mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-03-13 01:10:45 +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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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ReducedBenchmark.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
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#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
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#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
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#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonDeformableBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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static btScalar damping_alpha = 0.0;
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static btScalar damping_beta = 0.0001;
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static btScalar COLLIDING_VELOCITY = 0;
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static int num_modes = 20;
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static bool run_reduced = true;
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class ReducedBenchmark : public CommonDeformableBodyBase
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{
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btVector3 m_gravity;
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public:
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ReducedBenchmark(struct GUIHelperInterface* helper)
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: CommonDeformableBodyBase(helper)
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{
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}
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virtual ~ReducedBenchmark()
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{
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}
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void initPhysics();
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void exitPhysics();
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// TODO: disable pick force, non-interactive for now.
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bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
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return false;
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}
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void resetCamera()
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{
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// float dist = 6;
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// float pitch = -10;
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// float yaw = 90;
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// float targetPos[3] = {0, 2, 0};
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float dist = 10;
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float pitch = -30;
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float yaw = 125;
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float targetPos[3] = {0, 2, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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void Ctor_RbUpStack(const btVector3& origin)
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{
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float mass = 10;
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btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
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// btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
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btTransform startTransform;
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startTransform.setIdentity();
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// startTransform.setOrigin(btVector3(0, 12, 0));
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// btRigidBody* rb0 = createRigidBody(mass, startTransform, shape);
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// rb0->setLinearVelocity(btVector3(0, 0, 0));
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startTransform.setOrigin(origin);
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// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
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btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
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rb1->setActivationState(DISABLE_DEACTIVATION);
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// rb1->setLinearVelocity(btVector3(0, 0, 4));
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}
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void createDeform(const btVector3& origin, const btQuaternion& rotation)
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{
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if (run_reduced)
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{
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std::string file_path("../../../data/reduced_torus/");
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std::string vtk_file("torus_mesh.vtk");
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btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
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getDeformableDynamicsWorld()->getWorldInfo(),
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file_path,
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vtk_file,
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num_modes,
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false);
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getDeformableDynamicsWorld()->addSoftBody(rsb);
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rsb->getCollisionShape()->setMargin(0.01);
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// rsb->scale(btVector3(1, 1, 0.5));
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rsb->setTotalMass(10);
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btTransform init_transform;
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init_transform.setIdentity();
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init_transform.setOrigin(origin);
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init_transform.setRotation(rotation);
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rsb->transformTo(init_transform);
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rsb->setStiffnessScale(5);
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rsb->setDamping(damping_alpha, damping_beta);
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// rsb->scale(btVector3(0.5, 0.5, 0.5));
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rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
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rsb->m_cfg.kDF = 0;
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rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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rsb->m_sleepingThreshold = 0;
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btSoftBodyHelpers::generateBoundaryFaces(rsb);
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std::cout << "Running reduced deformable\n";
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}
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else // create full deformable cube
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{
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std::string filepath("../../../data/reduced_torus/");
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std::string filename = filepath + "torus_mesh.vtk";
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btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
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btTransform init_transform;
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init_transform.setIdentity();
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init_transform.setOrigin(origin);
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init_transform.setRotation(rotation);
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psb->transform(init_transform);
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psb->getCollisionShape()->setMargin(0.015);
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psb->setTotalMass(10);
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psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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psb->m_cfg.kCHR = 1; // collision hardness with rigid body
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psb->m_cfg.kDF = .5;
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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getDeformableDynamicsWorld()->addSoftBody(psb);
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btSoftBodyHelpers::generateBoundaryFaces(psb);
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btDeformableGravityForce* gravity_force = new btDeformableGravityForce(m_gravity);
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getDeformableDynamicsWorld()->addForce(psb, gravity_force);
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m_forces.push_back(gravity_force);
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btScalar E = 10000;
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btScalar nu = 0.3;
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btScalar lambda = E * nu / ((1 + nu) * (1 - 2 * nu));
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btScalar mu = E / (2 * (1 + nu));
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btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(lambda, mu, 0.01);
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// neohookean->setPoissonRatio(0.3);
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// neohookean->setYoungsModulus(25);
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neohookean->setDamping(0.01);
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psb->m_cfg.drag = 0.001;
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getDeformableDynamicsWorld()->addForce(psb, neohookean);
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m_forces.push_back(neohookean);
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std::cout << "Running full deformable\n";
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}
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// btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedTorus(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
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// getDeformableDynamicsWorld()->addSoftBody(rsb);
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// rsb->getCollisionShape()->setMargin(0.01);
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// // rsb->scale(btVector3(1, 1, 0.5));
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// rsb->setTotalMass(10);
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// btTransform init_transform;
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// init_transform.setIdentity();
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// init_transform.setOrigin(origin);
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// init_transform.setRotation(rotation);
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// rsb->transformTo(init_transform);
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// rsb->setStiffnessScale(5);
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// rsb->setDamping(damping_alpha, damping_beta);
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// // rsb->scale(btVector3(0.5, 0.5, 0.5));
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// rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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// rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
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// rsb->m_cfg.kDF = 0;
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// rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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// rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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// rsb->m_sleepingThreshold = 0;
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// btSoftBodyHelpers::generateBoundaryFaces(rsb);
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}
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void stepSimulation(float deltaTime)
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{
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float internalTimeStep = 1. / 240.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
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}
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virtual void renderScene()
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{
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CommonDeformableBodyBase::renderScene();
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btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
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{
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btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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}
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}
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};
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void ReducedBenchmark::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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if (run_reduced)
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{
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btReducedDeformableBodySolver* solver = new btReducedDeformableBodySolver();
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(solver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
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}
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else
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{
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btDeformableBodySolver* solver = new btDeformableBodySolver();
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(solver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
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}
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// m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
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btVector3 gravity = btVector3(0, -10, 0);
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m_gravity = gravity;
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m_dynamicsWorld->setGravity(gravity);
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getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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// 3x3 torus
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createDeform(btVector3(4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
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createDeform(btVector3(4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
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createDeform(btVector3(4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
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createDeform(btVector3(0, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
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createDeform(btVector3(0, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
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createDeform(btVector3(0, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
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createDeform(btVector3(-4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
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createDeform(btVector3(-4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
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createDeform(btVector3(-4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
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// create a static rigid box as the ground
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{
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// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(20), btScalar(2), btScalar(20)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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// groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
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// groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
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groundTransform.setOrigin(btVector3(0, 0, 0));
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// groundTransform.setOrigin(btVector3(0, 0, 6));
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// groundTransform.setOrigin(btVector3(0, -50, 0));
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{
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btScalar mass(0.);
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createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
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}
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}
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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getDeformableDynamicsWorld()->setUseProjection(false);
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
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getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5;
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getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
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getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
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getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
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getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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m_dynamicsWorld->setGravity(gravity);
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}
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void ReducedBenchmark::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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removePickingConstraint();
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject(obj);
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delete obj;
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}
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// delete forces
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for (int j = 0; j < m_forces.size(); j++)
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{
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btDeformableLagrangianForce* force = m_forces[j];
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delete force;
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}
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m_forces.clear();
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//delete collision shapes
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for (int j = 0; j < m_collisionShapes.size(); j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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class CommonExampleInterface* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options)
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{
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return new ReducedBenchmark(options.m_guiHelper);
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}
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