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

Merge pull request #2550 from xhan0619/master

Browse Source 
Group deformable constraint solves by islands
This commit is contained in:
erwincoumans
2019-12-20 16:26:32 -08:00
committed by GitHub
parent d6bde9271b 6a8973d2f4
commit 830f0a9565
15 changed files with 806 additions and 544 deletions
Download Patch File Download Diff File Expand all files Collapse all files

42
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
View File

@@ -89,6 +89,19 @@ void b3RobotSimulatorClientAPI_NoDirect::resetSimulation()
m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
}
void b3RobotSimulatorClientAPI_NoDirect::resetSimulation(int flag)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryStatusHandle statusHandle;
b3SharedMemoryCommandHandle command = b3InitResetSimulationCommand(m_data->m_physicsClientHandle);
b3InitResetSimulationSetFlags(command, flag);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
bool b3RobotSimulatorClientAPI_NoDirect::canSubmitCommand() const
{
if (!isConnected())
@@ -1151,6 +1164,35 @@ void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileNam
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
void b3RobotSimulatorClientAPI_NoDirect::loadDeformableBody(const std::string& fileName, const struct b3RobotSimulatorLoadDeformableBodyArgs& args)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
b3LoadSoftBodySetScale(command, args.m_scale);
b3LoadSoftBodySetMass(command, args.m_mass);
b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
if (args.m_NeoHookeanMu > 0)
{
b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping);
}
if (args.m_springElasticStiffness > 0)
{
b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness);
}
b3LoadSoftBodySetSelfCollision(command, args.m_useSelfCollision);
b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact);
b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff);
b3LoadSoftBodyUseBendingSprings(command, args.m_useBendingSprings, args.m_springBendingStiffness);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
void b3RobotSimulatorClientAPI_NoDirect::getMouseEvents(b3MouseEventsData* mouseEventsData)
{
mouseEventsData->m_numMouseEvents = 0;

62
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
View File

@@ -89,6 +89,64 @@ struct b3RobotSimulatorLoadSoftBodyArgs
}
};
struct b3RobotSimulatorLoadDeformableBodyArgs
{
btVector3 m_startPosition;
btQuaternion m_startOrientation;
double m_scale;
double m_mass;
double m_collisionMargin;
double m_springElasticStiffness;
double m_springDampingStiffness;
double m_springBendingStiffness;
double m_NeoHookeanMu;
double m_NeoHookeanLambda;
double m_NeoHookeanDamping;
bool m_useSelfCollision;
bool m_useFaceContact;
bool m_useBendingSprings;
double m_frictionCoeff;
b3RobotSimulatorLoadDeformableBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double &scale, const double &mass, const double &collisionMargin)
: m_startPosition(startPos),
m_startOrientation(startOrn),
m_scale(scale),
m_mass(mass),
m_collisionMargin(collisionMargin),
m_springElasticStiffness(-1),
m_springDampingStiffness(-1),
m_springBendingStiffness(-1),
m_NeoHookeanMu(-1),
m_NeoHookeanDamping(-1),
m_useSelfCollision(false),
m_useFaceContact(false),
m_useBendingSprings(false),
m_frictionCoeff(0)
{
}
b3RobotSimulatorLoadDeformableBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
{
b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
}
b3RobotSimulatorLoadDeformableBodyArgs()
{
b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
}
b3RobotSimulatorLoadDeformableBodyArgs(double scale, double mass, double collisionMargin)
: m_startPosition(btVector3(0, 0, 0)),
m_startOrientation(btQuaternion(0, 0, 0, 1)),
m_scale(scale),
m_mass(mass),
m_collisionMargin(collisionMargin)
{
}
};
struct b3RobotSimulatorLoadFileResults
{
btAlignedObjectArray<int> m_uniqueObjectIds;
@@ -534,6 +592,8 @@ public:
void syncBodies();
void resetSimulation();
void resetSimulation(int flag);
btQuaternion getQuaternionFromEuler(const btVector3 &rollPitchYaw);
btVector3 getEulerFromQuaternion(const btQuaternion &quat);
@@ -685,6 +745,8 @@ public:
int getConstraintUniqueId(int serialIndex);
void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs &args);
void loadDeformableBody(const std::string &fileName, const struct b3RobotSimulatorLoadDeformableBodyArgs &args);
virtual void setGuiHelper(struct GUIHelperInterface *guiHelper);
virtual struct GUIHelperInterface *getGuiHelper();