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delete lagrangian force when deleting dynamics world from command processor

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This commit is contained in:
Xuchen Han
2019-10-07 19:30:45 -07:00
parent 58a67f82fb
commit c808bb78c7
1 changed files with 32 additions and 14 deletions
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46
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -105,7 +105,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif #endif
#define SKIP_DEFORMABLE_BODY 1 //#define SKIP_DEFORMABLE_BODY 1
int gInternalSimFlags = 0; int gInternalSimFlags = 0;
bool gResetSimulation = 0; bool gResetSimulation = 0;
@@ -1631,6 +1631,7 @@ struct PhysicsServerCommandProcessorInternalData
#ifndef SKIP_DEFORMABLE_BODY #ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld; btDeformableMultiBodyDynamicsWorld* m_dynamicsWorld;
btDeformableBodySolver* m_deformablebodySolver; btDeformableBodySolver* m_deformablebodySolver;
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
#else #else
btSoftMultiBodyDynamicsWorld* m_dynamicsWorld; btSoftMultiBodyDynamicsWorld* m_dynamicsWorld;
btSoftBodySolver* m_softbodySolver; btSoftBodySolver* m_softbodySolver;
@@ -2790,6 +2791,13 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
m_data->m_dynamicsWorld->removeMultiBody(mb); m_data->m_dynamicsWorld->removeMultiBody(mb);
delete mb; delete mb;
} }
#ifndef SKIP_DEFORMABLE
for (int j = 0; j < m_data->m_lf.size(); j++)
{
btDeformableLagrangianForce* force = m_data->m_lf[j];
delete force;
}
#endif
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--) for (i = m_data->m_dynamicsWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
{ {
@@ -8066,7 +8074,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{ {
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false)); btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false);
m_data->m_dynamicsWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
} }
#endif #endif
} }
@@ -8077,24 +8087,30 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
btScalar corotated_mu, corotated_lambda; btScalar corotated_mu, corotated_lambda;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{ {
corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); btDeformableLagrangianForce* corotatedForce = new btDeformableCorotatedForce(corotated_mu, corotated_lambda);
m_data->m_dynamicsWorld->addForce(psb, corotatedForce);
m_data->m_lf.push_back(corotatedForce);
} }
btScalar neohookean_mu, neohookean_lambda, neohookean_damping; btScalar neohookean_mu, neohookean_lambda, neohookean_damping;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE)
{ {
neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu;
neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping; neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping)); btDeformableLagrangianForce* neohookeanForce = new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping);
m_data->m_dynamicsWorld->addForce(psb, neohookeanForce);
m_data->m_lf.push_back(neohookeanForce);
} }
btScalar spring_elastic_stiffness, spring_damping_stiffness; btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{ {
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness; spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness; spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true)); btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true);
m_data->m_dynamicsWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
} }
#endif #endif
} }
@@ -8113,7 +8129,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb->m_renderNodes.resize(0); psb->m_renderNodes.resize(0);
} }
btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity);
m_data->m_dynamicsWorld->addForce(psb, gravityForce);
m_data->m_lf.push_back(gravityForce);
btScalar collision_hardness = 1; btScalar collision_hardness = 1;
psb->m_cfg.kKHR = collision_hardness; psb->m_cfg.kKHR = collision_hardness;
psb->m_cfg.kCHR = collision_hardness; psb->m_cfg.kCHR = collision_hardness;
@@ -8143,7 +8161,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
// collion between deformable and deformable and self-collision // collion between deformable and deformable and self-collision
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->setCollisionFlags(0); psb->setCollisionFlags(0);
psb->setTotalMass(mass); psb->setTotalMass(mass);
bool use_self_collision = false; bool use_self_collision = false;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_SELF_COLLISION) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_SELF_COLLISION)
{ {