mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-13 15:44:36 +00:00
update bullet so it actually works
Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
This commit is contained in:
marauder2k7
parent
c7be48130a
commit
13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
251
Engine/lib/bullet/examples/DeformableDemo/ClothFriction.cpp
Normal file
251
Engine/lib/bullet/examples/DeformableDemo/ClothFriction.cpp
Normal file
|
|
@ -0,0 +1,251 @@
|
|||
/*
|
||||
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 "ClothFriction.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 ClothFriction shows the use of deformable friction.
|
||||
class ClothFriction : public CommonDeformableBodyBase
|
||||
{
|
||||
btDeformableBodySolver* m_deformableBodySolver;
|
||||
public:
|
||||
ClothFriction(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper),
|
||||
m_deformableBodySolver(0)
|
||||
{
|
||||
}
|
||||
virtual ~ClothFriction()
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 12;
|
||||
float pitch = -50;
|
||||
float yaw = 120;
|
||||
float targetPos[3] = {0, -3, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
void stepSimulation(float deltaTime)
|
||||
{
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
||||
{
|
||||
//btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
void ClothFriction::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();
|
||||
m_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(m_deformableBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, m_deformableBodySolver);
|
||||
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();
|
||||
|
||||
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 * 0.1));
|
||||
//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(3);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
// create a piece of cloth
|
||||
{
|
||||
btScalar s = 4;
|
||||
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),
|
||||
10,10,
|
||||
0, true);
|
||||
|
||||
psb->getCollisionShape()->setMargin(0.06);
|
||||
psb->generateBendingConstraints(2);
|
||||
psb->setTotalMass(1);
|
||||
psb->setSpringStiffness(100);
|
||||
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb->m_cfg.kDF = 3;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
|
||||
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,1, 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);
|
||||
|
||||
|
||||
h = .5;
|
||||
s = 2;
|
||||
btSoftBody* psb2 = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
|
||||
btVector3(+s, h, -s),
|
||||
btVector3(-s, h, +s),
|
||||
btVector3(+s, h, +s),
|
||||
5,5,
|
||||
0, true);
|
||||
psb2->getCollisionShape()->setMargin(0.06);
|
||||
psb2->generateBendingConstraints(2);
|
||||
psb2->setTotalMass(1);
|
||||
psb2->setSpringStiffness(100);
|
||||
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb2->m_cfg.kDF = 1;
|
||||
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb2->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
||||
psb->translate(btVector3(0,0,0));
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb2);
|
||||
|
||||
btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,.1, true);
|
||||
getDeformableDynamicsWorld()->addForce(psb2, mass_spring2);
|
||||
m_forces.push_back(mass_spring2);
|
||||
|
||||
btDeformableGravityForce* gravity_force2 = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
|
||||
m_forces.push_back(gravity_force2);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void ClothFriction::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_deformableBodySolver;
|
||||
|
||||
delete m_broadphase;
|
||||
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
|
||||
class CommonExampleInterface* ClothFrictionCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new ClothFriction(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
Engine/lib/bullet/examples/DeformableDemo/ClothFriction.h
Normal file
19
Engine/lib/bullet/examples/DeformableDemo/ClothFriction.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef CLOTH_FRICTION_H
|
||||
#define CLOTH_FRICTION_H
|
||||
|
||||
class CommonExampleInterface* ClothFrictionCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //CLOTH_FRICTION_H
|
||||
273
Engine/lib/bullet/examples/DeformableDemo/Collide.cpp
Normal file
273
Engine/lib/bullet/examples/DeformableDemo/Collide.cpp
Normal file
|
|
@ -0,0 +1,273 @@
|
|||
/*
|
||||
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 "Collide.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 "../CommonInterfaces/CommonParameterInterface.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
|
||||
///The Collide shows the contact between volumetric deformable objects and rigid objects.
|
||||
static btScalar E = 50;
|
||||
static btScalar nu = 0.3;
|
||||
static btScalar damping_alpha = 0.1;
|
||||
static btScalar damping_beta = 0.01;
|
||||
static btScalar COLLIDING_VELOCITY = 15;
|
||||
|
||||
struct TetraCube
|
||||
{
|
||||
#include "../SoftDemo/cube.inl"
|
||||
};
|
||||
|
||||
class Collide : public CommonDeformableBodyBase
|
||||
{
|
||||
btDeformableLinearElasticityForce* m_linearElasticity;
|
||||
|
||||
public:
|
||||
Collide(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
m_linearElasticity = 0;
|
||||
}
|
||||
virtual ~Collide()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 20;
|
||||
float pitch = 0;
|
||||
float yaw = 90;
|
||||
float targetPos[3] = {0, 3, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
void Ctor_RbUpStack()
|
||||
{
|
||||
float mass = 0.5;
|
||||
btCollisionShape* shape = new btBoxShape(btVector3(2, 2, 2));
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,-2,0));
|
||||
btRigidBody* rb = createRigidBody(mass, startTransform, shape);
|
||||
rb->setLinearVelocity(btVector3(0,+COLLIDING_VELOCITY, 0));
|
||||
}
|
||||
|
||||
void stepSimulation(float deltaTime)
|
||||
{
|
||||
m_linearElasticity->setPoissonRatio(nu);
|
||||
m_linearElasticity->setYoungsModulus(E);
|
||||
m_linearElasticity->setDamping(damping_alpha, damping_beta);
|
||||
float internalTimeStep = 1. / 60.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void Collide::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();
|
||||
|
||||
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
||||
sol->setDeformableSolver(deformableBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
||||
btVector3 gravity = btVector3(0, 0, 0);
|
||||
m_dynamicsWorld->setGravity(gravity);
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
// create volumetric soft body
|
||||
{
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
psb->scale(btVector3(2, 2, 2));
|
||||
psb->translate(btVector3(0, 7, 0));
|
||||
psb->getCollisionShape()->setMargin(0.1);
|
||||
psb->setTotalMass(0.5);
|
||||
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb->m_cfg.kDF = 0;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
|
||||
psb->m_sleepingThreshold = 0;
|
||||
btSoftBodyHelpers::generateBoundaryFaces(psb);
|
||||
|
||||
psb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
|
||||
|
||||
btDeformableLinearElasticityForce* linearElasticity = new btDeformableLinearElasticityForce(100,100,0.01);
|
||||
m_linearElasticity = linearElasticity;
|
||||
getDeformableDynamicsWorld()->addForce(psb, linearElasticity);
|
||||
m_forces.push_back(linearElasticity);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(true);
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
getDeformableDynamicsWorld()->setUseProjection(true);
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
|
||||
// add a few rigid bodies
|
||||
Ctor_RbUpStack();
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
// {
|
||||
// SliderParams slider("Young's Modulus", &E);
|
||||
// slider.m_minVal = 0;
|
||||
// slider.m_maxVal = 2000;
|
||||
// if (m_guiHelper->getParameterInterface())
|
||||
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
// }
|
||||
// {
|
||||
// SliderParams slider("Poisson Ratio", &nu);
|
||||
// slider.m_minVal = 0.05;
|
||||
// slider.m_maxVal = 0.49;
|
||||
// if (m_guiHelper->getParameterInterface())
|
||||
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
// }
|
||||
// {
|
||||
// SliderParams slider("Mass Damping", &damping_alpha);
|
||||
// slider.m_minVal = 0.001;
|
||||
// slider.m_maxVal = 0.01;
|
||||
// if (m_guiHelper->getParameterInterface())
|
||||
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
// }
|
||||
// {
|
||||
// SliderParams slider("Stiffness Damping", &damping_beta);
|
||||
// slider.m_minVal = 0.001;
|
||||
// slider.m_maxVal = 0.01;
|
||||
// if (m_guiHelper->getParameterInterface())
|
||||
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
// }
|
||||
{
|
||||
SliderParams slider("Young's Modulus", &E);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 2000;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Poisson Ratio", &nu);
|
||||
slider.m_minVal = 0.05;
|
||||
slider.m_maxVal = 0.49;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Mass Damping", &damping_alpha);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 1;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Stiffness Damping", &damping_beta);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 0.1;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
}
|
||||
|
||||
void Collide::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* CollideCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new Collide(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
Engine/lib/bullet/examples/DeformableDemo/Collide.h
Normal file
19
Engine/lib/bullet/examples/DeformableDemo/Collide.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _COLLIDE_H
|
||||
#define _COLLIDE_H
|
||||
|
||||
class CommonExampleInterface* CollideCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_COLLIDE_H
|
||||
|
|
@ -0,0 +1,222 @@
|
|||
/*
|
||||
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 "DeformableClothAnchor.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 DeformableClothAnchor shows contact between deformable objects and rigid objects.
|
||||
class DeformableClothAnchor : public CommonDeformableBodyBase
|
||||
{
|
||||
public:
|
||||
DeformableClothAnchor(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~DeformableClothAnchor()
|
||||
{
|
||||
}
|
||||
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);
|
||||
}
|
||||
|
||||
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 DeformableClothAnchor::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()->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, -50, 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
|
||||
{
|
||||
const btScalar s = 4;
|
||||
const btScalar h = 6;
|
||||
const int r = 8;
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
|
||||
btVector3(+s, h, -s),
|
||||
btVector3(-s, h, +s),
|
||||
btVector3(+s, h, +s), r, r, 4 + 8, 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 = 2;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
|
||||
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(100,1, 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);
|
||||
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0, h, -(s + 3.5)));
|
||||
btRigidBody* body = createRigidBody(1, startTransform, new btBoxShape(btVector3(s, 1, 3)));
|
||||
psb->appendDeformableAnchor(0, body);
|
||||
psb->appendDeformableAnchor(r - 1, body);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void DeformableClothAnchor::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* DeformableClothAnchorCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new DeformableClothAnchor(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef DEFORMABLE_CLOTH_ANCHOR_H
|
||||
#define DEFORMABLE_CLOTH_ANCHOR_H
|
||||
|
||||
class CommonExampleInterface* DeformableClothAnchorCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //DEFORMABLE_CLOTH_ANCHOR_H
|
||||
257
Engine/lib/bullet/examples/DeformableDemo/DeformableContact.cpp
Normal file
257
Engine/lib/bullet/examples/DeformableDemo/DeformableContact.cpp
Normal file
|
|
@ -0,0 +1,257 @@
|
|||
/*
|
||||
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 "DeformableContact.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 DeformableContact shows the contact between deformable objects
|
||||
|
||||
class DeformableContact : public CommonDeformableBodyBase
|
||||
{
|
||||
public:
|
||||
DeformableContact(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~DeformableContact()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 12;
|
||||
float pitch = -50;
|
||||
float yaw = 120;
|
||||
float targetPos[3] = {0, -3, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
void stepSimulation(float deltaTime)
|
||||
{
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
|
||||
|
||||
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
||||
{
|
||||
//btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// StddeformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
void DeformableContact::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);
|
||||
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();
|
||||
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(2);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
// create a piece of cloth
|
||||
{
|
||||
btScalar s = 4;
|
||||
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),
|
||||
20,20,
|
||||
1 + 2 + 4 + 8, true);
|
||||
|
||||
psb->getCollisionShape()->setMargin(0.05);
|
||||
psb->generateBendingConstraints(2);
|
||||
psb->setSpringStiffness(10);
|
||||
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 = 0;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
|
||||
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,1, 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);
|
||||
|
||||
|
||||
h = 2;
|
||||
s = 2;
|
||||
btSoftBody* psb2 = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
|
||||
btVector3(+s, h, -s),
|
||||
btVector3(-s, h, +s),
|
||||
btVector3(+s, h, +s),
|
||||
10,10,
|
||||
0, true);
|
||||
psb2->getCollisionShape()->setMargin(0.05);
|
||||
psb2->generateBendingConstraints(2);
|
||||
psb2->setSpringStiffness(10);
|
||||
psb2->setTotalMass(1);
|
||||
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb2->m_cfg.kDF = 0.5;
|
||||
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb2->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
||||
psb->translate(btVector3(3.5,0,0));
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb2);
|
||||
|
||||
btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true);
|
||||
getDeformableDynamicsWorld()->addForce(psb2, mass_spring2);
|
||||
m_forces.push_back(mass_spring2);
|
||||
|
||||
btDeformableGravityForce* gravity_force2 = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
|
||||
m_forces.push_back(gravity_force2);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
int numInstances = m_guiHelper->getRenderInterface()->getTotalNumInstances();
|
||||
double rgbaColors[3][4] = { { 1, 0, 0, 1 } , { 0, 1, 0, 1 } ,{ 0, 0, 1, 1 } };
|
||||
|
||||
for (int i = 0; i < numInstances; i++)
|
||||
{
|
||||
m_guiHelper->changeInstanceFlags(i, B3_INSTANCE_DOUBLE_SIDED);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void DeformableContact::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* DeformableContactCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new DeformableContact(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef DEFORMABLE_CONTACT_H
|
||||
#define DEFORMABLE_CONTACT_H
|
||||
|
||||
class CommonExampleInterface* DeformableContactCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_DEFORMABLE_CONTACT_H
|
||||
|
|
@ -0,0 +1,393 @@
|
|||
/*
|
||||
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 "DeformableMultibody.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/CommonRigidBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
#include "../SoftDemo/BunnyMesh.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
///The DeformableMultibody demo deformable bodies self-collision
|
||||
static bool g_floatingBase = true;
|
||||
static float friction = 1.;
|
||||
class DeformableMultibody : public CommonDeformableBodyBase
|
||||
{
|
||||
public:
|
||||
DeformableMultibody(struct GUIHelperInterface* helper)
|
||||
:CommonDeformableBodyBase(helper)
|
||||
{
|
||||
}
|
||||
|
||||
virtual ~DeformableMultibody()
|
||||
{
|
||||
}
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 30;
|
||||
float pitch = -30;
|
||||
float yaw = 100;
|
||||
float targetPos[3] = {0, -10, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
|
||||
|
||||
void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void DeformableMultibody::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();
|
||||
btDeformableMultiBodyConstraintSolver* sol;
|
||||
sol = new btDeformableMultiBodyConstraintSolver;
|
||||
sol->setDeformableSolver(deformableBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
||||
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();
|
||||
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, -40, 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(0.5);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body,1,1+2);
|
||||
}
|
||||
|
||||
{
|
||||
bool damping = true;
|
||||
bool gyro = false;
|
||||
int numLinks = 4;
|
||||
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
||||
bool canSleep = false;
|
||||
bool selfCollide = true;
|
||||
btVector3 linkHalfExtents(.4, 1, .4);
|
||||
btVector3 baseHalfExtents(.4, 1, .4);
|
||||
|
||||
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 10.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
|
||||
|
||||
mbC->setCanSleep(canSleep);
|
||||
mbC->setHasSelfCollision(selfCollide);
|
||||
mbC->setUseGyroTerm(gyro);
|
||||
//
|
||||
if (!damping)
|
||||
{
|
||||
mbC->setLinearDamping(0.0f);
|
||||
mbC->setAngularDamping(0.0f);
|
||||
}
|
||||
else
|
||||
{
|
||||
mbC->setLinearDamping(0.04f);
|
||||
mbC->setAngularDamping(0.04f);
|
||||
}
|
||||
|
||||
if (numLinks > 0)
|
||||
{
|
||||
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
||||
if (!spherical)
|
||||
{
|
||||
mbC->setJointPosMultiDof(0, &q0);
|
||||
}
|
||||
else
|
||||
{
|
||||
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
mbC->setJointPosMultiDof(0, quat0);
|
||||
}
|
||||
}
|
||||
///
|
||||
addColliders_testMultiDof(mbC, m_dynamicsWorld, baseHalfExtents, linkHalfExtents);
|
||||
}
|
||||
|
||||
// create a patch of cloth
|
||||
{
|
||||
btScalar h = 0;
|
||||
const btScalar s = 4;
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
|
||||
btVector3(+s, h, -s),
|
||||
btVector3(-s, h, +s),
|
||||
btVector3(+s, h, +s),
|
||||
20,20,
|
||||
// 3,3,
|
||||
1 + 2 + 4 + 8, true);
|
||||
|
||||
psb->getCollisionShape()->setMargin(0.025);
|
||||
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 = 2;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
|
||||
psb->setCollisionFlags(0);
|
||||
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);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void DeformableMultibody::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;
|
||||
}
|
||||
|
||||
void DeformableMultibody::stepSimulation(float deltaTime)
|
||||
{
|
||||
// getDeformableDynamicsWorld()->getMultiBodyDynamicsWorld()->stepSimulation(deltaTime);
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 5, 1./250.);
|
||||
}
|
||||
|
||||
|
||||
btMultiBody* DeformableMultibody::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
|
||||
{
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = .1f;
|
||||
|
||||
if (baseMass)
|
||||
{
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete pTempBox;
|
||||
}
|
||||
|
||||
bool canSleep = false;
|
||||
|
||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
|
||||
|
||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
||||
pMultiBody->setBasePos(basePosition);
|
||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
||||
btVector3 vel(0, 0, 0);
|
||||
// pMultiBody->setBaseVel(vel);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 0);
|
||||
float linkMass = .1f;
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete pTempBox;
|
||||
|
||||
//y-axis assumed up
|
||||
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
|
||||
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
|
||||
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
|
||||
|
||||
//////
|
||||
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
||||
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
/////
|
||||
|
||||
for (int i = 0; i < numLinks; ++i)
|
||||
{
|
||||
if (!spherical)
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
||||
else
|
||||
//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
|
||||
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
||||
}
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
///
|
||||
pWorld->addMultiBody(pMultiBody);
|
||||
///
|
||||
return pMultiBody;
|
||||
}
|
||||
|
||||
void DeformableMultibody::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
||||
{
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
||||
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
||||
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
|
||||
|
||||
{
|
||||
|
||||
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
||||
box->setMargin(0.01);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(box);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(local_origin[0]);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
col->setFriction(friction);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
||||
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
|
||||
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(box);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(friction);
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
class CommonExampleInterface* DeformableMultibodyCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new DeformableMultibody(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _DEFORMABLE_MULTIBODY_H
|
||||
#define _DEFORMABLE_MULTIBODY_H
|
||||
|
||||
class CommonExampleInterface* DeformableMultibodyCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_DEFORMABLE_MULTIBODY_H
|
||||
334
Engine/lib/bullet/examples/DeformableDemo/DeformableRigid.cpp
Normal file
334
Engine/lib/bullet/examples/DeformableDemo/DeformableRigid.cpp
Normal file
|
|
@ -0,0 +1,334 @@
|
|||
/*
|
||||
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);
|
||||
|
||||
//
|
||||
// btCollisionShape* boxShape = new btBoxShape(btVector3(1, 1, 1));
|
||||
// boxShape->setMargin(1e-3);
|
||||
// if (0)
|
||||
// {
|
||||
// btVector3 p(0.99,1.01,0.99);
|
||||
// for (int i = 0; i < 40; ++i)
|
||||
// {
|
||||
// p[1] -= 0.001;
|
||||
// btScalar margin(.000001);
|
||||
// btTransform trans;
|
||||
// trans.setIdentity();
|
||||
// btGjkEpaSolver2::sResults results;
|
||||
// const btConvexShape* csh = static_cast<const btConvexShape*>(boxShape);
|
||||
// btScalar d = btGjkEpaSolver2::SignedDistance(p, margin, csh, trans, results);
|
||||
// printf("d = %f\n", d);
|
||||
// printf("----\n");
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// btVector3 p(.991,1.01,.99);
|
||||
// for (int i = 0; i < 40; ++i)
|
||||
// {
|
||||
// p[1] -= 0.001;
|
||||
// btScalar margin(.006);
|
||||
// btTransform trans;
|
||||
// trans.setIdentity();
|
||||
// btScalar dst;
|
||||
// btGjkEpaSolver2::sResults results;
|
||||
// btTransform point_transform;
|
||||
// point_transform.setIdentity();
|
||||
// point_transform.setOrigin(p);
|
||||
// btSphereShape sphere(margin);
|
||||
// btVector3 guess(0,0,0);
|
||||
// const btConvexShape* csh = static_cast<const btConvexShape*>(boxShape);
|
||||
// btGjkEpaSolver2::SignedDistance(&sphere, point_transform, csh, trans, guess, results);
|
||||
// dst = results.distance-csh->getMargin();
|
||||
// dst -= margin;
|
||||
// printf("d = %f\n", dst);
|
||||
// printf("----\n");
|
||||
// }
|
||||
}
|
||||
|
||||
void Ctor_RbUpStack(int count)
|
||||
{
|
||||
float mass = .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, -42, 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
|
||||
if(1)
|
||||
{
|
||||
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(0.05);
|
||||
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 = 2;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
|
||||
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(15,0.5, 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(10);
|
||||
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);
|
||||
}
|
||||
|
||||
|
||||
19
Engine/lib/bullet/examples/DeformableDemo/DeformableRigid.h
Normal file
19
Engine/lib/bullet/examples/DeformableDemo/DeformableRigid.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _DEFORMABLE_RIGID_H
|
||||
#define _DEFORMABLE_RIGID_H
|
||||
|
||||
class CommonExampleInterface* DeformableRigidCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_DEFORMABLE_RIGID_H
|
||||
|
|
@ -0,0 +1,223 @@
|
|||
/*
|
||||
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 "DeformableSelfCollision.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 DeformableSelfCollision shows deformable self collisions
|
||||
class DeformableSelfCollision : public CommonDeformableBodyBase
|
||||
{
|
||||
public:
|
||||
DeformableSelfCollision(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
m_maxPickingForce = 0.004;
|
||||
}
|
||||
virtual ~DeformableSelfCollision()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 2.0;
|
||||
float pitch = -8;
|
||||
float yaw = 100;
|
||||
float targetPos[3] = {0, -1.0, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
void stepSimulation(float deltaTime)
|
||||
{
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
|
||||
}
|
||||
|
||||
void addCloth(const btVector3& origin);
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
}
|
||||
};
|
||||
|
||||
void DeformableSelfCollision::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, -9.8, 0);
|
||||
m_dynamicsWorld->setGravity(gravity);
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
|
||||
|
||||
// getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
{
|
||||
///create a ground
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
|
||||
groundShape->setMargin(0.02);
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -3.5, 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(4);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
addCloth(btVector3(0, -0.2, 0));
|
||||
addCloth(btVector3(0, -0.1, 0));
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
void DeformableSelfCollision::addCloth(const btVector3& origin)
|
||||
// create a piece of cloth
|
||||
{
|
||||
const btScalar s = 0.6;
|
||||
const btScalar h = 0;
|
||||
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -2*s),
|
||||
btVector3(+s, h, -2*s),
|
||||
btVector3(-s, h, +2*s),
|
||||
btVector3(+s, h, +2*s),
|
||||
15,30,
|
||||
// 4,4,
|
||||
0, true, 0.0);
|
||||
|
||||
|
||||
psb->getCollisionShape()->setMargin(0.02);
|
||||
psb->generateBendingConstraints(2);
|
||||
psb->setTotalMass(.5);
|
||||
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb->m_cfg.kDF = 0.1;
|
||||
// psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
|
||||
btTransform clothTransform;
|
||||
clothTransform.setIdentity();
|
||||
clothTransform.setOrigin(btVector3(0,0.2,0)+origin);
|
||||
psb->transform(clothTransform);
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
psb->setSelfCollision(true);
|
||||
|
||||
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.2, true);
|
||||
psb->setSpringStiffness(4);
|
||||
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
|
||||
m_forces.push_back(mass_spring);
|
||||
btVector3 gravity = btVector3(0, -9.8, 0);
|
||||
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
||||
getDeformableDynamicsWorld()->setUseProjection(true);
|
||||
m_forces.push_back(gravity_force);
|
||||
}
|
||||
|
||||
void DeformableSelfCollision::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* DeformableSelfCollisionCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new DeformableSelfCollision(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef DEFORMABLE_SELF_COLLISION_H
|
||||
#define DEFORMABLE_SELF_COLLISION_H
|
||||
|
||||
class CommonExampleInterface* DeformableSelfCollisionCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_DEFORMABLE_SELF_COLLISION_H
|
||||
563
Engine/lib/bullet/examples/DeformableDemo/GraspDeformable.cpp
Normal file
563
Engine/lib/bullet/examples/DeformableDemo/GraspDeformable.cpp
Normal file
|
|
@ -0,0 +1,563 @@
|
|||
/*
|
||||
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 "GraspDeformable.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 "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
|
||||
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
|
||||
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
|
||||
#include "../Utils/b3BulletDefaultFileIO.h"
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
#include "../CommonInterfaces/CommonFileIOInterface.h"
|
||||
#include "Bullet3Common/b3FileUtils.h"
|
||||
|
||||
///The GraspDeformable shows grasping a volumetric deformable objects with multibody gripper with moter constraints.
|
||||
static btScalar sGripperVerticalVelocity = 0.f;
|
||||
static btScalar sGripperClosingTargetVelocity = 0.f;
|
||||
static float friction = 1.;
|
||||
struct TetraCube
|
||||
{
|
||||
#include "../SoftDemo/cube.inl"
|
||||
};
|
||||
|
||||
struct TetraBunny
|
||||
{
|
||||
#include "../SoftDemo/bunny.inl"
|
||||
};
|
||||
|
||||
static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex)
|
||||
{
|
||||
bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute
|
||||
|| mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic);
|
||||
return canHaveMotor;
|
||||
}
|
||||
|
||||
class GraspDeformable : public CommonDeformableBodyBase
|
||||
{
|
||||
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
|
||||
public:
|
||||
GraspDeformable(struct GUIHelperInterface* helper)
|
||||
:CommonDeformableBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~GraspDeformable()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 0.3;
|
||||
float pitch = -45;
|
||||
float yaw = 100;
|
||||
float targetPos[3] = {0, -0.1, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
btMultiBody* createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld,const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating);
|
||||
|
||||
void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
|
||||
|
||||
btMultiBody* createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating);
|
||||
|
||||
void stepSimulation(float deltaTime)
|
||||
{
|
||||
double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
|
||||
int num_multiBody = getDeformableDynamicsWorld()->getNumMultibodies();
|
||||
for (int i = 0; i < num_multiBody; ++i)
|
||||
{
|
||||
btMultiBody* mb = getDeformableDynamicsWorld()->btMultiBodyDynamicsWorld::getMultiBody(i);
|
||||
mb->setBaseVel(btVector3(0,sGripperVerticalVelocity, 0));
|
||||
int dofIndex = 6; //skip the 3 linear + 3 angular degree of freedom entries of the base
|
||||
for (int link = 0; link < mb->getNumLinks(); link++)
|
||||
{
|
||||
if (supportsJointMotor(mb, link))
|
||||
{
|
||||
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;
|
||||
if (motor)
|
||||
{
|
||||
if (dofIndex == 6)
|
||||
{
|
||||
motor->setVelocityTarget(-fingerTargetVelocities[1], 1);
|
||||
motor->setMaxAppliedImpulse(20);
|
||||
}
|
||||
if (dofIndex == 7)
|
||||
{
|
||||
motor->setVelocityTarget(fingerTargetVelocities[1], 1);
|
||||
motor->setMaxAppliedImpulse(20);
|
||||
}
|
||||
motor->setMaxAppliedImpulse(1);
|
||||
}
|
||||
}
|
||||
dofIndex += mb->getLink(link).m_dofCount;
|
||||
}
|
||||
}
|
||||
|
||||
//use a smaller internal timestep, there are stability issues
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
|
||||
}
|
||||
|
||||
void createGrip()
|
||||
{
|
||||
int count = 2;
|
||||
float mass = 2;
|
||||
btCollisionShape* shape[] = {
|
||||
new btBoxShape(btVector3(3, 3, 0.5)),
|
||||
};
|
||||
static const int nshapes = sizeof(shape) / sizeof(shape[0]);
|
||||
for (int i = 0; i < count; ++i)
|
||||
{
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(10, 0, 0));
|
||||
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
|
||||
createRigidBody(mass, startTransform, shape[i % nshapes]);
|
||||
}
|
||||
}
|
||||
|
||||
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
|
||||
{
|
||||
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
|
||||
}
|
||||
|
||||
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
|
||||
{
|
||||
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];
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual void removePickingConstraint(){}
|
||||
};
|
||||
|
||||
|
||||
void GraspDeformable::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
|
||||
|
||||
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
||||
sol->setDeformableSolver(deformableBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
||||
btVector3 gravity = btVector3(0, -9.81, 0);
|
||||
m_dynamicsWorld->setGravity(gravity);
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.1;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 150;
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_maxPickingForce = 0.001;
|
||||
// build a gripper
|
||||
if(1)
|
||||
{
|
||||
bool damping = true;
|
||||
bool gyro = false;
|
||||
bool canSleep = false;
|
||||
bool selfCollide = true;
|
||||
int numLinks = 2;
|
||||
btVector3 linkHalfExtents(0.02, 0.018, .003);
|
||||
btVector3 baseHalfExtents(0.02, 0.002, .002);
|
||||
btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 0.05f,0.f), linkHalfExtents, baseHalfExtents, false);
|
||||
|
||||
mbC->setCanSleep(canSleep);
|
||||
mbC->setHasSelfCollision(selfCollide);
|
||||
mbC->setUseGyroTerm(gyro);
|
||||
|
||||
for (int i = 0; i < numLinks; i++)
|
||||
{
|
||||
int mbLinkIndex = i;
|
||||
double maxMotorImpulse = 1;
|
||||
|
||||
if (supportsJointMotor(mbC, mbLinkIndex))
|
||||
{
|
||||
int dof = 0;
|
||||
btScalar desiredVelocity = 0.f;
|
||||
btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mbC, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse);
|
||||
motor->setPositionTarget(0, 0);
|
||||
motor->setVelocityTarget(0, 1);
|
||||
mbC->getLink(mbLinkIndex).m_userPtr = motor;
|
||||
getDeformableDynamicsWorld()->addMultiBodyConstraint(motor);
|
||||
motor->finalizeMultiDof();
|
||||
}
|
||||
}
|
||||
|
||||
if (!damping)
|
||||
{
|
||||
mbC->setLinearDamping(0.0f);
|
||||
mbC->setAngularDamping(0.0f);
|
||||
}
|
||||
else
|
||||
{
|
||||
mbC->setLinearDamping(0.04f);
|
||||
mbC->setAngularDamping(0.04f);
|
||||
}
|
||||
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
||||
if (numLinks > 0)
|
||||
mbC->setJointPosMultiDof(0, &q0);
|
||||
addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
|
||||
}
|
||||
|
||||
//create a ground
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(10.)));
|
||||
groundShape->setMargin(0.001);
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -5.1, 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(0.5);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body,1,1+2);
|
||||
}
|
||||
|
||||
// create a soft block
|
||||
if (0)
|
||||
{
|
||||
char absolute_path[1024];
|
||||
b3BulletDefaultFileIO fileio;
|
||||
// fileio.findResourcePath("ditto.vtk", absolute_path, 1024);
|
||||
// fileio.findResourcePath("banana.vtk", absolute_path, 1024);
|
||||
fileio.findResourcePath("ball.vtk", absolute_path, 1024);
|
||||
// fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024);
|
||||
// fileio.findResourcePath("single_tet.vtk", absolute_path, 1024);
|
||||
// fileio.findResourcePath("tube.vtk", absolute_path, 1024);
|
||||
// fileio.findResourcePath("torus.vtk", absolute_path, 1024);
|
||||
// fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024);
|
||||
// fileio.findResourcePath("bread.vtk", absolute_path, 1024);
|
||||
// fileio.findResourcePath("boot.vtk", absolute_path, 1024);
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
btSoftBodyHelpers::generateBoundaryFaces(psb);
|
||||
// btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), absolute_path);
|
||||
|
||||
// psb->scale(btVector3(30, 30, 30)); // for banana
|
||||
// psb->scale(btVector3(.7, .7, .7));
|
||||
psb->scale(btVector3(.2, .2, .2));
|
||||
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
|
||||
// psb->scale(btVector3(.1, .1, .1)); // for ditto
|
||||
// psb->translate(btVector3(.25, 10, 0.4));
|
||||
psb->getCollisionShape()->setMargin(0.01);
|
||||
psb->setMaxStress(50);
|
||||
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 = 2;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
|
||||
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
||||
m_forces.push_back(gravity_force);
|
||||
|
||||
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(20,80,.01);
|
||||
getDeformableDynamicsWorld()->addForce(psb, neohookean);
|
||||
m_forces.push_back(neohookean);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
|
||||
// create a piece of cloth
|
||||
if(1)
|
||||
{
|
||||
bool onGround = false;
|
||||
const btScalar s = .05;
|
||||
const btScalar h = -0.02;
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
|
||||
btVector3(+s, h, -s),
|
||||
btVector3(-s, h, +s),
|
||||
btVector3(+s, h, +s),
|
||||
10,10,
|
||||
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(0.001);
|
||||
psb->generateBendingConstraints(2);
|
||||
psb->setTotalMass(0.01);
|
||||
psb->setSpringStiffness(10);
|
||||
psb->setDampingCoefficient(0.05);
|
||||
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb->m_cfg.kDF = 1;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0.05,0.005, true));
|
||||
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity*0.1));
|
||||
}
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
{
|
||||
SliderParams slider("Moving velocity", &sGripperVerticalVelocity);
|
||||
slider.m_minVal = -.02;
|
||||
slider.m_maxVal = .02;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
{
|
||||
SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
|
||||
slider.m_minVal = -1;
|
||||
slider.m_maxVal = 1;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void GraspDeformable::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;
|
||||
}
|
||||
|
||||
btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating)
|
||||
{
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 0.1;
|
||||
float linkMass = 0.1;
|
||||
int numLinks = 2;
|
||||
|
||||
if (baseMass)
|
||||
{
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete pTempBox;
|
||||
}
|
||||
|
||||
bool canSleep = false;
|
||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
|
||||
|
||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
||||
pMultiBody->setBasePos(basePosition);
|
||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 0);
|
||||
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete pTempBox;
|
||||
|
||||
//y-axis assumed up
|
||||
btAlignedObjectArray<btVector3> parentComToCurrentCom;
|
||||
parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, -baseHalfExtents[2] * 2.f));
|
||||
parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, +baseHalfExtents[2] * 2.f));//par body's COM to cur body's COM offset
|
||||
|
||||
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*8.f, 0); //cur body's COM to cur body's PIV offset
|
||||
|
||||
btAlignedObjectArray<btVector3> parentComToCurrentPivot;
|
||||
parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[0] - currentPivotToCurrentCom));
|
||||
parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[1] - currentPivotToCurrentCom));//par body's COM to cur body's PIV offset
|
||||
|
||||
//////
|
||||
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
||||
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
/////
|
||||
|
||||
for (int i = 0; i < numLinks; ++i)
|
||||
{
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot[i], currentPivotToCurrentCom, true);
|
||||
}
|
||||
pMultiBody->finalizeMultiDof();
|
||||
///
|
||||
pWorld->addMultiBody(pMultiBody);
|
||||
///
|
||||
return pMultiBody;
|
||||
}
|
||||
|
||||
void GraspDeformable::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
||||
{
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
||||
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
||||
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
|
||||
|
||||
{
|
||||
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
|
||||
|
||||
if (1)
|
||||
{
|
||||
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
||||
box->setMargin(0.001);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(box);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(local_origin[0]);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
col->setFriction(friction);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
||||
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
|
||||
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
||||
box->setMargin(0.001);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(box);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(friction);
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
|
||||
class CommonExampleInterface* GraspDeformableCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new GraspDeformable(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
Engine/lib/bullet/examples/DeformableDemo/GraspDeformable.h
Normal file
19
Engine/lib/bullet/examples/DeformableDemo/GraspDeformable.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _GRASP_DEFORMABLE_H
|
||||
#define _GRASP_DEFORMABLE_H
|
||||
|
||||
class CommonExampleInterface* GraspDeformableCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_GRASP_DEFORMABLE_H
|
||||
262
Engine/lib/bullet/examples/DeformableDemo/LargeDeformation.cpp
Normal file
262
Engine/lib/bullet/examples/DeformableDemo/LargeDeformation.cpp
Normal file
|
|
@ -0,0 +1,262 @@
|
|||
/*
|
||||
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 "LargeDeformation.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 "../CommonInterfaces/CommonParameterInterface.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
|
||||
///The LargeDeformation shows the contact between volumetric deformable objects and rigid objects.
|
||||
static btScalar E = 50;
|
||||
static btScalar nu = 0.3;
|
||||
static btScalar damping_alpha = 0.1;
|
||||
static btScalar damping_beta = 0.01;
|
||||
|
||||
struct TetraCube
|
||||
{
|
||||
#include "../SoftDemo/cube.inl"
|
||||
};
|
||||
|
||||
class LargeDeformation : public CommonDeformableBodyBase
|
||||
{
|
||||
btDeformableLinearElasticityForce* m_linearElasticity;
|
||||
|
||||
public:
|
||||
LargeDeformation(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
m_linearElasticity = 0;
|
||||
}
|
||||
virtual ~LargeDeformation()
|
||||
{
|
||||
}
|
||||
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)
|
||||
{
|
||||
m_linearElasticity->setPoissonRatio(nu);
|
||||
m_linearElasticity->setYoungsModulus(E);
|
||||
m_linearElasticity->setDamping(damping_alpha, damping_beta);
|
||||
float internalTimeStep = 1. / 60.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void LargeDeformation::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();
|
||||
|
||||
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
||||
sol->setDeformableSolver(deformableBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
// create volumetric soft body
|
||||
{
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
psb->scale(btVector3(2, 2, 2));
|
||||
psb->translate(btVector3(0, 5, 0));
|
||||
psb->getCollisionShape()->setMargin(0.1);
|
||||
psb->setTotalMass(0.5);
|
||||
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb->m_cfg.kDF = 0.5;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
|
||||
psb->m_sleepingThreshold = 0;
|
||||
btSoftBodyHelpers::generateBoundaryFaces(psb);
|
||||
for (int i = 0; i < psb->m_nodes.size(); ++i)
|
||||
{
|
||||
for (int j = 0; j < 3; ++j)
|
||||
psb->m_nodes[i].m_x[j] = ((double) 2*rand() / (RAND_MAX))-1.0;
|
||||
psb->m_nodes[i].m_x[1]+=8;
|
||||
}
|
||||
|
||||
btDeformableLinearElasticityForce* linearElasticity = new btDeformableLinearElasticityForce(100,100,0.01);
|
||||
m_linearElasticity = linearElasticity;
|
||||
getDeformableDynamicsWorld()->addForce(psb, linearElasticity);
|
||||
m_forces.push_back(linearElasticity);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(true);
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
getDeformableDynamicsWorld()->setUseProjection(true);
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.1;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(20);
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
|
||||
// add a few rigid bodies
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
{
|
||||
SliderParams slider("Young's Modulus", &E);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 2000;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Poisson Ratio", &nu);
|
||||
slider.m_minVal = 0.05;
|
||||
slider.m_maxVal = 0.49;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Mass Damping", &damping_alpha);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 1;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Stiffness Damping", &damping_beta);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 0.1;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
// {
|
||||
// SliderParams slider("Young's Modulus", &E);
|
||||
// slider.m_minVal = 0;
|
||||
// slider.m_maxVal = 200;
|
||||
// if (m_guiHelper->getParameterInterface())
|
||||
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
// }
|
||||
// {
|
||||
// SliderParams slider("Poisson Ratio", &nu);
|
||||
// slider.m_minVal = 0.05;
|
||||
// slider.m_maxVal = 0.40;
|
||||
// if (m_guiHelper->getParameterInterface())
|
||||
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
// }
|
||||
// {
|
||||
// SliderParams slider("Mass Damping", &damping_alpha);
|
||||
// slider.m_minVal = 0.001;
|
||||
// slider.m_maxVal = 0.01;
|
||||
// if (m_guiHelper->getParameterInterface())
|
||||
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
// }
|
||||
// {
|
||||
// SliderParams slider("Stiffness Damping", &damping_beta);
|
||||
// slider.m_minVal = 0.001;
|
||||
// slider.m_maxVal = 0.01;
|
||||
// if (m_guiHelper->getParameterInterface())
|
||||
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
// }
|
||||
}
|
||||
|
||||
void LargeDeformation::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* LargeDeformationCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new LargeDeformation(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
Engine/lib/bullet/examples/DeformableDemo/LargeDeformation.h
Normal file
19
Engine/lib/bullet/examples/DeformableDemo/LargeDeformation.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _LARGE_DEFORMATION_H
|
||||
#define _LARGE_DEFORMATION_H
|
||||
|
||||
class CommonExampleInterface* LargeDeformationCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_LARGE_DEFORMATION_H
|
||||
405
Engine/lib/bullet/examples/DeformableDemo/LoadDeformed.cpp
Normal file
405
Engine/lib/bullet/examples/DeformableDemo/LoadDeformed.cpp
Normal file
|
|
@ -0,0 +1,405 @@
|
|||
/*
|
||||
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 "LoadDeformed.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 "../CommonInterfaces/CommonParameterInterface.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
#include "../Utils/b3BulletDefaultFileIO.h"
|
||||
#include <iostream>
|
||||
#include <iomanip>
|
||||
#include <sstream>
|
||||
#include <string.h>
|
||||
|
||||
struct CustomSoftBodyHelper : public btSoftBodyHelpers
|
||||
{
|
||||
static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
|
||||
|
||||
};
|
||||
|
||||
static inline bool isSpace(const char c)
|
||||
{
|
||||
return (c == ' ') || (c == '\t');
|
||||
}
|
||||
static inline bool isNewLine(const char c)
|
||||
{
|
||||
return (c == '\r') || (c == '\n') || (c == '\0');
|
||||
}
|
||||
static inline float parseFloat(const char*& token)
|
||||
{
|
||||
token += strspn(token, " \t");
|
||||
float f = (float)atof(token);
|
||||
token += strcspn(token, " \t\r");
|
||||
return f;
|
||||
}
|
||||
static inline void parseFloat3(
|
||||
float& x, float& y, float& z,
|
||||
const char*& token)
|
||||
{
|
||||
x = parseFloat(token);
|
||||
y = parseFloat(token);
|
||||
z = parseFloat(token);
|
||||
}
|
||||
|
||||
|
||||
std::string CustomSoftBodyHelper::loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO)
|
||||
{
|
||||
{
|
||||
qs.clear();
|
||||
vs.clear();
|
||||
std::string tmp = filename;
|
||||
std::stringstream err;
|
||||
#ifdef USE_STREAM
|
||||
std::ifstream ifs(filename);
|
||||
if (!ifs)
|
||||
{
|
||||
err << "Cannot open file [" << filename << "]" << std::endl;
|
||||
return err.str();
|
||||
}
|
||||
#else
|
||||
int fileHandle = fileIO->fileOpen(filename, "r");
|
||||
if (fileHandle < 0)
|
||||
{
|
||||
err << "Cannot open file [" << filename << "]" << std::endl;
|
||||
return err.str();
|
||||
}
|
||||
#endif
|
||||
|
||||
std::string name;
|
||||
|
||||
int maxchars = 8192; // Alloc enough size.
|
||||
std::vector<char> buf(maxchars); // Alloc enough size.
|
||||
std::string linebuf;
|
||||
linebuf.reserve(maxchars);
|
||||
|
||||
#ifdef USE_STREAM
|
||||
while (ifs.peek() != -1)
|
||||
#else
|
||||
char* line = 0;
|
||||
do
|
||||
#endif
|
||||
{
|
||||
linebuf.resize(0);
|
||||
#ifdef USE_STREAM
|
||||
safeGetline(ifs, linebuf);
|
||||
#else
|
||||
char tmpBuf[1024];
|
||||
line = fileIO->readLine(fileHandle, tmpBuf, 1024);
|
||||
if (line)
|
||||
{
|
||||
linebuf = line;
|
||||
}
|
||||
#endif
|
||||
// Trim newline '\r\n' or '\r'
|
||||
if (linebuf.size() > 0)
|
||||
{
|
||||
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
|
||||
}
|
||||
if (linebuf.size() > 0)
|
||||
{
|
||||
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
|
||||
}
|
||||
|
||||
// Skip if empty line.
|
||||
if (linebuf.empty())
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
// Skip leading space.
|
||||
const char* token = linebuf.c_str();
|
||||
token += strspn(token, " \t");
|
||||
|
||||
btAssert(token);
|
||||
if (token[0] == '\0') continue; // empty line
|
||||
|
||||
if (token[0] == '#') continue; // comment line
|
||||
|
||||
// q
|
||||
if (token[0] == 'q' && isSpace((token[1])))
|
||||
{
|
||||
token += 2;
|
||||
float x, y, z;
|
||||
parseFloat3(x, y, z, token);
|
||||
qs.push_back(btVector3(x, y, z));
|
||||
continue;
|
||||
}
|
||||
|
||||
// v
|
||||
if (token[0] == 'v' && isSpace((token[1])))
|
||||
{
|
||||
token += 3;
|
||||
float x, y, z;
|
||||
parseFloat3(x, y, z, token);
|
||||
vs.push_back(btVector3(x, y, z));
|
||||
continue;
|
||||
}
|
||||
|
||||
// Ignore unknown command.
|
||||
}
|
||||
#ifndef USE_STREAM
|
||||
while (line)
|
||||
;
|
||||
#endif
|
||||
|
||||
if (fileHandle >= 0)
|
||||
{
|
||||
fileIO->fileClose(fileHandle);
|
||||
}
|
||||
return err.str();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
class LoadDeformed : public CommonDeformableBodyBase
|
||||
{
|
||||
int steps;
|
||||
btSoftBody* psb;
|
||||
char filename;
|
||||
int reset_frame;
|
||||
float sim_time;
|
||||
|
||||
public:
|
||||
LoadDeformed(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
steps = 0;
|
||||
psb = nullptr;
|
||||
reset_frame = 0;
|
||||
sim_time = 0;
|
||||
}
|
||||
virtual ~LoadDeformed()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 2;
|
||||
float pitch = -45;
|
||||
float yaw = 100;
|
||||
float targetPos[3] = {0, 0, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
void stepSimulation(float deltaTime)
|
||||
{
|
||||
steps++;
|
||||
sim_time += deltaTime;
|
||||
//// int seconds = 1/deltaTime;
|
||||
if (0)
|
||||
{
|
||||
// if (reset_frame==0 && steps<100){
|
||||
//// printf("steps %d, seconds %d, steps/seconds %d\n", steps,seconds,steps/seconds);
|
||||
char filename[100];
|
||||
sprintf(filename, "%s_%d_%d.txt", "states", reset_frame, steps);
|
||||
btSoftBodyHelpers::writeState(filename, psb);
|
||||
}
|
||||
if (sim_time + reset_frame * 0.05 >= 5) exit(0);
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
// float internalTimeStep = 0.1f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, deltaTime / internalTimeStep, internalTimeStep);
|
||||
}
|
||||
|
||||
void addCloth(const btVector3& origin);
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void LoadDeformed::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();
|
||||
|
||||
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
||||
sol->setDeformableSolver(deformableBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
||||
btVector3 gravity = btVector3(0, -9.8, 0);
|
||||
m_dynamicsWorld->setGravity(gravity);
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
|
||||
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
{
|
||||
///create a ground
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
|
||||
groundShape->setMargin(0.02);
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -3.5, 0));
|
||||
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
|
||||
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(4);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
addCloth(btVector3(0, 1, 0));
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void LoadDeformed::addCloth(const btVector3& origin)
|
||||
// create a piece of cloth
|
||||
{
|
||||
const btScalar s = 0.6;
|
||||
const btScalar h = 0;
|
||||
|
||||
psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -2 * s),
|
||||
btVector3(+s, h, -2 * s),
|
||||
btVector3(-s, h, +2 * s),
|
||||
btVector3(+s, h, +2 * s),
|
||||
15, 30,
|
||||
0, true, 0.0);
|
||||
|
||||
psb->getCollisionShape()->setMargin(0.02);
|
||||
psb->generateBendingConstraints(2);
|
||||
psb->setTotalMass(.5);
|
||||
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb->m_cfg.kDF = 0.1;
|
||||
psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
|
||||
btTransform clothTransform;
|
||||
clothTransform.setIdentity();
|
||||
clothTransform.setOrigin(btVector3(0, 0.2, 0) + origin);
|
||||
psb->transform(clothTransform);
|
||||
|
||||
b3BulletDefaultFileIO fileio;
|
||||
char absolute_path[1024];
|
||||
char filename[100];
|
||||
sprintf(filename, "/Users/fuchuyuan/Documents/mybullet/build_cmake/examples/ExampleBrowser/states_0_%d.txt", reset_frame);
|
||||
fileio.findResourcePath(filename, absolute_path, 1024);
|
||||
btAlignedObjectArray<btVector3> qs;
|
||||
btAlignedObjectArray<btVector3> vs;
|
||||
CustomSoftBodyHelper::loadDeformableState(qs, vs, absolute_path, &fileio);
|
||||
if (reset_frame > 0)
|
||||
psb->updateState(qs, vs);
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
// psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
|
||||
psb->setCollisionFlags(0);
|
||||
psb->setCacheBarycenter(true);
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
psb->setSelfCollision(false);
|
||||
|
||||
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.2, true);
|
||||
psb->setSpringStiffness(4);
|
||||
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
|
||||
m_forces.push_back(mass_spring);
|
||||
btVector3 gravity = btVector3(0, -9.8, 0);
|
||||
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
||||
// getDeformableDynamicsWorld()->setUseProjection(true);
|
||||
m_forces.push_back(gravity_force);
|
||||
}
|
||||
|
||||
void LoadDeformed::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* LoadDeformedCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new LoadDeformed(options.m_guiHelper);
|
||||
}
|
||||
19
Engine/lib/bullet/examples/DeformableDemo/LoadDeformed.h
Normal file
19
Engine/lib/bullet/examples/DeformableDemo/LoadDeformed.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _LOAD_DEFORMED_H
|
||||
#define _LOAD_DEFORMED_H
|
||||
|
||||
class CommonExampleInterface* LoadDeformedCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_LOAD_DEFORMED_H
|
||||
|
|
@ -0,0 +1,381 @@
|
|||
/*
|
||||
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 "MultibodyClothAnchor.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 MultibodyClothAnchor shows contact between deformable objects and rigid objects.
|
||||
class MultibodyClothAnchor : public CommonDeformableBodyBase
|
||||
{
|
||||
public:
|
||||
MultibodyClothAnchor(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~MultibodyClothAnchor()
|
||||
{
|
||||
}
|
||||
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);
|
||||
}
|
||||
|
||||
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());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btMultiBody* createMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
|
||||
|
||||
void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
|
||||
};
|
||||
|
||||
void MultibodyClothAnchor::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, -20, 0);
|
||||
m_dynamicsWorld->setGravity(gravity);
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
||||
|
||||
// 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, -35, 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,1,1+2);
|
||||
}
|
||||
|
||||
// create a piece of cloth
|
||||
{
|
||||
const btScalar s = 4;
|
||||
const btScalar h = 6;
|
||||
const int r = 9;
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
|
||||
btVector3(+s, h, -s),
|
||||
btVector3(-s, h, +s),
|
||||
btVector3(+s, h, +s), r, r, 4 + 8, true);
|
||||
psb->getCollisionShape()->setMargin(0.01);
|
||||
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 = 2;
|
||||
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);
|
||||
|
||||
bool damping = true;
|
||||
bool gyro = false;
|
||||
int numLinks = 5;
|
||||
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
||||
bool canSleep = false;
|
||||
bool selfCollide = true;
|
||||
btVector3 linkHalfExtents(1.5, .5, .5);
|
||||
btVector3 baseHalfExtents(1.5, .5, .5);
|
||||
|
||||
btMultiBody* mbC = createMultiBody(getDeformableDynamicsWorld(), numLinks, btVector3(s+3.5f, h, -s-0.6f), linkHalfExtents, baseHalfExtents, spherical, true);
|
||||
|
||||
mbC->setCanSleep(canSleep);
|
||||
mbC->setHasSelfCollision(selfCollide);
|
||||
mbC->setUseGyroTerm(gyro);
|
||||
//
|
||||
if (!damping)
|
||||
{
|
||||
mbC->setLinearDamping(0.0f);
|
||||
mbC->setAngularDamping(0.0f);
|
||||
}
|
||||
else
|
||||
{
|
||||
mbC->setLinearDamping(0.04f);
|
||||
mbC->setAngularDamping(0.04f);
|
||||
}
|
||||
|
||||
if (numLinks > 0)
|
||||
{
|
||||
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
||||
if (!spherical)
|
||||
{
|
||||
mbC->setJointPosMultiDof(0, &q0);
|
||||
}
|
||||
else
|
||||
{
|
||||
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
mbC->setJointPosMultiDof(0, quat0);
|
||||
}
|
||||
}
|
||||
///
|
||||
addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
|
||||
|
||||
// quick hack: advance time to populate the variables in multibody
|
||||
m_dynamicsWorld->stepSimulation(SIMD_EPSILON, 0);
|
||||
btAlignedObjectArray<btQuaternion> scratch_q;
|
||||
btAlignedObjectArray<btVector3> scratch_m;
|
||||
mbC->forwardKinematics(scratch_q, scratch_m);
|
||||
psb->appendDeformableAnchor(0, mbC->getLink(3).m_collider);
|
||||
psb->appendDeformableAnchor(r - 1, mbC->getLink(0).m_collider);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void MultibodyClothAnchor::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;
|
||||
}
|
||||
|
||||
btMultiBody* MultibodyClothAnchor::createMultiBody(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
|
||||
{
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 1.f;
|
||||
|
||||
if (baseMass)
|
||||
{
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete pTempBox;
|
||||
}
|
||||
|
||||
bool canSleep = false;
|
||||
|
||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
|
||||
|
||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
||||
pMultiBody->setBasePos(basePosition);
|
||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
||||
btVector3 vel(0, 0, 0);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(0, 1, 0);
|
||||
float linkMass = 1.f;
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
|
||||
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete pTempBox;
|
||||
|
||||
//y-axis assumed up
|
||||
btVector3 parentComToCurrentCom(-linkHalfExtents[0] * 2.f, 0, 0); //par body's COM to cur body's COM offset
|
||||
btVector3 currentPivotToCurrentCom(-linkHalfExtents[0], 0, 0); //cur body's COM to cur body's PIV offset
|
||||
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
|
||||
|
||||
//////
|
||||
btScalar q0 = 0.f * SIMD_PI / 180.f;
|
||||
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
/////
|
||||
|
||||
for (int i = 0; i < numLinks; ++i)
|
||||
{
|
||||
if (!spherical)
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
||||
else
|
||||
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
|
||||
}
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
///
|
||||
pWorld->addMultiBody(pMultiBody);
|
||||
///
|
||||
return pMultiBody;
|
||||
}
|
||||
|
||||
void MultibodyClothAnchor::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
||||
{
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
||||
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
||||
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
|
||||
|
||||
{
|
||||
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(box);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(local_origin[0]);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
pWorld->addCollisionObject(col, 2, 1+2);
|
||||
col->setFriction(1);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
||||
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
|
||||
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(box);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(1);
|
||||
pWorld->addCollisionObject(col, 2, 1+2);
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
|
||||
class CommonExampleInterface* MultibodyClothAnchorCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new MultibodyClothAnchor(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef MULTIBODY_CLOTH_ANCHOR_H
|
||||
#define MULTIBODY_CLOTH_ANCHOR_H
|
||||
|
||||
class CommonExampleInterface* MultibodyClothAnchorCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //MULTIBODY_CLOTH_ANCHOR_H
|
||||
377
Engine/lib/bullet/examples/DeformableDemo/Pinch.cpp
Normal file
377
Engine/lib/bullet/examples/DeformableDemo/Pinch.cpp
Normal file
|
|
@ -0,0 +1,377 @@
|
|||
/*
|
||||
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 "Pinch.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 Pinch shows the frictional contact between kinematic rigid objects with deformable objects
|
||||
|
||||
struct TetraCube
|
||||
{
|
||||
#include "../SoftDemo/cube.inl"
|
||||
};
|
||||
|
||||
class Pinch : public CommonDeformableBodyBase
|
||||
{
|
||||
public:
|
||||
Pinch(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~Pinch()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 25;
|
||||
float pitch = -30;
|
||||
float yaw = 100;
|
||||
float targetPos[3] = {0, -0, 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 createGrip()
|
||||
{
|
||||
int count = 2;
|
||||
float mass = 1e6;
|
||||
btCollisionShape* shape[] = {
|
||||
new btBoxShape(btVector3(3, 3, 0.5)),
|
||||
};
|
||||
static const int nshapes = sizeof(shape) / sizeof(shape[0]);
|
||||
for (int i = 0; i < count; ++i)
|
||||
{
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(10, 0, 0));
|
||||
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
|
||||
createRigidBody(mass, startTransform, shape[i % nshapes]);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void dynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
|
||||
{
|
||||
btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
|
||||
if (rbs.size()<2)
|
||||
return;
|
||||
btRigidBody* rb0 = rbs[0];
|
||||
btScalar pressTime = 0.9;
|
||||
btScalar liftTime = 2.5;
|
||||
btScalar shiftTime = 3.5;
|
||||
btScalar holdTime = 4.5*1000;
|
||||
btScalar dropTime = 5.3*1000;
|
||||
btTransform rbTransform;
|
||||
rbTransform.setIdentity();
|
||||
btVector3 translation;
|
||||
btVector3 velocity;
|
||||
|
||||
btVector3 initialTranslationLeft = btVector3(0.5,3,4);
|
||||
btVector3 initialTranslationRight = btVector3(0.5,3,-4);
|
||||
btVector3 pinchVelocityLeft = btVector3(0,0,-2);
|
||||
btVector3 pinchVelocityRight = btVector3(0,0,2);
|
||||
btVector3 liftVelocity = btVector3(0,5,0);
|
||||
btVector3 shiftVelocity = btVector3(0,0,5);
|
||||
btVector3 holdVelocity = btVector3(0,0,0);
|
||||
btVector3 openVelocityLeft = btVector3(0,0,4);
|
||||
btVector3 openVelocityRight = btVector3(0,0,-4);
|
||||
|
||||
if (time < pressTime)
|
||||
{
|
||||
velocity = pinchVelocityLeft;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * time;
|
||||
}
|
||||
else if (time < liftTime)
|
||||
{
|
||||
velocity = liftVelocity;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime);
|
||||
|
||||
}
|
||||
else if (time < shiftTime)
|
||||
{
|
||||
velocity = shiftVelocity;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
|
||||
}
|
||||
else if (time < holdTime)
|
||||
{
|
||||
velocity = btVector3(0,0,0);
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
|
||||
}
|
||||
else if (time < dropTime)
|
||||
{
|
||||
velocity = openVelocityLeft;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
|
||||
}
|
||||
else
|
||||
{
|
||||
velocity = holdVelocity;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
|
||||
}
|
||||
rbTransform.setOrigin(translation);
|
||||
rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
|
||||
rb0->setCenterOfMassTransform(rbTransform);
|
||||
rb0->setAngularVelocity(btVector3(0,0,0));
|
||||
rb0->setLinearVelocity(velocity);
|
||||
|
||||
btRigidBody* rb1 = rbs[1];
|
||||
if (time < pressTime)
|
||||
{
|
||||
velocity = pinchVelocityRight;
|
||||
translation = initialTranslationRight + pinchVelocityRight * time;
|
||||
}
|
||||
else if (time < liftTime)
|
||||
{
|
||||
velocity = liftVelocity;
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime);
|
||||
|
||||
}
|
||||
else if (time < shiftTime)
|
||||
{
|
||||
velocity = shiftVelocity;
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
|
||||
}
|
||||
else if (time < holdTime)
|
||||
{
|
||||
velocity = btVector3(0,0,0);
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
|
||||
}
|
||||
else if (time < dropTime)
|
||||
{
|
||||
velocity = openVelocityRight;
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
|
||||
}
|
||||
else
|
||||
{
|
||||
velocity = holdVelocity;
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
|
||||
}
|
||||
rbTransform.setOrigin(translation);
|
||||
rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
|
||||
rb1->setCenterOfMassTransform(rbTransform);
|
||||
rb1->setAngularVelocity(btVector3(0,0,0));
|
||||
rb1->setLinearVelocity(velocity);
|
||||
|
||||
rb0->setFriction(20);
|
||||
rb1->setFriction(20);
|
||||
}
|
||||
|
||||
void Pinch::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
|
||||
|
||||
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
||||
sol->setDeformableSolver(deformableBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
||||
btVector3 gravity = btVector3(0, -10, 0);
|
||||
m_dynamicsWorld->setGravity(gravity);
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
|
||||
getDeformableDynamicsWorld()->setSolverCallback(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, -25, 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(0.5);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
// create a soft block
|
||||
{
|
||||
btScalar verts[24] = {0.f, 0.f, 0.f,
|
||||
1.f, 0.f, 0.f,
|
||||
0.f, 1.f, 0.f,
|
||||
0.f, 0.f, 1.f,
|
||||
1.f, 1.f, 0.f,
|
||||
0.f, 1.f, 1.f,
|
||||
1.f, 0.f, 1.f,
|
||||
1.f, 1.f, 1.f
|
||||
};
|
||||
int triangles[60] = {0, 6, 3,
|
||||
0,1,6,
|
||||
7,5,3,
|
||||
7,3,6,
|
||||
4,7,6,
|
||||
4,6,1,
|
||||
7,2,5,
|
||||
7,4,2,
|
||||
0,3,2,
|
||||
2,3,5,
|
||||
0,2,4,
|
||||
0,4,1,
|
||||
0,6,5,
|
||||
0,6,4,
|
||||
3,4,2,
|
||||
3,4,7,
|
||||
2,7,3,
|
||||
2,7,1,
|
||||
4,5,0,
|
||||
4,5,6,
|
||||
};
|
||||
// btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(getDeformableDynamicsWorld()->getWorldInfo(), &verts[0], &triangles[0], 20);
|
||||
////
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
|
||||
psb->scale(btVector3(2, 2, 2));
|
||||
psb->translate(btVector3(0, 4, 0));
|
||||
psb->getCollisionShape()->setMargin(0.01);
|
||||
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 = .5;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
btSoftBodyHelpers::generateBoundaryFaces(psb);
|
||||
|
||||
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
||||
m_forces.push_back(gravity_force);
|
||||
|
||||
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(8,3, 0.02);
|
||||
neohookean->setPoissonRatio(0.3);
|
||||
neohookean->setYoungsModulus(25);
|
||||
neohookean->setDamping(0.01);
|
||||
psb->m_cfg.drag = 0.001;
|
||||
getDeformableDynamicsWorld()->addForce(psb, neohookean);
|
||||
m_forces.push_back(neohookean);
|
||||
// add a grippers
|
||||
createGrip();
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void Pinch::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* PinchCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new Pinch(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
Engine/lib/bullet/examples/DeformableDemo/Pinch.h
Normal file
19
Engine/lib/bullet/examples/DeformableDemo/Pinch.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _PINCH_H
|
||||
#define _PINCH_H
|
||||
|
||||
class CommonExampleInterface* PinchCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_PINCH_H
|
||||
406
Engine/lib/bullet/examples/DeformableDemo/PinchFriction.cpp
Normal file
406
Engine/lib/bullet/examples/DeformableDemo/PinchFriction.cpp
Normal file
|
|
@ -0,0 +1,406 @@
|
|||
/*
|
||||
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 "PinchFriction.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 PinchFriction shows the frictional contacts among volumetric deformable objects
|
||||
|
||||
struct TetraCube
|
||||
{
|
||||
#include "../SoftDemo/cube.inl"
|
||||
};
|
||||
|
||||
class PinchFriction : public CommonDeformableBodyBase
|
||||
{
|
||||
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
|
||||
public:
|
||||
PinchFriction(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~PinchFriction()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 25;
|
||||
float pitch = -30;
|
||||
float yaw = 100;
|
||||
float targetPos[3] = {0, -0, 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 createGrip()
|
||||
{
|
||||
int count = 2;
|
||||
float mass = 1e6;
|
||||
btCollisionShape* shape[] = {
|
||||
new btBoxShape(btVector3(3, 3, 0.5)),
|
||||
};
|
||||
static const int nshapes = sizeof(shape) / sizeof(shape[0]);
|
||||
for (int i = 0; i < count; ++i)
|
||||
{
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(10, 0, 0));
|
||||
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
|
||||
createRigidBody(mass, startTransform, shape[i % nshapes]);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
}
|
||||
|
||||
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual void removePickingConstraint(){}
|
||||
};
|
||||
|
||||
void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
|
||||
{
|
||||
btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
|
||||
if (rbs.size()<2)
|
||||
return;
|
||||
btRigidBody* rb0 = rbs[0];
|
||||
btScalar pressTime = 0.45;
|
||||
btScalar liftTime = 5;
|
||||
btScalar shiftTime = 1.75;
|
||||
btScalar holdTime = 7.5;
|
||||
btScalar dropTime = 8.3;
|
||||
btTransform rbTransform;
|
||||
rbTransform.setIdentity();
|
||||
btVector3 translation;
|
||||
btVector3 velocity;
|
||||
|
||||
btVector3 initialTranslationLeft = btVector3(0.5,3,4);
|
||||
btVector3 initialTranslationRight = btVector3(0.5,3,-4);
|
||||
btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-2);
|
||||
btVector3 PinchFrictionVelocityRight = btVector3(0,0,2);
|
||||
btVector3 liftVelocity = btVector3(0,2,0);
|
||||
btVector3 shiftVelocity = btVector3(0,0,0);
|
||||
btVector3 holdVelocity = btVector3(0,0,0);
|
||||
btVector3 openVelocityLeft = btVector3(0,0,4);
|
||||
btVector3 openVelocityRight = btVector3(0,0,-4);
|
||||
|
||||
if (time < pressTime)
|
||||
{
|
||||
velocity = PinchFrictionVelocityLeft;
|
||||
translation = initialTranslationLeft + PinchFrictionVelocityLeft * time;
|
||||
}
|
||||
else if (time < liftTime)
|
||||
{
|
||||
velocity = liftVelocity;
|
||||
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (time - pressTime);
|
||||
|
||||
}
|
||||
else if (time < shiftTime)
|
||||
{
|
||||
velocity = shiftVelocity;
|
||||
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
|
||||
}
|
||||
else if (time < holdTime)
|
||||
{
|
||||
velocity = btVector3(0,0,0);
|
||||
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
|
||||
}
|
||||
else if (time < dropTime)
|
||||
{
|
||||
velocity = openVelocityLeft;
|
||||
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
|
||||
}
|
||||
else
|
||||
{
|
||||
velocity = holdVelocity;
|
||||
translation = initialTranslationLeft + PinchFrictionVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
|
||||
}
|
||||
rbTransform.setOrigin(translation);
|
||||
rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
|
||||
rb0->setCenterOfMassTransform(rbTransform);
|
||||
rb0->setAngularVelocity(btVector3(0,0,0));
|
||||
rb0->setLinearVelocity(velocity);
|
||||
|
||||
btRigidBody* rb1 = rbs[1];
|
||||
if (time < pressTime)
|
||||
{
|
||||
velocity = PinchFrictionVelocityRight;
|
||||
translation = initialTranslationRight + PinchFrictionVelocityRight * time;
|
||||
}
|
||||
else if (time < liftTime)
|
||||
{
|
||||
velocity = liftVelocity;
|
||||
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (time - pressTime);
|
||||
|
||||
}
|
||||
else if (time < shiftTime)
|
||||
{
|
||||
velocity = shiftVelocity;
|
||||
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
|
||||
}
|
||||
else if (time < holdTime)
|
||||
{
|
||||
velocity = btVector3(0,0,0);
|
||||
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
|
||||
}
|
||||
else if (time < dropTime)
|
||||
{
|
||||
velocity = openVelocityRight;
|
||||
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
|
||||
}
|
||||
else
|
||||
{
|
||||
velocity = holdVelocity;
|
||||
translation = initialTranslationRight + PinchFrictionVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
|
||||
}
|
||||
rbTransform.setOrigin(translation);
|
||||
rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
|
||||
rb1->setCenterOfMassTransform(rbTransform);
|
||||
rb1->setAngularVelocity(btVector3(0,0,0));
|
||||
rb1->setLinearVelocity(velocity);
|
||||
|
||||
rb0->setFriction(200);
|
||||
rb1->setFriction(200);
|
||||
}
|
||||
|
||||
void PinchFriction::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
|
||||
|
||||
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
||||
sol->setDeformableSolver(deformableBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
||||
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()->setSolverCallback(dynamics2);
|
||||
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, -25, 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(0.5);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
// create a soft block
|
||||
{
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
|
||||
psb->scale(btVector3(2, 2, 1));
|
||||
psb->translate(btVector3(0, 2.1, 2.2));
|
||||
psb->getCollisionShape()->setMargin(0.025);
|
||||
psb->setSpringStiffness(10);
|
||||
psb->setTotalMass(.6);
|
||||
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb->m_cfg.kDF = 2;
|
||||
btSoftBodyHelpers::generateBoundaryFaces(psb);
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
|
||||
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
||||
m_forces.push_back(gravity_force);
|
||||
|
||||
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(6,6,.003);
|
||||
getDeformableDynamicsWorld()->addForce(psb, neohookean);
|
||||
m_forces.push_back(neohookean);
|
||||
}
|
||||
|
||||
// create a second soft block
|
||||
{
|
||||
btSoftBody* psb2 = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
|
||||
psb2->scale(btVector3(2, 2, 1));
|
||||
psb2->translate(btVector3(0, 2.1, -2.2));
|
||||
psb2->getCollisionShape()->setMargin(0.025);
|
||||
psb2->setTotalMass(.6);
|
||||
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb2->m_cfg.kDF = 2;
|
||||
psb2->setSpringStiffness(10);
|
||||
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb2->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
||||
btSoftBodyHelpers::generateBoundaryFaces(psb2);
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb2);
|
||||
|
||||
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb2, gravity_force);
|
||||
m_forces.push_back(gravity_force);
|
||||
|
||||
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(6,6,.003);
|
||||
getDeformableDynamicsWorld()->addForce(psb2, neohookean);
|
||||
m_forces.push_back(neohookean);
|
||||
}
|
||||
|
||||
// create a third soft block
|
||||
{
|
||||
btSoftBody* psb3 = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
|
||||
psb3->scale(btVector3(2, 2, 1));
|
||||
psb3->translate(btVector3(0, 2.1, 0));
|
||||
psb3->getCollisionShape()->setMargin(0.025);
|
||||
psb3->setTotalMass(.6);
|
||||
psb3->setSpringStiffness(10);
|
||||
psb3->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb3->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb3->m_cfg.kDF = 2;
|
||||
psb3->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb3->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
|
||||
psb3->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
|
||||
btSoftBodyHelpers::generateBoundaryFaces(psb3);
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb3);
|
||||
|
||||
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb3, gravity_force);
|
||||
m_forces.push_back(gravity_force);
|
||||
|
||||
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(6,6,.003);
|
||||
getDeformableDynamicsWorld()->addForce(psb3, neohookean);
|
||||
m_forces.push_back(neohookean);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
// add a pair of grippers
|
||||
createGrip();
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void PinchFriction::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* PinchFrictionCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new PinchFriction(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
Engine/lib/bullet/examples/DeformableDemo/PinchFriction.h
Normal file
19
Engine/lib/bullet/examples/DeformableDemo/PinchFriction.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _PINCH_FRICTION_H
|
||||
#define _PINCH_FRICTION_H
|
||||
|
||||
class CommonExampleInterface* PinchFrictionCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_PINCH_FRICTION_H
|
||||
238
Engine/lib/bullet/examples/DeformableDemo/SplitImpulse.cpp
Normal file
238
Engine/lib/bullet/examples/DeformableDemo/SplitImpulse.cpp
Normal file
|
|
@ -0,0 +1,238 @@
|
|||
/*
|
||||
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 "SplitImpulse.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 SplitImpulse shows the effect of split impulse in deformable rigid contact.
|
||||
class SplitImpulse : public CommonDeformableBodyBase
|
||||
{
|
||||
public:
|
||||
SplitImpulse(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~SplitImpulse()
|
||||
{
|
||||
}
|
||||
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;
|
||||
|
||||
btCollisionShape* shape[] = {
|
||||
new btBoxShape(btVector3(1, 1, 1)),
|
||||
};
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0, 0.7, 0));
|
||||
createRigidBody(mass, startTransform, shape[0]);
|
||||
}
|
||||
|
||||
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(), deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void SplitImpulse::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, -50, 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
|
||||
{
|
||||
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);
|
||||
|
||||
|
||||
psb->getCollisionShape()->setMargin(0.015);
|
||||
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 = 1;
|
||||
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 SplitImpulse::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* SplitImpulseCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new SplitImpulse(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
Engine/lib/bullet/examples/DeformableDemo/SplitImpulse.h
Normal file
19
Engine/lib/bullet/examples/DeformableDemo/SplitImpulse.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _SPLIT_IMPULSE_H
|
||||
#define _SPLIT_IMPULSE_H
|
||||
|
||||
class CommonExampleInterface* SplitImpulseCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_SPLIT_IMPULSE_H
|
||||
|
|
@ -0,0 +1,326 @@
|
|||
/*
|
||||
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 "VolumetricDeformable.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 "../CommonInterfaces/CommonParameterInterface.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
|
||||
///The VolumetricDeformable shows the contact between volumetric deformable objects and rigid objects.
|
||||
static btScalar E = 50;
|
||||
static btScalar nu = 0.3;
|
||||
static btScalar damping_alpha = 0.1;
|
||||
static btScalar damping_beta = 0.01;
|
||||
|
||||
struct TetraCube
|
||||
{
|
||||
#include "../SoftDemo/cube.inl"
|
||||
};
|
||||
|
||||
class VolumetricDeformable : public CommonDeformableBodyBase
|
||||
{
|
||||
btDeformableLinearElasticityForce* m_linearElasticity;
|
||||
|
||||
public:
|
||||
VolumetricDeformable(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
m_linearElasticity = 0;
|
||||
m_pickingForceElasticStiffness = 100;
|
||||
m_pickingForceDampingStiffness = 0;
|
||||
m_maxPickingForce = 1e10; // allow large picking force with implicit scheme.
|
||||
}
|
||||
virtual ~VolumetricDeformable()
|
||||
{
|
||||
}
|
||||
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)
|
||||
{
|
||||
m_linearElasticity->setPoissonRatio(nu);
|
||||
m_linearElasticity->setYoungsModulus(E);
|
||||
m_linearElasticity->setDamping(damping_alpha, damping_beta);
|
||||
//use a smaller internal timestep, there are stability issues
|
||||
float internalTimeStep = 1. / 240;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
|
||||
}
|
||||
|
||||
void createStaticBox(const btVector3& halfEdge, const btVector3& translation)
|
||||
{
|
||||
btCollisionShape* box = new btBoxShape(halfEdge);
|
||||
m_collisionShapes.push_back(box);
|
||||
|
||||
btTransform Transform;
|
||||
Transform.setIdentity();
|
||||
Transform.setOrigin(translation);
|
||||
Transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.0));
|
||||
//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)
|
||||
box->calculateLocalInertia(mass, localInertia);
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(Transform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, box, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
body->setFriction(0.5);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
void Ctor_RbUpStack(int count)
|
||||
{
|
||||
float mass = 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)),
|
||||
};
|
||||
static const int nshapes = sizeof(shape) / sizeof(shape[0]);
|
||||
for (int i = 0; i < count; ++i)
|
||||
{
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(i, 10 + 2 * i, i-1));
|
||||
createRigidBody(mass, startTransform, shape[i % nshapes]);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void VolumetricDeformable::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();
|
||||
|
||||
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
||||
sol->setDeformableSolver(deformableBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
|
||||
btVector3 gravity = btVector3(0, -100, 0);
|
||||
m_dynamicsWorld->setGravity(gravity);
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
|
||||
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
{
|
||||
///create a ground
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(50.), btScalar(150.)));
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -50, 0));
|
||||
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.0));
|
||||
//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);
|
||||
}
|
||||
|
||||
createStaticBox(btVector3(1, 5, 5), btVector3(-5,0,0));
|
||||
createStaticBox(btVector3(1, 5, 5), btVector3(5,0,0));
|
||||
createStaticBox(btVector3(5, 5, 1), btVector3(0,0,5));
|
||||
createStaticBox(btVector3(5, 5, 1), btVector3(0,0,-5));
|
||||
|
||||
// create volumetric soft body
|
||||
{
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
psb->scale(btVector3(2, 2, 2));
|
||||
psb->translate(btVector3(0, 5, 0));
|
||||
psb->getCollisionShape()->setMargin(0.1);
|
||||
psb->setTotalMass(0.5);
|
||||
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb->m_cfg.kDF = 2;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
|
||||
psb->m_sleepingThreshold = 0;
|
||||
btSoftBodyHelpers::generateBoundaryFaces(psb);
|
||||
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
||||
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
||||
m_forces.push_back(gravity_force);
|
||||
|
||||
btDeformableLinearElasticityForce* linearElasticity = new btDeformableLinearElasticityForce(100,100,0.01);
|
||||
m_linearElasticity = linearElasticity;
|
||||
getDeformableDynamicsWorld()->addForce(psb, linearElasticity);
|
||||
m_forces.push_back(linearElasticity);
|
||||
}
|
||||
getDeformableDynamicsWorld()->setImplicit(true);
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
getDeformableDynamicsWorld()->setUseProjection(true);
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
|
||||
// add a few rigid bodies
|
||||
Ctor_RbUpStack(4);
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
{
|
||||
SliderParams slider("Young's Modulus", &E);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 2000;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Poisson Ratio", &nu);
|
||||
slider.m_minVal = 0.05;
|
||||
slider.m_maxVal = 0.49;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Mass Damping", &damping_alpha);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 1;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
{
|
||||
SliderParams slider("Stiffness Damping", &damping_beta);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 0.1;
|
||||
if (m_guiHelper->getParameterInterface())
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
}
|
||||
|
||||
void VolumetricDeformable::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* VolumetricDeformableCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new VolumetricDeformable(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef _VOLUMETRIC_DEFORMABLE_H
|
||||
#define _VOLUMETRIC_DEFORMABLE_H
|
||||
|
||||
class CommonExampleInterface* VolumetricDeformableCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_VOLUMETRIC_DEFORMABLE__H
|
||||
Loading…
Add table
Add a link
Reference in a new issue