move deformable examples to a single folder and rename them; change license to google 2016
This commit is contained in:
Xuchen Han
@@ -1,20 +0,0 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef _DEFORMABLE_DEMO_H
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#define _DEFORMABLE_DEMO_H
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class CommonExampleInterface* DeformableCreateFunc(struct CommonExampleOptions& options);
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#endif //_DEFORMABLE_DEMO_H
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409
examples/DeformableDemo/DeformableMultibody.cpp
Normal file
409
examples/DeformableDemo/DeformableMultibody.cpp
Normal file
@@ -0,0 +1,409 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2016 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///create 125 (5x5x5) dynamic object
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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//maximum number of objects (and allow user to shoot additional boxes)
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#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
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///scaling of the objects (0.1 = 20 centimeter boxes )
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#define SCALING 1.
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#define START_POS_X -5
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#define START_POS_Y -5
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#define START_POS_Z -3
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#include "DeformableMultibody.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h"
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#include "BulletSoftBody/btSoftBody.h"
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "BulletSoftBody/btDeformableBodySolver.h"
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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#include "../SoftDemo/BunnyMesh.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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///The DeformableMultibody demo deformable bodies self-collision
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static bool g_floatingBase = true;
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static float friction = 1.;
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class DeformableMultibody : public CommonMultiBodyBase
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{
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btMultiBody* m_multiBody;
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btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
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public:
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DeformableMultibody(struct GUIHelperInterface* helper)
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: CommonMultiBodyBase(helper)
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{
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}
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virtual ~DeformableMultibody()
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{
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}
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void initPhysics();
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void exitPhysics();
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void resetCamera()
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{
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float dist = 30;
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float pitch = -30;
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float yaw = 100;
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float targetPos[3] = {0, -10, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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virtual void stepSimulation(float deltaTime);
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btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
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void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
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virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
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{
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return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
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}
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virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
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{
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return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
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}
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virtual void renderScene()
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{
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CommonMultiBodyBase::renderScene();
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btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
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{
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btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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}
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}
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};
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void DeformableMultibody::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
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btMultiBodyConstraintSolver* sol;
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sol = new btMultiBodyConstraintSolver;
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m_solver = sol;
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m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
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deformableBodySolver->setWorld(getDeformableDynamicsWorld());
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btVector3 gravity = btVector3(0, -10, 0);
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m_dynamicsWorld->setGravity(gravity);
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getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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{
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///create a ground
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -40, 0));
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groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(0.5);
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//add the ground to the dynamics world
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m_dynamicsWorld->addRigidBody(body,1,1+2);
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}
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{
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bool damping = true;
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bool gyro = false;
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int numLinks = 4;
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bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool canSleep = false;
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bool selfCollide = true;
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btVector3 linkHalfExtents(.4, 1, .4);
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btVector3 baseHalfExtents(.4, 1, .4);
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btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 10.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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//
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if (!damping)
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{
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mbC->setLinearDamping(0.0f);
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mbC->setAngularDamping(0.0f);
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}
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else
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{
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mbC->setLinearDamping(0.04f);
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mbC->setAngularDamping(0.04f);
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}
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if (numLinks > 0)
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{
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btScalar q0 = 0.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC->setJointPosMultiDof(0, &q0);
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}
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else
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC->setJointPosMultiDof(0, quat0);
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}
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}
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///
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addColliders_testMultiDof(mbC, m_dynamicsWorld, baseHalfExtents, linkHalfExtents);
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}
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// create a patch of cloth
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{
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btScalar h = 0;
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const btScalar s = 4;
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btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
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btVector3(+s, h, -s),
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btVector3(-s, h, +s),
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btVector3(+s, h, +s),
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20,20,
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// 3,3,
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1 + 2 + 4 + 8, true);
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psb->getCollisionShape()->setMargin(0.25);
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psb->generateBendingConstraints(2);
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psb->setTotalMass(5);
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psb->setSpringStiffness(2);
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psb->setDampingCoefficient(0.01);
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psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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psb->m_cfg.kCHR = 1; // collision hardness with rigid body
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psb->m_cfg.kDF = .1;
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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getDeformableDynamicsWorld()->addSoftBody(psb);
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getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
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getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void DeformableMultibody::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject(obj);
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delete obj;
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}
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//delete collision shapes
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for (int j = 0; j < m_collisionShapes.size(); j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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void DeformableMultibody::stepSimulation(float deltaTime)
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{
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// getDeformableDynamicsWorld()->getMultiBodyDynamicsWorld()->stepSimulation(deltaTime);
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m_dynamicsWorld->stepSimulation(deltaTime, 5, 1./250.);
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}
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btMultiBody* DeformableMultibody::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
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{
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//init the base
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btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
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float baseMass = .1f;
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if (baseMass)
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{
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btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete pTempBox;
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}
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bool canSleep = false;
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btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
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btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
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pMultiBody->setBasePos(basePosition);
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pMultiBody->setWorldToBaseRot(baseOriQuat);
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btVector3 vel(0, 0, 0);
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// pMultiBody->setBaseVel(vel);
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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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float linkMass = .1f;
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
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pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete pTempBox;
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//y-axis assumed up
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btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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//////
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btScalar q0 = 0.f * SIMD_PI / 180.f;
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btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
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quat0.normalize();
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/////
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for (int i = 0; i < numLinks; ++i)
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{
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if (!spherical)
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pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
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else
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//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
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pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
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}
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pMultiBody->finalizeMultiDof();
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///
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pWorld->addMultiBody(pMultiBody);
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///
|
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return pMultiBody;
|
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}
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||||
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void DeformableMultibody::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
|
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{
|
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btAlignedObjectArray<btQuaternion> world_to_local;
|
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world_to_local.resize(pMultiBody->getNumLinks() + 1);
|
||||
|
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btAlignedObjectArray<btVector3> local_origin;
|
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local_origin.resize(pMultiBody->getNumLinks() + 1);
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world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
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||||
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||||
{
|
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// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
|
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btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
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if (1)
|
||||
{
|
||||
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
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col->setCollisionShape(box);
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btTransform tr;
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||||
tr.setIdentity();
|
||||
tr.setOrigin(local_origin[0]);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
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col->setWorldTransform(tr);
|
||||
|
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pWorld->addCollisionObject(col, 2, 1 + 2);
|
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|
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col->setFriction(friction);
|
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pMultiBody->setBaseCollider(col);
|
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}
|
||||
}
|
||||
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||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
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world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
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local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
|
||||
|
||||
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
|
||||
col->setCollisionShape(box);
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(friction);
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
class CommonExampleInterface* DeformableMultibodyCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new DeformableMultibody(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
examples/DeformableDemo/DeformableMultibody.h
Normal file
19
examples/DeformableDemo/DeformableMultibody.h
Normal file
@@ -0,0 +1,19 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 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_MULTIBODY_H
|
||||
#define _DEFORMABLE_MULTIBODY_H
|
||||
|
||||
class CommonExampleInterface* DeformableMultibodyCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_DEFORMABLE_MULTIBODY_H
|
||||
@@ -1,17 +1,15 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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.
|
||||
*/
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 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.
|
||||
*/
|
||||
|
||||
///create 125 (5x5x5) dynamic object
|
||||
#define ARRAY_SIZE_X 5
|
||||
@@ -27,7 +25,7 @@ subject to the following restrictions:
|
||||
#define START_POS_Y -5
|
||||
#define START_POS_Z -3
|
||||
|
||||
#include "DeformableDemo.h"
|
||||
#include "DeformableRigid.h"
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletSoftBody/btDeformableRigidDynamicsWorld.h"
|
||||
@@ -41,17 +39,17 @@ subject to the following restrictions:
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
#include "../Utils/b3ResourcePath.h"
|
||||
|
||||
///The DeformableDemo shows the use of rolling friction.
|
||||
///The DeformableRigid shows the use of rolling friction.
|
||||
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
|
||||
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
|
||||
class DeformableDemo : public CommonRigidBodyBase
|
||||
class DeformableRigid : public CommonRigidBodyBase
|
||||
{
|
||||
public:
|
||||
DeformableDemo(struct GUIHelperInterface* helper)
|
||||
DeformableRigid(struct GUIHelperInterface* helper)
|
||||
: CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~DeformableDemo()
|
||||
virtual ~DeformableRigid()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
@@ -148,7 +146,7 @@ public:
|
||||
}
|
||||
};
|
||||
|
||||
void DeformableDemo::initPhysics()
|
||||
void DeformableRigid::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
@@ -246,7 +244,7 @@ void DeformableDemo::initPhysics()
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void DeformableDemo::exitPhysics()
|
||||
void DeformableRigid::exitPhysics()
|
||||
{
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
@@ -285,9 +283,9 @@ void DeformableDemo::exitPhysics()
|
||||
|
||||
|
||||
|
||||
class CommonExampleInterface* DeformableCreateFunc(struct CommonExampleOptions& options)
|
||||
class CommonExampleInterface* DeformableRigidCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new DeformableDemo(options.m_guiHelper);
|
||||
return new DeformableRigid(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
examples/DeformableDemo/DeformableRigid.h
Normal file
19
examples/DeformableDemo/DeformableRigid.h
Normal file
@@ -0,0 +1,19 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 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_RIGID_H
|
||||
#define _DEFORMABLE_RIGID_H
|
||||
|
||||
class CommonExampleInterface* DeformableRigidCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_DEFORMABLE_RIGID_H
|
||||
397
examples/DeformableDemo/Pinch.cpp
Normal file
397
examples/DeformableDemo/Pinch.cpp
Normal file
@@ -0,0 +1,397 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 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.
|
||||
*/
|
||||
|
||||
///create 125 (5x5x5) dynamic object
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_Z 5
|
||||
|
||||
//maximum number of objects (and allow user to shoot additional boxes)
|
||||
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
|
||||
|
||||
///scaling of the objects (0.1 = 20 centimeter boxes )
|
||||
#define SCALING 1.
|
||||
#define START_POS_X -5
|
||||
#define START_POS_Y -5
|
||||
#define START_POS_Z -3
|
||||
|
||||
#include "Pinch.h"
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletSoftBody/btDeformableRigidDynamicsWorld.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 Pinch shows the use of rolling friction.
|
||||
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
|
||||
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
|
||||
|
||||
struct TetraCube
|
||||
{
|
||||
#include "../SoftDemo/cube.inl"
|
||||
};
|
||||
|
||||
struct TetraBunny
|
||||
{
|
||||
#include "../SoftDemo/bunny.inl"
|
||||
};
|
||||
|
||||
|
||||
class Pinch : public CommonRigidBodyBase
|
||||
{
|
||||
public:
|
||||
Pinch(struct GUIHelperInterface* helper)
|
||||
: CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~Pinch()
|
||||
{
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 25;
|
||||
float pitch = -30;
|
||||
float yaw = 100;
|
||||
float targetPos[3] = {0, -0, 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);
|
||||
}
|
||||
|
||||
void createGrip()
|
||||
{
|
||||
int count = 2;
|
||||
float mass = 2;
|
||||
btCollisionShape* shape[] = {
|
||||
new btBoxShape(btVector3(3, 3, 0.5)),
|
||||
};
|
||||
static const int nshapes = sizeof(shape) / sizeof(shape[0]);
|
||||
for (int i = 0; i < count; ++i)
|
||||
{
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(10, 0, 0));
|
||||
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
|
||||
createRigidBody(mass, startTransform, shape[i % nshapes]);
|
||||
}
|
||||
}
|
||||
|
||||
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
|
||||
{
|
||||
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
|
||||
}
|
||||
|
||||
virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
|
||||
{
|
||||
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonRigidBodyBase::renderScene();
|
||||
btDeformableRigidDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
|
||||
|
||||
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
|
||||
{
|
||||
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void dynamics(btScalar time, btDeformableRigidDynamicsWorld* world)
|
||||
{
|
||||
btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
|
||||
if (rbs.size()<2)
|
||||
return;
|
||||
btRigidBody* rb0 = rbs[0];
|
||||
btScalar pressTime = 0.9;
|
||||
btScalar liftTime = 2.5;
|
||||
btScalar shiftTime = 3.5;
|
||||
btScalar holdTime = 4.5*1000;
|
||||
btScalar dropTime = 5.3*1000;
|
||||
btTransform rbTransform;
|
||||
rbTransform.setIdentity();
|
||||
btVector3 translation;
|
||||
btVector3 velocity;
|
||||
|
||||
btVector3 initialTranslationLeft = btVector3(0.5,3,4);
|
||||
btVector3 initialTranslationRight = btVector3(0.5,3,-4);
|
||||
btVector3 pinchVelocityLeft = btVector3(0,0,-2);
|
||||
btVector3 pinchVelocityRight = btVector3(0,0,2);
|
||||
btVector3 liftVelocity = btVector3(0,5,0);
|
||||
btVector3 shiftVelocity = btVector3(0,0,5);
|
||||
btVector3 holdVelocity = btVector3(0,0,0);
|
||||
btVector3 openVelocityLeft = btVector3(0,0,4);
|
||||
btVector3 openVelocityRight = btVector3(0,0,-4);
|
||||
|
||||
if (time < pressTime)
|
||||
{
|
||||
velocity = pinchVelocityLeft;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * time;
|
||||
}
|
||||
else if (time < liftTime)
|
||||
{
|
||||
velocity = liftVelocity;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime);
|
||||
|
||||
}
|
||||
else if (time < shiftTime)
|
||||
{
|
||||
velocity = shiftVelocity;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
|
||||
}
|
||||
else if (time < holdTime)
|
||||
{
|
||||
velocity = btVector3(0,0,0);
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
|
||||
}
|
||||
else if (time < dropTime)
|
||||
{
|
||||
velocity = openVelocityLeft;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
|
||||
}
|
||||
else
|
||||
{
|
||||
velocity = holdVelocity;
|
||||
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
|
||||
}
|
||||
rbTransform.setOrigin(translation);
|
||||
rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
|
||||
rb0->setCenterOfMassTransform(rbTransform);
|
||||
rb0->setAngularVelocity(btVector3(0,0,0));
|
||||
rb0->setLinearVelocity(velocity);
|
||||
|
||||
btRigidBody* rb1 = rbs[1];
|
||||
if (time < pressTime)
|
||||
{
|
||||
velocity = pinchVelocityRight;
|
||||
translation = initialTranslationRight + pinchVelocityRight * time;
|
||||
}
|
||||
else if (time < liftTime)
|
||||
{
|
||||
velocity = liftVelocity;
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime);
|
||||
|
||||
}
|
||||
else if (time < shiftTime)
|
||||
{
|
||||
velocity = shiftVelocity;
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
|
||||
}
|
||||
else if (time < holdTime)
|
||||
{
|
||||
velocity = btVector3(0,0,0);
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
|
||||
}
|
||||
else if (time < dropTime)
|
||||
{
|
||||
velocity = openVelocityRight;
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
|
||||
}
|
||||
else
|
||||
{
|
||||
velocity = holdVelocity;
|
||||
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
|
||||
}
|
||||
rbTransform.setOrigin(translation);
|
||||
rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
|
||||
rb1->setCenterOfMassTransform(rbTransform);
|
||||
rb1->setAngularVelocity(btVector3(0,0,0));
|
||||
rb1->setLinearVelocity(velocity);
|
||||
|
||||
rb0->setFriction(20);
|
||||
rb1->setFriction(20);
|
||||
}
|
||||
|
||||
void Pinch::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
|
||||
|
||||
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(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()->setSolverCallback(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, -25, 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(0.5);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
// create a soft block
|
||||
{
|
||||
btScalar verts[24] = {0.f, 0.f, 0.f,
|
||||
1.f, 0.f, 0.f,
|
||||
0.f, 1.f, 0.f,
|
||||
0.f, 0.f, 1.f,
|
||||
1.f, 1.f, 0.f,
|
||||
0.f, 1.f, 1.f,
|
||||
1.f, 0.f, 1.f,
|
||||
1.f, 1.f, 1.f
|
||||
};
|
||||
int triangles[60] = {0, 6, 3,
|
||||
0,1,6,
|
||||
7,5,3,
|
||||
7,3,6,
|
||||
4,7,6,
|
||||
4,6,1,
|
||||
7,2,5,
|
||||
7,4,2,
|
||||
0,3,2,
|
||||
2,3,5,
|
||||
0,2,4,
|
||||
0,4,1,
|
||||
0,6,5,
|
||||
0,6,4,
|
||||
3,4,2,
|
||||
3,4,7,
|
||||
2,7,3,
|
||||
2,7,1,
|
||||
4,5,0,
|
||||
4,5,6,
|
||||
};
|
||||
// btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(getDeformableDynamicsWorld()->getWorldInfo(), &verts[0], &triangles[0], 20);
|
||||
////
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
|
||||
psb->scale(btVector3(2, 2, 2));
|
||||
psb->translate(btVector3(0, 4, 0));
|
||||
psb->getCollisionShape()->setMargin(0.1);
|
||||
psb->setTotalMass(1);
|
||||
// psb->scale(btVector3(5, 5, 5));
|
||||
// psb->translate(btVector3(-2.5, 4, -2.5));
|
||||
// psb->getCollisionShape()->setMargin(0.1);
|
||||
// psb->setTotalMass(1);
|
||||
psb->setSpringStiffness(2);
|
||||
psb->setDampingCoefficient(0.02);
|
||||
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);
|
||||
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
|
||||
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
|
||||
// add a grippers
|
||||
createGrip();
|
||||
}
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void Pinch::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 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* PinchCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new Pinch(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
examples/DeformableDemo/Pinch.h
Normal file
19
examples/DeformableDemo/Pinch.h
Normal file
@@ -0,0 +1,19 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 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 _PINCH_H
|
||||
#define _PINCH_H
|
||||
|
||||
class CommonExampleInterface* PinchCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_PINCH_H
|
||||
296
examples/DeformableDemo/VolumetricDeformable.cpp
Normal file
296
examples/DeformableDemo/VolumetricDeformable.cpp
Normal file
@@ -0,0 +1,296 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 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.
|
||||
*/
|
||||
|
||||
///create 125 (5x5x5) dynamic object
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_Z 5
|
||||
|
||||
//maximum number of objects (and allow user to shoot additional boxes)
|
||||
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
|
||||
|
||||
///scaling of the objects (0.1 = 20 centimeter boxes )
|
||||
#define SCALING 1.
|
||||
#define START_POS_X -5
|
||||
#define START_POS_Y -5
|
||||
#define START_POS_Z -3
|
||||
|
||||
#include "VolumetricDeformable.h"
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletSoftBody/btDeformableRigidDynamicsWorld.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 VolumetricDeformable shows the use of rolling friction.
|
||||
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
|
||||
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
|
||||
|
||||
|
||||
struct TetraCube
|
||||
{
|
||||
#include "../SoftDemo/cube.inl"
|
||||
};
|
||||
|
||||
class VolumetricDeformable : public CommonRigidBodyBase
|
||||
{
|
||||
public:
|
||||
VolumetricDeformable(struct GUIHelperInterface* helper)
|
||||
: CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
virtual ~VolumetricDeformable()
|
||||
{
|
||||
}
|
||||
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);
|
||||
}
|
||||
|
||||
void createStaticBox(const btVector3& halfEdge, const btVector3& translation)
|
||||
{
|
||||
btCollisionShape* box = new btBoxShape(halfEdge);
|
||||
m_collisionShapes.push_back(box);
|
||||
|
||||
btTransform Transform;
|
||||
Transform.setIdentity();
|
||||
Transform.setOrigin(translation);
|
||||
Transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.0));
|
||||
//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)
|
||||
box->calculateLocalInertia(mass, localInertia);
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(Transform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, box, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
body->setFriction(0.5);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
void Ctor_RbUpStack(int count)
|
||||
{
|
||||
float mass = 0.02;
|
||||
|
||||
btCompoundShape* cylinderCompound = new btCompoundShape;
|
||||
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
|
||||
btCollisionShape* boxShape = new btBoxShape(btVector3(2, .5, .5));
|
||||
btTransform localTransform;
|
||||
localTransform.setIdentity();
|
||||
cylinderCompound->addChildShape(localTransform, boxShape);
|
||||
btQuaternion orn(SIMD_HALF_PI, 0, 0);
|
||||
localTransform.setRotation(orn);
|
||||
// localTransform.setOrigin(btVector3(1,1,1));
|
||||
cylinderCompound->addChildShape(localTransform, cylinderShape);
|
||||
|
||||
btCollisionShape* shape[] = {
|
||||
new btBoxShape(btVector3(1, 1, 1)),
|
||||
};
|
||||
static const int nshapes = sizeof(shape) / sizeof(shape[0]);
|
||||
for (int i = 0; i < count; ++i)
|
||||
{
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(i, 10 + 2 * i, i-1));
|
||||
createRigidBody(mass, startTransform, shape[i % nshapes]);
|
||||
}
|
||||
}
|
||||
|
||||
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
|
||||
{
|
||||
///just make it a btSoftRigidDynamicsWorld please
|
||||
///or we will add type checking
|
||||
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
|
||||
}
|
||||
|
||||
virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
|
||||
{
|
||||
///just make it a btSoftRigidDynamicsWorld please
|
||||
///or we will add type checking
|
||||
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
CommonRigidBodyBase::renderScene();
|
||||
btDeformableRigidDynamicsWorld* 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 VolumetricDeformable::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)
|
||||
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(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;
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
{
|
||||
///create a ground
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(50.), 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 * 0.0));
|
||||
//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(0.5);
|
||||
|
||||
//add the ground to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
createStaticBox(btVector3(1, 5, 5), btVector3(-5,0,0));
|
||||
createStaticBox(btVector3(1, 5, 5), btVector3(5,0,0));
|
||||
createStaticBox(btVector3(5, 5, 1), btVector3(0,0,5));
|
||||
createStaticBox(btVector3(5, 5, 1), btVector3(0,0,-5));
|
||||
|
||||
// create volumetric soft body
|
||||
{
|
||||
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
|
||||
TetraCube::getElements(),
|
||||
0,
|
||||
TetraCube::getNodes(),
|
||||
false, true, true);
|
||||
getDeformableDynamicsWorld()->addSoftBody(psb);
|
||||
psb->scale(btVector3(2, 2, 2));
|
||||
psb->translate(btVector3(0, 5, 0));
|
||||
// psb->setVolumeMass(10);
|
||||
psb->getCollisionShape()->setMargin(0.25);
|
||||
// psb->generateBendingConstraints(2);
|
||||
psb->setTotalMass(1);
|
||||
psb->setSpringStiffness(1);
|
||||
psb->setDampingCoefficient(0.01);
|
||||
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
|
||||
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
|
||||
psb->m_cfg.kDF = 0.5;
|
||||
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
|
||||
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
|
||||
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
|
||||
}
|
||||
// add a few rigid bodies
|
||||
Ctor_RbUpStack(4);
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void VolumetricDeformable::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 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* VolumetricDeformableCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new VolumetricDeformable(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
19
examples/DeformableDemo/VolumetricDeformable.h
Normal file
19
examples/DeformableDemo/VolumetricDeformable.h
Normal file
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/*
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Bullet Continuous Collision Detection and Physics Library
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||||
Copyright (c) 2016 Google Inc. http://bulletphysics.org
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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.
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||||
*/
|
||||
|
||||
#ifndef _VOLUMETRIC_DEFORMABLE_H
|
||||
#define _VOLUMETRIC_DEFORMABLE_H
|
||||
|
||||
class CommonExampleInterface* VolumetricDeformableCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //_VOLUMETRIC_DEFORMABLE__H
|
||||
Reference in New Issue
Block a user