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delete forces in exitPhysics

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This commit is contained in:
Xuchen Han
2019-08-21 23:00:18 -07:00
parent b93c3c56ed
commit 3fbd7a7edd
5 changed files with 86 additions and 25 deletions
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19
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -49,6 +49,7 @@ static bool g_floatingBase = true;
static float friction = 1.;
class DeformableMultibody : public CommonMultiBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> forces;
public:
DeformableMultibody(struct GUIHelperInterface* helper)
: CommonMultiBodyBase(helper)
@@ -122,7 +123,6 @@ void DeformableMultibody::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
@@ -224,8 +224,14 @@ void DeformableMultibody::initPhysics()
psb->m_cfg.kDF = .1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
@@ -248,7 +254,12 @@ void DeformableMultibody::exitPhysics()
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
// delete forces
for (int j = 0; j < forces.size(); j++)
{
btDeformableLagrangianForce* force = forces[j];
delete force;
}
//delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++)
{

17
examples/DeformableDemo/DeformableRigid.cpp
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@@ -44,6 +44,7 @@
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
class DeformableRigid : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> forces;
public:
DeformableRigid(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper)
@@ -233,9 +234,14 @@ void DeformableRigid::initPhysics()
psb->m_cfg.kDF = 1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.01, false);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force);
// add a few rigid bodies
Ctor_RbUpStack(1);
}
@@ -259,7 +265,12 @@ void DeformableRigid::exitPhysics()
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
// delete forces
for (int j = 0; j < forces.size(); j++)
{
btDeformableLagrangianForce* force = forces[j];
delete force;
}
//delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++)
{

24
examples/DeformableDemo/GraspDeformable.cpp
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@@ -59,6 +59,7 @@ static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex)
class GraspDeformable : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> forces;
public:
GraspDeformable(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper)
@@ -355,11 +356,17 @@ void GraspDeformable::initPhysics()
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6));
// linear damping
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.5,0.04, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(3,0.04, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(2,10));
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.5,0.04, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(2,10);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
forces.push_back(neohookean);
}
// // create a piece of cloth
@@ -431,7 +438,12 @@ void GraspDeformable::exitPhysics()
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
// delete forces
for (int j = 0; j < forces.size(); j++)
{
btDeformableLagrangianForce* force = forces[j];
delete force;
}
//delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++)
{

25
examples/DeformableDemo/Pinch.cpp
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@@ -56,6 +56,7 @@ struct TetraBunny
class Pinch : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> forces;
public:
Pinch(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper)
@@ -248,8 +249,6 @@ void Pinch::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
@@ -336,9 +335,18 @@ void Pinch::initPhysics()
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1, 0.05));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.2,1));
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.2,1);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
forces.push_back(neohookean);
// add a grippers
createGrip();
}
@@ -362,7 +370,12 @@ void Pinch::exitPhysics()
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
// delete forces
for (int j = 0; j < forces.size(); j++)
{
btDeformableLagrangianForce* force = forces[j];
delete force;
}
//delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++)
{

26
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -51,6 +51,7 @@ struct TetraCube
class VolumetricDeformable : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> forces;
public:
VolumetricDeformable(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper)
@@ -177,13 +178,10 @@ void VolumetricDeformable::initPhysics()
m_broadphase = new btDbvtBroadphase();
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
@@ -236,9 +234,19 @@ void VolumetricDeformable::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0.5;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.03));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.5,2.5));
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(0,0.03);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.5,2.5);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
forces.push_back(neohookean);
}
// add a few rigid bodies
Ctor_RbUpStack(4);
@@ -263,6 +271,12 @@ void VolumetricDeformable::exitPhysics()
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
// delete forces
for (int j = 0; j < forces.size(); j++)
{
btDeformableLagrangianForce* force = forces[j];
delete force;
}
//delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++)