preparation for block solver btRigidBody.
This commit is contained in:
erwincoumans
380
examples/BlockSolver/BlockSolverExample.cpp
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380
examples/BlockSolver/BlockSolverExample.cpp
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#include "BlockSolverExample.h"
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#include "../OpenGLWindow/SimpleOpenGL3App.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
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#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
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#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
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#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
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#include "btBlockSolver.h"
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#include "../OpenGLWindow/GLInstancingRenderer.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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class BlockSolverExample : public CommonMultiBodyBase
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{
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int m_option;
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public:
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BlockSolverExample(GUIHelperInterface* helper, int option);
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virtual ~BlockSolverExample();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 1;
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float pitch = -35;
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float yaw = 50;
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float targetPos[3] = {-3, 2.8, -2.5};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool fixedBase = false);
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void createGround(const btVector3& halfExtents = btVector3(50, 50, 50), btScalar zOffSet = btScalar(-1.55));
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void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
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};
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static bool g_fixedBase = true;
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static bool g_firstInit = true;
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static float scaling = 0.4f;
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static float friction = 1.;
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BlockSolverExample::BlockSolverExample(GUIHelperInterface* helper, int option)
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: CommonMultiBodyBase(helper),
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m_option(option)
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{
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m_guiHelper->setUpAxis(1);
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}
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BlockSolverExample::~BlockSolverExample()
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{
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// Do nothing
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}
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void BlockSolverExample::stepSimulation(float deltaTime)
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{
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//use a smaller internal timestep, there are stability issues
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float internalTimeStep = 1. / 240.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
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}
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void BlockSolverExample::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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if (g_firstInit)
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{
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10. * scaling));
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(50);
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g_firstInit = false;
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}
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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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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btMLCPSolverInterface* mlcp;
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if (m_option&BLOCK_SOLVER_SI)
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{
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btAssert(!m_solver);
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m_solver = new btMultiBodyConstraintSolver;
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b3Printf("Constraint Solver: Sequential Impulse");
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}
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if (m_option&BLOCK_SOLVER_MLCP_PGS)
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{
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btAssert(!m_solver);
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mlcp = new btSolveProjectedGaussSeidel();
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m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + PGS");
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}
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if (m_option&BLOCK_SOLVER_MLCP_DANTZIG)
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{
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btAssert(!m_solver);
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mlcp = new btDantzigSolver();
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m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
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b3Printf("Constraint Solver: MLCP + Dantzig");
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}
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if (m_option&BLOCK_SOLVER_BLOCK)
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{
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//m_solver = new btBlockSolver();
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}
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btAssert(m_solver);
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btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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m_dynamicsWorld = world;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
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m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-4); //todo: what value is good?
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/////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////
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bool damping = true;
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bool gyro = true;
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int numLinks = 5;
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bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool multibodyOnly = true; //false
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bool canSleep = true;
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bool selfCollide = true;
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btVector3 linkHalfExtents(0.05, 0.37, 0.1);
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btVector3 baseHalfExtents(0.05, 0.37, 0.1);
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btMultiBody* mbC1 = createFeatherstoneMultiBody(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_fixedBase);
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btMultiBody* mbC2 = createFeatherstoneMultiBody(world, numLinks, btVector3(-0.4f, 3.0f, 0.5f), linkHalfExtents, baseHalfExtents, spherical, g_fixedBase);
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mbC1->setCanSleep(canSleep);
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mbC1->setHasSelfCollision(selfCollide);
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mbC1->setUseGyroTerm(gyro);
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if (!damping)
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{
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mbC1->setLinearDamping(0.f);
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mbC1->setAngularDamping(0.f);
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}
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else
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{
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mbC1->setLinearDamping(0.1f);
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mbC1->setAngularDamping(0.9f);
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}
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//
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m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
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//////////////////////////////////////////////
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if (numLinks > 0)
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{
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btScalar q0 = 45.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC1->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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mbC1->setJointPosMultiDof(0, quat0);
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}
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}
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///
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addColliders(mbC1, world, baseHalfExtents, linkHalfExtents);
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mbC2->setCanSleep(canSleep);
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mbC2->setHasSelfCollision(selfCollide);
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mbC2->setUseGyroTerm(gyro);
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//
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if (!damping)
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{
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mbC2->setLinearDamping(0.f);
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mbC2->setAngularDamping(0.f);
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}
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else
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{
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mbC2->setLinearDamping(0.1f);
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mbC2->setAngularDamping(0.9f);
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}
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//
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m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
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//////////////////////////////////////////////
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if (numLinks > 0)
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{
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btScalar q0 = -45.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC2->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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mbC2->setJointPosMultiDof(0, quat0);
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}
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}
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///
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addColliders(mbC2, world, baseHalfExtents, linkHalfExtents);
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/////////////////////////////////////////////////////////////////
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btScalar groundHeight = -51.55;
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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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createGround();
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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/////////////////////////////////////////////////////////////////
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}
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btMultiBody* BlockSolverExample::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool fixedBase)
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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 = 1.f;
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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, fixedBase, 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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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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float linkMass = 1.f;
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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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void BlockSolverExample::createGround(const btVector3& halfExtents, btScalar zOffSet)
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{
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btCollisionShape* groundShape = new btBoxShape(halfExtents);
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m_collisionShapes.push_back(groundShape);
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// rigidbody is dynamic if and only if mass is non zero, otherwise static
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btScalar mass(0.);
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const 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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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -halfExtents.z() + zOffSet, 0));
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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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// add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body, 1, 1 + 2);
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}
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void BlockSolverExample::addColliders(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();
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local_origin[0] = pMultiBody->getBasePos();
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{
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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)
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{
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btCollisionShape* box = new btBoxShape(baseHalfExtents);
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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();
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tr.setOrigin(local_origin[0]);
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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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col->setFriction(friction);
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pMultiBody->setBaseCollider(col);
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}
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}
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for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
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{
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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)));
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}
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for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
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{
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btVector3 posr = local_origin[i + 1];
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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()};
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btCollisionShape* box = new btBoxShape(linkHalfExtents);
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
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col->setCollisionShape(box);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(posr);
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tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
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col->setWorldTransform(tr);
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col->setFriction(friction);
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pWorld->addCollisionObject(col, 2, 1 + 2);
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pMultiBody->getLink(i).m_collider = col;
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}
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}
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CommonExampleInterface* BlockSolverExampleCreateFunc(CommonExampleOptions& options)
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{
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return new BlockSolverExample(options.m_guiHelper, options.m_option);
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}
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