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code clean up + check in examples

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This commit is contained in:
Xuchen Han
2019-07-18 11:34:06 -07:00
parent 3430192db7
commit dc10336d45
18 changed files with 1552 additions and 412 deletions
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6
examples/BasicDemo/BasicExample.cpp
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@@ -16,9 +16,9 @@ subject to the following restrictions:
#include "BasicExample.h"
#include "btBulletDynamicsCommon.h"
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Z 5
#define ARRAY_SIZE_Y 1
#define ARRAY_SIZE_X 1
#define ARRAY_SIZE_Z 1
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"

412
examples/DeformableContact/DeformableContact.cpp Normal file
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@@ -0,0 +1,412 @@
/*
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.
*/
///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 "DeformableContact.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"
#include "../SoftDemo/BunnyMesh.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The DeformableContact demo deformable bodies self-collision
static bool g_floatingBase = true;
static float friction = 1.;
class DeformableContact : public CommonMultiBodyBase
{
btMultiBody* m_multiBody;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
public:
struct TetraBunny
{
#include "../SoftDemo/bunny.inl"
};
DeformableContact(struct GUIHelperInterface* helper)
: CommonMultiBodyBase(helper)
{
}
virtual ~DeformableContact()
{
}
void initPhysics();
void exitPhysics();
void resetCamera()
{
float dist = 15;
float pitch = -30;
float yaw = 100;
float targetPos[3] = {0, -3, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
virtual void stepSimulation(float deltaTime);
btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
{
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
}
virtual btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld()
{
return (btDeformableRigidDynamicsWorld*)m_dynamicsWorld;
}
virtual void renderScene()
{
CommonMultiBodyBase::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 DeformableContact::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();
btMultiBodyConstraintSolver* sol;
sol = new btMultiBodyConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
getDeformableDynamicsWorld()->getWorldInfo().m_gravity.setValue(0, -10, 0);
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, -40, 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,1,1+2);
}
{
bool damping = true;
bool gyro = true;
int numLinks = 3;
bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = true;
btVector3 linkHalfExtents(1, 1, 1);
btVector3 baseHalfExtents(1, 1, 1);
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 10.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide);
mbC->setUseGyroTerm(gyro);
//
if (!damping)
{
mbC->setLinearDamping(0.f);
mbC->setAngularDamping(0.f);
}
else
{
mbC->setLinearDamping(0.1f);
mbC->setAngularDamping(0.9f);
}
if (numLinks > 0)
{
btScalar q0 = 0.f * SIMD_PI / 180.f;
if (!spherical)
{
mbC->setJointPosMultiDof(0, &q0);
}
else
{
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
quat0.normalize();
mbC->setJointPosMultiDof(0, quat0);
}
}
///
addColliders_testMultiDof(mbC, m_dynamicsWorld, baseHalfExtents, linkHalfExtents);
}
// create a patch of cloth
{
const btScalar s = 6;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
20,20,
1 + 2 + 4 + 8, true);
psb->getCollisionShape()->setMargin(0.25);
psb->generateBendingConstraints(2);
psb->setTotalMass(.5);
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;
getDeformableDynamicsWorld()->addSoftBody(psb);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void DeformableContact::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;
}
void DeformableContact::stepSimulation(float deltaTime)
{
// getDeformableDynamicsWorld()->getMultiBodyDynamicsWorld()->stepSimulation(deltaTime);
m_dynamicsWorld->stepSimulation(deltaTime, 4, 1./240.);
}
btMultiBody* DeformableContact::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
{
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = .05f;
if (baseMass)
{
btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
delete pTempBox;
}
bool canSleep = false;
btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
pMultiBody->setBasePos(basePosition);
pMultiBody->setWorldToBaseRot(baseOriQuat);
btVector3 vel(0, 0, 0);
// pMultiBody->setBaseVel(vel);
//init the links
btVector3 hingeJointAxis(1, 0, 0);
float linkMass = .05f;
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
delete pTempBox;
//y-axis assumed up
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
//////
btScalar q0 = 0.f * SIMD_PI / 180.f;
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
quat0.normalize();
/////
for (int i = 0; i < numLinks; ++i)
{
if (!spherical)
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
else
//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
}
pMultiBody->finalizeMultiDof();
///
pWorld->addMultiBody(pMultiBody);
///
return pMultiBody;
}
void DeformableContact::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
{
btAlignedObjectArray<btQuaternion> world_to_local;
world_to_local.resize(pMultiBody->getNumLinks() + 1);
btAlignedObjectArray<btVector3> local_origin;
local_origin.resize(pMultiBody->getNumLinks() + 1);
world_to_local[0] = pMultiBody->getWorldToBaseRot();
local_origin[0] = pMultiBody->getBasePos();
{
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
if (1)
{
btCollisionShape* box = new btBoxShape(baseHalfExtents);
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
col->setCollisionShape(box);
btTransform tr;
tr.setIdentity();
tr.setOrigin(local_origin[0]);
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
col->setWorldTransform(tr);
pWorld->addCollisionObject(col, 2, 1 + 2);
col->setFriction(friction);
pMultiBody->setBaseCollider(col);
}
}
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
{
const int parent = pMultiBody->getParent(i);
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
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* DeformableContactCreateFunc(struct CommonExampleOptions& options)
{
return new DeformableContact(options.m_guiHelper);
}

20
examples/DeformableContact/DeformableContact.h Normal file
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@@ -0,0 +1,20 @@
/*
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.
*/
#ifndef _DEFORMABLE_CONTACT_H
#define _DEFORMABLE_CONTACT_H
class CommonExampleInterface* DeformableContactCreateFunc(struct CommonExampleOptions& options);
#endif //_DEFORMABLE_CONTACT_H

90
examples/DeformableDemo/DeformableDemo.cpp
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@@ -35,6 +35,7 @@ subject to the following restrictions:
#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"
@@ -59,17 +60,23 @@ public:
void resetCamera()
{
float dist = 15;
float dist = 20;
float pitch = -45;
float yaw = 100;
float targetPos[3] = {0, -5, 0};
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 Ctor_RbUpStack(int count)
{
float mass = 1;
float mass = 0.2;
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
@@ -84,18 +91,30 @@ public:
btCollisionShape* shape[] = {
new btBoxShape(btVector3(1, 1, 1)),
cylinderCompound,
new btSphereShape(0.75)
// new btSphereShape(0.75),
// cylinderCompound
};
static const int nshapes = sizeof(shape) / sizeof(shape[0]);
for (int i = 0; i < count; ++i)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0, 3 + 3 * i, 0));
createRigidBody(mass, startTransform, shape[i % nshapes]);
}
// static const int nshapes = sizeof(shape) / sizeof(shape[0]);
// for (int i = 0; i < count; ++i)
// {
// btTransform startTransform;
// startTransform.setIdentity();
// startTransform.setOrigin(btVector3(0, 2+ 2 * i, 0));
// startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
// createRigidBody(mass, startTransform, shape[i % nshapes]);
// }
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(1, 2, 1));
createRigidBody(mass, startTransform, shape[0]);
startTransform.setOrigin(btVector3(1, 2, -1));
createRigidBody(mass, startTransform, shape[0]);
startTransform.setOrigin(btVector3(-1, 2, 1));
createRigidBody(mass, startTransform, shape[0]);
startTransform.setOrigin(btVector3(-1, 2, -1));
createRigidBody(mass, startTransform, shape[0]);
startTransform.setOrigin(btVector3(0, 4, 0));
createRigidBody(mass, startTransform, shape[0]);
}
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
@@ -143,14 +162,16 @@ void DeformableDemo::initPhysics()
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
m_solver = sol;
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration, deformableBodySolver);
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
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
getDeformableDynamicsWorld()->getSoftDynamicsWorld()->getWorldInfo().m_gravity.setValue(0, -10, 0);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity.setValue(0, -10, 0);
// getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
{
@@ -161,8 +182,8 @@ void DeformableDemo::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -50, 0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.0));
groundTransform.setOrigin(btVector3(0, -30, 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.);
@@ -177,7 +198,7 @@ void DeformableDemo::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(.5);
body->setFriction(1);
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
@@ -185,24 +206,37 @@ void DeformableDemo::initPhysics()
// create a piece of cloth
{
bool onGround = true;
const btScalar s = 4;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getSoftDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
// 3, 3,
20,20,
// 3,3,
20,20,
1 + 2 + 4 + 8, true);
// 0, true);
// 0, true);
if (onGround)
psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
20,20,
0, true);
psb->getCollisionShape()->setMargin(0.25);
psb->getCollisionShape()->setMargin(0.1);
psb->generateBendingConstraints(2);
psb->setTotalMass(2);
psb->setDampingCoefficient(0.02);
psb->setTotalMass(10);
psb->setSpringStiffness(10);
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 = 1;
getDeformableDynamicsWorld()->addSoftBody(psb);
// add a few rigid bodies
Ctor_RbUpStack(10);
Ctor_RbUpStack(1);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

8
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -48,6 +48,9 @@
#include "../DynamicControlDemo/MotorDemo.h"
#include "../RollingFrictionDemo/RollingFrictionDemo.h"
#include "../DeformableDemo/DeformableDemo.h"
#include "../Pinch/Pinch.h"
#include "../DeformableContact/DeformableContact.h"
#include "../VolumetricDeformable/VolumetricDeformable.h"
#include "../SharedMemory/PhysicsServerExampleBullet2.h"
#include "../SharedMemory/PhysicsServerExample.h"
#include "../SharedMemory/PhysicsClientExample.h"
@@ -119,7 +122,10 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Rolling Friction", "Damping is often not good enough to keep rounded objects from rolling down a sloped surface. Instead, you can set the rolling friction of a rigid body. Generally it is best to leave the rolling friction to zero, to avoid artifacts.", RollingFrictionCreateFunc),
ExampleEntry(0, "Deformable", "Deformable test", DeformableCreateFunc),
ExampleEntry(0, "Deformable-RigidBody Contact", "Deformable test", DeformableCreateFunc),
ExampleEntry(0, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc),
ExampleEntry(0, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
ExampleEntry(0, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableContactCreateFunc),
ExampleEntry(1, "Constraints", "Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
AllConstraintCreateFunc),

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/*
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.
*/
///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 = -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 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;
btTransform rbTransform;
rbTransform.setIdentity();
btVector3 translation = btVector3(0.5,3,4);
btVector3 velocity = btVector3(0,5,0);
if (time < pressTime)
{
velocity = btVector3(0,0,-2);
translation += velocity * time;
}
else
translation += btVector3(0,0,-2) * pressTime + (time-pressTime)*velocity;
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];
translation = btVector3(0.5,3,-4);
velocity = btVector3(0,5,0);
if (time < pressTime)
{
velocity = btVector3(0,0,2);
translation += velocity * time;
}
else
translation += btVector3(0,0,2) * pressTime + (time-pressTime)*velocity;
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(2);
rb1->setFriction(2);
}
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
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
getDeformableDynamicsWorld()->getWorldInfo().m_gravity.setValue(0, -10, 0);
getDeformableDynamicsWorld()->before_solver_callbacks.push_back(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
{
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, 4, 0));
psb->getCollisionShape()->setMargin(0.1);
psb->setTotalMass(1);
psb->setSpringStiffness(10);
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;
// 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);
}

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/*
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.
*/
#ifndef _PINCH_H
#define _PINCH_H
class CommonExampleInterface* PinchCreateFunc(struct CommonExampleOptions& options);
#endif //_PINCH_H

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/*
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.
*/
///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
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
getDeformableDynamicsWorld()->getWorldInfo().m_gravity.setValue(0, -10, 0);
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;
}
// 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);
}

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/*
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.
*/
#ifndef _VOLUMETRIC_DEFORMABLE_H
#define _VOLUMETRIC_DEFORMABLE_H
class CommonExampleInterface* VolumetricDeformableCreateFunc(struct CommonExampleOptions& options);
#endif //_VOLUMETRIC_DEFORMABLE__H