mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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* 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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@ -0,0 +1,522 @@
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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 "ReducedCollide.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
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#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
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#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
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#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonDeformableBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
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// static btScalar E = 50;
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// static btScalar nu = 0.3;
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static btScalar damping_alpha = 0.0;
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static btScalar damping_beta = 0.0;
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static btScalar COLLIDING_VELOCITY = 4;
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static int num_modes = 20;
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class ReducedCollide : public CommonDeformableBodyBase
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{
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public:
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ReducedCollide(struct GUIHelperInterface* helper)
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: CommonDeformableBodyBase(helper)
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{
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}
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virtual ~ReducedCollide()
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{
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}
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void initPhysics();
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void exitPhysics();
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btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
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void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
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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 = 20;
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// float pitch = -10;
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float dist = 10;
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float pitch = -5;
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float yaw = 90;
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float targetPos[3] = {0, 0, 0};
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// float dist = 5;
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// float pitch = -35;
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// float yaw = 50;
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// float targetPos[3] = {-3, 2.8, -2.5};
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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()
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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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btVector3 localInertia(0, 0, 0);
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if (mass != 0.f)
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shape->calculateLocalInertia(mass, localInertia);
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body, 1, 1+2);
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body->setActivationState(DISABLE_DEACTIVATION);
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body->setLinearVelocity(btVector3(0, COLLIDING_VELOCITY, 0));
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// body->setFriction(1);
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}
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void rigidBar()
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{
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float mass = 10;
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btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.25, 2));
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btVector3 localInertia(0, 0, 0);
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if (mass != 0.f)
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shape->calculateLocalInertia(mass, localInertia);
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,10,0));
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// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body, 1, 1+2);
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body->setActivationState(DISABLE_DEACTIVATION);
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body->setLinearVelocity(btVector3(0, 0, 0));
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// body->setFriction(0);
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}
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void createGround()
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{
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// float mass = 55;
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float mass = 0;
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btCollisionShape* shape = new btBoxShape(btVector3(10, 2, 10));
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btVector3 localInertia(0, 0, 0);
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if (mass != 0.f)
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shape->calculateLocalInertia(mass, localInertia);
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body, 1, 1+2);
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body->setActivationState(DISABLE_DEACTIVATION);
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body->setLinearVelocity(btVector3(0, 0, 0));
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// body->setFriction(1);
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}
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void stepSimulation(float deltaTime)
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{
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float internalTimeStep = 1. / 60.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
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}
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virtual void renderScene()
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{
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CommonDeformableBodyBase::renderScene();
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btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
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{
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btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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for (int p = 0; p < rsb->m_contactNodesList.size(); ++p)
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{
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int index = rsb->m_contactNodesList[p];
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deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0));
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}
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}
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}
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};
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void ReducedCollide::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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btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
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btVector3 gravity = btVector3(0, 0, 0);
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reducedSoftBodySolver->setGravity(gravity);
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(reducedSoftBodySolver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
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m_dynamicsWorld->setGravity(gravity);
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m_dynamicsWorld->getSolverInfo().m_globalCfm = 1e-3;
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m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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// create volumetric reduced deformable body
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{
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std::string file_path("../../../data/reduced_cube/");
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std::string vtk_file("cube_mesh.vtk");
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btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
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getDeformableDynamicsWorld()->getWorldInfo(),
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file_path,
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vtk_file,
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num_modes,
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false);
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getDeformableDynamicsWorld()->addSoftBody(rsb);
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rsb->getCollisionShape()->setMargin(0.1);
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// rsb->scale(btVector3(0.5, 0.5, 0.5));
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rsb->setStiffnessScale(100);
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rsb->setDamping(damping_alpha, damping_beta);
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rsb->setTotalMass(15);
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btTransform init_transform;
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init_transform.setIdentity();
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init_transform.setOrigin(btVector3(0, 4, 0));
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// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
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rsb->transformTo(init_transform);
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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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rsb->setRigidVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
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// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
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b3Printf("total mass: %e", rsb->getTotalMass());
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}
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// rigidBar();
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// add a few rigid bodies
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Ctor_RbUpStack();
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// create ground
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// createGround();
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// create multibody
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// {
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// bool damping = false;
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// bool gyro = true;
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// int numLinks = 0;
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// bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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// bool multibodyOnly = true;
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// bool canSleep = false;
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// bool selfCollide = true;
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// bool multibodyConstraint = false;
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// btVector3 linkHalfExtents(0.05, 0.37, 0.1);
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// btVector3 baseHalfExtents(1, 1, 1);
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// // btVector3 baseHalfExtents(2.5, 0.5, 2.5);
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// // btVector3 baseHalfExtents(0.05, 0.37, 0.1);
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// bool g_floatingBase = true;
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// // btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0, 4, 0), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
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// btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 4.f, 0.f), baseHalfExtents, linkHalfExtents, spherical, g_floatingBase);
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// //mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
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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 = 45.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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// addColliders_testMultiDof(mbC, m_dynamicsWorld, baseHalfExtents, linkHalfExtents);
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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_friction = 1;
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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_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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// {
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// SliderParams slider("Young's Modulus", &E);
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// slider.m_minVal = 0;
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// slider.m_maxVal = 2000;
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// if (m_guiHelper->getParameterInterface())
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// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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// }
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// {
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// SliderParams slider("Poisson Ratio", &nu);
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// slider.m_minVal = 0.05;
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// slider.m_maxVal = 0.49;
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// if (m_guiHelper->getParameterInterface())
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// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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// }
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// {
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// SliderParams slider("Mass Damping", &damping_alpha);
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// slider.m_minVal = 0;
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// slider.m_maxVal = 1;
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// if (m_guiHelper->getParameterInterface())
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// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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// }
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// {
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// SliderParams slider("Stiffness Damping", &damping_beta);
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// slider.m_minVal = 0;
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// slider.m_maxVal = 0.1;
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// if (m_guiHelper->getParameterInterface())
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// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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// }
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}
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void ReducedCollide::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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btMultiBody* ReducedCollide::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
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{
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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 = 10;
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||||
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if (baseMass)
|
||||
{
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||||
btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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||||
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete pTempBox;
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||||
}
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||||
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||||
bool canSleep = false;
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||||
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||||
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
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||||
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||||
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
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// btQuaternion baseOriQuat(btVector3(0, 0, 1), -SIMD_PI / 6.0);
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pMultiBody->setBasePos(basePosition);
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||||
pMultiBody->setWorldToBaseRot(baseOriQuat);
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||||
btVector3 vel(0, 0, 0);
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||||
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||||
//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();
|
||||
pMultiBody->setBaseVel(vel);
|
||||
|
||||
///
|
||||
pWorld->addMultiBody(pMultiBody);
|
||||
///
|
||||
return pMultiBody;
|
||||
}
|
||||
|
||||
void ReducedCollide::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(1);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
||||
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
// 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(1);
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
class CommonExampleInterface* ReducedCollideCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new ReducedCollide(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue