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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2019-10-28 10:07:50 -07:00
parent 3f3175e314 74b173c30d
commit 574c240fbc
10 changed files with 28 additions and 11 deletions
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2
examples/DeformableDemo/ClothFriction.cpp
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@@ -104,6 +104,8 @@ void ClothFriction::initPhysics()
btVector3 gravity = btVector3(0, -10, 0); btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity); m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

2
examples/DeformableDemo/DeformableContact.cpp
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@@ -182,7 +182,7 @@ void DeformableContact::initPhysics()
psb2->setTotalMass(1); psb2->setTotalMass(1);
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
psb2->m_cfg.kDF = 0.1; psb2->m_cfg.kDF = 0;
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->translate(btVector3(3.5,0,0)); psb->translate(btVector3(3.5,0,0));

2
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -113,6 +113,8 @@ void DeformableMultibody::initPhysics()
btVector3 gravity = btVector3(0, -10, 0); btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity); m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
{ {

2
examples/DeformableDemo/DeformableRigid.cpp
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@@ -154,6 +154,8 @@ void DeformableRigid::initPhysics()
btVector3 gravity = btVector3(0, -10, 0); btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity); m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
// getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics); // getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

1
examples/DeformableDemo/DeformableSelfCollision.cpp
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@@ -166,6 +166,7 @@ void DeformableSelfCollision::initPhysics()
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addSoftBody(psb);
psb->setSelfCollision(true);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,0.2, true); btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,0.2, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring); getDeformableDynamicsWorld()->addForce(psb, mass_spring);

15
examples/DeformableDemo/PinchFriction.cpp
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@@ -112,9 +112,9 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
if (rbs.size()<2) if (rbs.size()<2)
return; return;
btRigidBody* rb0 = rbs[0]; btRigidBody* rb0 = rbs[0];
btScalar pressTime = 0.9; btScalar pressTime = 0.45;
btScalar liftTime = 10; btScalar liftTime = 5;
btScalar shiftTime = 3.5; btScalar shiftTime = 1.75;
btScalar holdTime = 4.5*1000; btScalar holdTime = 4.5*1000;
btScalar dropTime = 5.3*1000; btScalar dropTime = 5.3*1000;
btTransform rbTransform; btTransform rbTransform;
@@ -124,9 +124,9 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
btVector3 initialTranslationLeft = btVector3(0.5,3,4); btVector3 initialTranslationLeft = btVector3(0.5,3,4);
btVector3 initialTranslationRight = btVector3(0.5,3,-4); btVector3 initialTranslationRight = btVector3(0.5,3,-4);
btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-1); btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-2);
btVector3 PinchFrictionVelocityRight = btVector3(0,0,1); btVector3 PinchFrictionVelocityRight = btVector3(0,0,2);
btVector3 liftVelocity = btVector3(0,1,0); btVector3 liftVelocity = btVector3(0,2,0);
btVector3 shiftVelocity = btVector3(0,0,0); btVector3 shiftVelocity = btVector3(0,0,0);
btVector3 holdVelocity = btVector3(0,0,0); btVector3 holdVelocity = btVector3(0,0,0);
btVector3 openVelocityLeft = btVector3(0,0,4); btVector3 openVelocityLeft = btVector3(0,0,4);
@@ -230,7 +230,8 @@ void PinchFriction::initPhysics()
btVector3 gravity = btVector3(0, -10, 0); btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity); m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
getDeformableDynamicsWorld()->setSolverCallback(dynamics2); getDeformableDynamicsWorld()->setSolverCallback(dynamics2);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

4
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -169,6 +169,8 @@ void VolumetricDeformable::initPhysics()
btVector3 gravity = btVector3(0, -100, 0); btVector3 gravity = btVector3(0, -100, 0);
m_dynamicsWorld->setGravity(gravity); m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
{ {
@@ -223,7 +225,7 @@ void VolumetricDeformable::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force); getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force); m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.02); btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.05);
getDeformableDynamicsWorld()->addForce(psb, neohookean); getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean); m_forces.push_back(neohookean);

8
src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h
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@@ -188,7 +188,13 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
//} else //} else
{ {
for (i = 0; i < numBodies; i++) for (i = 0; i < numBodies; i++)
m_bodies.push_back(bodies[i]); {
bool isSoftBodyType = (bodies[i]->getInternalType() & btCollisionObject::CO_SOFT_BODY);
if (!isSoftBodyType)
{
m_bodies.push_back(bodies[i]);
}
}
for (i = 0; i < numManifolds; i++) for (i = 0; i < numManifolds; i++)
m_manifolds.push_back(manifolds[i]); m_manifolds.push_back(manifolds[i]);
for (i = 0; i < numCurConstraints; i++) for (i = 0; i < numCurConstraints; i++)

2
src/BulletSoftBody/btDeformableContactConstraint.cpp
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@@ -435,7 +435,7 @@ btScalar btDeformableFaceNodeContactConstraint::solveConstraint()
m_total_tangent_dv -= impulse_tangent * m_contact->m_imf; m_total_tangent_dv -= impulse_tangent * m_contact->m_imf;
} }
if (m_total_normal_dv.dot(m_contact->m_normal) < 0) if (m_total_normal_dv.dot(m_contact->m_normal) > 0)
{ {
// separating in the normal direction // separating in the normal direction
m_static = false; m_static = false;

1
src/BulletSoftBody/btSoftBody.cpp
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@@ -119,6 +119,7 @@ void btSoftBody::initDefaults()
m_dampingCoefficient = 1; m_dampingCoefficient = 1;
m_sleepingThreshold = 0.1; m_sleepingThreshold = 0.1;
m_useFaceContact = false; m_useFaceContact = false;
m_useSelfCollision = false;
m_collisionFlags = 0; m_collisionFlags = 0;
} }