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Load the deformable object through obj file. Modify the demo for two way coupling between multibody and softbody.

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This commit is contained in:
yunfeibai
2018-01-07 19:06:09 -08:00
parent 577ee86012
commit e3e9546960
5 changed files with 1574 additions and 20 deletions
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83
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -50,7 +50,7 @@
#include "../TinyAudio/b3SoundEngine.h"
#endif
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletSoftBody/btSoftBodySolvers.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
@@ -169,6 +169,9 @@ struct InternalBodyData
{
btMultiBody* m_multiBody;
btRigidBody* m_rigidBody;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btSoftBody* m_softBody;
#endif
int m_testData;
std::string m_bodyName;
@@ -191,6 +194,9 @@ struct InternalBodyData
{
m_multiBody=0;
m_rigidBody=0;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_softBody = 0;
#endif
m_testData=0;
m_bodyName="";
m_rootLocalInertialFrame.setIdentity();
@@ -1519,7 +1525,7 @@ struct PhysicsServerCommandProcessorInternalData
btMultiBodyConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btSoftMultiBodyDynamicsWorld* m_dynamicsWorld;
btSoftBodySolver* m_softbodySolver;
btSoftBodyWorldInfo m_softBodyWorldInfo;
@@ -2166,7 +2172,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
//m_collisionConfiguration->setConvexConvexMultipointIterations();
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
#else
m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
@@ -2189,7 +2195,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_solver = new btMultiBodyConstraintSolver;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#else
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
@@ -2354,6 +2360,14 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
m_data->m_dynamicsWorld->removeMultiBody(mb);
delete mb;
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
for (i=m_data->m_dynamicsWorld->getSoftBodyArray().size()-1;i>=0;i--)
{
btSoftBody* sb = m_data->m_dynamicsWorld->getSoftBodyArray()[i];
m_data->m_dynamicsWorld->removeSoftBody(sb);
delete sb;
}
#endif
}
for (int i=0;i<constraints.size();i++)
@@ -5650,7 +5664,7 @@ bool PhysicsServerCommandProcessor::processLoadBunnyCommand(const struct SharedM
{
serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
bool hasStatus = true;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
double scale = 0.1;
double mass = 0.1;
double collisionMargin = 0.02;
@@ -5666,6 +5680,7 @@ bool PhysicsServerCommandProcessor::processLoadBunnyCommand(const struct SharedM
{
collisionMargin = clientCmd.m_loadBunnyArguments.m_collisionMargin;
}
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_data->m_softBodyWorldInfo.water_density = 0;
m_data->m_softBodyWorldInfo.water_offset = 0;
@@ -5673,7 +5688,7 @@ bool PhysicsServerCommandProcessor::processLoadBunnyCommand(const struct SharedM
m_data->m_softBodyWorldInfo.m_gravity.setValue(0,0,-10);
m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();
/*
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,gVerticesBunny, &gIndicesBunny[0][0], BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
@@ -5690,6 +5705,60 @@ bool PhysicsServerCommandProcessor::processLoadBunnyCommand(const struct SharedM
psb->getCollisionShape()->setMargin(collisionMargin);
m_data->m_dynamicsWorld->addSoftBody(psb);
*/
{
char relativeFileName[1024];
char pathPrefix[1024];
pathPrefix[0] = 0;
if (b3ResourcePath::findResourcePath("bunny.obj", relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
const std::string& error_message_prefix="";
std::string out_found_filename;
int out_type;
bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName,error_message_prefix,&out_found_filename, &out_type);
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes,out_found_filename.c_str());
if (shapes.size()>0)
{
const tinyobj::shape_t& shape = shapes[0];
btAlignedObjectArray<btScalar> vertices;
btAlignedObjectArray<int> indices;
for (int i=0;i<shape.mesh.positions.size();i++)
{
vertices.push_back(shape.mesh.positions[i]);
}
for (int i=0;i<shape.mesh.indices.size();i++)
{
indices.push_back(shape.mesh.indices[i]);
}
int numTris = indices.size()/3;
if (numTris>0)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,&vertices[0],&indices[0],numTris);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 20;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(-0.05,0,1.0));
psb->scale(btVector3(scale,scale,scale));
psb->setTotalMass(mass,true);
psb->getCollisionShape()->setMargin(collisionMargin);
m_data->m_dynamicsWorld->addSoftBody(psb);
int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
bodyHandle->m_softBody = psb;
serverStatusOut.m_loadBunnyResultArguments.m_objectUniqueId = bodyUniqueId;
}
}
}
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
#endif
return hasStatus;
@@ -8758,7 +8827,7 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags)
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
}
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
for ( int i=0;i<m_data->m_dynamicsWorld->getSoftBodyArray().size();i++)
{
btSoftBody* psb=(btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];