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Add MLCP constraint solver for multibody

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This commit is contained in:
Jeongseok Lee
2018-08-02 22:53:30 -07:00
parent 7d38cab1aa
commit 89c6a83ae9
8 changed files with 1617 additions and 16 deletions
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41
examples/MultiBody/MultiDofDemo.cpp
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@@ -2,8 +2,13 @@
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
@@ -40,7 +45,6 @@ public:
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
}
btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical = false, bool floating = false);
void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
void addBoxes_testMultiDof();
@@ -52,6 +56,7 @@ static bool g_floatingBase = false;
static bool g_firstInit = true;
static float scaling = 0.4f;
static float friction = 1.;
static int g_constraintSolverType = 0;
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
@@ -104,8 +109,37 @@ void MultiDofDemo::initPhysics()
m_broadphase = new btDbvtBroadphase();
//Use the btMultiBodyConstraintSolver for Featherstone btMultiBody support
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver;
if (g_constraintSolverType == 4)
{
g_constraintSolverType = 0;
g_floatingBase = !g_floatingBase;
}
btMultiBodyConstraintSolver* sol;
btMLCPSolverInterface* mlcp;
switch (g_constraintSolverType++)
{
case 0:
sol = new btMultiBodyConstraintSolver;
b3Printf("Constraint Solver: Sequential Impulse");
break;
case 1:
mlcp = new btSolveProjectedGaussSeidel();
sol = new btMultiBodyMLCPConstraintSolver(mlcp);
b3Printf("Constraint Solver: MLCP + PGS");
break;
case 2:
mlcp = new btDantzigSolver();
sol = new btMultiBodyMLCPConstraintSolver(mlcp);
b3Printf("Constraint Solver: MLCP + Dantzig");
break;
default:
mlcp = new btLemkeSolver();
sol = new btMultiBodyMLCPConstraintSolver(mlcp);
b3Printf("Constraint Solver: MLCP + Lemke");
break;
}
m_solver = sol;
//use btMultiBodyDynamicsWorld for Featherstone btMultiBody support
@@ -144,7 +178,6 @@ void MultiDofDemo::initPhysics()
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
g_floatingBase = ! g_floatingBase;
mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide);
mbC->setUseGyroTerm(gyro);