mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-11 22:54:34 +00:00
* Adjustment: Update Bullet version to 3.24.
This commit is contained in:
Robert MacGregor
parent
35de012ee7
commit
4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
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#include "InvertedPendulumPDControl.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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static btScalar radius(0.2);
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static btScalar kp = 100;
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static btScalar kd = 20;
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static btScalar maxForce = 100;
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struct InvertedPendulumPDControl : public CommonMultiBodyBase
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{
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btMultiBody* m_multiBody;
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btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
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bool m_once;
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int m_frameCount;
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public:
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InvertedPendulumPDControl(struct GUIHelperInterface* helper);
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virtual ~InvertedPendulumPDControl();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 5;
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float pitch = -21;
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float yaw = 270;
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float targetPos[3] = {-1.34, 1.4, 3.44};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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};
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InvertedPendulumPDControl::InvertedPendulumPDControl(struct GUIHelperInterface* helper)
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: CommonMultiBodyBase(helper),
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m_once(true),
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m_frameCount(0)
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{
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}
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InvertedPendulumPDControl::~InvertedPendulumPDControl()
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{
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}
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btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans, bool fixedBase)
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{
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btVector4 colors[4] =
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{
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btVector4(1, 0, 0, 1),
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btVector4(0, 1, 0, 1),
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btVector4(0, 1, 1, 1),
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btVector4(1, 1, 0, 1),
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};
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int curColor = 0;
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bool damping = false;
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bool gyro = false;
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int numLinks = 2;
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bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool canSleep = false;
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bool selfCollide = false;
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btVector3 linkHalfExtents(0.05, 0.37, 0.1);
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btVector3 baseHalfExtents(0.04, 0.35, 0.08);
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//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
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//init the base
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btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
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float baseMass = fixedBase ? 0.f : 10.f;
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if (baseMass)
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{
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//btCollisionShape *shape = new btSphereShape(baseHalfExtents[0]);// btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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btCollisionShape* shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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shape->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete shape;
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}
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btMultiBody* pMultiBody = new btMultiBody(numLinks, 0, baseInertiaDiag, fixedBase, canSleep);
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pMultiBody->setBaseWorldTransform(baseWorldTrans);
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btVector3 vel(0, 0, 0);
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// pMultiBody->setBaseVel(vel);
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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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//y-axis assumed up
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btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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//////
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btScalar q0 = 1.f * SIMD_PI / 180.f;
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btQuaternion quat0(btVector3(1, 0, 0).normalized(), q0);
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quat0.normalize();
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/////
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for (int i = 0; i < numLinks; ++i)
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{
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float linkMass = 1.f;
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//if (i==3 || i==2)
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// linkMass= 1000;
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape* shape = 0;
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if (i == 0)
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{
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shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); //
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}
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else
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{
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shape = new btSphereShape(radius);
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}
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shape->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete shape;
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if (!spherical)
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{
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//pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
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if (i == 0)
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{
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pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
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btQuaternion(0.f, 0.f, 0.f, 1.f),
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hingeJointAxis,
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parentComToCurrentPivot,
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currentPivotToCurrentCom, false);
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}
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else
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{
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btVector3 parentComToCurrentCom(0, -radius * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -radius, 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
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btQuaternion(0.f, 0.f, 0.f, 1.f),
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parentComToCurrentPivot,
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currentPivotToCurrentCom);
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}
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//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
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}
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else
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{
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//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
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pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
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}
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}
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pMultiBody->finalizeMultiDof();
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///
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world->addMultiBody(pMultiBody);
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btMultiBody* mbC = pMultiBody;
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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//
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if (!damping)
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{
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mbC->setLinearDamping(0.f);
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mbC->setAngularDamping(0.f);
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}
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else
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{
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mbC->setLinearDamping(0.1f);
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mbC->setAngularDamping(0.9f);
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}
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//
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//////////////////////////////////////////////
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if (numLinks > 0)
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{
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btScalar q0 = 180.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC->setJointPosMultiDof(0, &q0);
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}
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else
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC->setJointPosMultiDof(0, quat0);
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}
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}
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///
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btAlignedObjectArray<btQuaternion> world_to_local;
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world_to_local.resize(pMultiBody->getNumLinks() + 1);
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btAlignedObjectArray<btVector3> local_origin;
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local_origin.resize(pMultiBody->getNumLinks() + 1);
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world_to_local[0] = pMultiBody->getWorldToBaseRot();
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local_origin[0] = pMultiBody->getBasePos();
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// double friction = 1;
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{
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// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
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// float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
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if (1)
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{
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btCollisionShape* shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); //new btSphereShape(baseHalfExtents[0]);
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guiHelper->createCollisionShapeGraphicsObject(shape);
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
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col->setCollisionShape(shape);
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btTransform tr;
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tr.setIdentity();
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//if we don't set the initial pose of the btCollisionObject, the simulator will do this
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//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
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tr.setOrigin(local_origin[0]);
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btQuaternion orn(btVector3(0, 0, 1), 0.25 * 3.1415926538);
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tr.setRotation(orn);
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col->setWorldTransform(tr);
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bool isDynamic = (baseMass > 0 && !fixedBase);
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int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //, 2,1+2);
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btVector4 color(0.0, 0.0, 0.5, 1);
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guiHelper->createCollisionObjectGraphicsObject(col, color);
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// col->setFriction(friction);
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pMultiBody->setBaseCollider(col);
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}
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}
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for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
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{
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const int parent = pMultiBody->getParent(i);
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world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
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local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
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}
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for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
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{
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btVector3 posr = local_origin[i + 1];
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// float pos[4]={posr.x(),posr.y(),posr.z(),1};
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const 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()};
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btCollisionShape* shape = 0;
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if (i == 0)
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{
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shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); //btSphereShape(linkHalfExtents[0]);
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}
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else
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{
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shape = new btSphereShape(radius);
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}
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guiHelper->createCollisionShapeGraphicsObject(shape);
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
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col->setCollisionShape(shape);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(posr);
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tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
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col->setWorldTransform(tr);
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// col->setFriction(friction);
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bool isDynamic = 1; //(linkMass > 0);
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int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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//if (i==0||i>numLinks-2)
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{
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world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //,2,1+2);
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btVector4 color = colors[curColor];
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curColor++;
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curColor &= 3;
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guiHelper->createCollisionObjectGraphicsObject(col, color);
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pMultiBody->getLink(i).m_collider = col;
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}
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}
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return pMultiBody;
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}
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void InvertedPendulumPDControl::initPhysics()
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{
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{
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SliderParams slider("Kp", &kp);
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slider.m_minVal = -200;
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slider.m_maxVal = 200;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("Kd", &kd);
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slider.m_minVal = -50;
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slider.m_maxVal = 50;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("max force", &maxForce);
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slider.m_minVal = 0;
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slider.m_maxVal = 100;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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int upAxis = 1;
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m_guiHelper->setUpAxis(upAxis);
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this->createEmptyDynamicsWorld();
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m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
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m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(
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//btIDebugDraw::DBG_DrawConstraints
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+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
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m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
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btTransform baseWorldTrans;
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baseWorldTrans.setIdentity();
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baseWorldTrans.setOrigin(btVector3(1, 2, 3));
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m_multiBody = createInvertedPendulumMultiBody(m_dynamicsWorld, m_guiHelper, baseWorldTrans, true);
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//for (int i=pMultiBody->getNumLinks()-1;i>=0;i--)//
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for (int i = 0; i < m_multiBody->getNumLinks(); i++)
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{
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btMultiBodyJointFeedback* fb = new btMultiBodyJointFeedback();
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m_multiBody->getLink(i).m_jointFeedback = fb;
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m_jointFeedbacks.push_back(fb);
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//break;
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}
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}
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char fileName[1024];
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static btAlignedObjectArray<btScalar> qDesiredArray;
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void InvertedPendulumPDControl::stepSimulation(float deltaTime)
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{
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static btScalar offset = -0.1 * SIMD_PI;
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m_frameCount++;
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if ((m_frameCount & 0xff) == 0)
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{
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offset = -offset;
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}
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btScalar target = SIMD_PI + offset;
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qDesiredArray.resize(0);
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qDesiredArray.resize(m_multiBody->getNumLinks(), target);
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for (int joint = 0; joint < m_multiBody->getNumLinks(); joint++)
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{
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int dof1 = 0;
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btScalar qActual = m_multiBody->getJointPosMultiDof(joint)[dof1];
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btScalar qdActual = m_multiBody->getJointVelMultiDof(joint)[dof1];
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btScalar positionError = (qDesiredArray[joint] - qActual);
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double desiredVelocity = 0;
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btScalar velocityError = (desiredVelocity - qdActual);
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btScalar force = kp * positionError + kd * velocityError;
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btClamp(force, -maxForce, maxForce);
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m_multiBody->addJointTorque(joint, force);
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}
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if (m_frameCount == 100)
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{
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const char* gPngFileName = "pendulum";
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if (gPngFileName)
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{
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//printf("gPngFileName=%s\n",gPngFileName);
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sprintf(fileName, "%s%d.png", gPngFileName, m_frameCount);
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b3Printf("Made screenshot %s", fileName);
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this->m_guiHelper->getAppInterface()->dumpNextFrameToPng(fileName);
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}
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}
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m_dynamicsWorld->stepSimulation(1. / 60., 0); //240,0);
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static int count = 0;
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if ((count & 0x0f) == 0)
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{
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#if 0
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for (int i=0;i<m_jointFeedbacks.size();i++)
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{
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b3Printf("F_reaction[%i] linear:%f,%f,%f, angular:%f,%f,%f",
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i,
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m_jointFeedbacks[i]->m_reactionForces.m_topVec[0],
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m_jointFeedbacks[i]->m_reactionForces.m_topVec[1],
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m_jointFeedbacks[i]->m_reactionForces.m_topVec[2],
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m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[0],
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m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[1],
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m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[2]
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);
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}
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#endif
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}
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count++;
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/*
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b3Printf("base angvel = %f,%f,%f",m_multiBody->getBaseOmega()[0],
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m_multiBody->getBaseOmega()[1],
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m_multiBody->getBaseOmega()[2]
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);
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*/
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// btScalar jointVel =m_multiBody->getJointVel(0);
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// b3Printf("child angvel = %f",jointVel);
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}
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class CommonExampleInterface* InvertedPendulumPDControlCreateFunc(struct CommonExampleOptions& options)
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{
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return new InvertedPendulumPDControl(options.m_guiHelper);
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}
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@ -0,0 +1,6 @@
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#ifndef INVERTED_PENDULUM_PD_CONTROL_H
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#define INVERTED_PENDULUM_PD_CONTROL_H
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|
||||
class CommonExampleInterface* InvertedPendulumPDControlCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //INVERTED_PENDULUM_PD_CONTROL_H
|
||||
|
|
@ -0,0 +1,201 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2015 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 "KinematicMultiBodyExample.h"
|
||||
//#define USE_MOTIONSTATE 1
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Z 5
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "../OpenGLWindow/ShapeData.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
|
||||
namespace {
|
||||
|
||||
void kinematicPreTickCallback(btDynamicsWorld* world, btScalar deltaTime)
|
||||
{
|
||||
btMultiBody* groundBody = (btMultiBody*)world->getWorldUserInfo();
|
||||
btTransform predictedTrans;
|
||||
btVector3 linearVelocity(0, 0, 0);
|
||||
btVector3 angularVelocity(0, 0.1, 0);
|
||||
btTransformUtil::integrateTransform(groundBody->getBaseWorldTransform(), linearVelocity, angularVelocity, deltaTime, predictedTrans);
|
||||
groundBody->setBaseWorldTransform(predictedTrans);
|
||||
groundBody->setBaseVel(linearVelocity);
|
||||
groundBody->setBaseOmega(angularVelocity);
|
||||
|
||||
static float time = 0.0;
|
||||
time += deltaTime;
|
||||
double old_joint_pos = groundBody->getJointPos(0);
|
||||
double joint_pos = 0.5 * sin(time * 3.0 - 0.3);
|
||||
double joint_vel = (joint_pos - old_joint_pos) / deltaTime;
|
||||
groundBody->setJointPosMultiDof(0, &joint_pos);
|
||||
groundBody->setJointVelMultiDof(0, &joint_vel);
|
||||
}
|
||||
|
||||
struct KinematicMultiBodyExample : public CommonMultiBodyBase
|
||||
{
|
||||
btMultiBody* m_groundBody;
|
||||
|
||||
KinematicMultiBodyExample(struct GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper),
|
||||
m_groundBody(0)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
}
|
||||
}
|
||||
|
||||
virtual ~KinematicMultiBodyExample() {}
|
||||
virtual void initPhysics();
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 4;
|
||||
float pitch = -30;
|
||||
float yaw = 50;
|
||||
float targetPos[3] = {0, 0, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
};
|
||||
|
||||
void KinematicMultiBodyExample::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
createEmptyDynamicsWorld();
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
if (m_dynamicsWorld->getDebugDrawer())
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints);
|
||||
|
||||
///create a kinematic multibody
|
||||
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10.), btScalar(0.1), btScalar(10.)));
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btBoxShape* secondLevelShape = createBoxShape(btVector3(btScalar(0.5), btScalar(0.1), btScalar(0.5)));
|
||||
m_collisionShapes.push_back(secondLevelShape);
|
||||
|
||||
{
|
||||
bool floating = false;
|
||||
int numLinks = 1;
|
||||
bool canSleep = false;
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 1.f;
|
||||
btVector3 secondLevelInertiaDiag(0.f, 0.f, 0.f);
|
||||
float secondLevelMass = 0.1f;
|
||||
|
||||
if (baseMass)
|
||||
{
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(10, 10, 10));
|
||||
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete pTempBox;
|
||||
}
|
||||
if (secondLevelMass)
|
||||
{
|
||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(0.5, 0.5, 0.5));
|
||||
pTempBox->calculateLocalInertia(secondLevelMass, secondLevelInertiaDiag);
|
||||
delete pTempBox;
|
||||
}
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
m_groundBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
|
||||
m_groundBody->setBasePos(startTransform.getOrigin());
|
||||
m_groundBody->setWorldToBaseRot(startTransform.getRotation());
|
||||
|
||||
//init the child link - second level.
|
||||
btVector3 hingeJointAxis(0, 1, 0);
|
||||
m_groundBody->setupRevolute(0, secondLevelMass, secondLevelInertiaDiag, -1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, btVector3(0, 0.5, 0), btVector3(0, 0, 0), true);
|
||||
|
||||
m_groundBody->finalizeMultiDof();
|
||||
m_dynamicsWorld->addMultiBody(m_groundBody);
|
||||
|
||||
// add collision geometries
|
||||
bool isDynamic = false; // Kinematic is not treated as dynamic here.
|
||||
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(m_groundBody, -1);
|
||||
col->setCollisionShape(groundShape);
|
||||
m_dynamicsWorld->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //, 2,1+2);
|
||||
m_groundBody->setBaseCollider(col);
|
||||
m_groundBody->setBaseDynamicType(btCollisionObject::CF_KINEMATIC_OBJECT);
|
||||
|
||||
btMultiBodyLinkCollider* secondLevelCol = new btMultiBodyLinkCollider(m_groundBody, 0);
|
||||
secondLevelCol->setCollisionShape(secondLevelShape);
|
||||
m_dynamicsWorld->addCollisionObject(secondLevelCol, collisionFilterGroup, collisionFilterMask);
|
||||
m_groundBody->getLink(0).m_collider = secondLevelCol;
|
||||
m_groundBody->setLinkDynamicType(0, btCollisionObject::CF_KINEMATIC_OBJECT);
|
||||
}
|
||||
m_dynamicsWorld->setInternalTickCallback(kinematicPreTickCallback, m_groundBody, true);
|
||||
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
btBoxShape* colShape = createBoxShape(btVector3(.1, .1, .1));
|
||||
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//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)
|
||||
colShape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
for (int k = 0; k < ARRAY_SIZE_Y; k++)
|
||||
{
|
||||
for (int i = 0; i < ARRAY_SIZE_X; i++)
|
||||
{
|
||||
for (int j = 0; j < ARRAY_SIZE_Z; j++)
|
||||
{
|
||||
startTransform.setOrigin(btVector3(
|
||||
btScalar(0.2 * i),
|
||||
btScalar(2 + .2 * k),
|
||||
btScalar(0.2 * j)));
|
||||
|
||||
createRigidBody(mass, startTransform, colShape);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
CommonExampleInterface* KinematicMultiBodyExampleCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new KinematicMultiBodyExample(options.m_guiHelper);
|
||||
}
|
||||
|
||||
B3_STANDALONE_EXAMPLE(KinematicMultiBodyExampleCreateFunc)
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2015 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 KINEMATIC_MULTI_BODY_EXAMPLE_H
|
||||
#define KINEMATIC_MULTI_BODY_EXAMPLE_H
|
||||
|
||||
class CommonExampleInterface* KinematicMultiBodyExampleCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //KINEMATIC_MULTI_BODY_EXAMPLE_H
|
||||
|
|
@ -0,0 +1,404 @@
|
|||
#include "MultiBodyConstraintFeedback.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
|
||||
static btScalar radius(0.2);
|
||||
|
||||
struct MultiBodyConstraintFeedbackSetup : public CommonMultiBodyBase
|
||||
{
|
||||
btMultiBody* m_multiBody;
|
||||
btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
|
||||
btMultiBodyJointMotor* m_motor;
|
||||
bool m_once;
|
||||
|
||||
public:
|
||||
MultiBodyConstraintFeedbackSetup(struct GUIHelperInterface* helper);
|
||||
virtual ~MultiBodyConstraintFeedbackSetup();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 5;
|
||||
float pitch = -21;
|
||||
float yaw = 270;
|
||||
float targetPos[3] = {-1.34, 3.4, -0.44};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
};
|
||||
|
||||
MultiBodyConstraintFeedbackSetup::MultiBodyConstraintFeedbackSetup(struct GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper),
|
||||
m_motor(0),
|
||||
m_once(true)
|
||||
{
|
||||
}
|
||||
|
||||
MultiBodyConstraintFeedbackSetup::~MultiBodyConstraintFeedbackSetup()
|
||||
{
|
||||
}
|
||||
|
||||
void MultiBodyConstraintFeedbackSetup::initPhysics()
|
||||
{
|
||||
int upAxis = 2;
|
||||
m_guiHelper->setUpAxis(upAxis);
|
||||
|
||||
btVector4 colors[4] =
|
||||
{
|
||||
btVector4(1, 0, 0, 1),
|
||||
btVector4(0, 1, 0, 1),
|
||||
btVector4(0, 1, 1, 1),
|
||||
btVector4(1, 1, 0, 1),
|
||||
};
|
||||
int curColor = 0;
|
||||
|
||||
this->createEmptyDynamicsWorld();
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
|
||||
//btIDebugDraw::DBG_DrawConstraints
|
||||
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
|
||||
|
||||
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
|
||||
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
|
||||
|
||||
//create a static ground object
|
||||
if (1)
|
||||
{
|
||||
btVector3 groundHalfExtents(10, 10, 0.2);
|
||||
btBoxShape* box = new btBoxShape(groundHalfExtents);
|
||||
box->initializePolyhedralFeatures();
|
||||
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(box);
|
||||
btTransform start;
|
||||
start.setIdentity();
|
||||
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
|
||||
//btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
|
||||
groundOrigin[upAxis] -= .5;
|
||||
groundOrigin[2] -= 0.6;
|
||||
start.setOrigin(groundOrigin);
|
||||
btQuaternion groundOrn(btVector3(0, 1, 0), 0.25 * SIMD_PI);
|
||||
|
||||
// start.setRotation(groundOrn);
|
||||
btRigidBody* body = createRigidBody(0, start, box);
|
||||
body->setFriction(0);
|
||||
btVector4 color = colors[curColor];
|
||||
curColor++;
|
||||
curColor &= 3;
|
||||
m_guiHelper->createRigidBodyGraphicsObject(body, color);
|
||||
}
|
||||
|
||||
{
|
||||
bool floating = false;
|
||||
bool damping = false;
|
||||
bool gyro = false;
|
||||
int numLinks = 2;
|
||||
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
||||
bool canSleep = false;
|
||||
bool selfCollide = false;
|
||||
btVector3 linkHalfExtents(0.05, 0.5, 0.1);
|
||||
btVector3 baseHalfExtents(0.05, 0.5, 0.1);
|
||||
|
||||
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
|
||||
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 0.01f;
|
||||
|
||||
if (baseMass)
|
||||
{
|
||||
//btCollisionShape *shape = new btSphereShape(baseHalfExtents[0]);// btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
btCollisionShape* shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
shape->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete shape;
|
||||
}
|
||||
|
||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
|
||||
|
||||
m_multiBody = pMultiBody;
|
||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
||||
// baseOriQuat.setEulerZYX(-.25*SIMD_PI,0,-1.75*SIMD_PI);
|
||||
pMultiBody->setBasePos(basePosition);
|
||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
||||
btVector3 vel(0, 0, 0);
|
||||
// pMultiBody->setBaseVel(vel);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 0);
|
||||
|
||||
//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)
|
||||
{
|
||||
float linkMass = i == 0 ? 0.0001 : 1.f;
|
||||
//if (i==3 || i==2)
|
||||
// linkMass= 1000;
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
|
||||
btCollisionShape* shape = 0;
|
||||
if (i == 0)
|
||||
{
|
||||
shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); //
|
||||
}
|
||||
else
|
||||
{
|
||||
shape = new btSphereShape(radius);
|
||||
}
|
||||
shape->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete shape;
|
||||
|
||||
if (!spherical)
|
||||
{
|
||||
//pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
|
||||
btQuaternion(0.f, 0.f, 0.f, 1.f),
|
||||
hingeJointAxis,
|
||||
parentComToCurrentPivot,
|
||||
currentPivotToCurrentCom, false);
|
||||
}
|
||||
else
|
||||
{
|
||||
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1], 0); //par body's COM to cur body's COM offset
|
||||
btVector3 currentPivotToCurrentCom(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
|
||||
|
||||
pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
|
||||
btQuaternion(0.f, 0.f, 0.f, 1.f),
|
||||
parentComToCurrentPivot,
|
||||
currentPivotToCurrentCom);
|
||||
}
|
||||
|
||||
//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
|
||||
}
|
||||
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, false);
|
||||
}
|
||||
}
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
//for (int i=pMultiBody->getNumLinks()-1;i>=0;i--)//
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); i++)
|
||||
{
|
||||
btMultiBodyJointFeedback* fb = new btMultiBodyJointFeedback();
|
||||
pMultiBody->getLink(i).m_jointFeedback = fb;
|
||||
m_jointFeedbacks.push_back(fb);
|
||||
//break;
|
||||
}
|
||||
btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
|
||||
|
||||
///
|
||||
world->addMultiBody(pMultiBody);
|
||||
btMultiBody* mbC = pMultiBody;
|
||||
mbC->setCanSleep(canSleep);
|
||||
mbC->setHasSelfCollision(selfCollide);
|
||||
mbC->setUseGyroTerm(gyro);
|
||||
//
|
||||
if (!damping)
|
||||
{
|
||||
mbC->setLinearDamping(0.f);
|
||||
mbC->setAngularDamping(0.f);
|
||||
}
|
||||
else
|
||||
{
|
||||
mbC->setLinearDamping(0.1f);
|
||||
mbC->setAngularDamping(0.9f);
|
||||
}
|
||||
//
|
||||
m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
|
||||
|
||||
//////////////////////////////////////////////
|
||||
if (/* DISABLES CODE */ (0)) //numLinks > 0)
|
||||
{
|
||||
btScalar q0 = 45.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);
|
||||
}
|
||||
}
|
||||
///
|
||||
|
||||
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();
|
||||
// double friction = 1;
|
||||
{
|
||||
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
|
||||
// float 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* shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); //new btSphereShape(baseHalfExtents[0]);
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(shape);
|
||||
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(shape);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
|
||||
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
|
||||
|
||||
tr.setOrigin(local_origin[0]);
|
||||
btQuaternion orn(btVector3(0, 0, 1), 0.25 * 3.1415926538);
|
||||
|
||||
tr.setRotation(orn);
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
bool isDynamic = (baseMass > 0 && floating);
|
||||
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //, 2,1+2);
|
||||
|
||||
btVector3 color(0.0, 0.0, 0.5);
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(col, color);
|
||||
|
||||
// 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];
|
||||
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
|
||||
|
||||
const 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* shape = 0;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); //btSphereShape(linkHalfExtents[0]);
|
||||
}
|
||||
else
|
||||
{
|
||||
shape = new btSphereShape(radius);
|
||||
}
|
||||
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(shape);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(shape);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
// col->setFriction(friction);
|
||||
bool isDynamic = 1; //(linkMass > 0);
|
||||
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
//if (i==0||i>numLinks-2)
|
||||
{
|
||||
world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //,2,1+2);
|
||||
btVector4 color = colors[curColor];
|
||||
curColor++;
|
||||
curColor &= 3;
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(col, color);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
int link = 0;
|
||||
int targetVelocity = 0.f;
|
||||
btScalar maxForce = 100000;
|
||||
m_motor = new btMultiBodyJointMotor(pMultiBody, link, targetVelocity, maxForce);
|
||||
m_dynamicsWorld->addMultiBodyConstraint(m_motor);
|
||||
}
|
||||
}
|
||||
|
||||
void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
|
||||
{
|
||||
//m_multiBody->addLinkForce(0,btVector3(100,100,100));
|
||||
if (/* DISABLES CODE */ (0)) //m_once)
|
||||
{
|
||||
m_once = false;
|
||||
m_multiBody->addJointTorque(0, 10.0);
|
||||
|
||||
btScalar torque = m_multiBody->getJointTorque(0);
|
||||
b3Printf("t = %f,%f,%f\n", torque, torque, torque); //[0],torque[1],torque[2]);
|
||||
}
|
||||
btScalar timeStep = 1. / 240.f;
|
||||
|
||||
m_dynamicsWorld->stepSimulation(timeStep, 0);
|
||||
|
||||
static int count = 0;
|
||||
if ((count & 0x0f) == 0)
|
||||
{
|
||||
if (m_motor)
|
||||
{
|
||||
float force = m_motor->getAppliedImpulse(0) / timeStep;
|
||||
b3Printf("motor applied force = %f\n", force);
|
||||
}
|
||||
|
||||
for (int i = 0; i < m_jointFeedbacks.size(); i++)
|
||||
{
|
||||
b3Printf("F_reaction[%i] linear:%f,%f,%f, angular:%f,%f,%f",
|
||||
i,
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_topVec[0],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_topVec[1],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_topVec[2],
|
||||
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[0],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[1],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[2]
|
||||
|
||||
);
|
||||
}
|
||||
}
|
||||
count++;
|
||||
|
||||
/*
|
||||
b3Printf("base angvel = %f,%f,%f",m_multiBody->getBaseOmega()[0],
|
||||
m_multiBody->getBaseOmega()[1],
|
||||
m_multiBody->getBaseOmega()[2]
|
||||
);
|
||||
*/
|
||||
// btScalar jointVel =m_multiBody->getJointVel(0);
|
||||
|
||||
// b3Printf("child angvel = %f",jointVel);
|
||||
}
|
||||
|
||||
class CommonExampleInterface* MultiBodyConstraintFeedbackCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new MultiBodyConstraintFeedbackSetup(options.m_guiHelper);
|
||||
}
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#ifndef MULTIBODY_CONSTRAINT_FEEDBACK_H
|
||||
#define MULTIBODY_CONSTRAINT_FEEDBACK_H
|
||||
|
||||
class CommonExampleInterface* MultiBodyConstraintFeedbackCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //MULTIBODY_CONSTRAINT_FEEDBACK_H
|
||||
148
Engine/lib/bullet/examples/MultiBody/MultiBodySoftContact.cpp
Normal file
148
Engine/lib/bullet/examples/MultiBody/MultiBodySoftContact.cpp
Normal file
|
|
@ -0,0 +1,148 @@
|
|||
|
||||
#include "MultiBodySoftContact.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
|
||||
//static btScalar radius(0.2);
|
||||
|
||||
struct MultiBodySoftContact : public CommonMultiBodyBase
|
||||
{
|
||||
btMultiBody* m_multiBody;
|
||||
btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
|
||||
|
||||
bool m_once;
|
||||
|
||||
public:
|
||||
MultiBodySoftContact(struct GUIHelperInterface* helper);
|
||||
virtual ~MultiBodySoftContact();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 5;
|
||||
float pitch = -21;
|
||||
float yaw = 270;
|
||||
float targetPos[3] = {0, 0, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
};
|
||||
|
||||
MultiBodySoftContact::MultiBodySoftContact(struct GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper),
|
||||
m_once(true)
|
||||
{
|
||||
}
|
||||
|
||||
MultiBodySoftContact::~MultiBodySoftContact()
|
||||
{
|
||||
}
|
||||
|
||||
void MultiBodySoftContact::initPhysics()
|
||||
{
|
||||
int upAxis = 2;
|
||||
|
||||
m_guiHelper->setUpAxis(upAxis);
|
||||
|
||||
btVector4 colors[4] =
|
||||
{
|
||||
btVector4(1, 0, 0, 1),
|
||||
btVector4(0, 1, 0, 1),
|
||||
btVector4(0, 1, 1, 1),
|
||||
btVector4(1, 1, 0, 1),
|
||||
};
|
||||
int curColor = 0;
|
||||
|
||||
this->createEmptyDynamicsWorld();
|
||||
m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
|
||||
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
|
||||
//btIDebugDraw::DBG_DrawConstraints
|
||||
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
|
||||
//create a static ground object
|
||||
if (1)
|
||||
{
|
||||
btVector3 groundHalfExtents(50, 50, 50);
|
||||
btBoxShape* box = new btBoxShape(groundHalfExtents);
|
||||
box->initializePolyhedralFeatures();
|
||||
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(box);
|
||||
btTransform start;
|
||||
start.setIdentity();
|
||||
btVector3 groundOrigin(0, 0, -50.5);
|
||||
start.setOrigin(groundOrigin);
|
||||
// start.setRotation(groundOrn);
|
||||
btRigidBody* body = createRigidBody(0, start, box);
|
||||
|
||||
//setContactStiffnessAndDamping will enable compliant rigid body contact
|
||||
body->setContactStiffnessAndDamping(300, 10);
|
||||
btVector4 color = colors[curColor];
|
||||
curColor++;
|
||||
curColor &= 3;
|
||||
m_guiHelper->createRigidBodyGraphicsObject(body, color);
|
||||
}
|
||||
|
||||
{
|
||||
btCollisionShape* childShape = new btSphereShape(btScalar(0.5));
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(childShape);
|
||||
|
||||
btScalar mass = 1;
|
||||
btVector3 baseInertiaDiag;
|
||||
bool isFixed = (mass == 0);
|
||||
childShape->calculateLocalInertia(mass, baseInertiaDiag);
|
||||
btMultiBody* pMultiBody = new btMultiBody(0, 1, baseInertiaDiag, false, false);
|
||||
btTransform startTrans;
|
||||
startTrans.setIdentity();
|
||||
startTrans.setOrigin(btVector3(0, 0, 3));
|
||||
|
||||
pMultiBody->setBaseWorldTransform(startTrans);
|
||||
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(childShape);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
bool isDynamic = (mass > 0 && !isFixed);
|
||||
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
m_dynamicsWorld->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //, 2,1+2);
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
m_dynamicsWorld->addMultiBody(pMultiBody);
|
||||
|
||||
btAlignedObjectArray<btQuaternion> scratch_q;
|
||||
btAlignedObjectArray<btVector3> scratch_m;
|
||||
pMultiBody->forwardKinematics(scratch_q, scratch_m);
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
pMultiBody->updateCollisionObjectWorldTransforms(world_to_local, local_origin);
|
||||
}
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void MultiBodySoftContact::stepSimulation(float deltaTime)
|
||||
{
|
||||
if (/* DISABLES CODE */ (0)) //m_once)
|
||||
{
|
||||
m_once = false;
|
||||
m_multiBody->addJointTorque(0, 10.0);
|
||||
|
||||
btScalar torque = m_multiBody->getJointTorque(0);
|
||||
b3Printf("t = %f,%f,%f\n", torque, torque, torque); //[0],torque[1],torque[2]);
|
||||
}
|
||||
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
}
|
||||
|
||||
class CommonExampleInterface* MultiBodySoftContactCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new MultiBodySoftContact(options.m_guiHelper);
|
||||
}
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#ifndef MULTI_BODY_SOFT_CONTACT_H
|
||||
#define MULTI_BODY_SOFT_CONTACT_H
|
||||
|
||||
class CommonExampleInterface* MultiBodySoftContactCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //MULTI_BODY_SOFT_CONTACT_H
|
||||
457
Engine/lib/bullet/examples/MultiBody/MultiDofDemo.cpp
Normal file
457
Engine/lib/bullet/examples/MultiBody/MultiDofDemo.cpp
Normal file
|
|
@ -0,0 +1,457 @@
|
|||
#include "MultiDofDemo.h"
|
||||
#include "../OpenGLWindow/SimpleOpenGL3App.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBody.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
|
||||
|
||||
#include "../OpenGLWindow/GLInstancingRenderer.h"
|
||||
#include "BulletCollision/CollisionShapes/btShapeHull.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
|
||||
class MultiDofDemo : public CommonMultiBodyBase
|
||||
{
|
||||
public:
|
||||
MultiDofDemo(GUIHelperInterface* helper);
|
||||
virtual ~MultiDofDemo();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 1;
|
||||
float pitch = -35;
|
||||
float yaw = 50;
|
||||
float targetPos[3] = {-3, 2.8, -2.5};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
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);
|
||||
void addBoxes_testMultiDof();
|
||||
};
|
||||
|
||||
static bool g_floatingBase = false;
|
||||
static bool g_firstInit = true;
|
||||
static float scaling = 0.4f;
|
||||
static float friction = 1.;
|
||||
static int g_constraintSolverType = 0;
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_Z 5
|
||||
|
||||
//maximum number of objects (and allow user to shoot additional boxes)
|
||||
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
|
||||
|
||||
#define START_POS_X -5
|
||||
//#define START_POS_Y 12
|
||||
#define START_POS_Y 2
|
||||
#define START_POS_Z -3
|
||||
|
||||
MultiDofDemo::MultiDofDemo(GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper)
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
}
|
||||
MultiDofDemo::~MultiDofDemo()
|
||||
{
|
||||
}
|
||||
|
||||
void MultiDofDemo::stepSimulation(float deltaTime)
|
||||
{
|
||||
//use a smaller internal timestep, there are stability issues
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
|
||||
}
|
||||
|
||||
void MultiDofDemo::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
if (g_firstInit)
|
||||
{
|
||||
m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10. * scaling));
|
||||
m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(50);
|
||||
g_firstInit = false;
|
||||
}
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
///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();
|
||||
|
||||
if (g_constraintSolverType == 4)
|
||||
{
|
||||
g_constraintSolverType = 0;
|
||||
g_floatingBase = !g_floatingBase;
|
||||
}
|
||||
|
||||
btMultiBodyConstraintSolver* sol;
|
||||
btMLCPSolverInterface* mlcp;
|
||||
switch (g_constraintSolverType++)
|
||||
{
|
||||
case 0:
|
||||
sol = new btMultiBodyConstraintSolver;
|
||||
b3Printf("Constraint Solver: Sequential Impulse");
|
||||
break;
|
||||
case 1:
|
||||
mlcp = new btSolveProjectedGaussSeidel();
|
||||
sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + PGS");
|
||||
break;
|
||||
case 2:
|
||||
mlcp = new btDantzigSolver();
|
||||
sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + Dantzig");
|
||||
break;
|
||||
default:
|
||||
mlcp = new btLemkeSolver();
|
||||
sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + Lemke");
|
||||
break;
|
||||
}
|
||||
|
||||
m_solver = sol;
|
||||
|
||||
//use btMultiBodyDynamicsWorld for Featherstone btMultiBody support
|
||||
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
// m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
|
||||
m_dynamicsWorld->getSolverInfo().m_globalCfm = 1e-3;
|
||||
|
||||
///create a few basic rigid bodies
|
||||
btVector3 groundHalfExtents(50, 50, 50);
|
||||
btCollisionShape* groundShape = new btBoxShape(groundHalfExtents);
|
||||
//groundShape->initializePolyhedralFeatures();
|
||||
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -50, 00));
|
||||
|
||||
/////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////
|
||||
|
||||
bool damping = true;
|
||||
bool gyro = true;
|
||||
int numLinks = 5;
|
||||
bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
||||
bool multibodyOnly = false;
|
||||
bool canSleep = false;
|
||||
bool selfCollide = true;
|
||||
bool multibodyConstraint = false;
|
||||
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
|
||||
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
|
||||
|
||||
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), baseHalfExtents, linkHalfExtents, spherical, g_floatingBase);
|
||||
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
|
||||
|
||||
mbC->setCanSleep(canSleep);
|
||||
mbC->setHasSelfCollision(selfCollide);
|
||||
mbC->setUseGyroTerm(gyro);
|
||||
//
|
||||
if (!damping)
|
||||
{
|
||||
mbC->setLinearDamping(0.f);
|
||||
mbC->setAngularDamping(0.f);
|
||||
}
|
||||
else
|
||||
{
|
||||
mbC->setLinearDamping(0.1f);
|
||||
mbC->setAngularDamping(0.9f);
|
||||
}
|
||||
//
|
||||
m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
|
||||
//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
|
||||
//////////////////////////////////////////////
|
||||
if (numLinks > 0)
|
||||
{
|
||||
btScalar q0 = 45.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, world, baseHalfExtents, linkHalfExtents);
|
||||
|
||||
/////////////////////////////////////////////////////////////////
|
||||
btScalar groundHeight = -51.55;
|
||||
if (!multibodyOnly)
|
||||
{
|
||||
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
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, groundHeight, 0));
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body, 1, 1 + 2); //,1,1+2);
|
||||
}
|
||||
/////////////////////////////////////////////////////////////////
|
||||
if (!multibodyOnly)
|
||||
{
|
||||
btVector3 halfExtents(.5, .5, .5);
|
||||
btBoxShape* colShape = new btBoxShape(halfExtents);
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//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)
|
||||
colShape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
startTransform.setOrigin(btVector3(
|
||||
btScalar(0.0),
|
||||
0.0,
|
||||
btScalar(0.0)));
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, colShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body); //,1,1+2);
|
||||
|
||||
if (multibodyConstraint)
|
||||
{
|
||||
btVector3 pointInA = -linkHalfExtents;
|
||||
// btVector3 pointInB = halfExtents;
|
||||
btMatrix3x3 frameInA;
|
||||
btMatrix3x3 frameInB;
|
||||
frameInA.setIdentity();
|
||||
frameInB.setIdentity();
|
||||
btVector3 jointAxis(1.0, 0.0, 0.0);
|
||||
//btMultiBodySliderConstraint* p2p = new btMultiBodySliderConstraint(mbC,numLinks-1,body,pointInA,pointInB,frameInA,frameInB,jointAxis);
|
||||
btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC, numLinks - 1, mbC, numLinks - 4, pointInA, pointInA, frameInA, frameInB);
|
||||
p2p->setMaxAppliedImpulse(2.0);
|
||||
m_dynamicsWorld->addMultiBodyConstraint(p2p);
|
||||
}
|
||||
}
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
/////////////////////////////////////////////////////////////////
|
||||
}
|
||||
|
||||
btMultiBody* MultiDofDemo::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 = 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);
|
||||
// pMultiBody->setBaseVel(vel);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 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(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 MultiDofDemo::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();
|
||||
|
||||
{
|
||||
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
|
||||
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);
|
||||
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];
|
||||
// float pos[4]={posr.x(),posr.y(),posr.z(),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;
|
||||
}
|
||||
}
|
||||
|
||||
void MultiDofDemo::addBoxes_testMultiDof()
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
btBoxShape* colShape = new btBoxShape(btVector3(1, 1, 1));
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//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)
|
||||
colShape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
float start_x = START_POS_X - ARRAY_SIZE_X / 2;
|
||||
float start_y = START_POS_Y;
|
||||
float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
|
||||
|
||||
for (int k = 0; k < ARRAY_SIZE_Y; k++)
|
||||
{
|
||||
for (int i = 0; i < ARRAY_SIZE_X; i++)
|
||||
{
|
||||
for (int j = 0; j < ARRAY_SIZE_Z; j++)
|
||||
{
|
||||
startTransform.setOrigin(btVector3(
|
||||
btScalar(3.0 * i + start_x),
|
||||
btScalar(3.0 * k + start_y),
|
||||
btScalar(3.0 * j + start_z)));
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, colShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body); //,1,1+2);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
class CommonExampleInterface* MultiDofCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new MultiDofDemo(options.m_guiHelper);
|
||||
}
|
||||
7
Engine/lib/bullet/examples/MultiBody/MultiDofDemo.h
Normal file
7
Engine/lib/bullet/examples/MultiBody/MultiDofDemo.h
Normal file
|
|
@ -0,0 +1,7 @@
|
|||
|
||||
#ifndef MULTI_DOF_DEMO_H
|
||||
#define MULTI_DOF_DEMO_H
|
||||
|
||||
class CommonExampleInterface* MultiDofCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //MULTI_DOF_DEMO_H
|
||||
213
Engine/lib/bullet/examples/MultiBody/Pendulum.cpp
Normal file
213
Engine/lib/bullet/examples/MultiBody/Pendulum.cpp
Normal file
|
|
@ -0,0 +1,213 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2014 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.
|
||||
*/
|
||||
|
||||
///Original author: Erwin Coumans, January 2016
|
||||
///Compare the simulation of a pendulum with
|
||||
|
||||
#ifdef USE_GTEST
|
||||
#include <gtest/gtest.h>
|
||||
#include "pendulum_gold.h"
|
||||
|
||||
#endif
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
|
||||
static btScalar radius(0.05);
|
||||
|
||||
struct Pendulum : public CommonMultiBodyBase
|
||||
{
|
||||
btMultiBody* m_multiBody;
|
||||
btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
|
||||
|
||||
public:
|
||||
Pendulum(struct GUIHelperInterface* helper);
|
||||
virtual ~Pendulum();
|
||||
virtual void initPhysics();
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 5;
|
||||
float pitch = -21;
|
||||
float yaw = 270;
|
||||
float targetPos[3] = {0, 0, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
};
|
||||
|
||||
Pendulum::Pendulum(struct GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper)
|
||||
{
|
||||
}
|
||||
|
||||
Pendulum::~Pendulum()
|
||||
{
|
||||
}
|
||||
|
||||
void Pendulum::initPhysics()
|
||||
{
|
||||
int upAxis = 1;
|
||||
|
||||
m_guiHelper->setUpAxis(upAxis);
|
||||
|
||||
this->createEmptyDynamicsWorld();
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
if (m_dynamicsWorld->getDebugDrawer())
|
||||
{
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
|
||||
//btIDebugDraw::DBG_DrawConstraints
|
||||
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
}
|
||||
{
|
||||
bool floating = false;
|
||||
bool damping = false;
|
||||
bool gyro = false;
|
||||
int numLinks = 1;
|
||||
bool canSleep = false;
|
||||
bool selfCollide = false;
|
||||
btVector3 linkHalfExtents(0.05, 0.5, 0.1);
|
||||
btVector3 baseHalfExtents(0.05, 0.5, 0.1);
|
||||
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 0.f;
|
||||
|
||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
|
||||
//pMultiBody->useRK4Integration(true);
|
||||
m_multiBody = pMultiBody;
|
||||
pMultiBody->setBaseWorldTransform(btTransform::getIdentity());
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 0);
|
||||
|
||||
//y-axis assumed up
|
||||
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1], 0);
|
||||
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0);
|
||||
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;
|
||||
|
||||
for (int i = 0; i < numLinks; ++i)
|
||||
{
|
||||
float linkMass = 10.f;
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
btCollisionShape* shape = 0;
|
||||
{
|
||||
shape = new btSphereShape(radius);
|
||||
}
|
||||
shape->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete shape;
|
||||
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
|
||||
btQuaternion(0.f, 0.f, 0.f, 1.f),
|
||||
hingeJointAxis,
|
||||
parentComToCurrentPivot,
|
||||
currentPivotToCurrentCom, false);
|
||||
}
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
|
||||
|
||||
world->addMultiBody(pMultiBody);
|
||||
pMultiBody->setCanSleep(canSleep);
|
||||
pMultiBody->setHasSelfCollision(selfCollide);
|
||||
pMultiBody->setUseGyroTerm(gyro);
|
||||
//
|
||||
|
||||
if (!damping)
|
||||
{
|
||||
pMultiBody->setLinearDamping(0.f);
|
||||
pMultiBody->setAngularDamping(0.f);
|
||||
}
|
||||
else
|
||||
{
|
||||
pMultiBody->setLinearDamping(0.1f);
|
||||
pMultiBody->setAngularDamping(0.9f);
|
||||
}
|
||||
m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btCollisionShape* shape = new btSphereShape(radius);
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(shape);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
col->setCollisionShape(shape);
|
||||
bool isDynamic = 1;
|
||||
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //,2,1+2);
|
||||
btVector4 color(1, 0, 0, 1);
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(col, color);
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
|
||||
btAlignedObjectArray<btQuaternion> scratch_q;
|
||||
btAlignedObjectArray<btVector3> scratch_m;
|
||||
pMultiBody->forwardKinematics(scratch_q, scratch_m);
|
||||
btAlignedObjectArray<btQuaternion> world_to_local;
|
||||
btAlignedObjectArray<btVector3> local_origin;
|
||||
pMultiBody->updateCollisionObjectWorldTransforms(world_to_local, local_origin);
|
||||
}
|
||||
}
|
||||
|
||||
void Pendulum::stepSimulation(float deltaTime)
|
||||
{
|
||||
m_multiBody->addJointTorque(0, 20.0);
|
||||
#ifdef USE_GTEST
|
||||
m_dynamicsWorld->stepSimulation(1. / 1000.0, 0);
|
||||
#else
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
#endif
|
||||
btVector3 from = m_multiBody->getBaseWorldTransform().getOrigin();
|
||||
btVector3 to = m_multiBody->getLink(0).m_collider->getWorldTransform().getOrigin();
|
||||
btVector4 color(1, 0, 0, 1);
|
||||
if (m_guiHelper->getRenderInterface())
|
||||
{
|
||||
m_guiHelper->getRenderInterface()->drawLine(from, to, color, btScalar(1));
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef USE_GTEST
|
||||
|
||||
TEST(BulletDynamicsTest, pendulum)
|
||||
{
|
||||
DummyGUIHelper noGfx;
|
||||
Pendulum* setup = new Pendulum(&noGfx);
|
||||
setup->initPhysics();
|
||||
int numGoldValues = sizeof(sPendulumGold) / sizeof(float);
|
||||
for (int i = 0; i < 2000; i++)
|
||||
{
|
||||
setup->stepSimulation(0.001);
|
||||
int index = i * 2 + 1;
|
||||
ASSERT_LE(index, numGoldValues);
|
||||
ASSERT_NEAR(setup->m_multiBody->getJointPos(0), sPendulumGold[index], 0.005);
|
||||
}
|
||||
setup->exitPhysics();
|
||||
delete setup;
|
||||
}
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
#if _MSC_VER
|
||||
_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);
|
||||
//void *testWhetherMemoryLeakDetectionWorks = malloc(1);
|
||||
#endif
|
||||
::testing::InitGoogleTest(&argc, argv);
|
||||
return RUN_ALL_TESTS();
|
||||
}
|
||||
|
||||
#endif //USE_GTEST
|
||||
|
||||
class CommonExampleInterface* TestPendulumCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new Pendulum(options.m_guiHelper);
|
||||
}
|
||||
6
Engine/lib/bullet/examples/MultiBody/Pendulum.h
Normal file
6
Engine/lib/bullet/examples/MultiBody/Pendulum.h
Normal file
|
|
@ -0,0 +1,6 @@
|
|||
#ifndef TEST_PENDULUM_H
|
||||
#define TEST_PENDULUM_H
|
||||
|
||||
class CommonExampleInterface* TestPendulumCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //TEST_PENDULUM_H
|
||||
393
Engine/lib/bullet/examples/MultiBody/SerialChains.cpp
Normal file
393
Engine/lib/bullet/examples/MultiBody/SerialChains.cpp
Normal file
|
|
@ -0,0 +1,393 @@
|
|||
#include "SerialChains.h"
|
||||
#include "../OpenGLWindow/SimpleOpenGL3App.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBody.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
|
||||
|
||||
#include "../OpenGLWindow/GLInstancingRenderer.h"
|
||||
#include "BulletCollision/CollisionShapes/btShapeHull.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
|
||||
class SerialChains : public CommonMultiBodyBase
|
||||
{
|
||||
public:
|
||||
SerialChains(GUIHelperInterface* helper);
|
||||
virtual ~SerialChains();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 1;
|
||||
float pitch = -35;
|
||||
float yaw = 50;
|
||||
float targetPos[3] = {-3, 2.8, -2.5};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool fixedBase = false);
|
||||
void createGround(const btVector3& halfExtents = btVector3(50, 50, 50), btScalar zOffSet = btScalar(-1.55));
|
||||
void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
|
||||
};
|
||||
|
||||
static bool g_fixedBase = true;
|
||||
static bool g_firstInit = true;
|
||||
static float scaling = 0.4f;
|
||||
static float friction = 1.;
|
||||
static int g_constraintSolverType = 0;
|
||||
|
||||
SerialChains::SerialChains(GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper)
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
}
|
||||
|
||||
SerialChains::~SerialChains()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void SerialChains::stepSimulation(float deltaTime)
|
||||
{
|
||||
//use a smaller internal timestep, there are stability issues
|
||||
float internalTimeStep = 1. / 240.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
|
||||
}
|
||||
|
||||
void SerialChains::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
if (g_firstInit)
|
||||
{
|
||||
m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10. * scaling));
|
||||
m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(50);
|
||||
g_firstInit = false;
|
||||
}
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
///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();
|
||||
|
||||
if (g_constraintSolverType == 3)
|
||||
{
|
||||
g_constraintSolverType = 0;
|
||||
g_fixedBase = !g_fixedBase;
|
||||
}
|
||||
|
||||
btMLCPSolverInterface* mlcp;
|
||||
switch (g_constraintSolverType++)
|
||||
{
|
||||
case 0:
|
||||
m_solver = new btMultiBodyConstraintSolver;
|
||||
b3Printf("Constraint Solver: Sequential Impulse");
|
||||
break;
|
||||
case 1:
|
||||
mlcp = new btSolveProjectedGaussSeidel();
|
||||
m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + PGS");
|
||||
break;
|
||||
default:
|
||||
mlcp = new btDantzigSolver();
|
||||
m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
b3Printf("Constraint Solver: MLCP + Dantzig");
|
||||
break;
|
||||
}
|
||||
|
||||
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
|
||||
m_dynamicsWorld = world;
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
|
||||
m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-4); //todo: what value is good?
|
||||
|
||||
///create a few basic rigid bodies
|
||||
btVector3 groundHalfExtents(50, 50, 50);
|
||||
btCollisionShape* groundShape = new btBoxShape(groundHalfExtents);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -50, 00));
|
||||
|
||||
/////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////
|
||||
|
||||
bool damping = true;
|
||||
bool gyro = true;
|
||||
int numLinks = 5;
|
||||
bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
||||
bool multibodyOnly = true; //false
|
||||
bool canSleep = true;
|
||||
bool selfCollide = true;
|
||||
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
|
||||
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
|
||||
|
||||
btMultiBody* mbC1 = createFeatherstoneMultiBody(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_fixedBase);
|
||||
btMultiBody* mbC2 = createFeatherstoneMultiBody(world, numLinks, btVector3(-0.4f, 3.0f, 0.5f), linkHalfExtents, baseHalfExtents, spherical, g_fixedBase);
|
||||
|
||||
mbC1->setCanSleep(canSleep);
|
||||
mbC1->setHasSelfCollision(selfCollide);
|
||||
mbC1->setUseGyroTerm(gyro);
|
||||
|
||||
if (!damping)
|
||||
{
|
||||
mbC1->setLinearDamping(0.f);
|
||||
mbC1->setAngularDamping(0.f);
|
||||
}
|
||||
else
|
||||
{
|
||||
mbC1->setLinearDamping(0.1f);
|
||||
mbC1->setAngularDamping(0.9f);
|
||||
}
|
||||
//
|
||||
m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
|
||||
//////////////////////////////////////////////
|
||||
if (numLinks > 0)
|
||||
{
|
||||
btScalar q0 = 45.f * SIMD_PI / 180.f;
|
||||
if (!spherical)
|
||||
{
|
||||
mbC1->setJointPosMultiDof(0, &q0);
|
||||
}
|
||||
else
|
||||
{
|
||||
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
mbC1->setJointPosMultiDof(0, quat0);
|
||||
}
|
||||
}
|
||||
///
|
||||
addColliders(mbC1, world, baseHalfExtents, linkHalfExtents);
|
||||
|
||||
mbC2->setCanSleep(canSleep);
|
||||
mbC2->setHasSelfCollision(selfCollide);
|
||||
mbC2->setUseGyroTerm(gyro);
|
||||
//
|
||||
if (!damping)
|
||||
{
|
||||
mbC2->setLinearDamping(0.f);
|
||||
mbC2->setAngularDamping(0.f);
|
||||
}
|
||||
else
|
||||
{
|
||||
mbC2->setLinearDamping(0.1f);
|
||||
mbC2->setAngularDamping(0.9f);
|
||||
}
|
||||
//
|
||||
m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
|
||||
//////////////////////////////////////////////
|
||||
if (numLinks > 0)
|
||||
{
|
||||
btScalar q0 = -45.f * SIMD_PI / 180.f;
|
||||
if (!spherical)
|
||||
{
|
||||
mbC2->setJointPosMultiDof(0, &q0);
|
||||
}
|
||||
else
|
||||
{
|
||||
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
|
||||
quat0.normalize();
|
||||
mbC2->setJointPosMultiDof(0, quat0);
|
||||
}
|
||||
}
|
||||
///
|
||||
addColliders(mbC2, world, baseHalfExtents, linkHalfExtents);
|
||||
|
||||
/////////////////////////////////////////////////////////////////
|
||||
btScalar groundHeight = -51.55;
|
||||
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
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, groundHeight, 0));
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body, 1, 1 + 2); //,1,1+2);
|
||||
/////////////////////////////////////////////////////////////////
|
||||
|
||||
createGround();
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
/////////////////////////////////////////////////////////////////
|
||||
}
|
||||
|
||||
btMultiBody* SerialChains::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool fixedBase)
|
||||
{
|
||||
//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, fixedBase, 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(1, 0, 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(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 SerialChains::createGround(const btVector3& halfExtents, btScalar zOffSet)
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(halfExtents);
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
// rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
btScalar mass(0.);
|
||||
const 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
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0, -halfExtents.z() + zOffSet, 0));
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
// add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body, 1, 1 + 2);
|
||||
}
|
||||
|
||||
void SerialChains::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);
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
CommonExampleInterface* SerialChainsCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new SerialChains(options.m_guiHelper);
|
||||
}
|
||||
7
Engine/lib/bullet/examples/MultiBody/SerialChains.h
Normal file
7
Engine/lib/bullet/examples/MultiBody/SerialChains.h
Normal file
|
|
@ -0,0 +1,7 @@
|
|||
|
||||
#ifndef MULTI_BODY_CONSTRAINT_SOLVERS_DEMO_H
|
||||
#define MULTI_BODY_CONSTRAINT_SOLVERS_DEMO_H
|
||||
|
||||
class CommonExampleInterface* SerialChainsCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //MULTI_BODY_CONSTRAINT_SOLVERS_DEMO_H
|
||||
404
Engine/lib/bullet/examples/MultiBody/TestJointTorqueSetup.cpp
Normal file
404
Engine/lib/bullet/examples/MultiBody/TestJointTorqueSetup.cpp
Normal file
|
|
@ -0,0 +1,404 @@
|
|||
//test addJointTorque
|
||||
#include "TestJointTorqueSetup.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonMultiBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
|
||||
static btScalar radius(0.2);
|
||||
|
||||
struct TestJointTorqueSetup : public CommonMultiBodyBase
|
||||
{
|
||||
btMultiBody* m_multiBody;
|
||||
btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
|
||||
|
||||
bool m_once;
|
||||
|
||||
public:
|
||||
TestJointTorqueSetup(struct GUIHelperInterface* helper);
|
||||
virtual ~TestJointTorqueSetup();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 5;
|
||||
float pitch = -21;
|
||||
float yaw = 270;
|
||||
float targetPos[3] = {-1.34, 3.4, -0.44};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
};
|
||||
|
||||
TestJointTorqueSetup::TestJointTorqueSetup(struct GUIHelperInterface* helper)
|
||||
: CommonMultiBodyBase(helper),
|
||||
m_once(true)
|
||||
{
|
||||
}
|
||||
|
||||
TestJointTorqueSetup::~TestJointTorqueSetup()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void TestJointTorqueSetup::initPhysics()
|
||||
{
|
||||
int upAxis = 1;
|
||||
|
||||
m_guiHelper->setUpAxis(upAxis);
|
||||
|
||||
btVector4 colors[4] =
|
||||
{
|
||||
btVector4(1, 0, 0, 1),
|
||||
btVector4(0, 1, 0, 1),
|
||||
btVector4(0, 1, 1, 1),
|
||||
btVector4(1, 1, 0, 1),
|
||||
};
|
||||
int curColor = 0;
|
||||
|
||||
this->createEmptyDynamicsWorld();
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
|
||||
//btIDebugDraw::DBG_DrawConstraints
|
||||
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
|
||||
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
|
||||
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
|
||||
|
||||
|
||||
//create a static ground object
|
||||
if (1)
|
||||
{
|
||||
btVector3 groundHalfExtents(1, 1, 0.2);
|
||||
groundHalfExtents[upAxis] = 1.f;
|
||||
btBoxShape* box = new btBoxShape(groundHalfExtents);
|
||||
box->initializePolyhedralFeatures();
|
||||
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(box);
|
||||
btTransform start;
|
||||
start.setIdentity();
|
||||
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
|
||||
groundOrigin[upAxis] -= .5;
|
||||
groundOrigin[2] -= 0.6;
|
||||
start.setOrigin(groundOrigin);
|
||||
btQuaternion groundOrn(btVector3(0, 1, 0), 0.25 * SIMD_PI);
|
||||
|
||||
// start.setRotation(groundOrn);
|
||||
btRigidBody* body = createRigidBody(0, start, box);
|
||||
body->setFriction(0);
|
||||
btVector4 color = colors[curColor];
|
||||
curColor++;
|
||||
curColor &= 3;
|
||||
m_guiHelper->createRigidBodyGraphicsObject(body, color);
|
||||
}
|
||||
|
||||
{
|
||||
bool floating = false;
|
||||
bool damping = false;
|
||||
bool gyro = false;
|
||||
int numLinks = 2;
|
||||
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
||||
bool canSleep = false;
|
||||
bool selfCollide = false;
|
||||
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
|
||||
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
|
||||
|
||||
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
|
||||
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 1.f;
|
||||
|
||||
if (baseMass)
|
||||
{
|
||||
//btCollisionShape *shape = new btSphereShape(baseHalfExtents[0]);// btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
btCollisionShape* shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
|
||||
shape->calculateLocalInertia(baseMass, baseInertiaDiag);
|
||||
delete shape;
|
||||
}
|
||||
|
||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
|
||||
|
||||
m_multiBody = pMultiBody;
|
||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
|
||||
// baseOriQuat.setEulerZYX(-.25*SIMD_PI,0,-1.75*SIMD_PI);
|
||||
pMultiBody->setBasePos(basePosition);
|
||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
|
||||
btVector3 vel(0, 0, 0);
|
||||
// pMultiBody->setBaseVel(vel);
|
||||
|
||||
//init the links
|
||||
btVector3 hingeJointAxis(1, 0, 0);
|
||||
|
||||
//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)
|
||||
{
|
||||
float linkMass = 1.f;
|
||||
//if (i==3 || i==2)
|
||||
// linkMass= 1000;
|
||||
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
|
||||
|
||||
btCollisionShape* shape = 0;
|
||||
if (i == 0)
|
||||
{
|
||||
shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); //
|
||||
}
|
||||
else
|
||||
{
|
||||
shape = new btSphereShape(radius);
|
||||
}
|
||||
shape->calculateLocalInertia(linkMass, linkInertiaDiag);
|
||||
delete shape;
|
||||
|
||||
if (!spherical)
|
||||
{
|
||||
//pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1,
|
||||
btQuaternion(0.f, 0.f, 0.f, 1.f),
|
||||
hingeJointAxis,
|
||||
parentComToCurrentPivot,
|
||||
currentPivotToCurrentCom, false);
|
||||
}
|
||||
else
|
||||
{
|
||||
btVector3 parentComToCurrentCom(0, -radius * 2.f, 0); //par body's COM to cur body's COM offset
|
||||
btVector3 currentPivotToCurrentCom(0, -radius, 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
|
||||
|
||||
pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
|
||||
btQuaternion(0.f, 0.f, 0.f, 1.f),
|
||||
parentComToCurrentPivot,
|
||||
currentPivotToCurrentCom);
|
||||
}
|
||||
|
||||
//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
|
||||
}
|
||||
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, false);
|
||||
}
|
||||
}
|
||||
|
||||
pMultiBody->finalizeMultiDof();
|
||||
|
||||
//for (int i=pMultiBody->getNumLinks()-1;i>=0;i--)//
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); i++)
|
||||
{
|
||||
btMultiBodyJointFeedback* fb = new btMultiBodyJointFeedback();
|
||||
pMultiBody->getLink(i).m_jointFeedback = fb;
|
||||
m_jointFeedbacks.push_back(fb);
|
||||
//break;
|
||||
}
|
||||
btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
|
||||
|
||||
///
|
||||
world->addMultiBody(pMultiBody);
|
||||
btMultiBody* mbC = pMultiBody;
|
||||
mbC->setCanSleep(canSleep);
|
||||
mbC->setHasSelfCollision(selfCollide);
|
||||
mbC->setUseGyroTerm(gyro);
|
||||
//
|
||||
if (!damping)
|
||||
{
|
||||
mbC->setLinearDamping(0.f);
|
||||
mbC->setAngularDamping(0.f);
|
||||
}
|
||||
else
|
||||
{
|
||||
mbC->setLinearDamping(0.1f);
|
||||
mbC->setAngularDamping(0.9f);
|
||||
}
|
||||
//
|
||||
m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
|
||||
|
||||
//////////////////////////////////////////////
|
||||
if (/* DISABLES CODE */ (0)) //numLinks > 0)
|
||||
{
|
||||
btScalar q0 = 45.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);
|
||||
}
|
||||
}
|
||||
///
|
||||
|
||||
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();
|
||||
// double friction = 1;
|
||||
{
|
||||
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
|
||||
// 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* shape = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); //new btSphereShape(baseHalfExtents[0]);
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(shape);
|
||||
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(shape);
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
|
||||
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
|
||||
|
||||
tr.setOrigin(local_origin[0]);
|
||||
btQuaternion orn(btVector3(0, 0, 1), 0.25 * 3.1415926538);
|
||||
|
||||
tr.setRotation(orn);
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
bool isDynamic = (baseMass > 0 && floating);
|
||||
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //, 2,1+2);
|
||||
|
||||
btVector3 color(0.0, 0.0, 0.5);
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(col, color);
|
||||
|
||||
// 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];
|
||||
// float pos[4]={posr.x(),posr.y(),posr.z(),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* shape = 0;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
shape = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2])); //btSphereShape(linkHalfExtents[0]);
|
||||
}
|
||||
else
|
||||
{
|
||||
shape = new btSphereShape(radius);
|
||||
}
|
||||
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(shape);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(shape);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
// col->setFriction(friction);
|
||||
bool isDynamic = 1; //(linkMass > 0);
|
||||
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
//if (i==0||i>numLinks-2)
|
||||
{
|
||||
world->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); //,2,1+2);
|
||||
btVector4 color = colors[curColor];
|
||||
curColor++;
|
||||
curColor &= 3;
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(col, color);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btSerializer* s = new btDefaultSerializer;
|
||||
m_dynamicsWorld->serialize(s);
|
||||
char resourcePath[1024];
|
||||
if (b3ResourcePath::findResourcePath("multibody.bullet", resourcePath, 1024,0))
|
||||
{
|
||||
FILE* f = fopen(resourcePath, "wb");
|
||||
fwrite(s->getBufferPointer(), s->getCurrentBufferSize(), 1, f);
|
||||
fclose(f);
|
||||
}
|
||||
}
|
||||
|
||||
void TestJointTorqueSetup::stepSimulation(float deltaTime)
|
||||
{
|
||||
//m_multiBody->addLinkForce(0,btVector3(100,100,100));
|
||||
if (/* DISABLES CODE */ (0)) //m_once)
|
||||
{
|
||||
m_once = false;
|
||||
m_multiBody->addJointTorque(0, 10.0);
|
||||
|
||||
btScalar torque = m_multiBody->getJointTorque(0);
|
||||
b3Printf("t = %f,%f,%f\n", torque, torque, torque); //[0],torque[1],torque[2]);
|
||||
}
|
||||
|
||||
m_dynamicsWorld->stepSimulation(1. / 240, 0);
|
||||
|
||||
static int count = 0;
|
||||
if ((count & 0x0f) == 0)
|
||||
{
|
||||
for (int i = 0; i < m_jointFeedbacks.size(); i++)
|
||||
{
|
||||
b3Printf("F_reaction[%i] linear:%f,%f,%f, angular:%f,%f,%f",
|
||||
i,
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_topVec[0],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_topVec[1],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_topVec[2],
|
||||
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[0],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[1],
|
||||
m_jointFeedbacks[i]->m_reactionForces.m_bottomVec[2]
|
||||
|
||||
);
|
||||
}
|
||||
}
|
||||
count++;
|
||||
|
||||
/*
|
||||
b3Printf("base angvel = %f,%f,%f",m_multiBody->getBaseOmega()[0],
|
||||
m_multiBody->getBaseOmega()[1],
|
||||
m_multiBody->getBaseOmega()[2]
|
||||
);
|
||||
*/
|
||||
// btScalar jointVel =m_multiBody->getJointVel(0);
|
||||
|
||||
// b3Printf("child angvel = %f",jointVel);
|
||||
}
|
||||
|
||||
class CommonExampleInterface* TestJointTorqueCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new TestJointTorqueSetup(options.m_guiHelper);
|
||||
}
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#ifndef TEST_JOINT_TORQUE_SETUP_H
|
||||
#define TEST_JOINT_TORQUE_SETUP_H
|
||||
|
||||
class CommonExampleInterface* TestJointTorqueCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //TEST_JOINT_TORQUE_SETUP_H
|
||||
2057
Engine/lib/bullet/examples/MultiBody/pendulum_gold.h
Normal file
2057
Engine/lib/bullet/examples/MultiBody/pendulum_gold.h
Normal file
File diff suppressed because it is too large
Load diff
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Add table
Add a link
Reference in a new issue