mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-03-16 19:00:56 +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
276
Engine/lib/bullet/examples/ReducedDeformableDemo/FreeFall.cpp
Normal file
276
Engine/lib/bullet/examples/ReducedDeformableDemo/FreeFall.cpp
Normal file
|
|
@ -0,0 +1,276 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2019 Google Inc. http://bulletphysics.org
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "FreeFall.h"
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
|
||||
#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
|
||||
#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
|
||||
#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
|
||||
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
|
||||
///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
|
||||
// static btScalar E = 50;
|
||||
// static btScalar nu = 0.3;
|
||||
static btScalar damping_alpha = 0.0;
|
||||
static btScalar damping_beta = 0.0001;
|
||||
static btScalar COLLIDING_VELOCITY = 0;
|
||||
static int num_modes = 40;
|
||||
|
||||
class FreeFall : public CommonDeformableBodyBase
|
||||
{
|
||||
public:
|
||||
FreeFall(struct GUIHelperInterface* helper)
|
||||
: CommonDeformableBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~FreeFall()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
// TODO: disable pick force, non-interactive for now.
|
||||
bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
|
||||
return false;
|
||||
}
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 8;
|
||||
float pitch = -10;
|
||||
float yaw = 90;
|
||||
float targetPos[3] = {0, 2, 0};
|
||||
// float dist = 10;
|
||||
// float pitch = -30;
|
||||
// float yaw = 125;
|
||||
// float targetPos[3] = {0, 2, 0};
|
||||
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
|
||||
void Ctor_RbUpStack(const btVector3& origin)
|
||||
{
|
||||
float mass = 10;
|
||||
btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
|
||||
// btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
// startTransform.setOrigin(btVector3(0, 12, 0));
|
||||
// btRigidBody* rb0 = createRigidBody(mass, startTransform, shape);
|
||||
// rb0->setLinearVelocity(btVector3(0, 0, 0));
|
||||
|
||||
startTransform.setOrigin(origin);
|
||||
// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
|
||||
btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
|
||||
rb1->setActivationState(DISABLE_DEACTIVATION);
|
||||
rb1->setLinearVelocity(btVector3(0, 0, 0));
|
||||
}
|
||||
|
||||
void createReducedDeformableObject(const btVector3& origin, const btQuaternion& rotation)
|
||||
{
|
||||
std::string file_path("../../../data/reduced_cube/");
|
||||
std::string vtk_file("cube_mesh.vtk");
|
||||
btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
|
||||
getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
file_path,
|
||||
vtk_file,
|
||||
num_modes,
|
||||
false);
|
||||
|
||||
getDeformableDynamicsWorld()->addSoftBody(rsb);
|
||||
rsb->getCollisionShape()->setMargin(0.01);
|
||||
// rsb->scale(btVector3(1, 1, 0.5));
|
||||
|
||||
rsb->setTotalMass(10);
|
||||
|
||||
btTransform init_transform;
|
||||
init_transform.setIdentity();
|
||||
init_transform.setOrigin(origin);
|
||||
init_transform.setRotation(rotation);
|
||||
rsb->transformTo(init_transform);
|
||||
|
||||
rsb->setStiffnessScale(25);
|
||||
rsb->setDamping(damping_alpha, damping_beta);
|
||||
// rsb->scale(btVector3(0.5, 0.5, 0.5));
|
||||
|
||||
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
rsb->m_cfg.kDF = 0;
|
||||
rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
|
||||
rsb->m_sleepingThreshold = 0;
|
||||
btSoftBodyHelpers::generateBoundaryFaces(rsb);
|
||||
}
|
||||
|
||||
void stepSimulation(float deltaTime)
|
||||
{
|
||||
float internalTimeStep = 1. / 60.f;
|
||||
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonDeformableBodyBase::renderScene();
|
||||
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
// int flag = 0;
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
|
||||
// btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag);
|
||||
btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
|
||||
|
||||
// for (int p = 0; p < rsb->m_fixedNodes.size(); ++p)
|
||||
// {
|
||||
// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
|
||||
// }
|
||||
// for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
|
||||
// {
|
||||
// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
|
||||
// }
|
||||
|
||||
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
|
||||
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 5, 0), 0.1, btVector3(1, 1, 1));
|
||||
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 10, 0), 0.1, btVector3(1, 1, 1));
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void FreeFall::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
|
||||
|
||||
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
|
||||
sol->setDeformableSolver(reducedSoftBodySolver);
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
|
||||
btVector3 gravity = btVector3(0, -9.8, 0);
|
||||
m_dynamicsWorld->setGravity(gravity);
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
// m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
|
||||
|
||||
// 2 reduced deformable cubes
|
||||
createReducedDeformableObject(btVector3(0, 4, -2), btQuaternion(0, 0, 0));
|
||||
createReducedDeformableObject(btVector3(0, 4, 2), btQuaternion(0, 0, 0));
|
||||
|
||||
// 2 rigid cubes
|
||||
Ctor_RbUpStack(btVector3(0, 10, -2));
|
||||
Ctor_RbUpStack(btVector3(0, 10, 2));
|
||||
|
||||
// create a static rigid box as the ground
|
||||
{
|
||||
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
|
||||
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10)));
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
// groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
|
||||
// groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
|
||||
groundTransform.setOrigin(btVector3(0, -2, 0));
|
||||
// groundTransform.setOrigin(btVector3(0, 0, 6));
|
||||
// groundTransform.setOrigin(btVector3(0, -50, 0));
|
||||
{
|
||||
btScalar mass(0.);
|
||||
createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
|
||||
}
|
||||
}
|
||||
|
||||
getDeformableDynamicsWorld()->setImplicit(false);
|
||||
getDeformableDynamicsWorld()->setLineSearch(false);
|
||||
getDeformableDynamicsWorld()->setUseProjection(false);
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
|
||||
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
m_dynamicsWorld->setGravity(gravity);
|
||||
}
|
||||
|
||||
void FreeFall::exitPhysics()
|
||||
{
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
removePickingConstraint();
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject(obj);
|
||||
delete obj;
|
||||
}
|
||||
// delete forces
|
||||
for (int j = 0; j < m_forces.size(); j++)
|
||||
{
|
||||
btDeformableLagrangianForce* force = m_forces[j];
|
||||
delete force;
|
||||
}
|
||||
m_forces.clear();
|
||||
|
||||
//delete collision shapes
|
||||
for (int j = 0; j < m_collisionShapes.size(); j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
m_collisionShapes.clear();
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
delete m_solver;
|
||||
|
||||
delete m_broadphase;
|
||||
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
|
||||
|
||||
|
||||
class CommonExampleInterface* ReducedFreeFallCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new FreeFall(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue