add option for deformable rigid split impulse
This commit is contained in:
Xuchen Han
259
examples/DeformableDemo/SplitImpulse.cpp
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259
examples/DeformableDemo/SplitImpulse.cpp
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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 "SplitImpulse.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/btSoftBody.h"
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "BulletSoftBody/btDeformableBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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#define USE_SPLIT_IMPULSE 1
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///The SplitImpulse shows the effect of split impulse in deformable rigid contact.
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class SplitImpulse : public CommonRigidBodyBase
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{
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btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
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public:
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SplitImpulse(struct GUIHelperInterface* helper)
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: CommonRigidBodyBase(helper)
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{
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}
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virtual ~SplitImpulse()
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{
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}
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void initPhysics();
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void exitPhysics();
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void resetCamera()
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{
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float dist = 20;
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float pitch = -45;
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float yaw = 100;
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float targetPos[3] = {0, -3, 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 stepSimulation(float deltaTime)
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{
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//use a smaller internal timestep, there are stability issues
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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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void Ctor_RbUpStack(int count)
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{
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float mass = 0.2;
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btCollisionShape* shape[] = {
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new btBoxShape(btVector3(1, 1, 1)),
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};
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0, 0.7, 0));
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createRigidBody(mass, startTransform, shape[0]);
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}
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virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
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{
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///just make it a btSoftRigidDynamicsWorld please
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///or we will add type checking
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return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
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}
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virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
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{
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///just make it a btSoftRigidDynamicsWorld please
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///or we will add type checking
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return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
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}
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virtual void renderScene()
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{
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CommonRigidBodyBase::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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btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
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//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
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{
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btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb, 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 SplitImpulse::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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btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(deformableBodySolver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
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// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
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// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
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btVector3 gravity = btVector3(0, -50, 0);
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m_dynamicsWorld->setGravity(gravity);
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getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
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getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
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getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
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// getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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{
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///create a ground
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
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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.setOrigin(btVector3(0, -32, 0));
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groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(1);
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//add the ground to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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#ifdef USE_SPLIT_IMPULSE
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getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.03;
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#else
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getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.0;
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#endif
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// create a piece of cloth
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{
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const btScalar s = 4;
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const btScalar h = 0;
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btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
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btVector3(+s, h, -s),
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btVector3(-s, h, +s),
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btVector3(+s, h, +s),
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// 3,3,
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20,20,
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1 + 2 + 4 + 8, true);
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// 0, true);
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psb->getCollisionShape()->setMargin(0.15);
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psb->generateBendingConstraints(2);
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psb->setTotalMass(1);
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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 = 2;
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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getDeformableDynamicsWorld()->addSoftBody(psb);
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btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true);
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getDeformableDynamicsWorld()->addForce(psb, mass_spring);
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m_forces.push_back(mass_spring);
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btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
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getDeformableDynamicsWorld()->addForce(psb, gravity_force);
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m_forces.push_back(gravity_force);
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// add a few rigid bodies
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Ctor_RbUpStack(1);
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}
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void SplitImpulse::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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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* SplitImpulseCreateFunc(struct CommonExampleOptions& options)
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{
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return new SplitImpulse(options.m_guiHelper);
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}
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