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Fixes / improvements in soft body:

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avoid blow-up due to improper mass calculation for fixed nodes (happened when using clusters)
allow to create collision clusters for each tetrahedron or triangle, when using btSoftBody::generateClusters(0)
tweak soft body demos a bit, only draw debug wireframe if necessary
This commit is contained in:
erwin.coumans
2009-08-28 21:23:54 +00:00
parent f492899499
commit 2ef7c1a457
7 changed files with 218 additions and 68 deletions
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114
Demos/SoftDemo/SoftDemo.cpp
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@@ -163,6 +163,7 @@ void SoftDemo::clientMoveAndDisplay()
int numSimSteps;
numSimSteps = m_dynamicsWorld->stepSimulation(dt);
//numSimSteps = m_dynamicsWorld->stepSimulation(dt,10,1./240.f);
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
if (!numSimSteps)
@@ -306,9 +307,10 @@ static void Ctor_RbUpStack(SoftDemo* pdemo,int count)
cylinderCompound->addChildShape(localTransform,cylinderShape);
btCollisionShape* shape[]={ cylinderCompound,
new btSphereShape(1.5),
new btBoxShape(btVector3(1,1,1))
btCollisionShape* shape[]={cylinderCompound,
new btBoxShape(btVector3(1,1,1)),
new btSphereShape(1.5)
};
static const int nshapes=sizeof(shape)/sizeof(shape[0]);
for(int i=0;i<count;++i)
@@ -317,6 +319,7 @@ static void Ctor_RbUpStack(SoftDemo* pdemo,int count)
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2+6*i,0));
pdemo->localCreateRigidBody(mass,startTransform,shape[i%nshapes]);
//pdemo->localCreateRigidBody(mass,startTransform,shape[0]);
}
}
@@ -1016,8 +1019,9 @@ static void Init_ClusterCollide1(SoftDemo* pdemo)
btVector3(+s,0,-s),
btVector3(-s,0,+s),
btVector3(+s,0,+s),
31,31,
1+2+4+8,true);
17,17,//9,9,//31,31,
1+2+4+8,
true);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.4;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
@@ -1025,10 +1029,17 @@ static void Init_ClusterCollide1(SoftDemo* pdemo)
psb->m_cfg.kSRHR_CL = 1;
psb->m_cfg.kSR_SPLT_CL = 0;
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+
btSoftBody::fCollision::CL_RS;
psb->generateBendingConstraints(2,pm);
psb->getCollisionShape()->setMargin(0.05);
psb->setTotalMass(50);
psb->generateClusters(64);
///pass zero in generateClusters to create cluster for each tetrahedron or triangle
psb->generateClusters(0);
//psb->generateClusters(64);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
Ctor_RbUpStack(pdemo,10);
@@ -1122,7 +1133,7 @@ static void Init_ClusterCombine(SoftDemo* pdemo)
//
static void Init_ClusterCar(SoftDemo* pdemo)
{
pdemo->setAzi(270);
pdemo->setAzi(180);
const btVector3 origin(100,80,0);
const btQuaternion orientation(-SIMD_PI/2,0,0);
const btScalar widthf=8;
@@ -1275,7 +1286,19 @@ static void Init_TetraBunny(SoftDemo* pdemo)
psb->rotate(btQuaternion(SIMD_PI/2,0,0));
psb->setVolumeMass(150);
psb->m_cfg.piterations=2;
//psb->m_cfg.piterations=1;
pdemo->m_cutting=true;
//psb->getCollisionShape()->setMargin(0.01);
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS
//+ btSoftBody::fCollision::CL_SELF
;
///pass zero in generateClusters to create cluster for each tetrahedron or triangle
psb->generateClusters(0);
//psb->m_materials[0]->m_kLST=.2;
psb->m_cfg.kDF = 10. ;
}
//
@@ -1293,24 +1316,37 @@ static void Init_TetraCube(SoftDemo* pdemo)
psb->translate(btVector3(0,5,0));
psb->setVolumeMass(300);
///fix one vertex
psb->setMass(0,0);
//psb->setMass(0,0);
//psb->setMass(10,0);
//psb->setMass(20,0);
psb->m_cfg.piterations=1;
//psb->m_materials[0]->m_kLST=0.05;
//psb->generateClusters(128);
psb->generateClusters(16);
//psb->getCollisionShape()->setMargin(0.5);
psb->getCollisionShape()->setMargin(0.01);
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS
//+ btSoftBody::fCollision::CL_SELF
;
psb->m_materials[0]->m_kLST=0.8;
pdemo->m_cutting=true;
}
unsigned current_demo=21;
unsigned current_demo=28;//19;
void SoftDemo::clientResetScene()
{
m_azi = 0;
m_cameraDistance = 30.f;
m_cameraTargetPosition.setValue(0,0,0);
DemoApplication::clientResetScene();
/* Clean up */
for(int i=m_dynamicsWorld->getNumCollisionObjects()-1;i>0;i--)
for(int i=m_dynamicsWorld->getNumCollisionObjects()-1;i>=0;i--)
{
btCollisionObject* obj=m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body=btRigidBody::upcast(obj);
@@ -1376,6 +1412,30 @@ void SoftDemo::clientResetScene()
};
current_demo=current_demo%(sizeof(demofncs)/sizeof(demofncs[0]));
//create ground object
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-12,0));
btCollisionObject* newOb = new btCollisionObject();
newOb->setWorldTransform(tr);
newOb->setInterpolationWorldTransform( tr);
if (current_demo>19)
{
newOb->setCollisionShape(m_collisionShapes[0]);
} else
{
newOb->setCollisionShape(m_collisionShapes[1]);
}
m_dynamicsWorld->addCollisionObject(newOb);
motorcontrol.goal = 0;
motorcontrol.maxtorque = 0;
m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_softBodyWorldInfo.water_density = 0;
m_softBodyWorldInfo.water_offset = 0;
@@ -1660,15 +1720,14 @@ void SoftDemo::initPhysics()
{
///create concave ground mesh
m_azi = 0;
//reset and disable motorcontrol at the start
motorcontrol.goal = 0;
motorcontrol.maxtorque = 0;
m_azi = 0;
btCollisionShape* groundShape = 0;
bool useConcaveMesh = false;//not ready yet true;
if (useConcaveMesh)
{
int i;
int j;
@@ -1720,14 +1779,14 @@ void SoftDemo::initPhysics()
bool useQuantizedAabbCompression = true;
groundShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
} else
{
groundShape = new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200));
groundShape->setMargin(0.5);
}
m_collisionShapes.push_back(groundShape);
btCollisionShape* groundBox = new btBoxShape (btVector3(100,CUBE_HALF_EXTENTS,100));
m_collisionShapes.push_back(groundBox);
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
btTransform localTransform;
@@ -1782,22 +1841,7 @@ void SoftDemo::initPhysics()
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-12,0));
#define USE_COLLISION_OBJECT 1
#ifdef USE_COLLISION_OBJECT
btCollisionObject* newOb = new btCollisionObject();
newOb->setWorldTransform(tr);
newOb->setInterpolationWorldTransform( tr);
newOb->setCollisionShape(m_collisionShapes[0]);
m_dynamicsWorld->addCollisionObject(newOb);
#else
this->localCreateRigidBody(0,tr,m_collisionShapes[0]);
#endif //USE_COLLISION_OBJECT
// clientResetScene();
m_softBodyWorldInfo.m_sparsesdf.Initialize();