code clean up + check in examples
This commit is contained in:
Xuchen Han
297
examples/Pinch/Pinch.cpp
Normal file
297
examples/Pinch/Pinch.cpp
Normal file
@@ -0,0 +1,297 @@
|
||||
/*
|
||||
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);
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user