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Merge pull request #2498 from erwincoumans/master

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enable compilation without deformables/soft bodies (for some unit tests
This commit is contained in:
erwincoumans
2019-11-19 20:58:13 -08:00
committed by GitHub
parent ebf742e265 66951ac102
commit 49cf4dfc56
12 changed files with 379 additions and 52 deletions
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64
data/cloth.obj Normal file
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@@ -0,0 +1,64 @@
# Blender v2.79 (sub 0) OBJ File: ''
# www.blender.org
mtllib cloth.mtl
o Plane_Plane.001
v -1.000000 0.000000 1.000000
v 1.000000 0.000000 1.000000
v -1.000000 0.000000 -1.000000
v 1.000000 0.000000 -1.000000
v -1.000000 0.000000 0.000000
v 0.000000 0.000000 1.000000
v 1.000000 0.000000 0.000000
v 0.000000 0.000000 -1.000000
v 0.000000 0.000000 0.000000
v -1.000000 0.000000 0.500000
v 0.500000 0.000000 1.000000
v 1.000000 0.000000 -0.500000
v -0.500000 0.000000 -1.000000
v -1.000000 0.000000 -0.500000
v -0.500000 0.000000 1.000000
v 1.000000 0.000000 0.500000
v 0.500000 0.000000 -1.000000
v 0.000000 0.000000 -0.500000
v 0.000000 0.000000 0.500000
v -0.500000 0.000000 0.000000
v 0.500000 0.000000 0.000000
v 0.500000 0.000000 0.500000
v -0.500000 0.000000 0.500000
v -0.500000 0.000000 -0.500000
v 0.500000 0.000000 -0.500000
vn 0.0000 1.0000 0.0000
usemtl None
s off
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data/cloth_z_up.obj Normal file
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# Blender v2.79 (sub 0) OBJ File: ''
# www.blender.org
mtllib cloth_z_up.mtl
o Plane_Plane.001
v -1.000000 -1.000000 0.000000
v 1.000000 -1.000000 0.000000
v -1.000000 1.000000 -0.000000
v 1.000000 1.000000 -0.000000
v -1.000000 0.000000 0.000000
v -0.000000 -1.000000 0.000000
v 1.000000 -0.000000 -0.000000
v 0.000000 1.000000 -0.000000
v 0.000000 0.000000 0.000000
v -1.000000 -0.500000 0.000000
v 0.500000 -1.000000 0.000000
v 1.000000 0.500000 -0.000000
v -0.500000 1.000000 -0.000000
v -1.000000 0.500000 -0.000000
v -0.500000 -1.000000 0.000000
v 1.000000 -0.500000 0.000000
v 0.500000 1.000000 -0.000000
v 0.000000 0.500000 -0.000000
v -0.000000 -0.500000 0.000000
v -0.500000 0.000000 0.000000
v 0.500000 -0.000000 -0.000000
v 0.500000 -0.500000 0.000000
v -0.500000 -0.500000 0.000000
v -0.500000 0.500000 -0.000000
v 0.500000 0.500000 -0.000000
vn 0.0000 0.0000 1.0000
usemtl None
s off
f 12//1 17//1 25//1
f 18//1 13//1 24//1
f 19//1 20//1 23//1
f 16//1 21//1 22//1
f 22//1 9//1 19//1
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24
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3248,6 +3248,30 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHa
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3])
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR;
command->m_userConstraintArguments.m_parentBodyIndex = softBodyUniqueId;
command->m_userConstraintArguments.m_parentJointIndex = nodeIndex;
command->m_userConstraintArguments.m_childBodyIndex = bodyUniqueId;
command->m_userConstraintArguments.m_childJointIndex = linkIndex;
command->m_userConstraintArguments.m_childFrame[0] = bodyFramePosition[0];
command->m_userConstraintArguments.m_childFrame[1] = bodyFramePosition[1];
command->m_userConstraintArguments.m_childFrame[2] = bodyFramePosition[2];
command->m_userConstraintArguments.m_childFrame[3] = 0.;
command->m_userConstraintArguments.m_childFrame[4] = 0.;
command->m_userConstraintArguments.m_childFrame[5] = 0.;
command->m_userConstraintArguments.m_childFrame[6] = 1.;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -644,6 +644,8 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3]);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);

138
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -53,7 +53,7 @@
#include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "LinearMath/TaskScheduler/btThreadSupportInterface.h"
#include "Wavefront/tiny_obj_loader.h"
#ifndef SKIP_COLLISION_FILTER_PLUGIN
#include "plugins/collisionFilterPlugin/collisionFilterPlugin.h"
#endif
@@ -1636,18 +1636,14 @@ struct PhysicsServerCommandProcessorInternalData
btDefaultCollisionConfiguration* m_collisionConfiguration;
//#ifndef SKIP_DEFORMABLE_BODY
#ifndef SKIP_DEFORMABLE_BODY
btDeformableBodySolver* m_deformablebodySolver;
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
//#else//SKIP_DEFORMABLE_BODY
//#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#endif
//#else//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btMultiBodyDynamicsWorld* m_dynamicsWorld;
//#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
//#endif//SKIP_DEFORMABLE_BODY
int m_constraintSolverType;
SharedMemoryDebugDrawer* m_remoteDebugDrawer;
@@ -1713,8 +1709,11 @@ struct PhysicsServerCommandProcessorInternalData
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
m_dynamicsWorld(0),
#ifndef SKIP_DEFORMABLE_BODY
m_deformablebodySolver(0),
#endif
m_dynamicsWorld(0),
m_constraintSolverType(-1),
m_remoteDebugDrawer(0),
m_stateLoggersUniqueId(0),
@@ -8206,7 +8205,46 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
if (!render_mesh_is_sim_mesh)
{
// load render mesh
btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb);
{
tinyobj::attrib_t attribute;
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
for (int s = 0; s < (int)shapes.size(); s++)
{
tinyobj::shape_t& shape = shapes[s];
int faceCount = shape.mesh.indices.size();
int vertexCount = attribute.vertices.size()/3;
for (int v=0;v<vertexCount;v++)
{
btSoftBody::Node n;
n.m_x = btVector3(attribute.vertices[3*v],attribute.vertices[3*v+1],attribute.vertices[3*v+2]);
psb->m_renderNodes.push_back(n);
}
for (int f = 0; f < faceCount; f += 3)
{
if (f < 0 && f >= int(shape.mesh.indices.size()))
{
continue;
}
tinyobj::index_t v_0 = shape.mesh.indices[f];
tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
btSoftBody::Face ff;
ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index];
ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index];
ff.m_n[2] = &psb->m_renderNodes[v_2.vertex_index];
psb->m_renderFaces.push_back(ff);
}
}
}
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
else
@@ -9437,6 +9475,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_SPARSE_SDF)
{
#ifndef SKIP_DEFORMABLE_BODY
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
@@ -9445,6 +9484,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
deformWorld ->getWorldInfo().m_sparsesdf.Reset();
}
}
#endif
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
{
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
if (softWorld)
@@ -9453,6 +9494,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
softWorld->getWorldInfo().m_sparsesdf.Reset();
}
}
#endif
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
@@ -10643,6 +10685,84 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED;
hasStatus = true;
if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR)
{
#ifndef SKIP_DEFORMABLE_BODY
InternalBodyHandle* sbodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
if (sbodyHandle)
{
if (sbodyHandle->m_softBody)
{
int nodeIndex = clientCmd.m_userConstraintArguments.m_parentJointIndex;
if (nodeIndex>=0 && nodeIndex < sbodyHandle->m_softBody->m_nodes.size())
{
int bodyUniqueId = clientCmd.m_userConstraintArguments.m_childBodyIndex;
if (bodyUniqueId<=0)
{
//fixed anchor (mass = 0)
sbodyHandle->m_softBody->setMass(nodeIndex,0.0);
int uid = m_data->m_userConstraintUIDGenerator++;
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
} else
{
InternalBodyHandle* mbodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (mbodyHandle && mbodyHandle->m_multiBody)
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
int linkIndex = clientCmd.m_userConstraintArguments.m_childJointIndex;
if (linkIndex<0)
{
sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_multiBody->getBaseCollider());
} else
{
if (linkIndex < mbodyHandle->m_multiBody->getNumLinks())
{
sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_multiBody->getLinkCollider(linkIndex));
}
}
}
}
if (mbodyHandle && mbodyHandle->m_rigidBody)
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
//todo: expose those values
bool disableCollisionBetweenLinkedBodies = true;
//btVector3 localPivot(0,0,0);
sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_rigidBody);
}
#if 1
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
if (softWorld)
{
bool disableCollisionBetweenLinkedBodies = true;
btVector3 localPivot(clientCmd.m_userConstraintArguments.m_childFrame[0],
clientCmd.m_userConstraintArguments.m_childFrame[1],
clientCmd.m_userConstraintArguments.m_childFrame[2]);
sbodyHandle->m_softBody->appendAnchor(nodeIndex, mbodyHandle->m_rigidBody, localPivot, disableCollisionBetweenLinkedBodies);
}
#endif
}
int uid = m_data->m_userConstraintUIDGenerator++;
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
}
}
}
#endif
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_REQUEST_STATE)
{
int constraintUid = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -800,6 +800,7 @@ enum EnumUserConstraintFlags
USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512,
USER_CONSTRAINT_CHANGE_ERP = 1024,
USER_CONSTRAINT_REQUEST_STATE = 2048,
USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096,
};
enum EnumBodyChangeFlags

29
examples/pybullet/examples/deformable_anchor.py Normal file
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@@ -0,0 +1,29 @@
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
gravZ=-10
p.setGravity(0, 0, gravZ)
planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,1,2],useMaximalCoordinates = True)
clothId = p.loadSoftBody("cloth_z_up.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1,useMassSpring=1, springElasticStiffness=40, springDampingStiffness=.1, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1)
p.createSoftBodyAnchor(clothId ,0,-1,-1)
p.createSoftBodyAnchor(clothId ,1,-1,-1)
p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0])
p.createSoftBodyAnchor(clothId ,2,boxId,-1, [-0.5,-0.5,0])
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)
while p.isConnected():
p.setGravity(0,0,gravZ)
sleep(1./240.)

58
examples/pybullet/pybullet.c
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@@ -1963,6 +1963,10 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
// Load a softbody from an obj file
static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* keywds)
{
@@ -2072,6 +2076,56 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
}
return PyLong_FromLong(bodyUniqueId);
}
static PyObject* pybullet_createSoftBodyAnchor(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryCommandHandle commandHandle;
int softBodyUniqueId = -1;
int nodeIndex = -1;
int bodyUniqueId = -1;
int linkIndex = -1;
PyObject* bodyFramePositionObj = 0;
double bodyFramePosition[3] = {0, 0, 0};
struct b3JointInfo jointInfo;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"softBodyBodyUniqueId", "nodeIndex",
"bodyUniqueId", "linkIndex", "bodyFramePosition",
"physicsClientId",
NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOi", kwlist, &softBodyUniqueId, &nodeIndex,
&bodyUniqueId, &linkIndex,&bodyFramePositionObj,&physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
pybullet_internalSetVectord(bodyFramePositionObj, bodyFramePosition);
commandHandle = b3InitCreateSoftBodyAnchorConstraintCommand(sm, softBodyUniqueId, nodeIndex, bodyUniqueId, linkIndex, bodyFramePosition);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_USER_CONSTRAINT_COMPLETED)
{
int userConstraintUid = b3GetStatusUserConstraintUniqueId(statusHandle);
PyObject* ob = PyLong_FromLong(userConstraintUid);
return ob;
}
PyErr_SetString(SpamError, "createSoftBodyAnchor failed.");
return NULL;
}
#endif
// Reset the simulation to remove all loaded objects
@@ -11798,6 +11852,10 @@ static PyMethodDef SpamMethods[] = {
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
{"loadSoftBody", (PyCFunction)pybullet_loadSoftBody, METH_VARARGS | METH_KEYWORDS,
"Load a softbody from an obj file."},
{"createSoftBodyAnchor", (PyCFunction)pybullet_createSoftBodyAnchor, METH_VARARGS | METH_KEYWORDS,
"Create an anchor (attachment) between a soft body and a rigid or multi body."},
#endif
{"loadBullet", (PyCFunction)pybullet_loadBullet, METH_VARARGS | METH_KEYWORDS,
"Load a world from a .bullet file."},

8
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -2496,7 +2496,8 @@ void btSoftBody::updateNormals()
btSoftBody::Face& f = m_faces[i];
const btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x,
f.m_n[2]->m_x - f.m_n[0]->m_x);
f.m_normal = n.normalized();
f.m_normal = n;
f.m_normal.safeNormalize();
f.m_n[0]->m_n += n;
f.m_n[1]->m_n += n;
f.m_n[2]->m_n += n;
@@ -3305,11 +3306,14 @@ void btSoftBody::interpolateRenderMesh()
Node& n = m_renderNodes[i];
n.m_x.setZero();
for (int j = 0; j < 4; ++j)
{
if (m_renderNodesParents[i].size())
{
n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j];
}
}
}
}
//
void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti)
@@ -3872,7 +3876,7 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
for (int j = 0; j < 4; j++)
{
m_tetras[i].m_c0[j].serializeFloat(memPtr->m_c0[j]);
memPtr->m_nodeIndices[j] = m_tetras[j].m_n[j] ? m_tetras[j].m_n[j] - &m_nodes[0] : -1;
memPtr->m_nodeIndices[j] = m_tetras[i].m_n[j] ? m_tetras[i].m_n[j] - &m_nodes[0] : -1;
}
memPtr->m_c1 = m_tetras[i].m_c1;
memPtr->m_c2 = m_tetras[i].m_c2;

37
src/BulletSoftBody/btSoftBodyHelpers.cpp
View File

@@ -1500,43 +1500,6 @@ void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector
bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6);
}
void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb)
{
std::ifstream fs;
fs.open(file);
std::string line;
btVector3 pos;
while (std::getline(fs, line))
{
std::stringstream ss(line);
if (line.length()>1)
{
if (line[0] == 'v' && line[1] != 't' && line[1] != 'n')
{
ss.ignore();
for (size_t i = 0; i < 3; i++)
ss >> pos[i];
btSoftBody::Node n;
n.m_x = pos;
psb->m_renderNodes.push_back(n);
}
else if (line[0] == 'f')
{
ss.ignore();
int id0, id1, id2;
ss >> id0;
ss >> id1;
ss >> id2;
btSoftBody::Face f;
f.m_n[0] = &psb->m_renderNodes[id0-1];
f.m_n[1] = &psb->m_renderNodes[id1-1];
f.m_n[2] = &psb->m_renderNodes[id2-1];
psb->m_renderFaces.push_back(f);
}
}
}
fs.close();
}
// Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights
// If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight

2
src/BulletSoftBody/btSoftBodyHelpers.h
View File

@@ -148,8 +148,6 @@ struct btSoftBodyHelpers
static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);
static void readRenderMeshFromObj(const char* file, btSoftBody* psb);
static void interpolateBarycentricWeights(btSoftBody* psb);
static void generateBoundaryFaces(btSoftBody* psb);

2
src/BulletSoftBody/btSparseSDF.h
View File

@@ -274,7 +274,7 @@ struct btSparseSdf
Lerp(gy[2], gy[3], ix.f), iz.f));
normal.setZ(Lerp(Lerp(gz[0], gz[1], ix.f),
Lerp(gz[2], gz[3], ix.f), iy.f));
normal = normal.normalized();
normal.safeNormalize();
#else
normal = btVector3(d[1] - d[0], d[3] - d[0], d[4] - d[0]).normalized();
#endif