar s = 8;
	btSoftBody* psb = btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo, btVector3(-s, 0, -s),
													 btVector3(+s, 0, -s),
													 btVector3(-s, 0, +s),
													 btVector3(+s, 0, +s),
													 31, 31,
													 //		31,31,
													 1 + 2 + 4 + 8, true);

	psb->getCollisionShape()->setMargin(0.5);
	btSoftBody::Material* pm = psb->appendMaterial();
	pm->m_kLST = 0.4;
	pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
	psb->generateBendingConstraints(2, pm);
	psb->setTotalMass(150);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);

	Ctor_RbUpStack(pdemo, 10);
	pdemo->m_cutting = true;
}

//
// 100kg Stanford's bunny
//
static void Init_Bunny(SoftDemo* pdemo)
{
	//TRACEDEMO
	btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVerticesBunny,
														   &gIndicesBunny[0][0],
														   BUNNY_NUM_TRIANGLES);
	btSoftBody::Material* pm = psb->appendMaterial();
	pm->m_kLST = 0.5;
	pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
	psb->generateBendingConstraints(2, pm);
	psb->m_cfg.piterations = 2;
	psb->m_cfg.kDF = 0.5;
	psb->randomizeConstraints();
	psb->scale(btVector3(6, 6, 6));
	psb->setTotalMass(100, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	pdemo->m_cutting = true;
}

//
// 100kg Stanford's bunny with pose matching
//
static void Init_BunnyMatch(SoftDemo* pdemo)
{
	//TRACEDEMO
	btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVerticesBunny,
														   &gIndicesBunny[0][0],
														   BUNNY_NUM_TRIANGLES);
	psb->m_cfg.kDF = 0.5;
	psb->m_cfg.kMT = 0.05;
	psb->m_cfg.piterations = 5;
	psb->randomizeConstraints();
	psb->scale(btVector3(6, 6, 6));
	psb->setTotalMass(100, true);
	psb->setPose(false, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}

//
// 50Kg Torus
//
static void Init_Torus(SoftDemo* pdemo)
{
	//TRACEDEMO
	btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVertices,
														   &gIndices[0][0],
														   NUM_TRIANGLES);
	psb->generateBendingConstraints(2);
	psb->m_cfg.piterations = 2;
	psb->randomizeConstraints();
	btMatrix3x3 m;
	m.setEulerZYX(SIMD_PI / 2, 0, 0);
	psb->transform(btTransform(m, btVector3(0, 4, 0)));
	psb->scale(btVector3(2, 2, 2));
	psb->setTotalMass(50, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	pdemo->m_cutting = true;
}

//
// 50Kg Torus with pose matching
//
static void Init_TorusMatch(SoftDemo* pdemo)
{
	//TRACEDEMO
	btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVertices,
														   &gIndices[0][0],
														   NUM_TRIANGLES);
	psb->m_materials[0]->m_kLST = 0.1;
	psb->m_cfg.kMT = 0.05;
	psb->randomizeConstraints();
	btMatrix3x3 m;
	m.setEulerZYX(SIMD_PI / 2, 0, 0);
	psb->transform(btTransform(m, btVector3(0, 4, 0)));
	psb->scale(btVector3(2, 2, 2));
	psb->setTotalMass(50, true);
	psb->setPose(false, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
}

//
// Cutting1
//
static void Init_Cutting1(SoftDemo* pdemo)
{
	const btScalar s = 6;
	const btScalar h = 2;
	const int r = 16;
	const btVector3 p[] = {btVector3(+s, h, -s),
						   btVector3(-s, h, -s),
						   btVector3(+s, h, +s),
						   btVector3(-s, h, +s)};
	btSoftBody* psb = btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo, p[0], p[1], p[2], p[3], r, r, 1 + 2 + 4 + 8, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	psb->m_cfg.piterations = 1;
	pdemo->m_cutting = true;
}

//
// Clusters
//

//
static void Ctor_Gear(SoftDemo* pdemo, const btVector3& pos, btScalar speed)
{
	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(pos);
	btCompoundShape* shape = new btCompoundShape();
#if 1
	shape->addChildShape(btTransform(btQuaternion(0, 0, 0)), new btBoxShape(btVector3(5, 1, 6)));
	shape->addChildShape(btTransform(btQuaternion(0, 0, SIMD_HALF_PI)), new btBoxShape(btVector3(5, 1, 6)));
#else
	shape->addChildShape(btTransform(btQuaternion(0, 0, 0)), new btCylinderShapeZ(btVector3(5, 1, 7)));
	shape->addChildShape(btTransform(btQuaternion(0, 0, SIMD_HALF_PI)), new btBoxShape(btVector3(4, 1, 8)));
#endif
	btRigidBody* body = pdemo->createRigidBody(10, startTransform, shape);
	body->setFriction(1);
	btDynamicsWorld* world = pdemo->getDynamicsWorld();
	btHingeConstraint* hinge = new btHingeConstraint(*body, btTransform::getIdentity());
	if (speed != 0) hinge->enableAngularMotor(true, speed, 3);
	world->addConstraint(hinge);
}

//
static btSoftBody* Ctor_ClusterBunny(SoftDemo* pdemo, const btVector3& x, const btVector3& a)
{
	btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVerticesBunny, &gIndicesBunny[0][0], BUNNY_NUM_TRIANGLES);
	btSoftBody::Material* pm = psb->appendMaterial();
	pm->m_kLST = 1;
	pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
	psb->generateBendingConstraints(2, pm);
	psb->m_cfg.piterations = 2;
	psb->m_cfg.kDF = 1;
	psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS +
							btSoftBody::fCollision::CL_RS;
	psb->randomizeConstraints();
	btMatrix3x3 m;
	m.setEulerZYX(a.x(), a.y(), a.z());
	psb->transform(btTransform(m, x));
	psb->scale(btVector3(8, 8, 8));
	psb->setTotalMass(150, true);
	psb->generateClusters(1);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	return (psb);
}

//
static btSoftBody* Ctor_ClusterTorus(SoftDemo* pdemo, const btVector3& x, const btVector3& a, const btVector3& s = btVector3(2, 2, 2))
{
	btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVertices, &gIndices[0][0], NUM_TRIANGLES);
	btSoftBody::Material* pm = psb->appendMaterial();
	pm->m_kLST = 1;
	pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
	psb->generateBendingConstraints(2, pm);
	psb->m_cfg.piterations = 2;
	psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS +
							btSoftBody::fCollision::CL_RS;
	psb->randomizeConstraints();
	psb->scale(s);
	psb->rotate(btQuaternion(a[0], a[1], a[2]));
	psb->translate(x);
	psb->setTotalMass(50, true);
	psb->generateClusters(64);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	return (psb);
}

//
static struct MotorControl : btSoftBody::AJoint::IControl
{
	MotorControl()
	{
		goal = 0;
		maxtorque = 0;
	}
	btScalar Speed(btSoftBody::AJoint*, btScalar current)
	{
		return (current + btMin(maxtorque, btMax(-maxtorque, goal - current)));
	}
	btScalar goal;
	btScalar maxtorque;
} motorcontrol;

//
struct SteerControl : btSoftBody::AJoint::IControl
{
	SteerControl(btScalar s)
	{
		angle = 0;
		sign = s;
	}
	void Prepare(btSoftBody::AJoint* joint)
	{
		joint->m_refs[0][0] = btCos(angle * sign);
		joint->m_refs[0][2] = btSin(angle * sign);
	}
	btScalar Speed(btSoftBody::AJoint* joint, btScalar current)
	{
		return (motorcontrol.Speed(joint, current));
	}
	btScalar angle;
	btScalar sign;
};

static SteerControl steercontrol_f(+1);
static SteerControl steercontrol_r(-1);

//
static void Init_ClusterDeform(SoftDemo* pdemo)
{
	btSoftBody* psb = Ctor_ClusterTorus(pdemo, btVector3(0, 0, 0), btVector3(SIMD_PI / 2, 0, SIMD_HALF_PI));
	psb->generateClusters(8);
	psb->m_cfg.kDF = 1;
}

//
static void Init_ClusterCollide1(SoftDemo* pdemo)
{
	const btScalar s = 8;
	btSoftBody* psb = btSoftBodyHelpers::CreatePatch(pdemo->m_softBodyWorldInfo, btVector3(-s, 0, -s),
													 btVector3(+s, 0, -s),
													 btVector3(-s, 0, +s),
													 btVector3(+s, 0, +s),
													 17, 17,  //9,9,//31,31,
													 1 + 2 + 4 + 8,
													 true);
	btSoftBody::Material* pm = psb->appendMaterial();
	pm->m_kLST = 0.4;
	pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
	psb->m_cfg.kDF = 1;
	psb->m_cfg.kSRHR_CL = 1;
	psb->m_cfg.kSR_SPLT_CL = 0;
	psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS +

							btSoftBody::fCollision::CL_RS;
	psb->generateBendingConstraints(2, pm);

	psb->getCollisionShape()->setMargin(0.05);
	psb->setTotalMass(50);

	///pass zero in generateClusters to create  cluster for each tetrahedron or triangle
	psb->generateClusters(0);
	//psb->generateClusters(64);

	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);

	Ctor_RbUpStack(pdemo, 10);
}

//
static void Init_ClusterCollide2(SoftDemo* pdemo)
{
	struct Functor
	{
		static btSoftBody* Create(SoftDemo* pdemo, const btVector3& x, const btVector3& a)
		{
			btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(pdemo->m_softBodyWorldInfo, gVertices,
																   &gIndices[0][0],
																   NUM_TRIANGLES);
			btSoftBody::Material* pm = psb->appendMaterial();
			pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
			psb->generateBendingConstraints(2, pm);
			psb->m_cfg.piterations = 2;
			psb->m_cfg.kDF = 1;
			psb->m_cfg.kSSHR_CL = 1;
			psb->m_cfg.kSS_SPLT_CL = 0;
			psb->m_cfg.kSKHR_CL = 0.1f;
			psb->m_cfg.kSK_SPLT_CL = 1;
			psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS +
									btSoftBody::fCollision::CL_RS;
			psb->randomizeConstraints();
			btMatrix3x3 m;
			m.setEulerZYX(a.x(), a.y(), a.z());
			psb->transform(btTransform(m, x));
			psb->scale(btVector3(2, 2, 2));
			psb->setTotalMass(50, true);
			psb->generateClusters(16);
			pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
			return (psb);
		}
	};
	for (int i = 0; i < 3; ++i)
	{
		Functor::Create(pdemo, btVector3(3 * i, 2, 0), btVector3(SIMD_PI / 2 * (1 - (i & 1)), SIMD_PI / 2 * (i & 1), 0));
	}
}

//
static void Init_ClusterSocket(SoftDemo* pdemo)
{
	btSoftBody* psb = Ctor_ClusterTorus(pdemo, btVector3(0, 0, 0), btVector3(SIMD_PI / 2, 0, SIMD_HALF_PI));
	btRigidBody* prb = Ctor_BigPlate(pdemo, 50, 8);
	psb->m_cfg.kDF = 1;
	btSoftBody::LJoint::Specs lj;
	lj.position = btVector3(0, 5, 0);
	psb->appendLinearJoint(lj, prb);
}

//
static void Init_ClusterHinge(SoftDemo* pdemo)
{
	btSoftBody* psb = Ctor_ClusterTorus(pdemo, btVector3(0, 0, 0), btVector3(SIMD_PI / 2, 0, SIMD_HALF_PI));
	btRigidBody* prb = Ctor_BigPlate(pdemo, 50, 8);
	psb->m_cfg.kDF = 1;
	btSoftBody::AJoint::Specs aj;
	aj.axis = btVector3(0, 0, 1);
	psb->appendAngularJoint(aj, prb);
}

//
static void Init_ClusterCombine(SoftDemo* pdemo)
{
	const btVector3 sz(2, 4, 2);
	btSoftBody* psb0 = Ctor_ClusterTorus(pdemo, btVector3(0, 8, 0), btVector3(SIMD_PI / 2, 0, SIMD_HALF_PI), sz);
	btSoftBody* psb1 = Ctor_ClusterTorus(pdemo, btVector3(0, 8, 10), btVector3(SIMD_PI / 2, 0, SIMD_HALF_PI), sz);
	btSoftBody* psbs[] = {psb0, psb1};
	for (int j = 0; j < 2; ++j)
	{
		psbs[j]->m_cfg.kDF = 1;
		psbs[j]->m_cfg.kDP = 0;
		psbs[j]->m_cfg.piterations = 1;
		psbs[j]->m_clusters[0]->m_matching = 0.05;
		psbs[j]->m_clusters[0]->m_ndamping = 0.05;
	}
	btSoftBody::AJoint::Specs aj;
	aj.axis = btVector3(0, 0, 1);
	aj.icontrol = &motorcontrol;
	psb0->appendAngularJoint(aj, psb1);

	btSoftBody::LJoint::Specs lj;
	lj.position = btVector3(0, 8, 5);
	psb0->appendLinearJoint(lj, psb1);
}

//
static void Init_ClusterCar(SoftDemo* pdemo)
{
	//	pdemo->setAzi(180);
	const btVector3 origin(100, 80, 0);
	const btQuaternion orientation(-SIMD_PI / 2, 0, 0);
	const btScalar widthf = 8;
	const btScalar widthr = 9;
	const btScalar length = 8;
	const btScalar height = 4;
	const btVector3 wheels[] = {
		btVector3(+widthf, -height, +length),  // Front left
		btVector3(-widthf, -height, +length),  // Front right
		btVector3(+widthr, -height, -length),  // Rear left
		btVector3(-widthr, -height, -length),  // Rear right
	};
	btSoftBody* pa = Ctor_ClusterBunny(pdemo, btVector3(0, 0, 0), btVector3(0, 0, 0));
	btSoftBody* pfl = Ctor_ClusterTorus(pdemo, wheels[0], btVector3(0, 0, SIMD_HALF_PI), btVector3(2, 4, 2));
	btSoftBody* pfr = Ctor_ClusterTorus(pdemo, wheels[1], btVector3(0, 0, SIMD_HALF_PI), btVector3(2, 4, 2));
	btSoftBody* prl = Ctor_ClusterTorus(pdemo, wheels[2], btVector3(0, 0, SIMD_HALF_PI), btVector3(2, 5, 2));
	btSoftBody* prr = Ctor_ClusterTorus(pdemo, wheels[3], btVector3(0, 0, SIMD_HALF_PI), btVector3(2, 5, 2));

	pfl->m_cfg.kDF =
		pfr->m_cfg.kDF =
			prl->m_cfg.kDF =
				prr->m_cfg.kDF = 1;

	btSoftBody::LJoint::Specs lspecs;
	lspecs.cfm = 1;
	lspecs.erp = 1;
	lspecs.position = btVector3(0, 0, 0);

	lspecs.position = wheels[0];
	pa->appendLinearJoint(lspecs, pfl);
	lspecs.position = wheels[1];
	pa->appendLinearJoint(lspecs, pfr);
	lspecs.position = wheels[2];
	pa->appendLinearJoint(lspecs, prl);
	lspecs.position = wheels[3];
	pa->appendLinearJoint(lspecs, prr);

	btSoftBody::AJoint::Specs aspecs;
	aspecs.cfm = 1;
	aspecs.erp = 1;
	aspecs.axis = btVector3(1, 0, 0);

	aspecs.icontrol = &steercontrol_f;
	pa->appendAngularJoint(aspecs, pfl);
	pa->appendAngularJoint(aspecs, pfr);

	aspecs.icontrol = &motorcontrol;
	pa->appendAngularJoint(aspecs, prl);
	pa->appendAngularJoint(aspecs, prr);

	pa->rotate(orientation);
	pfl->rotate(orientation);
	pfr->rotate(orientation);
	prl->rotate(orientation);
	prr->rotate(orientation);
	pa->translate(origin);
	pfl->translate(origin);
	pfr->translate(origin);
	prl->translate(origin);
	prr->translate(origin);
	pfl->m_cfg.piterations =
		pfr->m_cfg.piterations =
			prl->m_cfg.piterations =
				prr->m_cfg.piterations = 1;
	pfl->m_clusters[0]->m_matching =
		pfr->m_clusters[0]->m_matching =
			prl->m_clusters[0]->m_matching =
				prr->m_clusters[0]->m_matching = 0.05;
	pfl->m_clusters[0]->m_ndamping =
		pfr->m_clusters[0]->m_ndamping =
			prl->m_clusters[0]->m_ndamping =
				prr->m_clusters[0]->m_ndamping = 0.05;

	Ctor_LinearStair(pdemo, btVector3(0, -8, 0), btVector3(3, 2, 40), 0, 20);
	Ctor_RbUpStack(pdemo, 50);
	pdemo->m_autocam = true;
}

//
static void Init_ClusterRobot(SoftDemo* pdemo)
{
	struct Functor
	{
		static btSoftBody* CreateBall(SoftDemo* pdemo, const btVector3& pos)
		{
			btSoftBody* psb = btSoftBodyHelpers::CreateEllipsoid(pdemo->m_softBodyWorldInfo, pos, btVector3(1, 1, 1) * 3, 512);
			psb->m_materials[0]->m_kLST = 0.45;
			psb->m_cfg.kVC = 20;
			psb->setTotalMass(50, true);
			psb->setPose(true, false);
			psb->generateClusters(1);
			pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
			return (psb);
		}
	};
	const btVector3 base = btVector3(0, 25, 8);
	btSoftBody* psb0 = Functor::CreateBall(pdemo, base + btVector3(-8, 0, 0));
	btSoftBody* psb1 = Functor::CreateBall(pdemo, base + btVector3(+8, 0, 0));
	btSoftBody* psb2 = Functor::CreateBall(pdemo, base + btVector3(0, 0, +8 * btSqrt(2)));
	const btVector3 ctr = (psb0->clusterCom(0) + psb1->clusterCom(0) + psb2->clusterCom(0)) / 3;
	btCylinderShape* pshp = new btCylinderShape(btVector3(8, 1, 8));
	btRigidBody* prb = pdemo->createRigidBody(50, btTransform(btQuaternion(0, 0, 0), ctr + btVector3(0, 5, 0)), pshp);
	btSoftBody::LJoint::Specs ls;
	ls.erp = 0.5f;
	ls.position = psb0->clusterCom(0);
	psb0->appendLinearJoint(ls, prb);
	ls.position = psb1->clusterCom(0);
	psb1->appendLinearJoint(ls, prb);
	ls.position = psb2->clusterCom(0);
	psb2->appendLinearJoint(ls, prb);

	btBoxShape* pbox = new btBoxShape(btVector3(20, 1, 40));
	btRigidBody* pgrn;
	pgrn = pdemo->createRigidBody(0, btTransform(btQuaternion(0, -SIMD_HALF_PI / 2, 0), btVector3(0, 0, 0)), pbox);

	pdemo->m_autocam = true;
}

//
static void Init_ClusterStackSoft(SoftDemo* pdemo)
{
	for (int i = 0; i < 10; ++i)
	{
		btSoftBody* psb = Ctor_ClusterTorus(pdemo, btVector3(0, -9 + 8.25 * i, 0), btVector3(0, 0, 0));
		psb->m_cfg.kDF = 1;
	}
}

//
static void Init_ClusterStackMixed(SoftDemo* pdemo)
{
	for (int i = 0; i < 10; ++i)
	{
		if ((i + 1) & 1)
		{
			Ctor_BigPlate(pdemo, 50, -9 + 4.25 * i);
		}
		else
		{
			btSoftBody* psb = Ctor_ClusterTorus(pdemo, btVector3(0, -9 + 4.25 * i, 0), btVector3(0, 0, 0));
			psb->m_cfg.kDF = 1;
		}
	}
}

//
// TetraBunny
//
static void Init_TetraBunny(SoftDemo* pdemo)
{
	btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
															  TetraBunny::getElements(),
															  0,
															  TetraBunny::getNodes(),
															  false, true, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	psb->rotate(btQuaternion(SIMD_PI / 2, 0, 0));
	psb->setVolumeMass(150);
	psb->m_cfg.piterations = 2;
	//psb->m_cfg.piterations=1;
	pdemo->m_cutting = false;
	//psb->getCollisionShape()->setMargin(0.01);
	psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS
		//+ btSoftBody::fCollision::CL_SELF
		;

	///pass zero in generateClusters to create  cluster for each tetrahedron or triangle
	psb->generateClusters(0);
	//psb->m_materials[0]->m_kLST=.2;
	psb->m_cfg.kDF = 10.;
}

//
// TetraCube
//
static void Init_TetraCube(SoftDemo* pdemo)
{
	btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
															  TetraCube::getElements(),
															  0,
															  TetraCube::getNodes(),
															  false, true, true);
	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
	psb->scale(btVector3(4, 4, 4));
	psb->translate(btVector3(0, 5, 0));
	psb->setVolumeMass(300);

	///fix one vertex
	//psb->setMass(0,0);
	//psb->setMass(10,0);
	//psb->setMass(20,0);
	psb->m_cfg.piterations = 1;
	//psb->generateClusters(128);
	psb->generateClusters(16);
	//psb->getCollisionShape()->setMargin(0.5);

	psb->getCollisionShape()->setMargin(0.01);
	psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS
		//+ btSoftBody::fCollision::CL_SELF
		;
	psb->m_materials[0]->m_kLST = 0.8;
	pdemo->m_cutting = false;
}

/* Init		*/
void (*demofncs[])(SoftDemo*) =
	{
		Init_Cloth,
		Init_Pressure,
		Init_Volume,
		Init_Ropes,
		Init_RopeAttach,
		Init_ClothAttach,
		Init_Sticks,
		Init_CapsuleCollision,
		Init_Collide,
		Init_Collide2,
		Init_Collide3,
		Init_Impact,
		Init_Aero,
		Init_Aero2,
		Init_Friction,
		Init_Torus,
		Init_TorusMatch,
		Init_Bunny,
		Init_BunnyMatch,
		Init_Cutting1,
		Init_ClusterDeform,
		Init_ClusterCollide1,
		Init_ClusterCollide2,
		Init_ClusterSocket,
		Init_ClusterHinge,
		Init_ClusterCombine,
		Init_ClusterCar,
		Init_ClusterRobot,
		Init_ClusterStackSoft,
		Init_ClusterStackMixed,
		Init_TetraCube,
		Init_TetraBunny,
};

#if 0
void	SoftDemo::clientResetScene()
{
	m_azi = 0;
	m_cameraDistance = 30.f;
	m_cameraTargetPosition.setValue(0,0,0);

	
	/* Clean up	*/ 
	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();
		}
		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;
	}


	
}

#if 0
void SoftDemo::clientMoveAndDisplay()
{
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT); 




	float ms = getDeltaTimeMicroseconds();
	float dt = ms / 1000000.f;//1.0/60.;	



	if (m_dynamicsWorld)
	{
		
		if (sDemoMode)
		{
			static float demoCounter = DEMO_MODE_TIMEOUT;
			demoCounter-= dt;
			if (demoCounter<0)
			{
				
				demoCounter=DEMO_MODE_TIMEOUT;
				current_demo++;
				current_demo=current_demo%(sizeof(demofncs)/sizeof(demofncs[0]));
				clientResetScene();
			}
		}
		

//#define FIXED_STEP
#ifdef FIXED_STEP
		m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);

#else
		//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
	//	int maxSimSubSteps = m_idle ? 1 : 4;
		//if (m_idle)
		//	dt = 1.0/420.f;

		int numSimSteps;
		numSimSteps = m_dynamicsWorld->stepSimulation(dt);
		//numSimSteps = m_dynamicsWorld->stepSimulation(dt,10,1./240.f);

#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
		if (!numSimSteps)
			printf("Interpolated transforms\n");
		else
		{
			if (numSimSteps > maxSimSubSteps)
			{
				//detect dropping frames
				printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
			} else
			{
				printf("Simulated (%i) steps\n",numSimSteps);
			}
		}
#endif  //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT

#endif

#ifdef USE_AMD_OPENCL
		if (g_openCLSIMDSolver)
			g_openCLSIMDSolver->copyBackToSoftBodies();
#endif  //USE_AMD_OPENCL

		if(m_drag)
		{
			m_node->m_v*=0;
		}

		m_softBodyWorldInfo.m_sparsesdf.GarbageCollect();

		//optional but useful: debug drawing

	}

#ifdef USE_QUICKPROF 
	btProfiler::beginBlock("render");
#endif  //USE_QUICKPROF 

	renderme(); 

	//render the graphics objects, with center of mass shift

	updateCamera();

#ifdef USE_QUICKPROF 
	btProfiler::endBlock("render");
#endif 
	glFlush();

	swapBuffers();

}
#endif

#if 0
void	SoftDemo::renderme()
{
	btIDebugDraw*	idraw=m_dynamicsWorld->getDebugDrawer();

	glDisable(GL_TEXTURE_2D);
	glDisable(GL_LIGHTING);
	m_dynamicsWorld->debugDrawWorld();

	//int debugMode = m_dynamicsWorld->getDebugDrawer()? m_dynamicsWorld->getDebugDrawer()->getDebugMode() : -1;

	btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
	//btIDebugDraw*	sdraw = softWorld ->getDebugDrawer();


	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());
		}
	}

	/* Bodies		*/ 
	btVector3	ps(0,0,0);
	int			nps=0;

	btSoftBodyArray&	sbs=getSoftDynamicsWorld()->getSoftBodyArray();
	for(int ib=0;ib<sbs.size();++ib)
	{
		btSoftBody*	psb=sbs[ib];
		nps+=psb->m_nodes.size();
		for(int i=0;i<psb->m_nodes.size();++i)
		{
			ps+=psb->m_nodes[i].m_x;
		}		
	}
	ps/=nps;
	if(m_autocam)
		m_cameraTargetPosition+=(ps-m_cameraTargetPosition)*0.05;
	/* Anm			*/ 
	if(!isIdle())
		m_animtime=m_clock.getTimeMilliseconds()/1000.f;
	/* Ray cast		*/ 
	if(m_raycast)
	{		
		/* Prepare rays	*/ 
		const int		res=64;
		const btScalar	fres=res-1;
		const btScalar	size=8;
		const btScalar	dist=10;
		btTransform		trs;
		trs.setOrigin(ps);
		btScalar rayLength = 1000.f;

		const btScalar	angle=m_animtime*0.2;
		trs.setRotation(btQuaternion(angle,SIMD_PI/4,0));
		btVector3	dir=trs.getBasis()*btVector3(0,-1,0);
		trs.setOrigin(ps-dir*dist);
		btAlignedObjectArray<btVector3>	origins;
		btAlignedObjectArray<btScalar>	fractions;
		origins.resize(res*res);
		fractions.resize(res*res,1.f);
		for(int y=0;y<res;++y)
		{
			for(int x=0;x<res;++x)
			{
				const int	idx=y*res+x;
				origins[idx]=trs*btVector3(-size+size*2*x/fres,dist,-size+size*2*y/fres);
			}
		}
		/* Cast rays	*/ 		
		{
			m_clock.reset();
			if (sbs.size())
			{
				btVector3*		org=&origins[0];
				btScalar*				fraction=&fractions[0];
				btSoftBody**			psbs=&sbs[0];
				btSoftBody::sRayCast	results;
				for(int i=0,ni=origins.size(),nb=sbs.size();i<ni;++i)
				{
					for(int ib=0;ib<nb;++ib)
					{
						btVector3 rayFrom = *org;
						btVector3 rayTo = rayFrom+dir*rayLength;
						if(psbs[ib]->rayTest(rayFrom,rayTo,results))
						{
							*fraction=results.fraction;
						}
					}
					++org;++fraction;
				}
				long	ms=btMax<long>(m_clock.getTimeMilliseconds(),1);
				long	rayperseconds=(1000*(origins.size()*sbs.size()))/ms;
				printf("%d ms (%d rays/s)\r\n",int(ms),int(rayperseconds));
			}
		}
		/* Draw rays	*/ 
		const btVector3	c[]={	origins[0],
			origins[res-1],
			origins[res*(res-1)],
			origins[res*(res-1)+res-1]};
		idraw->drawLine(c[0],c[1],btVector3(0,0,0));
		idraw->drawLine(c[1],c[3],btVector3(0,0,0));
		idraw->drawLine(c[3],c[2],btVector3(0,0,0));
		idraw->drawLine(c[2],c[0],btVector3(0,0,0));
		for(int i=0,ni=origins.size();i<ni;++i)
		{
			const btScalar		fraction=fractions[i];
			const btVector3&	org=origins[i];
			if(fraction<1.f)
			{
				idraw->drawLine(org,org+dir*rayLength*fraction,btVector3(1,0,0));
			}
			else
			{
				idraw->drawLine(org,org-dir*rayLength*0.1,btVector3(0,0,0));
			}
		}
#undef RES
	}
	/* Water level	*/ 
	static const btVector3	axis[]={btVector3(1,0,0),
		btVector3(0,1,0),
		btVector3(0,0,1)};
	if(m_softBodyWorldInfo.water_density>0)
	{
		const btVector3	c=	btVector3((btScalar)0.25,(btScalar)0.25,1);
		const btScalar	a=	(btScalar)0.5;
		const btVector3	n=	m_softBodyWorldInfo.water_normal;
		const btVector3	o=	-n*m_softBodyWorldInfo.water_offset;
		const btVector3	x=	btCross(n,axis[n.minAxis()]).normalized();
		const btVector3	y=	btCross(x,n).normalized();
		const btScalar	s=	25;
		idraw->drawTriangle(o-x*s-y*s,o+x*s-y*s,o+x*s+y*s,c,a);
		idraw->drawTriangle(o-x*s-y*s,o+x*s+y*s,o-x*s+y*s,c,a);
	}
	//

	int lineWidth=280;
	int xStart = m_glutScreenWidth - lineWidth;
	int yStart = 20;

	if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0)
	{
		setOrthographicProjection();
		glDisable(GL_LIGHTING);
		glColor3f(0, 0, 0);
		char buf[124];
		
		glRasterPos3f(xStart, yStart, 0);
		if (sDemoMode)
		{		
			sprintf(buf,"d to toggle demo mode (on)");
		} else
		{
			sprintf(buf,"d to toggle demo mode (off)");
		}
		GLDebugDrawString(xStart,20,buf);
		glRasterPos3f(xStart, yStart, 0);
		sprintf(buf,"] for next demo (%d)",current_demo);
		yStart+=20;
		GLDebugDrawString(xStart,yStart,buf);
		glRasterPos3f(xStart, yStart, 0);
		sprintf(buf,"c to visualize clusters");
		yStart+=20;
		GLDebugDrawString(xStart,yStart,buf);
		glRasterPos3f(xStart, yStart, 0);
		sprintf(buf,"; to toggle camera mode");
		yStart+=20;
		GLDebugDrawString(xStart,yStart,buf);
		glRasterPos3f(xStart, yStart, 0);
        sprintf(buf,"n,m,l,k for power and steering");
		yStart+=20;
		GLDebugDrawString(xStart,yStart,buf);


		resetPerspectiveProjection();
		glEnable(GL_LIGHTING);
	}

	DemoApplication::renderme();

}
#endif
#endif

void SoftDemo::setDrawClusters(bool drawClusters)
{
	if (drawClusters)
	{
		getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags() | fDrawFlags::Clusters);
	}
	else
	{
		getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags() & (~fDrawFlags::Clusters));
	}
}

#if 0
void	SoftDemo::keyboardCallback(unsigned char key, int x, int y)
{
	switch(key)
	{
	case    'd':	sDemoMode = !sDemoMode; break;
	case	'n':	motorcontrol.maxtorque=10;motorcontrol.goal+=1;break;
	case	'm':	motorcontrol.maxtorque=10;motorcontrol.goal-=1;break;
	case	'l':	steercontrol_f.angle+=0.1;steercontrol_r.angle+=0.1;break;
	case	'k':	steercontrol_f.angle-=0.1;steercontrol_r.angle-=0.1;break;
	case	']':	++current_demo;clientResetScene();break;
	case	'[':	--current_demo;clientResetScene();break;
	case	',':	m_raycast=!m_raycast;break;
	case	';':	m_autocam=!m_autocam;break;
	case	'c':	getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()^fDrawFlags::Clusters);break;
	case	'`':
		{
			btSoftBodyArray&	sbs=getSoftDynamicsWorld()->getSoftBodyArray();
			for(int ib=0;ib<sbs.size();++ib)
			{
				btSoftBody*	psb=sbs[ib];
				psb->staticSolve(128);
			}
		}
		break;
	default:		DemoApplication::keyboardCallback(key,x,y);
	}
}
#endif
//
void SoftDemo::mouseMotionFunc(int x, int y)
{
	if (m_node && (m_results.fraction < 1.f))
	{
		if (!m_drag)
		{
#define SQ(_x_) (_x_) * (_x_)
			if ((SQ(x - m_lastmousepos[0]) + SQ(y - m_lastmousepos[1])) > 6)
			{
				m_drag = true;
			}
#undef SQ
		}
		if (m_drag)
		{
			m_lastmousepos[0] = x;
			m_lastmousepos[1] = y;
		}
	}
}

#if 0
//
void	SoftDemo::mouseFunc(int button, int state, int x, int y)
{
	if(button==0)
	{
		switch(state)
		{
			case	0:
			{
				m_results.fraction=1.f;
				DemoApplication::mouseFunc(button,state,x,y);
				if(!m_pickConstraint)
				{
					const btVector3			rayFrom=m_cameraPosition;
					const btVector3			rayTo=getRayTo(x,y);
					const btVector3			rayDir=(rayTo-rayFrom).normalized();
					btSoftBodyArray&		sbs=getSoftDynamicsWorld()->getSoftBodyArray();
					for(int ib=0;ib<sbs.size();++ib)
					{
						btSoftBody*				psb=sbs[ib];
						btSoftBody::sRayCast	res;
						if(psb->rayTest(rayFrom,rayTo,res))
						{
							m_results=res;
						}
					}
					if(m_results.fraction<1.f)
					{				
						m_impact			=	rayFrom+(rayTo-rayFrom)*m_results.fraction;
						m_drag				=	m_cutting ? false : true;
						m_lastmousepos[0]	=	x;
						m_lastmousepos[1]	=	y;
						m_node				=	0;
						switch(m_results.feature)
						{
						case btSoftBody::eFeature::Tetra:
							{
								btSoftBody::Tetra&	tet=m_results.body->m_tetras[m_results.index];
								m_node=tet.m_n[0];
								for(int i=1;i<4;++i)
								{
									if(	(m_node->m_x-m_impact).length2()>
										(tet.m_n[i]->m_x-m_impact).length2())
									{
										m_node=tet.m_n[i];
									}
								}
								break;
							}
						case	btSoftBody::eFeature::Face:
							{
								btSoftBody::Face&	f=m_results.body->m_faces[m_results.index];
								m_node=f.m_n[0];
								for(int i=1;i<3;++i)
								{
									if(	(m_node->m_x-m_impact).length2()>
										(f.m_n[i]->m_x-m_impact).length2())
									{
										m_node=f.m_n[i];
									}
								}
							}
							break;
						}
						if(m_node) m_goal=m_node->m_x;
						return;
					}
				}
			}
			break;
		case	1:
			if((!m_drag)&&m_cutting&&(m_results.fraction<1.f))
			{
				ImplicitSphere	isphere(m_impact,1);
				printf("Mass before: %f\r\n",m_results.body->getTotalMass());
				m_results.body->refine(&isphere,0.0001,true);
				printf("Mass after: %f\r\n",m_results.body->getTotalMass());
			}
			m_results.fraction=1.f;
			m_drag=false;
			DemoApplication::mouseFunc(button,state,x,y);
			break;
		}
	}
	else
	{
		DemoApplication::mouseFunc(button,state,x,y);
	}
}
#endif

void SoftDemo::initPhysics()
{
	///create concave ground mesh

	m_guiHelper->setUpAxis(1);
	//	m_azi = 0;

	//reset and disable motorcontrol at the start
	motorcontrol.goal = 0;
	motorcontrol.maxtorque = 0;

	btCollisionShape* groundShape = 0;
	{
		int i;
		int j;

		const int NUM_VERTS_X = 30;
		const int NUM_VERTS_Y = 30;
		const int totalVerts = NUM_VERTS_X * NUM_VERTS_Y;
		const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);

		gGroundVertices = new btVector3[totalVerts];
		gGroundIndices = new int[totalTriangles * 3];

		btScalar offset(-50);

		for (i = 0; i < NUM_VERTS_X; i++)
		{
			for (j = 0; j < NUM_VERTS_Y; j++)
			{
				gGroundVertices[i + j * NUM_VERTS_X].setValue((i - NUM_VERTS_X * 0.5f) * TRIANGLE_SIZE,
															  //0.f,
															  waveheight * sinf((float)i) * cosf((float)j + offset),
															  (j - NUM_VERTS_Y * 0.5f) * TRIANGLE_SIZE);
			}
		}

		int vertStride = sizeof(btVector3);
		int indexStride = 3 * sizeof(int);

		int index = 0;
		for (i = 0; i < NUM_VERTS_X - 1; i++)
		{
			for (int j = 0; j < NUM_VERTS_Y - 1; j++)
			{
				gGroundIndices[index++] = j * NUM_VERTS_X + i;
				gGroundIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
				gGroundIndices[index++] = j * NUM_VERTS_X + i + 1;
				;

				gGroundIndices[index++] = j * NUM_VERTS_X + i;
				gGroundIndices[index++] = (j + 1) * NUM_VERTS_X + i;
				gGroundIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
			}
		}

		btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
																					   gGroundIndices,
																					   indexStride,
																					   totalVerts, (btScalar*)&gGroundVertices[0].x(), vertStride);

		bool useQuantizedAabbCompression = true;

		groundShape = new btBvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
		groundShape->setMargin(0.5);
	}

	m_collisionShapes.push_back(groundShape);

	btCollisionShape* groundBox = new btBoxShape(btVector3(100, CUBE_HALF_EXTENTS, 100));
	m_collisionShapes.push_back(groundBox);

	btCompoundShape* cylinderCompound = new btCompoundShape;
	btCollisionShape* cylinderShape = new btCylinderShape(btVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
	btTransform localTransform;
	localTransform.setIdentity();
	cylinderCompound->addChildShape(localTransform, cylinderShape);
	btQuaternion orn(btVector3(0, 1, 0), SIMD_PI);
	localTransform.setRotation(orn);
	cylinderCompound->addChildShape(localTransform, cylinderShape);

	m_collisionShapes.push_back(cylinderCompound);

	m_dispatcher = 0;

	///register some softbody collision algorithms on top of the default btDefaultCollisionConfiguration
	m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();

	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
	m_softBodyWorldInfo.m_dispatcher = m_dispatcher;

	////////////////////////////
	///Register softbody versus softbody collision algorithm

	///Register softbody versus rigidbody collision algorithm

	////////////////////////////

	btVector3 worldAabbMin(-1000, -1000, -1000);
	btVector3 worldAabbMax(1000, 1000, 1000);

	m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies);

	m_softBodyWorldInfo.m_broadphase = m_broadphase;

	btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();

	m_solver = solver;

	btSoftBodySolver* softBodySolver = 0;
#ifdef USE_AMD_OPENCL

	static bool once = true;
	if (once)
	{
		once = false;
		initCL(0, 0);
	}

	if (g_openCLSIMDSolver)
		delete g_openCLSIMDSolver;
	if (g_softBodyOutput)
		delete g_softBodyOutput;

	if (1)
	{
		g_openCLSIMDSolver = new btOpenCLSoftBodySolverSIMDAware(g_cqCommandQue, g_cxMainContext);
		//	g_openCLSIMDSolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
		g_openCLSIMDSolver->setCLFunctions(new CachingCLFunctions(g_cqCommandQue, g_cxMainContext));
	}

	softBodySolver = g_openCLSIMDSolver;
	g_softBodyOutput = new btSoftBodySolverOutputCLtoCPU;
#endif  //USE_AMD_OPENCL

	btDiscreteDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration, softBodySolver);
	m_dynamicsWorld = world;
	m_dynamicsWorld->setInternalTickCallback(pickingPreTickCallback, this, true);

	m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
	m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
	m_softBodyWorldInfo.m_gravity.setValue(0, -10, 0);
	m_guiHelper->createPhysicsDebugDrawer(world);
	//	clientResetScene();

	m_softBodyWorldInfo.m_sparsesdf.Initialize();
	//	clientResetScene();

	//create ground object
	btTransform tr;
	tr.setIdentity();
	tr.setOrigin(btVector3(0, -12, 0));

	btCollisionObject* newOb = new btCollisionObject();
	newOb->setWorldTransform(tr);
	newOb->setInterpolationWorldTransform(tr);
	int lastDemo = (sizeof(demofncs) / sizeof(demofncs[0])) - 1;

	if (current_demo < 0)
		current_demo = lastDemo;
	if (current_demo > lastDemo)
		current_demo = 0;

	if (current_demo > 19)
	{
		newOb->setCollisionShape(m_collisionShapes[0]);
	}
	else
	{
		newOb->setCollisionShape(m_collisionShapes[1]);
	}

	m_dynamicsWorld->addCollisionObject(newOb);

	m_softBodyWorldInfo.m_sparsesdf.Reset();

	motorcontrol.goal = 0;
	motorcontrol.maxtorque = 0;

	m_softBodyWorldInfo.air_density = (btScalar)1.2;
	m_softBodyWorldInfo.water_density = 0;
	m_softBodyWorldInfo.water_offset = 0;
	m_softBodyWorldInfo.water_normal = btVector3(0, 0, 0);
	m_softBodyWorldInfo.m_gravity.setValue(0, -10, 0);

	m_autocam = false;
	m_raycast = false;
	m_cutting = false;
	m_results.fraction = 1.f;

	demofncs[current_demo](this);

	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

void SoftDemo::exitPhysics()
{
	//cleanup in the reverse order of creation/initialization

	//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 collision shapes
	for (int j = 0; j < m_collisionShapes.size(); j++)
	{
		btCollisionShape* shape = m_collisionShapes[j];
		m_collisionShapes[j] = 0;
		delete shape;
	}

	//delete dynamics world
	delete m_dynamicsWorld;
	m_dynamicsWorld = 0;

	//delete solver
	delete m_solver;

	//delete broadphase
	delete m_broadphase;

	//delete dispatcher
	delete m_dispatcher;

	delete m_collisionConfiguration;
}

class CommonExampleInterface* SoftDemoCreateFunc(struct CommonExampleOptions& options)
{
	current_demo = options.m_option;
	return new SoftDemo(options.m_guiHelper);
}