mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-11 22:54:34 +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
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ReducedGrasp.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
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#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
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#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
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#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonDeformableBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
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// static btScalar E = 50;
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// static btScalar nu = 0.3;
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static btScalar damping_alpha = 0.0;
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static btScalar damping_beta = 0.0001;
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static int num_modes = 20;
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class ReducedGrasp : public CommonDeformableBodyBase
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{
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public:
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ReducedGrasp(struct GUIHelperInterface* helper)
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: CommonDeformableBodyBase(helper)
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{
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}
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virtual ~ReducedGrasp()
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{
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}
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void initPhysics();
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void exitPhysics();
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void resetCamera()
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{
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float dist = 10;
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float pitch = -10;
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float yaw = 90;
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// float dist = 25;
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// float pitch = -30;
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// float yaw = 100;
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float targetPos[3] = {0, 0, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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void stepSimulation(float deltaTime)
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{
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//use a smaller internal timestep, there are stability issues
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float internalTimeStep = 1. / 240.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
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// float internalTimeStep = 1. / 60.f;
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// m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
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}
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void createGrip()
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{
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int count = 2;
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float mass = 1e6;
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btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 0.25));
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{
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,1,0));
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startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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createRigidBody(mass, startTransform, shape);
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}
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{
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,1,-4));
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startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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createRigidBody(mass, startTransform, shape);
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}
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}
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void Ctor_RbUpStack()
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{
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float mass = 8;
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btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,9.5,0));
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btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
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rb1->setLinearVelocity(btVector3(0, 0, 0));
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rb1->setFriction(0.7);
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}
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virtual void renderScene()
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{
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CommonDeformableBodyBase::renderScene();
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btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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// btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
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// {
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// btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
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// btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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// }
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// for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
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// {
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// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.1, btVector3(0, 1, 0));
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// }
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btSoftBody* psb = static_cast<btSoftBody*>(deformableWorld->getSoftBodyArray()[i]);
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{
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btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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}
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}
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static void GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
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};
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void ReducedGrasp::GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
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{
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btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
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if (rbs.size()<2)
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return;
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btRigidBody* rb0 = rbs[0];
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// btScalar pressTime = 0.9;
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// btScalar pressTime = 0.96;
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btScalar pressTime = 1.26;
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btScalar liftTime = 2.5;
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btScalar shiftTime = 6;
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btScalar holdTime = 7;
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btScalar dropTime = 10;
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// btScalar holdTime = 500;
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// btScalar dropTime = 1000;
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btTransform rbTransform;
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rbTransform.setIdentity();
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btVector3 translation;
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btVector3 velocity;
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btVector3 initialTranslationLeft = btVector3(0,1,0); // inner face has z=2
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btVector3 initialTranslationRight = btVector3(0,1,-4); // inner face has z=-2
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btVector3 pinchVelocityLeft = btVector3(0,0,-1);
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btVector3 pinchVelocityRight = btVector3(0,0,1);
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btVector3 liftVelocity = btVector3(0,4,0);
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btVector3 shiftVelocity = btVector3(0,0,2);
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btVector3 holdVelocity = btVector3(0,0,0);
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btVector3 openVelocityLeft = btVector3(0,0,4);
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btVector3 openVelocityRight = btVector3(0,0,-4);
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if (time < pressTime)
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{
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velocity = pinchVelocityLeft;
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translation = initialTranslationLeft + pinchVelocityLeft * time;
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}
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// else
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// {
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// velocity = btVector3(0, 0, 0);
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// translation = initialTranslationLeft + pinchVelocityLeft * pressTime;
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// }
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else if (time < liftTime)
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{
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velocity = liftVelocity;
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime);
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}
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else if (time < shiftTime)
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{
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velocity = shiftVelocity;
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
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}
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else if (time < holdTime)
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{
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velocity = btVector3(0,0,0);
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
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}
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else if (time < dropTime)
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{
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velocity = openVelocityLeft;
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
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}
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else
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{
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velocity = holdVelocity;
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translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
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}
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rbTransform.setOrigin(translation);
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rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
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rb0->setCenterOfMassTransform(rbTransform);
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rb0->setAngularVelocity(btVector3(0,0,0));
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rb0->setLinearVelocity(velocity);
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btRigidBody* rb1 = rbs[1];
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if (time < pressTime)
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{
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velocity = pinchVelocityRight;
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translation = initialTranslationRight + pinchVelocityRight * time;
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}
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// else
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// {
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// velocity = btVector3(0, 0, 0);
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// translation = initialTranslationRight + pinchVelocityRight * pressTime;
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// }
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else if (time < liftTime)
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{
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velocity = liftVelocity;
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime);
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}
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else if (time < shiftTime)
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{
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velocity = shiftVelocity;
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
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}
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else if (time < holdTime)
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{
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velocity = btVector3(0,0,0);
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
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}
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else if (time < dropTime)
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{
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velocity = openVelocityRight;
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
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}
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else
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{
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velocity = holdVelocity;
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translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
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}
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rbTransform.setOrigin(translation);
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rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
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rb1->setCenterOfMassTransform(rbTransform);
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rb1->setAngularVelocity(btVector3(0,0,0));
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rb1->setLinearVelocity(velocity);
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rb0->setFriction(20);
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rb1->setFriction(20);
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}
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void ReducedGrasp::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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// btDeformableBodySolver* solver = new btDeformableBodySolver();
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btReducedDeformableBodySolver* solver = new btReducedDeformableBodySolver();
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(solver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
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btVector3 gravity = btVector3(0, -10, 0);
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m_dynamicsWorld->setGravity(gravity);
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getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
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getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
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getDeformableDynamicsWorld()->setSolverCallback(GripperDynamics);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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// create volumetric reduced deformable body
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{
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std::string file_path("../../../data/reduced_cube/");
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std::string vtk_file("cube_mesh.vtk");
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btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
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getDeformableDynamicsWorld()->getWorldInfo(),
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file_path,
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vtk_file,
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num_modes,
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false);
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getDeformableDynamicsWorld()->addSoftBody(rsb);
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rsb->getCollisionShape()->setMargin(0.015);
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btTransform init_transform;
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init_transform.setIdentity();
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init_transform.setOrigin(btVector3(0, 1, -2));
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// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
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// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
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rsb->transform(init_transform);
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rsb->setStiffnessScale(100);
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rsb->setDamping(damping_alpha, damping_beta);
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rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
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rsb->m_cfg.kDF = 0;
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rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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rsb->m_sleepingThreshold = 0;
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btSoftBodyHelpers::generateBoundaryFaces(rsb);
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}
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// create full deformable cube
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{
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// std::string filepath("../../../examples/SoftDemo/cube/");
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// std::string filename = filepath + "mesh.vtk";
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// btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
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// // psb->scale(btVector3(2, 2, 2));
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// psb->translate(btVector3(0, 1, -2));
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// psb->getCollisionShape()->setMargin(0.05);
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// psb->setTotalMass(28.6);
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// psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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// psb->m_cfg.kCHR = 1; // collision hardness with rigid body
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// psb->m_cfg.kDF = .5;
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// psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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// psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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// getDeformableDynamicsWorld()->addSoftBody(psb);
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// btSoftBodyHelpers::generateBoundaryFaces(psb);
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// btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
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// getDeformableDynamicsWorld()->addForce(psb, gravity_force);
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// m_forces.push_back(gravity_force);
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// btScalar E = 10000;
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// btScalar nu = 0.3;
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// btScalar lambda = E * nu / ((1 + nu) * (1 - 2 * nu));
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// btScalar mu = E / (2 * (1 + nu));
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// btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(lambda, mu, 0.02);
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// // neohookean->setPoissonRatio(0.3);
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// // neohookean->setYoungsModulus(25);
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// neohookean->setDamping(0.01);
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// psb->m_cfg.drag = 0.001;
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// getDeformableDynamicsWorld()->addForce(psb, neohookean);
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// m_forces.push_back(neohookean);
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}
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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getDeformableDynamicsWorld()->setUseProjection(false);
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
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getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
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getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
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getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
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getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
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// grippers
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createGrip();
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// rigid block
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// Ctor_RbUpStack();
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// {
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// float mass = 10;
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// btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
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// btTransform startTransform;
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// startTransform.setIdentity();
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// startTransform.setOrigin(btVector3(0,4,0));
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// btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
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// rb1->setLinearVelocity(btVector3(0, 0, 0));
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// }
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//create a ground
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -25, 0));
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groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(0.5);
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||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void ReducedGrasp::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* ReducedGraspCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new ReducedGrasp(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue