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hook deformable world into the physics server

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This commit is contained in:
Xuchen Han
2019-08-26 15:43:21 -07:00
committed by Xuchen Han
parent 9cf50846d6
commit 0b391798b7
9 changed files with 277 additions and 43 deletions
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3
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@@ -1,6 +1,5 @@
#ifndef GUI_HELPER_INTERFACE_H #ifndef GUI_HELPER_INTERFACE_H
#define GUI_HELPER_INTERFACE_H #define GUI_HELPER_INTERFACE_H
class btRigidBody; class btRigidBody;
class btVector3; class btVector3;
class btCollisionObject; class btCollisionObject;
@@ -118,6 +117,8 @@ struct GUIHelperInterface
//empty name stops dumping video //empty name stops dumping video
virtual void dumpFramesToVideo(const char* mp4FileName){}; virtual void dumpFramesToVideo(const char* mp4FileName){};
virtual void drawDebugDrawerLines(){}
virtual void clearLines(){}
}; };
///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode') ///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode')

2
examples/DeformableDemo/GraspDeformable.cpp
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@@ -128,7 +128,7 @@ public:
//use a smaller internal timestep, there are stability issues //use a smaller internal timestep, there are stability issues
float internalTimeStep = 1. / 250.f; float internalTimeStep = 1. / 250.f;
m_dynamicsWorld->stepSimulation(deltaTime, 100, internalTimeStep); m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
} }
void createGrip() void createGrip()

4
examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h
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@@ -45,6 +45,10 @@ static bool UrdfFindMeshFile(
{ {
*out_type = UrdfGeometry::FILE_CDF; *out_type = UrdfGeometry::FILE_CDF;
} }
else if (ext == ".vtk")
{
*out_type = UrdfGeometry::FILE_VTK;
}
else else
{ {
b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str()); b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());

1
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -82,6 +82,7 @@ struct UrdfGeometry
FILE_OBJ = 3, FILE_OBJ = 3,
FILE_CDF = 4, FILE_CDF = 4,
MEMORY_VERTICES = 5, MEMORY_VERTICES = 5,
FILE_VTK = 6,
}; };
int m_meshFileType; int m_meshFileType;

69
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -338,6 +338,74 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle
return 0; return 0;
} }
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_corotatedMu = corotatedMu;
command->m_loadSoftBodyArguments.m_corotatedLambda = corotatedLambda;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_COROTATED_FORCE;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_NeoHookeanMu = NeoHookeanMu;
command->m_loadSoftBodyArguments.m_NeoHookeanLambda = NeoHookeanLambda;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_springElasticStiffness = springElasticStiffness;
command->m_loadSoftBodyArguments.m_springDampingStiffness = springDampingStiffness;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_gravity[0] = gravityX;
command->m_loadSoftBodyArguments.m_gravity[1] = gravityY;
command->m_loadSoftBodyArguments.m_gravity[2] = gravityZ;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_GRAVITY_FORCE;
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetCollsionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_collisionHardness = collisionHardness;
command->m_updateFlags |= LOAD_SOFT_BODY_SET_COLLISION_HARDNESS;
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_frictionCoeff = frictionCoefficient;
command->m_updateFlags |= LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_useBendingSprings = useBendingSprings;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_BENDING_SPRINGS;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName) B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{ {
PhysicsClient* cl = (PhysicsClient*)physClient; PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -1373,7 +1441,6 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle ph
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = numHeightfieldRows; command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = numHeightfieldRows;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = numHeightfieldColumns; command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = numHeightfieldColumns;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = replaceHeightfieldIndex; command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = replaceHeightfieldIndex;
cl->uploadBulletFileToSharedMemory((const char*)heightfieldData, numHeightfieldRows*numHeightfieldColumns* sizeof(float)); cl->uploadBulletFileToSharedMemory((const char*)heightfieldData, numHeightfieldRows*numHeightfieldColumns* sizeof(float));
command->m_createUserShapeArgs.m_numUserShapes++; command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex; return shapeIndex;

7
examples/SharedMemory/PhysicsClientC_API.h
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@@ -631,6 +631,13 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin); B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda);
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
B3_SHARED_API int b3LoadSoftBodySetCollsionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter); B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);

141
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -101,7 +101,11 @@
#include "BulletSoftBody/btSoftBodySolvers.h" #include "BulletSoftBody/btSoftBodySolvers.h"
#include "BulletSoftBody/btSoftBodyHelpers.h" #include "BulletSoftBody/btSoftBodyHelpers.h"
#include "BulletSoftBody/btSoftMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/btDeformableBodySolver.h"
#include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h"
#include "../SoftDemo/BunnyMesh.h" #include "../SoftDemo/BunnyMesh.h"
#define SKIP_DEFORMABLE_BODY
#else #else
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif #endif
@@ -1619,12 +1623,22 @@ struct PhysicsServerCommandProcessorInternalData
btHashedOverlappingPairCache* m_pairCache; btHashedOverlappingPairCache* m_pairCache;
btBroadphaseInterface* m_broadphase; btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher; btCollisionDispatcher* m_dispatcher;
#ifdef SKIP_DEFORMABLE_BODY
btMultiBodyConstraintSolver* m_solver; btMultiBodyConstraintSolver* m_solver;
#else
btDeformableMultiBodyConstraintSolver* m_solver;
#endif
btDefaultCollisionConfiguration* m_collisionConfiguration; btDefaultCollisionConfiguration* m_collisionConfiguration;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld;
btDeformableBodySolver* m_deformablebodySolver;
#else
btSoftMultiBodyDynamicsWorld* m_dynamicsWorld; btSoftMultiBodyDynamicsWorld* m_dynamicsWorld;
btSoftBodySolver* m_softbodySolver; btSoftBodySolver* m_softbodySolver;
#endif
#else #else
btMultiBodyDynamicsWorld* m_dynamicsWorld; btMultiBodyDynamicsWorld* m_dynamicsWorld;
#endif #endif
@@ -2607,10 +2621,19 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
bv->setVelocityPrediction(0); bv->setVelocityPrediction(0);
m_data->m_broadphase = bv; m_data->m_broadphase = bv;
#ifdef SKIP_DEFORMABLE_BODY
m_data->m_solver = new btMultiBodyConstraintSolver; m_data->m_solver = new btMultiBodyConstraintSolver;
#endif
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_DEFORMABLE_BODY
m_data->m_deformablebodySolver = new btDeformableBodySolver();
m_data->m_solver = new btDeformableMultiBodyConstraintSolver;
m_data->m_solver->setDeformableSolver(m_data->m_deformablebodySolver);
m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
#else
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#endif
#else #else
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#endif #endif
@@ -2775,7 +2798,9 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--) for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
{ {
btSoftBody* sb = m_data->m_dynamicsWorld->getSoftBodyArray()[i]; btSoftBody* sb = m_data->m_dynamicsWorld->getSoftBodyArray()[i];
#ifdef SKIP_DEFORMABLE_BODY
m_data->m_dynamicsWorld->removeSoftBody(sb); m_data->m_dynamicsWorld->removeSoftBody(sb);
#endif
delete sb; delete sb;
} }
#endif #endif
@@ -4728,7 +4753,6 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
break; break;
} }
case GEOM_MESH: case GEOM_MESH:
{ {
btVector3 meshScale(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0], btVector3 meshScale(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0],
@@ -4909,6 +4933,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
} }
break; break;
} }
default: default:
{ {
} }
@@ -8014,6 +8039,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
int out_type; int out_type;
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type); bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
btSoftBody* psb = NULL;
if (out_type == UrdfGeometry::FILE_OBJ)
{
std::vector<tinyobj::shape_t> shapes; std::vector<tinyobj::shape_t> shapes;
tinyobj::attrib_t attribute; tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
@@ -8033,7 +8061,91 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
int numTris = shape.mesh.indices.size() / 3; int numTris = shape.mesh.indices.size() / 3;
if (numTris > 0) if (numTris > 0)
{ {
btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
}
}
}
else if (out_type = UrdfGeometry::FILE_VTK)
{
#ifndef SKIP_DEFORMABLE_BODY
psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_filename.c_str());
btScalar corotated_mu, corotated_lambda;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
btScalar gravity_constant;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{
corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda));
}
btScalar neohookean_mu, neohookean_lambda;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE)
{
neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu;
neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda));
}
#endif
}
if (psb != NULL)
{
#ifndef SKIP_DEFORMABLE_BODY
btScalar corotated_mu, corotated_lambda;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
btScalar gravity_constant;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{
corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda));
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false));
}
btVector3 gravity(0,0,0);
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
{
gravity[0] = loadSoftBodyArgs.m_gravity[0];
gravity[1] = loadSoftBodyArgs.m_gravity[1];
gravity[2] = loadSoftBodyArgs.m_gravity[2];
m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
}
btScalar collision_hardness = 1;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_COLLISION_HARDNESS)
{
collision_hardness = loadSoftBodyArgs.m_collisionHardness;
}
psb->m_cfg.kKHR = collision_hardness;
psb->m_cfg.kCHR = collision_hardness;
btScalar friction_coeff = 0;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT)
{
friction_coeff = loadSoftBodyArgs.m_frictionCoeff;
}
psb->m_cfg.kDF = friction_coeff;
bool use_bending_spring = true;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
{
use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
}
btSoftBody::Material* pm = psb->appendMaterial();
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
if (use_bending_spring)
{
psb->generateBendingConstraints(2,pm);
}
// turn on the collision flag for deformable
// collision
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->setCollisionFlags(0);
psb->setTotalMass(mass);
#else
btSoftBody::Material* pm = psb->appendMaterial(); btSoftBody::Material* pm = psb->appendMaterial();
pm->m_kLST = 0.5; pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw; pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
@@ -8043,11 +8155,12 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
//turn on softbody vs softbody collision //turn on softbody vs softbody collision
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->randomizeConstraints(); psb->randomizeConstraints();
psb->setTotalMass(mass, true);
#endif
psb->scale(btVector3(scale, scale, scale)); psb->scale(btVector3(scale, scale, scale));
psb->rotate(initialOrn); psb->rotate(initialOrn);
psb->translate(initialPos); psb->translate(initialPos);
psb->setTotalMass(mass, true);
psb->getCollisionShape()->setMargin(collisionMargin); psb->getCollisionShape()->setMargin(collisionMargin);
psb->getCollisionShape()->setUserPointer(psb); psb->getCollisionShape()->setUserPointer(psb);
m_data->m_dynamicsWorld->addSoftBody(psb); m_data->m_dynamicsWorld->addSoftBody(psb);
@@ -8110,8 +8223,6 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
m_data->m_pluginManager.addNotification(notification); m_data->m_pluginManager.addNotification(notification);
} }
} }
}
#endif #endif
return hasStatus; return hasStatus;
} }
@@ -9134,6 +9245,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
} }
}; };
#ifdef SKIP_DEFORMABLE_BODY
if (newSolver) if (newSolver)
{ {
delete oldSolver; delete oldSolver;
@@ -9142,6 +9254,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
m_data->m_solver = newSolver; m_data->m_solver = newSolver;
printf("switched solver\n"); printf("switched solver\n");
} }
#endif
} }
} }
@@ -10281,10 +10394,14 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
btSoftBody* psb = bodyHandle->m_softBody; btSoftBody* psb = bodyHandle->m_softBody;
if (m_data->m_pluginManager.getRenderInterface()) if (m_data->m_pluginManager.getRenderInterface())
{ {
#ifdef SKIP_DEFORMABLE_BODY
m_data->m_pluginManager.getRenderInterface()->removeVisualShape(psb->getBroadphaseHandle()->getUid()); m_data->m_pluginManager.getRenderInterface()->removeVisualShape(psb->getBroadphaseHandle()->getUid());
#endif
} }
serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
#ifdef SKIP_DEFORMABLE_BODY
m_data->m_dynamicsWorld->removeSoftBody(psb); m_data->m_dynamicsWorld->removeSoftBody(psb);
#endif
int graphicsInstance = psb->getUserIndex2(); int graphicsInstance = psb->getUserIndex2();
m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance); m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance);
delete psb; delete psb;
@@ -12716,6 +12833,20 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags)
} }
m_data->m_guiHelper->render(m_data->m_dynamicsWorld); m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_DEFORMABLE_BODY
for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags());
}
}
m_data->m_guiHelper->drawDebugDrawerLines();
m_data->m_guiHelper->clearLines();
#endif
#endif
} }
} }

16
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -546,7 +546,7 @@ MultithreadedDebugDrawer : public btIDebugDraw
btHashMap<ColorWidth, int> m_hashedLines; btHashMap<ColorWidth, int> m_hashedLines;
public: public:
void drawDebugDrawerLines() virtual void drawDebugDrawerLines()
{ {
if (m_hashedLines.size()) if (m_hashedLines.size())
{ {
@@ -628,7 +628,7 @@ public:
return m_debugMode; return m_debugMode;
} }
virtual void clearLines() virtual void clearLines() override
{ {
m_hashedLines.clear(); m_hashedLines.clear();
m_sortedIndices.clear(); m_sortedIndices.clear();
@@ -650,13 +650,21 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
public: public:
MultithreadedDebugDrawer* m_debugDraw; MultithreadedDebugDrawer* m_debugDraw;
void drawDebugDrawerLines() virtual void drawDebugDrawerLines()
{ {
if (m_debugDraw) if (m_debugDraw)
{ {
m_debugDraw->drawDebugDrawerLines(); m_debugDraw->drawDebugDrawerLines();
} }
} }
virtual void clearLines()
{
if (m_debugDraw)
{
m_debugDraw->clearLines();
}
}
GUIHelperInterface* m_childGuiHelper; GUIHelperInterface* m_childGuiHelper;
btHashMap<btHashPtr, int> m_cachedTextureIds; btHashMap<btHashPtr, int> m_cachedTextureIds;
@@ -847,9 +855,7 @@ public:
delete m_debugDraw; delete m_debugDraw;
m_debugDraw = 0; m_debugDraw = 0;
} }
m_debugDraw = new MultithreadedDebugDrawer(this); m_debugDraw = new MultithreadedDebugDrawer(this);
rbWorld->setDebugDrawer(m_debugDraw); rbWorld->setDebugDrawer(m_debugDraw);
//m_childGuiHelper->createPhysicsDebugDrawer(rbWorld); //m_childGuiHelper->createPhysicsDebugDrawer(rbWorld);

27
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -489,11 +489,18 @@ enum EnumSimParamUpdateFlags
enum EnumLoadSoftBodyUpdateFlags enum EnumLoadSoftBodyUpdateFlags
{ {
LOAD_SOFT_BODY_FILE_NAME = 1, LOAD_SOFT_BODY_FILE_NAME = 1,
LOAD_SOFT_BODY_UPDATE_SCALE = 2, LOAD_SOFT_BODY_UPDATE_SCALE = 1<<1,
LOAD_SOFT_BODY_UPDATE_MASS = 4, LOAD_SOFT_BODY_UPDATE_MASS = 1<<2,
LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 8, LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 1<<3,
LOAD_SOFT_BODY_INITIAL_POSITION = 16, LOAD_SOFT_BODY_INITIAL_POSITION = 1<<4,
LOAD_SOFT_BODY_INITIAL_ORIENTATION = 32 LOAD_SOFT_BODY_INITIAL_ORIENTATION = 1<<5,
LOAD_SOFT_BODY_ADD_COROTATED_FORCE = 1<<6,
LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE = 1<<7,
LOAD_SOFT_BODY_ADD_GRAVITY_FORCE = 1<<8,
LOAD_SOFT_BODY_SET_COLLISION_HARDNESS = 1<<9,
LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
}; };
enum EnumSimParamInternalSimFlags enum EnumSimParamInternalSimFlags
@@ -512,6 +519,16 @@ struct LoadSoftBodyArgs
double m_collisionMargin; double m_collisionMargin;
double m_initialPosition[3]; double m_initialPosition[3];
double m_initialOrientation[4]; double m_initialOrientation[4];
double m_springElasticStiffness;
double m_springDampingStiffness;
double m_corotatedMu;
double m_corotatedLambda;
double m_gravity[3];
bool m_useBendingSprings;
double m_collisionHardness;
double m_frictionCoeff;
double m_NeoHookeanMu;
double m_NeoHookeanLambda;
}; };
struct b3LoadSoftBodyResultArgs struct b3LoadSoftBodyResultArgs