Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add support for anchor constraint between deformable and rigid

Browse Source
This commit is contained in:
Xuchen Han
2019-10-16 19:23:01 -07:00
parent 3d622a3bee
commit 60dfe1fe69
11 changed files with 487 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

236
examples/DeformableDemo/DeformableClothAnchor.cpp Normal file
View File

@@ -0,0 +1,236 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2019 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "DeformableClothAnchor.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/btSoftBody.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "BulletSoftBody/btDeformableBodySolver.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include <stdio.h> //printf debugging
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The DeformableClothAnchor shows contact between deformable objects and rigid objects.
class DeformableClothAnchor : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
public:
DeformableClothAnchor(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper)
{
}
virtual ~DeformableClothAnchor()
{
}
void initPhysics();
void exitPhysics();
void resetCamera()
{
float dist = 20;
float pitch = -45;
float yaw = 100;
float targetPos[3] = {0, -3, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
void stepSimulation(float deltaTime)
{
//use a smaller internal timestep, there are stability issues
float internalTimeStep = 1. / 240.f;
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
}
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual void renderScene()
{
CommonRigidBodyBase::renderScene();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
}
}
}
};
void DeformableClothAnchor::initPhysics()
{
m_guiHelper->setUpAxis(1);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(deformableBodySolver);
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;
// getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
{
///create a ground
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -50, 0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0, 0, 0);
if (isDynamic)
groundShape->calculateLocalInertia(mass, localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(1);
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
// create a piece of cloth
{
const btScalar s = 4;
const btScalar h = 6;
const int r = 9;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
btVector3(+s, h, -s),
btVector3(-s, h, +s),
btVector3(+s, h, +s), r, r, 4 + 8, true);
psb->getCollisionShape()->setMargin(0.1);
psb->generateBendingConstraints(2);
psb->setTotalMass(1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(100,1, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0, h, -(s + 3.5)));
btRigidBody* body = createRigidBody(2, startTransform, new btBoxShape(btVector3(s, 1, 3)));
psb->appendDeformableAnchor(0, body);
psb->appendDeformableAnchor(r - 1, body);
}
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void DeformableClothAnchor::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
// delete forces
for (int j = 0; j < m_forces.size(); j++)
{
btDeformableLagrangianForce* force = m_forces[j];
delete force;
}
m_forces.clear();
//delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
m_collisionShapes.clear();
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
}
class CommonExampleInterface* DeformableClothAnchorCreateFunc(struct CommonExampleOptions& options)
{
return new DeformableClothAnchor(options.m_guiHelper);
}

19
examples/DeformableDemo/DeformableClothAnchor.h Normal file
View File

@@ -0,0 +1,19 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2019 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef DEFORMABLE_CLOTH_ANCHOR_H
#define DEFORMABLE_CLOTH_ANCHOR_H
class CommonExampleInterface* DeformableClothAnchorCreateFunc(struct CommonExampleOptions& options);
#endif //DEFORMABLE_CLOTH_ANCHOR_H

2
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -371,6 +371,8 @@ SET(BulletExampleBrowser_SRCS
../DeformableDemo/DeformableRigid.h
../DeformableDemo/VolumetricDeformable.cpp
../DeformableDemo/VolumetricDeformable.h
../DeformableDemo/DeformableClothAnchor.cpp
../DeformableDemo/DeformableClothAnchor.h
../MultiBody/MultiDofDemo.cpp
../MultiBody/MultiDofDemo.h
../RigidBody/RigidBodySoftContact.cpp

2
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -53,6 +53,7 @@
#include "../DeformableDemo/VolumetricDeformable.h"
#include "../DeformableDemo/GraspDeformable.h"
#include "../DeformableDemo/DeformableContact.h"
#include "../DeformableDemo/DeformableClothAnchor.h"
#include "../SharedMemory/PhysicsServerExampleBullet2.h"
#include "../SharedMemory/PhysicsServerExample.h"
#include "../SharedMemory/PhysicsClientExample.h"
@@ -198,6 +199,7 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc),
ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc),
ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
ExampleEntry(1, "Deformable Cloth Anchor", "Deformable Anchor test", DeformableClothAnchorCreateFunc),
ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc),
// ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc),