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btDeformableRigidWorld now inherits from btMultiBodyDynamicsWorld instead of btSoftRigidDynamicsWorld

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This commit is contained in:
Xuchen Han
2019-07-09 15:27:17 -07:00
parent 13d4e1cc2b
commit c4e316f005
6 changed files with 86 additions and 38 deletions
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2
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -35,7 +35,7 @@ enum btDynamicsWorldType
BT_SOFT_RIGID_DYNAMICS_WORLD = 4,
BT_GPU_DYNAMICS_WORLD = 5,
BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6,
BT_DEFORMABLE_RIGID_DYNAMICS_WORLD = 7
BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD = 7
};
///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.

5
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -47,7 +47,7 @@ protected:
virtual void calculateSimulationIslands();
virtual void updateActivationState(btScalar timeStep);
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void serializeMultiBodies(btSerializer* serializer);
@@ -55,7 +55,8 @@ public:
btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration);
virtual ~btMultiBodyDynamicsWorld();
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
virtual void removeMultiBody(btMultiBody* body);

2
src/BulletSoftBody/btContactProjection.cpp
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@@ -10,7 +10,7 @@
void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocity)
{
///solve rigid body constraints
m_world->btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::solveConstraints(m_world->getSolverInfo());
m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo());
// loop through contacts to create contact constraints
for (int i = 0; i < m_softBodies.size(); ++i)

14
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -8,6 +8,20 @@
#include <stdio.h>
#include "btDeformableBodySolver.h"
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_solveIterations(1)
, m_impulseIterations(1)
, m_world(nullptr)
{
m_objective = new btBackwardEulerObjective(m_softBodySet, m_backupVelocity);
}
btDeformableBodySolver::~btDeformableBodySolver()
{
delete m_objective;
}
void btDeformableBodySolver::postStabilize()
{
for (int i = 0; i < m_softBodySet.size(); ++i)

34
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -9,24 +9,11 @@
#include "btDeformableRigidDynamicsWorld.h"
#include "btDeformableBodySolver.h"
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_solveIterations(1)
, m_impulseIterations(1)
, m_world(nullptr)
{
m_objective = new btBackwardEulerObjective(m_softBodySet, m_backupVelocity);
}
btDeformableBodySolver::~btDeformableBodySolver()
{
delete m_objective;
}
void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
// Let the solver grab the soft bodies and if necessary optimize for it
m_deformableBodySolver->optimize(getSoftDynamicsWorld()->getSoftBodyArray());
m_deformableBodySolver->optimize(m_softBodies);
if (!m_deformableBodySolver->checkInitialized())
{
@@ -42,22 +29,21 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
btDispatcherInfo& dispatchInfo = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDispatchInfo();
btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDebugDrawer();
dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer();
// only used in CCD
// createPredictiveContacts(timeStep);
///perform collision detection
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::performDiscreteCollisionDetection();
btMultiBodyDynamicsWorld::performDiscreteCollisionDetection();
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::calculateSimulationIslands();
btMultiBodyDynamicsWorld::calculateSimulationIslands();
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
if (0 != m_internalTickCallback)
{
@@ -76,12 +62,12 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
solveDeformableBodiesConstraints(timeStep);
//integrate transforms
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::integrateTransforms(timeStep);
btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
///update vehicle simulation
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActions(timeStep);
btMultiBodyDynamicsWorld::updateActions(timeStep);
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::updateActivationState(timeStep);
btMultiBodyDynamicsWorld::updateActivationState(timeStep);
///update soft bodies
m_deformableBodySolver->updateSoftBodies();
@@ -98,7 +84,7 @@ void btDeformableRigidDynamicsWorld::solveDeformableBodiesConstraints(btScalar t
void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)
{
getSoftDynamicsWorld()->getSoftBodyArray().push_back(body);
m_softBodies.push_back(body);
// Set the soft body solver that will deal with this body
// to be the world's solver

67
src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
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@@ -16,50 +16,76 @@
#ifndef BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H
#define BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H
#include "btSoftRigidDynamicsWorld.h"
#include "btSoftMultiBodyDynamicsWorld.h"
#include "btLagrangianForce.h"
#include "btMassSpring.h"
#include "btDeformableBodySolver.h"
#include "btSoftBodyHelpers.h"
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
class btDeformableBodySolver;
class btLagrangianForce;
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
class btDeformableRigidDynamicsWorld : public btSoftRigidDynamicsWorld
class btDeformableRigidDynamicsWorld : public btMultiBodyDynamicsWorld
{
using TVStack = btAlignedObjectArray<btVector3>;
///Solver classes that encapsulate multiple deformable bodies for solving
btDeformableBodySolver* m_deformableBodySolver;
btSoftBodyArray m_softBodies;
int m_drawFlags;
bool m_drawNodeTree;
bool m_drawFaceTree;
bool m_drawClusterTree;
btSoftBodyWorldInfo m_sbi;
bool m_ownsSolver;
protected:
virtual void internalSingleStepSimulation(btScalar timeStep);
void solveDeformableBodiesConstraints(btScalar timeStep);
public:
btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0)
: btSoftRigidDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration, 0),
btDeformableRigidDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0)
: btMultiBodyDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
m_deformableBodySolver(deformableBodySolver)
{
m_drawFlags = fDrawFlags::Std;
m_drawNodeTree = true;
m_drawFaceTree = false;
m_drawClusterTree = false;
m_sbi.m_broadphase = pairCache;
m_sbi.m_dispatcher = dispatcher;
m_sbi.m_sparsesdf.Initialize();
m_sbi.m_sparsesdf.Reset();
m_sbi.air_density = (btScalar)1.2;
m_sbi.water_density = 0;
m_sbi.water_offset = 0;
m_sbi.water_normal = btVector3(0, 0, 0);
m_sbi.m_gravity.setValue(0, -10, 0);
m_sbi.m_sparsesdf.Initialize();
}
virtual ~btDeformableRigidDynamicsWorld()
{
}
virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld()
virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld()
{
return (btSoftRigidDynamicsWorld*)(this);
return (btMultiBodyDynamicsWorld*)(this);
}
virtual const btSoftRigidDynamicsWorld* getSoftDynamicsWorld() const
virtual const btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() const
{
return (const btSoftRigidDynamicsWorld*)(this);
return (const btMultiBodyDynamicsWorld*)(this);
}
virtual btDynamicsWorldType getWorldType() const
{
return BT_DEFORMABLE_RIGID_DYNAMICS_WORLD;
return BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD;
}
virtual void predictUnconstraintMotion(btScalar timeStep);
@@ -68,6 +94,27 @@ public:
// virtual void solveDeformableBodiesConstraints(btScalar timeStep);
virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
btSoftBodyArray& getSoftBodyArray()
{
return m_softBodies;
}
const btSoftBodyArray& getSoftBodyArray() const
{
return m_softBodies;
}
btSoftBodyWorldInfo& getWorldInfo()
{
return m_sbi;
}
const btSoftBodyWorldInfo& getWorldInfo() const
{
return m_sbi;
}
int getDrawFlags() const { return (m_drawFlags); }
void setDrawFlags(int f) { m_drawFlags = f; }
};
#endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H