Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #2495 from erwincoumans/master

Browse Source 
various deformable fixes and reimplement #2494
This commit is contained in:
erwincoumans
2019-11-18 16:06:29 -08:00
committed by GitHub
parent d258bbf7ac 1f6d504e44
commit e0a73cbc45
10 changed files with 85 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -895,6 +895,15 @@ B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandl
return 0;
}
B3_SHARED_API int b3PhysicsParameterSetSparseSdfVoxelSize(b3SharedMemoryCommandHandle commandHandle, double sparseSdfVoxelSize)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_SPARSE_SDF;
command->m_physSimParamArgs.m_sparseSdfVoxelSize = sparseSdfVoxelSize;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

3
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -357,7 +357,8 @@ extern "C"
B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle commandHandle, int constraintSolverType);
B3_SHARED_API int b3PhysicsParameterSetMinimumSolverIslandSize(b3SharedMemoryCommandHandle commandHandle, int minimumSolverIslandSize);
B3_SHARED_API int b3PhysicsParamSetSolverAnalytics(b3SharedMemoryCommandHandle commandHandle, int reportSolverAnalytics);
B3_SHARED_API int b3PhysicsParameterSetSparseSdfVoxelSize(b3SharedMemoryCommandHandle commandHandle, double sparseSdfVoxelSize);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3GetStatusPhysicsSimulationParameters(b3SharedMemoryStatusHandle statusHandle, struct b3PhysicsSimulationParameters* params);

48
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -2605,7 +2605,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
btDeformableMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getDeformableWorld()
{
btDeformableMultiBodyDynamicsWorld* world = 0;
if (m_data->m_dynamicsWorld->getWorldType()== BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD)
if (m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getWorldType()== BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD)
{
world = (btDeformableMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
}
@@ -2615,7 +2615,7 @@ btDeformableMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getDeformable
btSoftMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getSoftWorld()
{
btSoftMultiBodyDynamicsWorld* world = 0;
if (m_data->m_dynamicsWorld->getWorldType()== BT_SOFT_MULTIBODY_DYNAMICS_WORLD)
if (m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getWorldType()== BT_SOFT_MULTIBODY_DYNAMICS_WORLD)
{
world = (btSoftMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
}
@@ -9435,6 +9435,26 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
m_data->m_dynamicsWorld->getSolverInfo().m_frictionCFM = clientCmd.m_physSimParamArgs.m_frictionCFM;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_SPARSE_SDF)
{
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
deformWorld ->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(clientCmd.m_physSimParamArgs.m_sparseSdfVoxelSize);
deformWorld ->getWorldInfo().m_sparsesdf.Reset();
}
}
{
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
if (softWorld)
{
softWorld->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(clientCmd.m_physSimParamArgs.m_sparseSdfVoxelSize);
softWorld->getWorldInfo().m_sparsesdf.Reset();
}
}
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
{
m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold = clientCmd.m_physSimParamArgs.m_restitutionVelocityThreshold;
@@ -12964,30 +12984,6 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags)
}
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_DEFORMABLE_BODY
if (m_data->m_dynamicsWorld)
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
if (deformWorld->getSoftBodyArray().size())
{
for (int i = 0; i < deformWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)deformWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), deformWorld->getDrawFlags());
}
}
m_data->m_guiHelper->drawDebugDrawerLines();
m_data->m_guiHelper->clearLines();
}
}
}
#endif
#endif
}
}

1
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -484,6 +484,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR = 1 << 28,
SIM_PARAM_UPDATE_SPARSE_SDF = 1 << 29,
};

5
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -7,7 +7,9 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 201909030
#define SHARED_MEMORY_MAGIC_NUMBER 201911180
//#define SHARED_MEMORY_MAGIC_NUMBER 201909030
//#define SHARED_MEMORY_MAGIC_NUMBER 201908110
//#define SHARED_MEMORY_MAGIC_NUMBER 201908050
//#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
@@ -978,6 +980,7 @@ struct b3PhysicsSimulationParameters
int m_constraintSolverType;
int m_minimumSolverIslandSize;
int m_reportSolverAnalytics;
double m_sparseSdfVoxelSize;
};

27
examples/pybullet/examples/deformable_ball.py Normal file
View File

@@ -0,0 +1,27 @@
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.setGravity(0, 0, -10)
planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 0.1, useNeoHookean = 1, NeoHookeanMu = 20, NeoHookeanLambda = 20, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)
#logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "perf.json")
while p.isConnected():
p.setGravity(0,0,-10)
sleep(1./240.)
#p.resetSimulation()
#p.stopStateLogging(logId)

1
examples/pybullet/examples/deformable_torus.py
View File

@@ -12,6 +12,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2])
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
bunnyId = p.loadSoftBody("torus.vtk", useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, useSelfCollision = 1, frictionCoeff = 0.5)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)
while p.isConnected():

10
examples/pybullet/pybullet.c
View File

@@ -1583,6 +1583,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int reportSolverAnalytics = -1;
double warmStartingFactor = -1;
double sparseSdfVoxelSize = -1;
int physicsClientId = 0;
@@ -1611,11 +1612,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
"minimumSolverIslandSize",
"reportSolverAnalytics",
"warmStartingFactor",
"sparseSdfVoxelSize",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiiddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize,
&reportSolverAnalytics, &warmStartingFactor, &physicsClientId))
&reportSolverAnalytics, &warmStartingFactor, &sparseSdfVoxelSize, &physicsClientId))
{
return NULL;
}
@@ -1740,6 +1742,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetWarmStartingFactor(command, warmStartingFactor);
}
if (sparseSdfVoxelSize >= 0)
{
b3PhysicsParameterSetSparseSdfVoxelSize(command, sparseSdfVoxelSize);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}

4
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
View File

@@ -382,6 +382,8 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
void btDeformableMultiBodyDynamicsWorld::debugDrawWorld()
{
btMultiBodyDynamicsWorld::debugDrawWorld();
for (int i = 0; i < getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)getSoftBodyArray()[i];
@@ -391,7 +393,7 @@ void btDeformableMultiBodyDynamicsWorld::debugDrawWorld()
}
}
btMultiBodyDynamicsWorld::debugDrawWorld();
}
void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep)

9
src/BulletSoftBody/btSparseSDF.h
View File

@@ -77,6 +77,10 @@ struct btSparseSdf
int nprobes;
int nqueries;
~btSparseSdf()
{
Reset();
}
//
// Methods
//
@@ -330,15 +334,18 @@ struct btSparseSdf
{
struct btS
{
int x, y, z;
int x, y, z, w;
void* p;
};
btS myset;
//memset may be needed in case of additional (uninitialized) padding!
//memset(myset, 0, sizeof(btS));
myset.x = x;
myset.y = y;
myset.z = z;
myset.w = 0;
myset.p = (void*)shape;
const void* ptr = &myset;