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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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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);
}